UA49360C2 - System for pipeline repair - Google Patents

Abstract

A system for pipelines repair has a repair module, formed by a container with compressed air, hydro-hoses: feeding one, working, discharge; two electromagnetic valves, control unit for electromagnetic valves controlling, video-camera, control unit, personal computer, color TV, video-recorder, hoist with a collector on the drum shaft, this is formed by an automated cable-layer and electro-mechanical cable winding unit, and a displacement sensor. Additionally, a self-propelling diagnostic robot is incorporated to the system; this one is in hermetical housing and comprises of video-camera, video-amplifier, axial drive of the color video-camera, control unit of the axial drive of the color video-camera, azimuth drive of the color video-camera, control unit for the azimuth drive of the color video-camera, moving drive, control unit of the moving drive, light unit, control unit for it, control unit for ultra-violet lamp controlling, current resistors, controlling node, control unit, power unit, units for move muffs control, path sensor, cable in metal winding. To the repair module pressure sensor and secondary pressure transformer are included, and to the board partû appliance for controlling, feeding and visualizing information obtained û sign-generator and benzo-generator.

Description

Description of the invention

The invention relates to sewage and water supply, namely, to the operation of pipelines, and can be used to repair the inner surface of the latter.

A known device for the repair of underground pipelines (1), including an inflatable cylindrical body made of folded flexible material with locking disc-shaped plates provided on its ends and a cylindrical protrusion that is inserted into the branch and pulled back from it and has on the outer end TV camera

The disadvantages of the latter are as follows: a narrow field of application, because only the repair of tap connection points, the use of the same type of repair adhesives is provided.

A known device for repairing pipes by inserting a remote-controlled insert |2), which is made of precious metal with a simple locking mechanism, contains a drill for cleaning damaged surfaces, an opening through which the repair solution is fed, a robot or a carriage on which the device is mounted and 12 controlled remotely using a television camera.

The disadvantages of the device include an increase in repair time due to the local laying of one damage, the difficulty of carrying out repairs when radial damage is laid. The closest to the invention is a device for repairing a pipeline |Z), which consists of a device placed in a pipeline in which there are cracks, caverns, washed out annular voids, a means of applying a repair solution to the inner wall of the pipeline and an accelerator of hardening of the repair solution, made in the form of located on elastic hollow body of three probes with five inflatable chambers and four corrugated elastic containers installed between them, having an inner shell, and a cuff seal fixed on the end container, even containers are filled with repair solution, odd containers are filled with a liquid accelerator of hardening of the repair solution. The cavity of the inner shells of the containers is connected to a pipeline, which is placed inside the device along its entire length and is connected to a source of compressed (3) air. A flexible pipeline is placed in the cavity of the containers, which is connected by taps to inflatable chambers and to a source of compressed air. In the cavity a second pipeline is mounted on the first probe, connected to the cavity of an elastic throttle fixed on an elastic hollow body. The probes are connected to each other by means of ring diaphragms, a second flexible pipeline is attached to the latter. On the third, on the inflatable chamber of the last probe, profile U-shaped plates are fixed, which have channels, the cavities of the second, fourth and fifth inflatable chambers are connected to the first flexible pipeline, the cavity of the third chamber is connected to the third pipeline, the diaphragms are connected to the third flexible pipeline. In the cavity between the last probe and the first container, a tap from the second flexible pipeline Cavities of the first o and DFU of the third container are connected to the third flexible pipelines, the cavities of the second and fourth containers are connected to the second flexible pipelines. M

The first pipeline for supplying the repair solution and the liquid accelerator for hardening the repair solution and the first power line are placed in the cavity of the containers. There are installation windows in the container body.

The cuff seal, which is fixed on the last container, is connected to the first flexible pipeline, and an electromagnetic valve is mounted in its skirt cavity, connected to the first current conduit and to the first Z pipeline. The first flexible conduit, the second and third conduits, and the first conduit are inserted into the housing of the unit of the device control system. Elastic petals with radial displacement sensors are attached to the housing, connected by a second conductor to the control unit located in the housing of the unit of the device control system. On the body of the unit of the control system of the device on spring-loaded levers are fixed wheels with a sensor of longitudinal displacement, connected by a third current line to the control unit, which is connected to the 42 power supply unit. The first, second, third and fourth power lines are connected to the control unit. A receiver is mounted in the housing of the control unit, which is connected to pipelines through electromagnetic valves, and they (Te) are connected to current lines. The pipeline to be repaired is supplied with two way valves, taps and valves. Behind the first bypass valve, a technological outlet with a valve is cut into the pipeline, and behind it, a outlet connected to the start pipe is installed. In the latter, two inputs are mounted

Gee! 20 shut-off fittings. A fourth pipeline is attached to the starting pipe with a valve from the outlet of the pipeline under repair, which is connected to one of the inlets by a valve of the pipeline under repair. On the opposite side, a branch with a latch is cut into the starting pipe. In front of the second bypass valve, a technological outlet with a valve and a trap is cut into the pipeline that is being repaired.

The disadvantages of this stand include the complexity of its design, which significantly reduces reliability, 25 the difficulty of inserting and removing the stand into and out of the pipeline, moving the repair device along

HF) of the pipeline with a certain constant speed, the presence of special start-up and discharge devices, lack of quality control of the performed works. o The task is solved by the fact that in the system for repairing pipelines, which contains a repair module, consisting of a cylinder of compressed air, connected by a hydraulic supply hose to the first electromagnetic valve 60, connected to an inflatable hydraulic hose and to a control unit for electromagnetic valves, also connected to the second an electromagnetic valve connected to the working and exhaust hydraulic hoses, a video camera located on it and connected to a control unit equipped with a personal computer, a TV and a VCR, a winch consisting of an automatic cable stacker, an electromechanical cable winder, a collector on a drum shaft, and the fixed parts of the collector are connected to the input bo connector, and the moving parts are connected to the cable cores through graphite brushes, a path sensor, a self-propelled diagnostic robot in a sealed housing, consisting of a color image video camera connected through a video amplifier with a cable with metal braid, an axial motor of the video camera color image, first and second, through a resistor, the terminals of which are connected to the axis motor control unit of the color image video camera, connected to the power supply unit, azimuth motor of the color image video camera, first and second, through a resistor, the terminals of which are connected to the azimuth motor control unit video camera of a color image connected to the power supply unit, the running motor, the terminals of which are connected to its control unit, consisting of the starting unit of the running motor, the output connected to the reversing unit of the running motor and to the first terminal of the series-connected windings, the second output of which is 7 /0 is connected to the motor shaft rotation speed control unit, and the first, second, third, and fourth inputs of the running motor starting unit, the first and second inputs of the motor shaft rotation speed control unit, the first and second inputs of the running motor reversing unit are inputs, and the first and the second outputs of the speed control unit motor shaft - through the outputs of the traction motor control unit connected to the power supply unit, the lighting device is composed of two lamps connected in parallel /5 in series, the first and second terminals of which are connected to the lighting device control unit, and the last one - to power supply, an ultraviolet lamp, the terminals of which are connected to an ultraviolet lamp control unit connected to the power supply, a control device connected to the power supply, first, through a resistor, and second, third, Through a resistor, and fourth, fifth and sixth, through the resistor, the seventh and eighth, through the resistor, inputs, respectively - to the second output of the eighth engine, the second 2o output of the azimuth engine, the second output of the parallel connection of the lamps of the lighting device and the second output of the ultraviolet lamp, the ninth, tenth and eleventh inputs - to the first, second and third outputs of the control unit, respectively, the first output - to the first input of the last, second and third, fourth and fifth th, sixth, seventh and eighth, ninth and tenth, eleventh outputs of the control unit are connected, respectively, to the first and second inputs of the axial motor control unit, the first and second inputs of the unit with 2g5 Control of the azimuth motor, the first, second and third inputs of the unit control of the running engine, the first and second inputs of the lighting device control unit, the first and second inputs of the control unit i) an ultraviolet lamp, the twelfth output - with a path sensor placed in the diagnostic work in a sealed housing and optomechanically connected to the drive wheel, the thirteenth and fourteenth outputs - with the inputs of the running clutch control units, connections to the power supply unit and composed of the control circuit, the output of which is connected to the first output of the winding, and the first, second, third and fourth inputs of the control circuit are inputs, and the second output of the winding is the output of the blocks control of clutches, fifteenth and x, sixteenth outputs - with a cable with a metal braid, which in its in turn is connected to the third input of the control unit, a pressure sensor and a secondary pressure transducer are inserted into the repair module, interconnected and connected to the solenoid valve control unit and the connecting cable, in the on-board part, Me control device, power supply and visualization of the received information, a gas generator, a sign generator are introduced, and the first output of the gas generator is connected to a personal computer, the second and third outputs are connected to the first input of the sign generator and to the first input of the VCR, the fourth output is to the first input of a color television, the second input which is connected to the first output of the signal generator, the second output of the latter is connected to the second input of the VCR, the output of the TV "

Color image - to the second input of the signal generator, the third input of which is connected to a cable with a metal braid (-7-Z).

The introduction of a pressure sensor and a secondary pressure transducer into the repair module made it possible to adjust the pressure in ;" inflatable rubber cuckoo with clamped ends in the process of repair.

Introduction of a diagnostic robot in a sealed housing into the system, which consists of a video camera

Color image, video amplifier, axial and azimuth motors of a color y5" video camera with their control units, travel motor with its control unit, control units for running clutches, lighting device with control unit, ultraviolet lamp with control unit, path sensor, and, control device , control unit, power supply unit, allowed to deliver the repair module to the place of 2) damage, to carry out its visualization and control by the operator according to the progress and quality of the work performed. Input into the on-board part, control device, power supply and visualization of the received information,

Me. the gas generator allowed to provide power to the entire system, and the sign generator - to visualize the information received from the path sensor. The introduction of the listed blocks and connections between them and the system as a whole into the system for repairing pipelines made it possible to solve the task - to increase the reliability of the repair, reduce the costs and time of its implementation.

Fig. 1-3 shows a block diagram of the system for repairing pipelines;

Fig. 4 - electrical diagram of the control unit for the axial motor of the color image video camera and block (F, control of the azimuth motor of the color image video camera; ka Fig. 5 - electrical diagram of the control unit for the travel motor;

Fig. 6 is an electrical diagram of the control device; In Fig. 7 is an electrical diagram of the control unit for running clutches, electromagnetic valves and an ultraviolet lamp.

Fig. 8 is an electrical diagram of the lighting device control unit.

The pipeline repair system consists of a repair module 1, placed in a body in the form of a moving cylinder, on which is placed an inflatable rubber sleeve with clamped ends, a connecting 65 mechanical device, a cable disconnector, (not shown in the figure), a self-propelled diagnostic robot in sealed housing 2, located in the damaged pipeline, as well as the on-board part - the control device, power supply and visualization of the received information 3. The repair module 1 contains a pressure sensor 4, a cylinder of compressed air 5, two electromagnetic valves b and 7, a control unit for electromagnetic valves 8, secondary pressure transducer 9, hydraulic hoses: feeding 10, inflatable 11, working 12, exhaust 13 and a connected connecting cable 14 to the self-propelled diagnostic robot in a sealed housing 2, consisting of a color image video camera 15, a video amplifier 16, an axial motor of a color image video camera 17 , control unit for the axial motor of the color video camera display 18, color image video camera azimuth motor 19, color image video camera azimuth motor control unit 20, travel motor 21, travel motor control unit 22, device 7/0 lighting (incandescent lamps) 23, lighting device control unit 24, ultraviolet lamp control unit 25, current resistors K1-K4, control device 26, control unit 27, power supply unit 28, running clutch control units 29, 30, path sensor 31, cable with metal braid 32. The on-board part is a control device, power supply and visualization of received information. consists of a sign generator 33, a color TV 34, a VCR 35, a personal computer 36, /5 gasoline generator 37, a winch 38 with a collector on a drum shaft, consisting of an automatic cable stacker 39 and an electromechanical cable winder 40. The control unit for the axial motor of the color video camera image 18 is identical to the azimuth control unit igun 20 and consists of a bridge circuit 41, transistor switch 42, resistor K5, optocouplers M1-Kb, M2-K7. The traction motor control unit 22 consists of a traction motor start-up unit 43, a traction motor reversing unit 44, a motor shaft speed reversing unit 45. The control device includes a voltage stabilizer 158 46, a first low-pass filter 47, a multivibrator with adjustable pulse spacing 48, a second low-pass filter 49, multi-input multiplexer 50, five optocouplers M3-K7, M4-K8, M5-K9, M6-K10,

M7-K11 and resistors K K12-K. The control unit for the lighting device 24 contains a multivibrator with an adjustable pulse gap 51, an optocoupler M9-K17, a transistor U8, resistors K16, K18. and winding C1-C2, and the cylinder of compressed air 5 is connected by the hydraulic supply hose 10 to i) the first electromagnetic valve b, connected to the inflatable hydraulic hose 11 and to the control unit of electromagnetic valves 8 also connected to the second electromagnetic valve 7, connected to the working 12 and outlet 13 to the hydraulic hoses, the video camera 15 is connected through the video amplifier 16 with a cable with a metallic braid 32, in the axial motor of the color image video camera 17 the first and second, through a resistor, the terminals are connected to the control unit of the axial motor of the color image video camera 18, x, with connected to the power supply unit 28, in the azimuth motor of the video camera color image 19 first and c second, through a resistor, the outputs are connected to the control unit of the azimuth motor of the color image video camera 20, connected to the power supply unit 28, the outputs of the travel motor 21 are connected to (22) its control unit 22, in which the unit for starting the travel motor the output of the engine 43 is connected to the reversing unit "g" of the running engine 44 and to the first terminal of the serially connected windings C1-C2, C3-C4, the second terminal of which is connected to the motor shaft rotation speed control unit 45, and the first, second, third and fourth the inputs of the starting unit of the running motor 43, the first and second inputs of the motor shaft speed control unit 45, the first and second inputs of the reversing unit of the running motor 44 are inputs, and the first and second outputs of the motor shaft speed control unit 45 are the outputs of the control unit in by the running motor 22, connected to the power supply unit 28, the lighting device 23, in which the first and second, through

And the resistor, the conclusions of the serial connections of the lamps are connected to the control unit of the lighting device 24, and what? the last - to the power supply unit 28, the ultraviolet lamp, the first and second through the resistor, the terminals are connected to the control unit of the ultraviolet lamp 25, connected to the power supply unit 28, the device

Control 26, connect to the power supply unit 28, the first, through the resistor, and the second, the third, through the resistor, and the fourth, fifth and sixth, through the resistor, the seventh and eighth, through the resistor, inputs, respectively - to the second output of the axial motor 17, the second output of the azimuth engine 19, the second output of the parallel IR connection of the lamps of the lighting device 23 and the second output of the ultraviolet lamp 25, the ninth, tenth and eleventh inputs - to the first, second and third outputs of the control unit 27, respectively, the first output - to of the first entrance of the last, second and third fourth and fifth sixth, seventh and eighth, ninth and tenth,

Me, the eleventh outputs of the control unit 27 are connected, respectively, to the first and second inputs of the o-axis motor control unit 18, the first and second inputs of the azimuth motor control unit 20, the first, second and third inputs of the travel motor control unit 22, the first and second inputs of the control unit lighting device 24, the first and second inputs of the control unit of the ultraviolet lamp 25, the twelfth output - with the path sensor 31, the thirteenth and fourteenth outputs - with the inputs of the coupling control units 29, 30 connected to the power supply unit 28, and the output of the control circuit 52 is connected to the first output (F) of the C1-C2 winding, the first, second, third and fourth inputs of the control circuit 52 are inputs, and the second output of the C1-C2 winding is the output of the clutch control units 29, 30, the fifteenth and sixteenth outputs are with a cable with a metal braid 32, which is connected to the third input of the control unit 27, the pressure sensor 4 and the secondary pressure transducer 5 are interconnected and connected to the block solenoid control valves 29, 30 and connecting cable 14, the first output of the gasoline generator 37 is connected to the personal computer 36, the second and third outputs are connected to the first input of the character generator 33 and to the first input of the VCR Z5, the fourth output is to the first input of the color TV image 34, the second input of which is connected to the first output of the signal generator 33, the second output of the latter is connected to the second input of the VCR 35, 65 the output of the color image TV 34 is connected to the second input of the signal generator 33, the third input of which is connected to a cable with a metal braid 32 .

The pipeline repair system includes purchased products such as a VCR 35, a color TV 34, a portable computer 36, a gasoline generator 37, a reversing unit for a running motor 44 (taken from a household electric drill with the possibility of reversing the MZS-3003 type), engines of the DPM type 30 -NI1-04, МН-145,

DR-1.5РV, M220 type electromagnetic valves, compressed air cylinder 5, video camera 15, compressed air hoses and connecting cables and cables with metal braid., taken from scientific and technical or patent documentation - these are: - Video amplifier 16 - Analog and digital integrated circuits . Edited by S.V. Yakubovsky M.:

Radio communications, 1985, p. 336, fig. 6.61; - Power supply unit of the diagnostic robot in a sealed case 28. Power sources of 70 radio electronic equipment, Handbook, G.S. Nyvelt, K.B. Mazel et al., under the editorship of G. S. Nyvelt, Moscow: Radio and Communication, 1986, p. 323, fig. 8.16; - Control unit 26 - Handbook. Products and components offered by the company "KTC-MK". ATMEG microcontrollers. AMK families; - Sign generator 33 - Amateur television games. M.A. Ovechkin, Moscow: Radio Communications, 1985, p. 19, fig. 31; - Bridge switching scheme 41 - Power sources of radio electronic equipment. Handbook, H.S

Neuvelt, K.B. Mazel and others, edited by G. S. Neuvelt. M.: Radio and communication, 1986, p. 407, fig. 10.4; - Transistor switch 42 - The art of circuit engineering, in two volumes, vol. 1, translated from English, - ed. 3rd, stereotype, M.: Mir, 1986, p. 91, fig. 2.3; - Multivibrator with adjustable pulse spacing 48, 51 - Microelectronic means of processing analog signals, E. A. Colombet, M.: Radio and communication, 1991, p. 206, fig. 7.19; - Semiconductor relay U3-K7-K12...76-K10-K15 - Semiconductor electronic devices. Handbook, V.I.

Ivanov, A. I. Aksyonov, A. M. Yushin, 2nd edition, revised and supplemented, - M.: Energoatomvyd., 1989, p. 365, fig. 10.8; - Multi-input multiplexer 50 - Popular digital microcircuits. Handbook, 2nd edition, corrected, M.: sch

Radio and communication, p. 230, fig. 2.28 (Masova radiobiblioteka, vol. 1145) - Low-pass filter 46, 48 - The art of circuit engineering, in 2 volumes, vol. 1, translation from English, (8) editions 3rd, stereotype, M.: Mir, 1986, p. 58, fig. 1.54; - Voltage stabilizer 4158 51 - A practical guide to calculating circuits in electronics. Handbook, in 2 volumes, vol. 1, translated from English, edited by F. N. Pokrovsky, - M.: Energoatomvyd, 1991, p. 218, o z fig. 10.10; - Starting block of the running engine 43 - Sinistors and their application in household electrical equipment, - M.: ISE)

Znergoatomizdat, 1990, 3.47, fig. 4.1; c - Motor shaft speed control block 45 - Integrated microcircuits (prospective edition), DODEKA publishing house, 1996; (22)

The pipeline repair system works as follows. "Mr

When the self-propelled diagnostic robot in the sealed housing 2 is powered on, the control unit 27 is automatically reset and the initialization routine begins. The internal registers and cells of the random access memory (RAM) of the control unit 27 are reset to their initial state, as well as the parameters of communication via the serial channel of the K5-232S protocol with the personal computer. After returning from the initialization routine, the execution of the diagnostic routine begins. with Control Unit 27, the supply voltage values are determined: 58; 278; 128; 158; - 158, supplied through voltage dividers to the inputs of the multi-channel built-in ;" CPC analog-digital converter (ADC). If the supply voltages are absent or deviate from the specified limits, the control unit 27 transmits their values via a serial channel to the personal computer 36 and the described sequence of actions is repeated until the operator makes a decision to turn off the self-propelled diagnostic i5" robot in the sealed housing 2 and eliminate the malfunction. If the values of the supply voltages are normal, they are memorized in certain cells of the RAM built into the CPU. ik The code of the executed command is sent to the RAM of the CPU of the control unit 21 via a serial channel from 2) the personal computer 36. The operator selects the necessary command from the command menu displayed on the screen 5r of the portable computer 36, depending on the situation in the pipeline inspection area

If the CPC of the control unit 27 has determined the code of the "Forward" command, then the self-propelled diagnostic robot in the hermetic housing 2 begins to execute the corresponding subroutine. When the "Forward" command is received from the portable computer 36, a code package corresponding to speed of movement of the self-propelled diagnostic robot in the hermetic housing 2 and which is memorized in certain cells of the RAM in the CPC of the control unit 27.

The traction motor control unit 22 is supplied with a voltage corresponding to the logic level from the control unit 27

Ф) units on the STOP/START inputs. At the same time, the galvanically decoupled power thyristor is turned on, as a result of which the windings C1-C2, C3-C4 of the running motor are connected to the alternating current voltage 2208.

When a linearly varying voltage is supplied to the Otsap1 input of the traction motor control unit 22 from the control unit 27, a smooth switching on of the regulating galvanically decoupled thyristor occurs. on windings C1-C2, C3-C4.

A voltage corresponding to the logical zero level is supplied to the FORWARD/BACK input of the traction motor control unit 22 from the control unit 27. At the same time, the control relay is switched, which, in turn, leads 65 to the overturning of contacts Ш1-Ш2 on the motor brushes. This leads to a change in direction rotation of the motor shaft, that is, the direction of movement of the self-propelled diagnostic robot in the sealed housing 2.

The CPC of the control unit 27 transmits to the portable computer 36 via a serial channel the completion code of the "Forward" command, which causes the corresponding message to appear on the screen of the portable computer 36. The CPC of the control unit 27 writes a code different from that are used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in the hermetic housing 2. At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and decrypts it.

If the command code does not match the "Forward" command code, the CPU of the control unit 27 compares it with the "Back" command code. If the command code matches the "Back" command code, then the corresponding routine is executed. When the "Back" command is received from the laptop 70 36, a code package corresponding to the speed of movement of the self-propelled diagnostic robot in the hermetic housing 2 is also transmitted via the serial channel, which is memorized in certain cells of the RAM of the CPU of the control unit 27, corresponding to the level of the logical unit of the CPU of the control unit 27 and transmitted to the portable computer 36 by to the serial channel, the completion code of the command "Forward", which causes the corresponding message to appear on the screen of the portable computer 36, the CPU of the unit 7/5 Control 27 writes in the command cell of the RAM built into it a code different from that used in the system, and returns to the main the program for controlling a self-propelled diagnostic robot in a sealed housing 2.

At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and decrypts it.

If the command code does not match the "Back" code, the CPU of the control unit 27 compares it with the "LEFT MANEUVER" command code. If the command code matches, then the corresponding routine is executed.

The ON/OFF input of the running clutch control unit 29 from the control unit 27 is supplied with a voltage corresponding to the zero level. At the same time, the galvanically decoupled power thyristor is turned on, as a result of which the windings C1-C2 of the left running clutch are connected to the alternating current voltage 2208, the electromagnet the running clutch is activated, the drive wheel is braked and the robot is maneuvered in the course of movement. The CPU of the control unit 27 transmits to the portable computer 36 via a serial channel the completion code of the "LEFT-HAND MANEUVER" command, which causes the corresponding message to appear on the screen (8) of the portable computer of the computer 36, the CPC of the control unit 27 writes in the command cell of the RAM built into it a code different from that used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in a sealed housing 2. At the same time, the CPC of the control unit 27 again extracts the command from the cell RAM commands and performs its decryption.

If the command code does not correspond to the "LEFT-HAND MANEUVER" code, the CPU of the control unit 27 compares it with the code of the "RIGHT-HAND MANEUVER" command. If the command code matches, then the corresponding routine is executed. with

A voltage corresponding to the level of the logical unit is supplied to the ON/OFF input of the running clutch control unit 30 from the control unit 27. At the same time, the galvanically decoupled power me) is turned on

From the thyristor, as a result of which the windings C1-C2 of the right running clutch are connected to the alternating current voltage "E 2208, the running clutches are activated, the driving wheel is braked and the robot maneuvers in the direction of movement

The CPC of the control unit 27 transmits to the portable computer 36 via a serial channel the completion code of the "RIGHT-HAND MANEUVER" command, which causes the corresponding message to appear on the screen of the portable computer 36. The CPC of the control unit 27 writes a code, excellent from which " They are used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in the hermetic housing 2. At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and performs decryption. If the command code does not correspond to the code "MANEUVER RIGHT", the CPU of the control unit 21 compares it with the command code "ROTATION OF THE CAMERA LEFT". If the command code matches, the corresponding routine is executed. At the same time, the CPU of the control unit 27 supplies the level of a logical unit to the "Left/Right" input and the STOP/START" input of the control unit of the axial motor of the video camera of their color image 18. At the same time, the optocouplers M1 and M2, the transistor switch 42 are opened and, as a consequence, on a supply voltage of 427 V is supplied to the bridge switching circuit 41. The optocoupler M1 is open, the terminal I! of the winding of the motor is connected to the circuit "27V, and the terminal I2 - to the common wire 2 ("Zag 2") CPC of the control unit 2) 27 transmits to the portable computer computer 36 via the serial channel the completion code of the command "ROTATION OF THE CAMERA LEFT", which causes the corresponding message to appear on the screen of the portable

Me, the computer 36, the CPC of the control unit 27 writes in the command cell of the RAM built into it a code different from what is used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in the sealed housing 2. At the same time, the CPC of the control unit 27 again extracts the command from the RAM command cell and decrypts it.

If the command code does not correspond to the "CAMERA ROTATION LEFT" code, the CPU of the control unit 27 compares it with the command code "CAMERA ROTATION RIGHT". If the command code matched, then the corresponding one is executed

F) subroutine. At the same time, the CPC of the control unit 27 supplies a logical zero level to the "Left/Right" input and a logical one level to the "STOP/PLUSK" input of the control unit for the axial motor of the color image video camera 18. At the same time, the optocouplers M1 and M2, the transistor switch 42 are opened and , as a consequence, the supply voltage 27 is supplied to the bridge circuit because switch 41. The optocoupler M1 is closed, the terminal I of the motor winding is connected to the common wire 2 ("Zag 2"), and the terminal I2 - to the circuit of 427V, which will cause the motor to rotate in reverse side Otherwise, the operation of the block is similar to the operation of the "ROTATION" command

CAMERAS LEFT-HAND" CPC of the control unit 27 transmits to the portable computer 36 via a serial channel the completion code of the command "ROTATION OF THE CAMERA RIGHT-HAND", which causes the corresponding message 65 to appear on the screen of the portable computer 36 CPC of the control unit 27 writes in the command cell of the built-in its RAM code, different from that used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in the hermetic case 2. At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and decrypts it. If the command code does not correspond to the code " CAMERA ROTATE RIGHT", the CPU of the control unit 27 compares it with the code of the command "CAMERA UP".

If the command code matched, then the corresponding routine is executed.

At the same time, the CPC of the control unit 27 supplies the level of a logical unit to the "UP/DOWN" input and the "STOP/START" input of the azimuth motor control unit 20. Further, the operation of the unit is similar to the operation of the axial motor control unit 18 described above. The CPC of the control unit 27 transmits to the portable computer computer 36 through the serial channel the completion code of the "CAMERA UP" command, which causes the corresponding 7/0 message to appear on the screen of the portable computer 36. The CPU of the control unit 27 writes in the command cell of the RAM built into it a code different from that used in system, and returns to the main program for controlling the self-propelled diagnostic robot in the sealed housing 2. At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and decrypts it. If the command code does not match the code"

CAMERA UP", the CPU of the control unit 27 compares it with the command code "CAMERA DOWN". If the command code /5 bpivpav, then the corresponding routine is executed. At the same time, the CPU of the control unit 27 applies a logic zero level to the UP/DOWN input and a logic one level to the "STOP/START" input of the azimuth motor control unit of the color image video camera 20.

In the future, the operation of the unit is similar to the operation of the azimuth motor control unit of the color image video camera 20 when processing the "CAMERA UP" command described above. The CPU of the control unit 27 2o transmits to the portable computer 36 via a serial channel the completion code of the execution of the command "CAMERA

DOWN", which causes the corresponding message to appear on the screen of the portable computer 36. The CPU of the control unit 27 writes in the command cell of the RAM built into it a code different from that used in the system, and returns to the main program for controlling the self-propelled diagnostic robot in the sealed housing 2 At the same time, the CPU of the control unit 27 again extracts the command from the RAM command cell and decrypts it.

If the command code does not match the "CAMERA DOWN" code, the CPU of the control unit 27 compares it with the "LIGHT ON" command code. If the command code matched, then the corresponding routine is executed. When (8) the command "ON LIGHTING" is received from the portable computer Zb via a serial channel, a code package corresponding to the required illumination is also transmitted to the lighting device 23, which is memorized in certain cells of the built-in RAM of the control unit 27. The latter provides a logical zero level to the "ON/OFF" input of the lighting control unit 24. At the same time, the transistor U8 of the latter is closed, thus allowing the passage of the voltage Otsap of the lamps from the control unit 27 to the first input x of the multivibrator with adjustable pulse width 51 through the resistor K16, to the second the input of which is supplied with a voltage of 4158. From the output of the control unit 27, a linearly increasing voltage of the Otsap lamps is supplied from OB to the voltage of the corresponding code package received from the portable computer 36 to the input Otsap lamps of the control unit me) with the lighting device 24. This voltage through the resistor K16 enters the first input of the multivibrator with "E adjustable pulse gap 51. Depending on from the magnitude of the voltage Otsap of the lamps at the output of the latter, a pulse voltage corresponding to the Otsap of the lamps is generated, which is supplied to the anode of the diode of the MOU optocoupler. This voltage is transformed into a light flux, which leads to the activation of the transistor of the MU optocoupler, from the collector of which a pulsed, galvanically decoupled voltage is supplied to the first input of the semiconductor relay 52, to the second "

The input of which is supplied with a voltage of 1278. Semiconductor relay 52 is activated and the voltage from its first output from c is supplied to lamps E1-E4 of the lighting device 23. Since the latter have a greater inertia value, they perform integration of the incoming voltage on them. Thus, by changing the voltage of Otsap lamps, by ;" changes in the code package received from the portable computer 36, the degree of illumination of the lighting device 23 changes, the CPU of the control unit 27 transmits to the portable computer 36 via a serial channel the completion code of the "LIGHTING OFF" command, which causes the corresponding message to appear on the screen of their portable computer of the computer 36, the CPC of the control unit 27 writes in the command cell of the RAM built into it a code different from that used in the system, and returns to the main program for controlling the self-propelled and diagnostic robot in the sealed housing 2. At the same time, the CPC of the control unit 27 again extracts the command from 2 ) RAM command cells and decrypts it. If the command code does not correspond to the "ON LIGHTING" code, the 5o DPC of the control unit 27 compares it with the "ON UV lamp" command code. If the command code matched, then

Meh, the corresponding subroutine is executed. At the same time, the CPC of the control unit 27 supplies the level of a logical unit to the "UV lamp ON/OFF" input of the ultraviolet lamp control unit 25. At the same time, the galvanically decoupled power thyristor is turned on, as a result of which the filament of the UV lamps is connected to an alternating current voltage 2208. If the command code does not correspond to the "ON UV lamp" code, the CPC of the control unit 27 compares it with the "ON inlet valve" command code. If the command code matched, then the corresponding routine is executed. In this case, the CPU of the control unit 27 supplies the level of a logical unit to the input of the "narrow" control unit (F, by electromagnetic valves 8. At the same time, the galvanically decoupled power cat thyristor is turned on, as a result of which the windings of the electromagnetic valve 6 are connected to the alternating current voltage 2208 through the connecting cable 14. The electromagnetic valve b opens and high-pressure air through the supply hose 10 from the compressed air cylinder 5 is fed into the cavity of the inflatable rubber sleeve with the clamped ends of the repair module 1. The CPC of the control unit 27 transmits the execution completion code to the portable computer 36 via a serial channel the command "ON intake valve", which causes the corresponding message to appear on the screen of the portable computer 36, the CPU of the control unit 27 writes in the command cell of the RAM built into it a code different from that used in the system, and returns to the main program 65 for controlling the self-propelled diagnostic robot in a hermetic case 2. At the same time, the CPC blo the control unit 27 again extracts the command from the RAM command cell and decrypts it. If the command code does not correspond to the code "ON intake valve, the CPC of the control unit 27 compares it with the command code "OFF the intake valve". If the command code matched, then the corresponding routine is executed. At the same time, the CPC of the control unit 27 supplies the level of a logical unit to the input "usk1 !" of the solenoid valve control unit 8. At the same time, the galvanically decoupled power thyristor is turned on, as a result of which the windings of the exhaust solenoid valve 7 are connected to the alternating current voltage 2208 via the connecting cable 14.

The valve opens and the air from the inflatable rubber sleeve with the clamped ends of the repair module 1 through the outlet hose 13 is released into the atmosphere of the CPC of the control unit 27 again extracts the command from the shell of commands of the RAM built into the CPC and begins to decipher it. The above-described algorithm for reading commands from the RAM 70 of the control unit 27 and their decryption are produced by a self-propelled diagnostic robot in a sealed housing 2 continuously until the moment it is turned off by the operator. The analog signal from the pressure sensor 4 is sent to the secondary pressure transducer 9. The amplified signal from the latter through the connecting cable 14 is sent to the input

SD of the control unit 27. The control unit 27 converts the pressure signal into a digital form and transmits it to the portable computer 36 via a serial channel. The pressure value in the cavity of the inflatable rubber sleeve with the clamped 7/5 ends of the repair module 1 is displayed on the computer screen. The on-board part is located in the interior of the laboratory - a control, power supply and information visualization device. From the self-propelled diagnostic robot in a sealed housing 2. The gasoline generator 37 powers the portable computer 36, the power supply unit of the diagnostic robot 27, the character generator 33, the video recorder 36. The color image of the video camera 15, where it is converted into an electrical signal, is amplified by the video amplifier 16 and via a cable with a metal the braid 32 enters the first input of the signal generator 33, where it is combined with the signal of the path sensor 31.

The total video signal from the output of the signal generator 33 enters the first inputs of the VCR 35 and the color TV 34. The VCR 35 stores the video signal on the magnetic tape, and it is visualized on the color TV 34.

Compilation of the signals coming from the path sensor 31 with the signal captured from the video camera 15 cm about It allows to produce the binding of the section of the surface that is being diagnosed of the internal pipeline with the distance from the point of the beginning of the diagnosis. The signal from the path sensor 31 together with the image of the internal surface i) of the pipeline is visualized on the screen of the color TV 34 and is stored on the magnetic tape of the VCR 35. The screen of the portable computer 36 shows the command menu of the self-propelled diagnostic robot in the sealed housing 2 and visualizes its state parameters and the progress of command execution. The operator selects the necessary command, depending on the specific situation inside the pipeline, from the given menu using the keyboard or "Mouse" included in the portable computer 36. Communication of the self-propelled diagnostic robot in the sealed housing 2 and the portable of the computer 36 is carried out through the serial c port, which is also a component of the portable computer 36. For communication, standard, hosted signals of the serial channel TxO and XO are used. Commands for controlling the self-propelled diagnostic robot in the hermetic housing 2 are transmitted by the TXxO signal in a serial code, and by the ECHO signal the portable computer 36 "E receives from the latter the parameters of its state and the progress of their execution. A self-propelled diagnostic robot in a hermetic housing 2 with an on-board part - a device for controlling, powering and visualizing the received information. Connected with a cable with a metal braid 32. Before starting the system for repairing the pipeline, an adhesive base is applied to the inflatable sleeve of the repair robot 1 after pre-treating the rubber of the latter a thin layer of machine oil. Repair 7-3) with module 1 is introduced into the pipeline through the process hole, followed by a diagnostic robot in a sealed housing 2. Then they are connected electrically and mechanically to each other. After that, a cable with a metal braid 32 coming from the winch 38 is connected to the diagnostic work in the hermetic housing 2, the gasoline generator 37 is turned on, which provides 2208O power to the entire equipment. A color television 34, VCR Z5, Zznakogenerator 33, personal computer 36 are turned on, and power is supplied to the diagnostic robot in their sealed housing 2 and the repair module 1. The diagnostic robot in the sealed housing 2, when supplied with power, conducts diagnostics of the performance of its nodes and blocks and repair module 1. The result of the diagnosis is displayed on the screen of the personal computer 36 as described above. If the result of the diagnosis is positive, then the operator oo executes, depending on the logical situations in the pipeline, the commands given to the diagnostic robot in the 5p hermetic housing 2, namely, Forward/Backward, On/Off and so on, which are described above. At the same time, at

During the movement of the repair robot 1 and the diagnostic robot in the hermetic housing 2, the inner surface of the pipeline is displayed on the color TV screen 34. The distance from the system inlet to the current location is displayed on the lower part of the color TV screen 34. This information comes from the path sensor 31 and the sign generator 33. Having seen the damage to the pipeline on the screen, the operator brings the center of the repair module 1 to the damage and executes the command to inflate the inflatable rubber the sleeve described above. At the same time, the adhesive repair tape is delivered to the inner surface (F) of the pipeline and fills the damage. Depending on the gluing technology, which is determined by the type of adhesive used, the diagnostic robot in the sealed housing 2 automatically maintains the required pressure in the inflatable rubber sleeve and maintains a similar condition , depending on the technology, a certain time, which is also automatically controlled by the pipeline repair system. The end of the repair process is visualized in the form of a message on the screen of the personal computer 36. At the same time, the operator issues the command "Turn on the exhaust valve" and the output occurs through the exhaust hose 13 compressed air into the atmosphere according to the previously described program.Issuing commands to diagnostic work in a sealed housing 2 Forward/Backward, the camera -

Left/Right, Up/Down, the operation of which is described above, the operator checks the quality of the repair, receiving 65 images of the pipeline section that has been repaired, on the TV screen of the color image 34. After that, the command to end the repair according to the previously described algorithm is issued and the diagnostic robot 2 and the repair module 1 is pulled out of the pipeline through the technological hole. If glue is used as repair adhesives, the polymerization of which occurs under the influence of ultraviolet rays, the repair is carried out as follows. The delivery of glue to the damaged pipeline is the same as described above, except that the end of the glue is produced under the influence of ultraviolet rays, by giving the command to turn on / off the ultraviolet lamp. Extraction of the pipeline repair system is carried out in the same way as described above.

Currently, an experimental sample of the proposed system has been produced. His tests show the feasibility of using the proposed system, especially in the conditions of built-up areas of cities, as well as in places where pipelines intersect with railway, tram and roadways, as /o provides good maneuverability, quick finding of the place of damage, high reliability, a wide range of adhesives, which applied, significantly reduced costs and repair time.

Sources of information: 1. German patent Mo4213898, MKY E16Y 55/18, EOZEZ/06, bull. Mo. 47, 1992. 2 International application Mo89/03003, MKY E16I 16, EO4E17/12, bull. May 8, 1989.

Z. Patent of Ukraine Mo7292, MKY RE16II 55/18.

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Claims (1)

The formula of the invention A pipeline repair system comprising a repair module consisting of a compressed air cylinder connected by a hydraulic supply hose to a first solenoid valve connected to an inflatable hydraulic hose and to a solenoid valve control unit also connected to a second solenoid valve connected to the working and outlet hydraulic hoses , a video camera located on it and connected to a control unit equipped with a personal computer, a TV and a VCR, a winch consisting of an automatic cable stacker, an electromechanical cable winder, a collector on the drum shaft, and the stationary parts of the collector are connected to the input connector, and moving - to the cores of the cable through graphite brushes, a path sensor, which differs in that a self-propelled diagnostic robot is introduced into the system in 7/0 hermetically sealed housing composed of a color image video camera connected through a video amplifier with a metal-braided cable, the color image video camera axial motor, first and second, through a resistor, the terminals of which are connected to the color image video camera axial motor control unit, with connected to the power supply unit, the azimuth motor of the color image video camera, first and second, through a resistor, the terminals of which are connected to the azimuth motor control unit 7/5 Video cameras of a color image connected to the power supply unit, the running motor, the outputs of which are connected to its control unit, consisting of the starting unit of the running motor, the output connected to the reversing unit of the running motor and to the first terminal of the windings connected in series, the second the output of which is connected to the motor shaft rotation speed control unit, and the first, second, third and fourth inputs of the running motor starting unit, the first and second inputs of the motor shaft rotation speed control unit, the first and second inputs of the running motor reversing unit are inputs, and the first and the second outputs of the engine shaft rotation speed control unit - by the outputs of the traction motor control unit connected to the power supply unit, a lighting device consisting of two consecutive connected lamps, first and second, connected in parallel, through a resistor, the outputs of which are connected to the unit control of the lighting device, and the last - to the power supply unit, ultraviolet lamp, the outputs of which are connected to the block Control of the ultraviolet lamp connected to the power supply, the control device connected to the power supply, first, through a resistor, and second, third, through a resistor, and fourth, fifth and sixth, through o resistor, seventh and eighth, through a resistor, inputs, respectively, to the second output of the axial motor, the second output of the azimuth motor, the second output of the parallel connection of the lamps of the lighting device and the second output of the ultraviolet lamp, the ninth, tenth and eleventh inputs - to the first, second and third axis outputs of the control unit , respectively, the first output - to the first input of the last, second and third, fourth and fifth, sixth, seventh and eighth, ninth and tenth, eleventh outputs of the control unit are connected, respectively, to the first and second inputs of the unit axial motor control, the first and second inputs of the azimuth motor control unit, the first, second and third inputs of the travel motor control unit, the first and second inputs of the device control unit lighting, the first and second inputs of the Me control unit) with an ultraviolet lamp, the twelfth output - with a path sensor placed in the diagnostic work in a hermetically sealed housing and optomechanically connected to its driving wheel, the thirteenth and fourteenth outputs - with the inputs of the running clutch control units, connected to the power supply unit and composed of the control circuit , the output of which is connected to the first output of the winding, and the first, second, third and fourth inputs of the control circuit are inputs, and the second output of the winding is the output of the coupling control units, " 70 fifteenth and sixteenth outputs - with a cable with a metal braid, which, in turn, is connected to the third input of the control unit, a pressure sensor and a secondary pressure transducer are inserted into the repair module, interconnected and connected to the solenoid valve control unit and connecting cable, c ;" the on-board part - a device for control, power supply and visualization of received information, a gasoline generator is introduced, signal generator, and the first output of the gasoline generator is connected to a personal computer, the second and third outputs, respectively, to the first input of the signal generator and to the first input of the VCR, the fourth output - to the first input of the color TV, the second input of which is connected to the first the output of the signal generator, the second output of the latter is connected to the second input of the VCR, the output of the color image TV is connected to the second input of the signal generator, the third input of which is connected to a cable with a metallic braid. Gee! 20 Official " . " " . . . official bulletin "Industrial Property". Book 1 "Inventions, useful models, topographies of integrated circuits", 2005, M 1, 15.01.2005. State Department of Intellectual Property of the Ministry of Education and Science of Ukraine. (F) ko bo b5