Emergency response and repair method for underwater pipeline route

Abstract

The invention relates to an emergency response and repair method for an underwater pipeline route. The emergency response and repair method comprises the following steps that S1, firstly, a detection device is placed into a pipeline in the flowing direction of a fluid medium; s2, starting a measuring instrument of the head mechanism, carrying out data fusion, and transmitting the data to a control center of the head mechanism in real time; s3, opening a fan plate, and then starting propellers on the head mechanism and the propelling mechanism: the two mechanisms work together to realize the swimming and steering movement of the detection device in the pipeline, and detecting the condition in the pipeline by using a sensor; s4, when the head mechanism detects that the flow velocity in the pipeline changes suddenly, taking back the fan plate, closing the spiral propeller and the axial spiral propeller, and starting the descending spiral propeller to enable the detection device to be attached to the inner wall of the pipeline; s5, the crawling mechanism drives the detection device to creep; s6, when the flow velocity trend is changed from rising to falling, the device is fixed to the inner wall of the pipeline; s7, the repairing mechanism works; and S8, starting the monitoring ring. The pipeline can be detected and repaired autonomously, efficiently and automatically.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater pipeline positioning and detection, and in particular relates to an underwater pipeline routing emergency response and repair method. Background Art

[0002] Traditional underwater pipelines mainly rely on divers for manual inspections. However, due to the particularity of the underwater environment, divers face difficulties such as limited vision and harsh working environment when working underwater, and the operation is difficult and risky. The current development of underwater pipeline detection technology is primarily due to the innovation and application of remote sensing technology, sonar systems, underwater robots (ROVs) and autonomous underwater vehicles (AUVs). Sonar, as the core technology of underwater detection, detects underwater objects by emitting sound waves and receiving their reflected waves. It can penetrate seawater and realize non-contact detection of underwater topography and pipeline distribution. The rise of multi-beam sonar technology has greatly improved the resolution and coverage of detection, and can construct detailed three-dimensional seabed topographic maps, providing strong support for underwater pipeline routing and positioning.

[0003] Modern underwater pipeline routing detection systems use advanced signal processing algorithms to automatically identify and classify underwater targets. However, in extreme or complex water environments, such as high turbidity and strong current areas, current technologies cannot meet the needs of pipeline routing emergency response and repair. Therefore, it is necessary to design a more efficient, safe and reliable underwater pipeline positioning and repair method. Summary of the invention

[0004] The present invention provides an underwater pipeline routing emergency response and repair method to solve the technical problems existing in the known technology, which can independently, efficiently and automatically detect and repair pipelines, reduce labor costs and reduce manual operation risks.

[0005] The present invention includes the following technical solutions:

[0006] An underwater pipeline routing emergency response and repair method comprises the following steps:

[0007] S1. First, place the detection device into the pipeline along the flow direction of the fluid medium. The detection device includes a head mechanism, a propulsion mechanism, a crawling mechanism and a repair mechanism. The head mechanism and the propulsion mechanism, the propulsion mechanism and the crawling mechanism, and the crawling mechanism and the repair mechanism are all connected through a universal coupling and a connecting pipe.

[0008] S2. Start the acoustic Doppler flow profiler of the head mechanism to measure the flow velocity in the pipeline, the laser distance measuring device, the acoustic distance measuring device, the attitude meter and the obstacle avoidance radar auxiliary device to move, use the ultra-low frequency electromagnetic wave locator to locate the detection device in the pipeline, and the diffuse silicon pressure sensor to measure the pressure in the pipeline in real time. The Kalman filter performs data fusion and transmits the data to the control center of the head mechanism in real time;

[0009] S3. The main part of the head mechanism is the head cabin. The head cabin is designed with a rotating shaft and a rotating shaft hinged fan plate on the four sides. The fan plate rotates around the shaft and assists the detection device to move forward by changing the angle of the force of the flowing medium. Four screw propellers are installed on the fan plate. The fan plate is opened, and then the screw propeller of the head mechanism and the four axial screw propellers on the propulsion mechanism are started: the head mechanism and the propulsion mechanism work together to realize the swimming and turning movement of the detection device in the pipeline, and the sensor on the head mechanism is used to detect the situation in the pipeline;

[0010] S4. When the head mechanism detects a sudden change in flow velocity in the pipeline, the fan plate is retracted, the screw propeller and the axial screw propeller are closed, and the descending screw propeller on the top of the crawling mechanism is started to make the detection device adhere to the inner wall of the pipeline; the crawling mechanism includes a crawling front cabin, a connecting hose and a crawling rear cabin, the crawling front cabin is connected to the crawling rear cabin through the connecting hose, and the three wrap around an internally connected space structure, and a crawling frame hinged to the inner side of the crawling front cabin and the crawling rear cabin is provided in the space structure; a self-controlled adsorber for adsorbing the pipeline is provided on the side of the crawling front cabin and the crawling rear cabin away from the connecting hose;

[0011] S5, then start the two self-controlled adsorbers of the crawling front cabin to fix the crawling front cabin, and push the crawling rear cabin forward through the crawling frame; then start the two self-controlled adsorbers of the crawling rear cabin to adsorb and fix the crawling rear cabin on the inner wall of the pipeline, close the self-controlled adsorbers of the crawling front cabin, push the crawling front cabin forward through the crawling frame, and repeat the process of step S5 to make the crawling mechanism drive the detection device to crawl and record the position of the sudden change of flow velocity;

[0012] S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps to place the repair mechanism around the damaged part, and the self-control adsorber of the crawling mechanism all works, fixing the detection device on the inner wall of the pipeline; the repair mechanism is a spindle cone type as a whole, including a connecting disc, a breakable cable box, and a telescopic cable box. One end of the breakable cable box is connected to the connecting disc and the other end is connected to the front end of the front bonding block. The rear end of the front bonding block is provided with an electromagnet and connected to the telescopic cable box. The other end of the telescopic cable box is connected to the front end of the rear bonding block. The front end of the rear bonding block is provided with an electromagnet, an umbrella frame structure is provided inside, and the rear end is connected to a monitoring ring;

[0013] S7, the repair mechanism starts working, the telescopic cable box of the repair mechanism extends the cable to release the rear bonding block in the form of traction, and after the rear bonding block extends out of the damaged part, the telescopic cable box is again pulled by a force F not less than the thrust of the fluid medium on the rear bonding block. 收回 The rear bonding block is retracted to gradually fit the rear bonding block to the outer wall of the pipe. Then, the self-control guide rail slider in the rear bonding block is started to drive the umbrella structure to open and increase the bonding area of ​​the rear bonding block. The electromagnet is started to firmly adsorb the rear bonding block to the outer wall of the pipe. After the adsorption is stable, the breakable cable box at the front end of the front bonding block extends the cable. At the same time, the telescopic cable box retracts the cable. When the front bonding block is close to the inner wall of the pipe, the electromagnet is started to make it fit to the inner wall of the pipe, and fit the damaged part together with the rear bonding block.

[0014] S8. Start the monitoring ring at the end of the repair mechanism to detect the damaged part. If no abnormal fluid flow is detected, the repair is in good condition. Then the cable box can be disconnected to disconnect the cable, leaving the front bonding block and the rear bonding block at the damaged part, and inflate the air bag of the monitoring ring. After the inflation is completed, disconnect the monitoring ring to make it float to the surface to upload data, close the self-control adsorber of the crawling mechanism, start the monitoring instrument of the head mechanism and open the fan plate, and then start the screw propeller and axial screw propeller. The detection device continues to swim and turn in the pipeline, and continues to detect the situation inside the pipeline.

[0015] Furthermore, the flow medium in S3 pushes the fan plate to give the detection device an overall acceleration of:

[0016] Where m is the weight of the entire detection device, C T is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总 It is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate impacted by the fluid medium. v1 is the velocity of the fluid medium flow relative to the fan plate.

[0017] Furthermore, the thrust F1 provided by the lower screw propeller of the head mechanism in S3, which is equal to the gravity of the detection device, is: where F 螺1 is the force provided by a lower screw propeller, ω1 is the angular velocity provided by the lower screw propeller, D is the diameter of the lower screw propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0018] Furthermore, the radial screw propellers on the left and right sides of the bow mechanism in S3 provide a steering thrust F2 of: where F 螺2is the force provided by a radial propeller, ω2 is the angular velocity provided by the radial propeller, D is the diameter of the radial propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0019] Furthermore, the steering thrust F3 provided by the four axial screw propellers on the propulsion mechanism in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 is the force provided by an axial screw propeller, ω3 is the angular velocity provided by the axial screw propeller, D is the diameter of the axial screw propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0020] Furthermore, the sudden change flow rate detected in S4 is the break flow rate v 破口 , specifically: Among them, P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, v 流体 is the fluid medium velocity, and ρ is the fluid medium density.

[0021] Furthermore, the v in S4 流体 Calculated using an acoustic Doppler flow profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the transmitted sound wave frequency, and f r is the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

[0022] Furthermore, the angular velocity ω4 of the descending screw propeller in S4 is:

[0023] Among them, P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, A 管 is the cross-sectional area of ​​the pipe, ρ is the density of the fluid medium, D is the diameter of the descending screw propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0024] Furthermore, the adsorption pressure P provided by the single self-controlled adsorber in S5 is a for:

[0025] Where Aa is the contact area between a single self-controlled adsorber and the pipeline, A 管 is the cross-sectional area of ​​the pipe and μ is the friction coefficient.

[0026] Furthermore, the thrust of the fluid medium applied to the rear laminating block in S7 is:

[0027] Among them A 后大端 is the area of ​​the large end of the rear bonding block, that is, the area of ​​the rear bonding block impacted by the fluid medium, which is a known condition; thus, we can get

[0028] Furthermore, the moving acceleration a of the self-controlled guide rail slider in S7 is 滑块 for:

[0029] The rolling friction coefficient of the ball is μ, and the weight of the slider is M 滑块， P 活塞 is the pressure of the hydraulic cylinder driving the slider, A 活塞 is the cross-sectional area of ​​the hydraulic cylinder.

[0030] Furthermore, the adsorption force Fc of the electromagnet in S7 is Where μ0 is the vacuum permeability, μr is the relative permeability, N is the number of turns of the coil, I is the current in the coil, and Ac is the adsorption area of ​​the electromagnet.

[0031] The present invention has the advantages and positive effects:

[0032] 1. The head mechanism of the present invention integrates a variety of detection elements, such as acoustic Doppler flow profiler, pressure sensor, temperature sensor, binocular camera, etc. Through the integration of these detection elements, the pipeline environment can be more accurately sensed, the breach in the pipeline can be discovered in time and emergency response can be made, providing data support for subsequent repair work, thereby significantly improving the operation efficiency and safety.

[0033] 2. The present invention firmly adsorbs the self-controlled adsorber on the inner wall of the pipeline, ensuring the stable crawling of the device in the pipeline, and adopts electromagnetic adsorption to improve the stability and passability of the device, thereby enhancing its adaptability in complex environments.

[0034] 3. The present invention adopts a traction repair method and has a data monitoring and uploading function, thereby achieving rapid response and precise repair; through the traction repair mechanism, the front bonding block and the rear bonding block are pulled by the cable box to achieve rapid response and emergency repair.

[0035] 4. The present invention transmits data to the ground through a monitoring ring. When working, it can monitor the flow velocity, flow rate and other data of the damaged port in real time, and transmit the data to the ground through a floating airbag; these data are of great significance for evaluating the status of the pipeline and formulating a repair plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the head mechanism of the present invention;

[0038] Figure 3 It is a schematic diagram of the internal structure of the bow cabin of the present invention;

[0039] Figure 4 is a schematic structural diagram of the propulsion mechanism of the present invention;

[0040] Figure 5 It is a structural schematic diagram of the crawling mechanism of the present invention;

[0041] Figure 6 yes Figure 5 Structural cross-sectional view of the automatic control adsorber;

[0042] Figure 7 It is a three-dimensional structural schematic diagram of the repair mechanism of the present invention;

[0043] Figure 8 It is a schematic diagram of the internal structure of the repair mechanism of the present invention;

[0044] Fig. 9 yes Figure 7 Schematic diagram of the structure of the middle monitoring ring;

[0045] In the figure: 1 is a universal coupling, 2 is a connecting pipe; 100 is a bow mechanism, 101 is a bow cabin, 102 is a pressure sensor, 103 is a fan plate, 104 is a screw propeller, 105 is a rotating shaft, 106 is an acoustic Doppler flow profiler, 107 is a temperature sensor, 108 is a laser ranging device, 109 is a sonic ranging device, 110 is a lighting lamp, 111 is a camera, and 115 is an ultra-low frequency electromagnetic wave locator;

[0046] 200 is a propulsion mechanism, 201 is a propulsion cabin, 202 is an axial screw propeller, and 203 is a power source;

[0047] 300 is a crawling mechanism, 301 is a crawling front cabin, 302 is a connecting hose, 303 is a crawling rear cabin, 304 is an attitude indicator and an obstacle avoidance radar, 305 is a steering gear, 306 is a crawling frame, 3070 is a self-controlled absorber; 3071 is a suction cup, 3072 is a chamber, 3073 is a support frame, 3074 is a magnetic piston, 3075 is a self-controlled electromagnet, 3076 is a controllable power supply, and 308 is a descending screw propeller;

[0048] 400 is a repair mechanism; 401 is a connecting disc, 402 is a breakable cable box, 403 is a front bonding block, 404 is a controllable battery, 405 is an electromagnet, 406 is a telescopic cable box, 407 is a rear bonding block, 408 is an umbrella stand rod, 409 is a pushing ring, 410 is a self-control guide rail slider, 411 is a guide rail, 4120 is a monitoring ring; 4121 is a circular ring cabin, 4122 is a sensor, 4123 is an inflatable component, and 4124 is an airbag. DETAILED DESCRIPTION

[0049] In order to further disclose the content, features and effects of the present invention, the following examples are given and described in detail with reference to the accompanying drawings.

[0050] In the description of the following embodiments, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this patent.

[0051] In the description of the following embodiments, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0052] Example: See attached Figure 1-9 , an underwater pipeline routing emergency response and repair method, comprising the following steps:

[0053] S1. First, place the detection device into the pipeline along the flow direction of the fluid medium. The detection device includes a head mechanism 100, a propulsion mechanism 200, a crawling mechanism 300 and a repair mechanism 400. The head mechanism 100 and the propulsion mechanism 200, the propulsion mechanism 200 and the crawling mechanism 300, and the crawling mechanism 300 and the repair mechanism 400 are all connected through a universal coupling 1 and a connecting pipe 2.

[0054] S2. Start the acoustic Doppler flow profiler 106 of the head mechanism 100 to measure the flow velocity in the pipeline. The laser distance measuring device 108, the acoustic wave distance measuring device 109, the attitude indicator and the obstacle avoidance radar 304 assist the movement of the detection device. The ultra-low frequency electromagnetic wave locator 115 is used to position the detection device in the pipeline. The pressure sensor 102 is used to measure the pressure in the pipeline in real time, and the data is transmitted to the control center of the head mechanism 100 in real time.

[0055] S3. The main part of the head mechanism 100 is the head cabin 101. The head cabin 101 is designed with a rotating shaft 105 on the four sides, the upper and lower sides, the left and right sides, and the rotating shaft 105 is hinged to the fan plate 103. The fan plate 103 rotates around the axis and assists the detection device to move forward by changing the angle of the force of the flowing medium. Four screw propellers 104 are installed on the fan plate 103. The fan plate 103 is opened, and then the screw propeller 104 of the head mechanism 100 and the four axial screw propellers 202 on the propulsion mechanism 200 are started: the head mechanism 100 and the propulsion mechanism 200 work together to realize the swimming and turning movement of the detection device in the pipeline;

[0056] The flow medium in S3 pushes the fan plate 103 to give the detection device an overall acceleration of:

[0057] Where m is the weight of the entire detection device, C T is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总 It is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate 103 impacted by the fluid medium, and v1 is the velocity of the fluid medium flow relative to the fan plate.

[0058] The thrust F1 provided by the lower screw propeller 104 of the head mechanism 100 in S3 is equal to the gravity of the detection device: Among them, F 螺1 is the force provided by a lower screw propeller 104, ω1 is the angular velocity provided by the lower screw propeller 104, D is the diameter of the lower screw propeller 104, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0059] The radial screw propellers 104 on the left and right sides of the head mechanism 100 in S3 provide a steering thrust F2 of: Among them, F 螺2 is the force provided by a radial propeller 104, ω2 is the angular velocity provided by the radial propeller 104, D is the diameter of the radial propeller 104, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0060] The steering thrust F3 provided by the four axial screw propellers 202 on the propulsion mechanism 200 in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 is the force provided by an axial screw propeller 202, ω3 is the angular velocity provided by the axial screw propeller 202, D is the diameter of the axial screw propeller 202, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0061] S4. When the head mechanism 100 detects a sudden change in flow velocity in the pipeline, the fan plate 103 is retracted, the screw propeller 104 and the axial screw propeller 202 are closed, and the descending screw propeller 308 at the top of the crawling mechanism 300 is started to make the detection device adhere to the inner wall of the pipeline; the crawling mechanism 300 includes a crawling front cabin 301, a connecting hose 302 and a crawling rear cabin 303. The crawling front cabin 301 is connected to the crawling rear cabin 303 through the connecting hose 302. The three wrap around an internally connected space structure, and a crawling frame 306 is provided in the space structure, which is hinged to the inner side of the crawling front cabin 301 and the crawling rear cabin 303; the crawling front cabin 301 and the crawling rear cabin 303 are provided with a self-controlled adsorber 3070 for adsorbing the pipeline on the side away from the connecting hose 302;

[0062] The sudden flow rate detected in S4 is the break flow rate v 破口 , specifically:

[0063] Among them, P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, v 流体 is the fluid medium velocity, and ρ is the fluid medium density.

[0064] The S4 v 流体 Using the acoustic Doppler flow profiler 106, calculate: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the transmitted sound wave frequency, and f r is the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

[0065] The angular velocity ω4 of the descending screw propeller 308 in S4 is: , where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, A 管 is the cross-sectional area of ​​the pipeline, ρ is the density of the fluid medium, D is the diameter of the descending screw propeller 308, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0066] S5, then start the two self-controlled adsorbers 3070 of the crawling front cabin 301 to fix the crawling front cabin 301, and the adsorption pressure P provided by a single self-controlled adsorber 3070 a for: Where Aa is the contact area between a single self-controlled adsorber 3070 and the pipeline, A 管 is the cross-sectional area of ​​the pipeline, and μ is the friction coefficient. The crawling rear cabin 303 is pushed forward by the crawling frame 306; then the two self-controlling adsorbers 3070 of the crawling rear cabin 303 are started to adsorb and fix the crawling rear cabin 303 on the inner wall of the pipeline, the self-controlling adsorbers 3070 of the crawling front cabin 301 are closed, and the crawling front cabin 301 is pushed forward by the crawling frame 306, and the process of step S5 is repeated to make the crawling mechanism 300 drive the detection device to crawl.

[0067] S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps until the repair mechanism 400 is located around the damaged part, and the self-control adsorber 3070 of the crawling mechanism 300 works completely, fixing the detection device on the inner wall of the pipeline;

[0068] S7, the repair mechanism 400 works, the telescopic cable box 406 of the repair mechanism 400 extends the cable to release the rear bonding block 407 in a pulling manner, and after the rear bonding block 407 extends out of the damaged part, the telescopic cable box 406 is again pulled by a force F not less than the thrust of the fluid medium on the rear bonding block 407. 收回 The rear laminating block 407 is retracted to gradually approach the outer wall of the pipe, and then the self-control guide rail slider 410 in the rear laminating block 407 is started to drive the umbrella structure to open and increase the laminating area of ​​the rear laminating block 407, and the electromagnet 405 is started to firmly adsorb the rear laminating block 407 on the outer wall of the pipe. After the adsorption is stable, the breakable cable box 402 at the front end of the front laminating block 403 extends the cable, and at the same time, the telescopic cable box 406 retracts the cable; when the front laminating block 403 is close to the inner wall of the pipe, the electromagnet 405 is started to make it adhere to the inner wall of the pipe, and adhere to the damaged part together with the rear laminating block 407;

[0069] The thrust of the fluid medium on the rear laminating block 407 in S7 is: Among them A 后大端 is the area of ​​the large end of the rear bonding block 407, that is, the area of ​​the rear bonding block 407 impacted by the fluid medium, which is a known condition; thus, it can be obtained The moving acceleration a of the self-control guide rail slider 410 in S7 滑块 for: The rolling friction coefficient of the ball is μ, and the weight of the slider is M 滑块， P 活塞 is the pressure of the hydraulic cylinder driving the slider, A 活塞 is the cross-sectional area of ​​the hydraulic cylinder.

[0070] The adsorption force F of the electromagnet 405 in S7 c for where μ0 is the vacuum permeability, μ r is the relative magnetic permeability, N is the number of turns of the coil, I is the current in the coil, A c is the adsorption area of ​​the electromagnet.

[0071] S8. Start the monitoring ring 4120 at the end of the repair mechanism 400 to detect the damaged part. If no abnormal fluid flow is detected, the repair is in good condition. Then the cable box 402 can be used to disconnect the cable, leaving the front bonding block 403 and the rear bonding block 407 at the damaged part, and inflate the air bag 4124 of the monitoring ring 4120. After the inflation is completed, disconnect the monitoring ring 4120 to make it float to the water surface to upload data, close the self-control adsorber 3070 of the crawling mechanism 300, start the monitoring instrument of the head mechanism 100 and open the fan plate 103, and then start the screw propeller 104 and the axial screw propeller 202. The detection device continues to swim and turn in the pipeline and continues to detect the situation inside the pipeline.

[0072] The data acquisition bit rate of the monitoring loop 4120 is R acq =f s* b, where R acq is the bit rate of data acquisition, f s is the sampling frequency. According to the Nyquist theorem, it should be at least twice the highest frequency component in the signal. b is the number of quantization bits per sample, which determines the accuracy of quantization. The data upload time of the monitoring ring 4120 is T upload =D / (B*η), where T upload is the time required to upload a specific amount of data, D is the total amount of data to be uploaded, B is the network bandwidth, and η is the upload efficiency (taking into account possible protocol overhead, error retransmission and other factors, and its value is less than or equal to 1).

[0073] like Figure 2-Figure 3 As shown, the bow structure 100 as a whole is in the shape of a bionic snake head, and the bow cabin 101 is equipped with a pressure sensor 102, an acoustic Doppler flow profiler 106, a temperature sensor 107, a laser ranging device 108, an acoustic wave ranging device 109, a lighting lamp 110, a camera 111 and an ultra-low frequency electromagnetic wave locator 115.

[0074] like Figure 4 As shown, the propulsion mechanism 200 is cylindrical as a whole, including a propulsion cabin 201 and a propeller 202. Four propellers 202 are loaded on the outer side of the rear end of the propulsion cabin 201. The propulsion cabin 201 has a built-in power source 203 to provide power for the propeller 202.

[0075] like Figure 5 As shown, the crawling mechanism 300 is in the shape of a bionic caterpillar as a whole, and a self-controlled absorber 3070 for adsorbing the pipe is provided on the side of the crawling front cabin 301 and the crawling rear cabin 303 away from the connecting hose 302. The crawling mechanism 300 also includes an attitude meter and an obstacle avoidance radar 304, and an attitude meter and an obstacle avoidance radar 304 are provided on the outer surface side of the crawling front cabin 301 and the crawling rear cabin 303 to assist the crawling mechanism 300 in attitude adjustment and movement obstacle avoidance. Two symmetrically arranged self-controlled absorbers 3070 are provided at the bottom of each of the crawling front cabin 301 and the crawling rear cabin 303, and the crawling mechanism 300 crawls forward on the inner wall of the pipe by controlling the adsorption function of the self-controlled absorber 3070 and cooperating with the crawling frame 306.

[0076] like Figure 6 As shown, the self-controlled adsorber 3070 is a cylindrical structure as a whole, including a suction cup 3071, a chamber 3072, a support frame 3073, a magnetic piston 3074, a self-controlled electromagnet 3075, and a controllable power supply 3076. ； The suction cup 3071 is loaded under the chamber 3072 to form a closed whole. There is a support frame 3073 in the chamber 3072. The support frame 3073 is located above the suction cup 3071 and supports the magnetic piston 3074. The magnetic piston 3074 can move up and down. There is a self-control electromagnet 3075 above the magnetic piston 3074. The self-control electromagnet 3075 is fixed in the groove of the chamber 3072 and is connected to a controllable power supply 3076 above to provide power.

[0077] like Figure 7-Figure 8As shown, the repair mechanism 400 is a spindle cone shape as a whole, including a connecting disk 401, a breakable cable box 402, a front bonding block 403, a controllable battery 404, an electromagnet 405, a telescopic cable box 406, a rear bonding block 407, an umbrella stand rod 408, a push ring 409, a self-control guide rail slider 410, a guide rail 411, and a monitoring ring 4120. The connecting disk 401 is connected to the rear end of the breakable cable box 402. The breakable cable box 402 can extend the cable and can also disconnect the cable at one time. The end of the cable is connected to the front end of the front bonding block 403. The front bonding block 403 is a cone shape with a small front end and a large rear end. The rear end of the front bonding block 403 is designed with an electromagnet. The controllable battery 404 controls it to be energized and bonded to the inner wall of the pipeline. The rear end of the front bonding block 403 is connected to the telescopic cable box 406, and the telescopic cable box 406 can be extended. The cable can also be retracted. The end of the cable is connected to the front end of the rear bonding block 407. The rear bonding block 407 is a truncated cone with a large front end and a small rear end. The front end of the rear bonding block 407 is designed with an electromagnet 405. The controllable battery 404 controls the power to bond to the outer wall of the pipeline. There is an umbrella frame structure inside the rear bonding block 407. The self-control guide rail slider 410 can slide on the guide rail 411 by itself. The self-control guide rail slider 410 is connected to the pushing ring 409, and the pushing ring 409 is connected to the umbrella frame rod. The sliding of the pushing ring 409 drives the umbrella frame rod 408 to move outward. The outward movement of the umbrella frame rod 408 can expand and change the front end area of ​​the rear bonding block 407, which can be opened and bonded to repair the outer wall of the pipeline after the rear bonding block 407 extends out of the damaged part of the pipeline. The rear end of the rear bonding block 407 is connected to the monitoring ring 4120, and the monitoring ring 4120 can be detached.

[0078] like Figure 8 As shown, the cable is wound around the breakable cable box 402, the cable can be released and contracted, the cable can also be disconnected, and the cable end can be fixed to the front bonding block 403. Similarly, the telescopic cable box 406 can extend the cable and also retract the cable, and the cable end is connected to the front end of the rear bonding block 407.

[0079] like Fig. 9 As shown, the monitoring ring 4120 is a hollow ring as a whole, including a ring cabin 4121, a sensor 4122, an inflatable component 4123 and an airbag 4124. The ring cabin 4121 is designed with a sensor 4122 and an inflatable component 4123. The air pipe of the inflatable component 4123 is connected to the airbag 4124. The inflatable component 4123 can inflate the airbag 4124. After the monitoring ring 4120 is detached from the fitting block 407, it can float to the water surface.

[0080] Although the preferred embodiments of the present invention are described above, the present invention is not limited to the above specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, a person skilled in the art can make many forms without departing from the scope of the present invention and the claims. All of these belong to the protection scope of the present invention.

Claims

1. Emergency response and repair method for underwater pipeline routing, characterized in that: The following steps are involved: S1. First, a detection device is placed into a pipeline along the flow direction of a fluid medium, wherein the detection device comprises a head mechanism (100), a propulsion mechanism (200), a crawling mechanism (300) and a repair mechanism (400); the head mechanism (100) and the propulsion mechanism (200), the propulsion mechanism (200) and the crawling mechanism (300), and the crawling mechanism (300) and the repair mechanism (400) are all connected via a universal coupling (1) and a connecting pipe (2); S2, starting the acoustic Doppler flow profiler (106) of the head mechanism (100) to measure the flow velocity in the pipeline, using a laser distance measuring device (108), an acoustic distance measuring device (109), a posture meter and an obstacle avoidance radar (304) to assist the movement of the detection device, using an ultra-low frequency electromagnetic wave locator (115) to locate the detection device in the pipeline, using a pressure sensor (102) to measure the pressure in the pipeline in real time, and transmitting the data to the control center of the head mechanism (100) in real time; S3. The main part of the head mechanism (100) is the head cabin (101). The head cabin (101) is designed with a rotating shaft (105) on the four sides, upper and lower, left and right. The rotating shaft (105) is hinged to a fan plate (103). Four screw propellers (104) are installed on the fan plate (103). The fan plate (103) is opened, and then the screw propeller (104) of the head mechanism (100) and the four axial screw propellers (202) on the propulsion mechanism (200) are started: the head mechanism (100) and the propulsion mechanism (200) work together to realize the swimming and turning movement of the detection device in the pipeline; S4. When the head mechanism (100) detects a sudden change in flow velocity in the pipeline, the fan plate (103) is retracted, the screw propeller (104) and the axial screw propeller (202) are closed, and the descending screw propeller (308) at the top of the crawling mechanism (300) is started to make the detection device adhere to the inner wall of the pipeline; the crawling mechanism (300) comprises a crawling front cabin (301), a connecting hose (302) and a crawling rear cabin (303), the crawling front cabin (301) is connected to the crawling rear cabin (303) through the connecting hose (302), and the three wrap around an internally connected space structure, and a crawling frame (306) is provided in the space structure, which is hinged to the inner side of the crawling front cabin (301) and the crawling rear cabin (303); the crawling front cabin (301) and the crawling rear cabin (303) are provided with a self-controlled adsorber (3070) for adsorbing the pipeline on the side away from the connecting hose (302); S5, then start the two self-controlled adsorbers (3070) of the crawling front cabin (301) to fix the crawling front cabin (301), and push the crawling rear cabin (303) forward through the crawling frame (306); then start the two self-controlled adsorbers (3070) of the crawling rear cabin (303) to adsorb and fix the crawling rear cabin (303) on the inner wall of the pipeline, close the self-controlled adsorbers (3070) of the crawling front cabin (301), and push the crawling front cabin (301) forward through the crawling frame (306), and repeat the process of step S5 to make the crawling mechanism (300) drive the detection device to crawl; S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps until the repair mechanism (400) is located around the damaged part, and the self-control adsorber (3070) of the creeping mechanism (300) fully works, fixing the detection device on the inner wall of the pipeline; S7, the repair mechanism (400) works, the telescopic cable box (406) of the repair mechanism (400) extends the cable to release the rear bonding block (407) in a pulling manner, and after the rear bonding block (407) extends out of the damaged part, the telescopic cable box (406) then moves at a force F not less than the thrust force F exerted by the fluid medium on the rear bonding block (407) 收回 The rear bonding block (407) is retracted to gradually make the rear bonding block (407) close to the outer wall of the pipeline. Then, the self-control guide rail slider (410) in the rear bonding block (407) is started to drive the umbrella structure to open and increase the bonding area of ​​the rear bonding block (407). The electromagnet (405) is started to firmly adsorb the rear bonding block (407) on the outer wall of the pipeline. After the adsorption is stabilized, the breakable cable box (402) at the front end of the front bonding block (403) extends the cable. At the same time, the telescopic cable box (406) retracts the cable. When the front bonding block (403) is close to the inner wall of the pipeline, the electromagnet (405) is started to make it adhere to the inner wall of the pipeline, and the damaged part is attached to the rear bonding block (407). S8. Start the monitoring ring (4120) at the end of the repair mechanism (400) to detect the damaged part. If no abnormal fluid flow is detected, the repair is in good condition. Then, the cable box (402) can be used to disconnect the cable, and the front bonding block (403) and the rear bonding block (407) can be left at the damaged part. The airbag (4124) of the monitoring ring (4120) is inflated. After the inflation is completed, the monitoring ring (4120) is disconnected to make it float to the surface of the water to upload data. The self-controlled adsorber (3070) of the crawling mechanism (300) is closed, the monitoring instrument of the head mechanism (100) is started and the fan plate (103) is opened. Then, the screw propeller (104) and the axial screw propeller (202) are started. The detection device continues to swim and turn in the pipeline, and continues to detect the situation in the pipeline.

2. The underwater pipeline route emergency response and repair method according to claim 1, characterized in that: The flow medium in S3 pushes the fan plate (103) to give the detection device an overall acceleration of: Where m is the weight of the entire detection device, C T is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总 is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate (103) impacted by the fluid medium, and v1 is the velocity of the fluid medium flow relative to the fan plate.

3. The underwater pipeline routing emergency response and repair method according to claim 1, characterized in that: The thrust F1 provided by the lower screw propeller (104) of the head mechanism in S3 is equal to the gravity of the detection device: where F 螺1 is the force provided by a lower screw propeller (104), ω1 is the angular velocity provided by the lower screw propeller (104), D is the diameter of the lower screw propeller (104), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

4. The underwater pipeline routing emergency response and repair method according to claim 1, characterized in that: The sudden flow rate detected in S4 is the break flow rate v 破口 , specifically: Where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, v 流体 is the fluid medium velocity, and ρ is the fluid medium density.

5. The underwater pipeline routing emergency response and repair method according to claim 4, characterized in that: The S4 v 流体 Calculated using an acoustic Doppler flow profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the transmitted sound wave frequency, and f r is the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

6. The underwater pipeline routing emergency response and repair method according to claim 1, characterized in that: The angular velocity ω4 of the descending screw propeller (308) in S4 is: , where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, A 管 is the cross-sectional area of ​​the pipe, ρ is the density of the fluid medium, D is the diameter of the descending screw propeller (308), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

7. The underwater pipeline routing emergency response and repair method according to claim 6, characterized in that: The adsorption pressure P provided by the single self-controlled adsorber (3070) in S5 is a for: Where Aa is the contact area between a single self-controlled adsorber (3070) and the pipeline, A 管 is the cross-sectional area of ​​the pipe and μ is the friction coefficient.

8. The underwater pipeline routing emergency response and repair method according to claim 1, characterized in that: The thrust of the fluid medium applied to the rear laminating block (407) in S7 is: , A 后大端 is the area of ​​the large end of the rear bonding block (407); 9. The underwater pipeline routing emergency response and repair method according to claim 1, characterized in that: The moving acceleration a of the self-control guide rail slider (410) in S7 is 滑块 for: The rolling friction coefficient of the ball is μ, and the weight of the slider is M 滑块， P 活塞 is the pressure of the hydraulic cylinder driving the slider, A 活塞 is the cross-sectional area of ​​the hydraulic cylinder.

10. The underwater pipeline route emergency response and repair method according to claim 1, characterized in that: The adsorption force Fc of the electromagnet (405) in S7 is Where μ0 is the vacuum permeability, μr is the relative permeability, N is the number of turns of the coil, I is the current in the coil, and Ac is the adsorption area of ​​the electromagnet.

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