Tunnel inspection robot for acid gas pipeline of natural gas field

Abstract

The invention discloses a tunnel inspection robot for an acid gas pipeline of a natural gas field. The tunnel inspection robot for the acid gas pipeline of the natural gas field travels along a track arranged along the acid gas pipeline and inspects the acid gas pipeline in a tunnel along the way, and comprises a frame body, wherein a traveling mechanism clamped on the track is arranged on the frame body, and a control box arranged on the frame body is used for controlling the traveling mechanism and providing electric energy for the traveling mechanism; and a lifting mechanism connected with the control box is further arranged on the frame body, and a follow-up lifting inspection camera and a four-in-one detection module are arranged on the lifting mechanism. According to the invention, through the camera with the lifting function and the four-in-one detection module, an area where hidden dangers possibly occur can be checked in detail, and the problem that a fixed camera of existing inspection equipment has a certain checking dead angle when the inspection equipment is lowered to a certain height can be solved.

Description

technical field [0001] The invention belongs to the technical field of engineering detection, and in particular relates to an inspection robot for sour gas pipeline tunnels in natural gas fields. Background technique [0002] Natural gas fields, referred to as gas fields, are areas rich in natural gas. Generally, organic matter buried at a depth of 1,000 to 6 kilometers at a temperature of 65 to 150 degrees Celsius will produce oil, while deeper burials and higher temperatures will produce natural gas. During the exploitation of natural gas fields, there will be transmission pipelines, including sour gas pipelines. There is partial corrosion in the sour gas pipeline, and due to the influence of the local landform, the sour gas pipeline is built on hills or mountains, especially in the flood season, it is easily affected by force majeure natural factors (such as landslides, water damage, etc.), which will generate torsion on the sour gas pipeline or tension, increasing the ...

AI Technical Summary

Problems solved by technology

[0004] 1. The labor level of employees has been greatly enhanced. Each group of line inspection employees hikes an average of more than 7km in hills or mountains every day, which increases the fatigue of line inspection employees and increases the risk of injury for line inspection employees

[0005] 2. There are no ventilation facilities in the current tunnel, which may cause hypoxia for the inspection staff. Due to the limited field environmental conditions and the long length of the tunnel, it is difficult to realize long-tube air respirators for oxygen supply.

In addition, it is difficult for the inspection staff of the inspection tunnel to replace the gas cylinders in the tunnel due to conditions, and it is prone to insufficient oxygen in the gas cylinder, which increases the safety risk of the inspection staff.

[0006] 3. No lighting facilities, insufficient light and line patrol staff wearing positive-pressure air respirators may cause risks such as falls and bruises for line patrol personnel, and it is also difficult to check the changes in acid gas pipelines and relevant measurement data in detail

[0007] 4. If leakage occurs during the inspection of the patrolling staff, even though they are wearing positive pressure air respirators, the patrolling staff may be exposed to high hydrogen sulfide environment and there may be a risk of personnel poisoning

[0008] 5. In order to prevent animals or non-staff personnel from entering the tunnel, old-fashioned iron doors are used at the entrance and exit, and emergency escape doors are not installed. In case of abnormal conditions, the patrol personnel in the tunnel will waste time when opening the door, reducing the escape rate

[0009] 6. The tools and instruments brought by the line inspection staff in the tunnel inspection operation are complicated, such as (positive pressure air respirator, explosion-proof flashlight, detector, tape measure, recorder, walkie-talkie, etc.), which increases the difficulty and fatigue of inspection

[0010] 7. The tunnel is restricted by the environment and cannot accept and send out signals. Once an abnormal situation occurs, it is difficult to notify the inspection personnel in the tunnel to evacuate in time or the inspection personnel to send an alarm to the central control in time.

[0011] 8. When an abnormal situation occurs, relevant personnel need to enter the tunnel to confirm and collect relevant data. Due to the psychological fear of personnel, relevant information and data will be inaccurate and untimely. Exposure to toxic and harmful gases may cause personnel poisoning and injury

Images