A power control method and system based on internal detector of long-distance pipeline

Abstract

The present invention discloses a power control method and system based on an internal detector of a long-distance pipeline, and relates to the field of natural gas pipeline detection. The method comprises: obtaining the slope information and the running speed of the internal detector located in the long-distance pipeline, judging whether the internal detector is in an uphill state or a downhill state according to the slope information, when the internal detector is in an uphill state, and when the running speed does not meet the uphill requirement, adjusting the running speed to a first preset speed, when the internal detector is in a downhill state, and when the running speed does not meet the downhill requirement, adjusting the running speed to a second preset speed, repeating steps S1-S3, adjusting the running speed in real time, until the internal detector passes through the long-distance pipeline, effectively realizing the uniform speed running of the self-crawling internal detector in the stable pipe section, increasing power and starting the auxiliary power system in the climbing pipe section, starting the braking system in the downhill pipe section to reduce the running power, and ensuring the safe and stable travel of the self-crawling internal detector.

Description

Technical Field

[0001] The present invention relates to the field of natural gas pipeline detection, and in particular to a power control method and system based on an internal detector of a long-distance pipeline. Background Art

[0002] With the development of society, the total mileage of pipelines in my country is becoming increasingly large, the number of newly built pipelines is increasing, and the demand for pipeline in-pipeline detection is also increasing. Traditional pipeline in-pipeline detectors usually use pipeline conveying media as the driving force and perform non-destructive testing on the pipeline. The pipeline pre-commissioning inspection cannot use the production operation medium as the power source to carry out the inspection work. At present, the pipeline pre-commissioning inspection mainly uses air as the medium and the air compressor provides the power source to drive the detector to operate, or uses water as the medium and the water pump as the power source to drive the detector to operate. However, the compressibility of air will cause the detector to operate unstably, and the test results cannot be guaranteed. For steep slope pipelines, there may be a risk of internal detector jamming; although the water-driven method has stable working conditions, it requires a large amount of clean water as the medium, and it is difficult to obtain water and there are environmental risks in drainage. The autonomous crawling pipeline in-pipeline detector does not need to drive the medium, and uses electric power to realize multi-functional pipeline in-pipeline detection. The working conditions are stable and reliable, and the cost is controllable.

[0003] The driving combination of the self-crawling intelligent internal detector of long-distance pipelines usually includes multiple drive motor wheels that are staggered and arranged side by side to form two front and rear drive sections. When the self-crawling internal detector encounters a steep slope during its travel, there may be a problem of insufficient power, causing the internal detector to be stuck in the pipeline; when encountering a long downhill slope, due to excessive inertia, the speed of the internal detector may be too fast, which will affect the reliability of the internal detection data; when encountering a small and curved pipeline, the friction between the internal detector and the pipeline may be too large, causing it to be stuck. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a power control method and system based on an internal detector of a long-distance pipeline in view of the deficiencies in the prior art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A power control method based on an internal detector of a long-distance pipeline, comprising:

[0007] S1, obtaining slope information of an internal detector located in a long-distance pipeline and a running speed of the internal detector;

[0008] S2, judging whether the internal detector is in an uphill state or a downhill state according to the slope information, and when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjusting the running speed to a first preset speed;

[0009] S3, when the internal detector is in a downhill state and the running speed does not meet the downhill requirement, adjusting the running speed to a second preset speed;

[0010] S4, repeating steps S1-S3, adjusting the running speed in real time until the internal detector passes through the long-distance pipeline.

[0011] The beneficial effects of the present invention are as follows: through this scheme, the self-crawling internal detector can be effectively operated at a uniform speed in a stable pipe section, power can be increased and the auxiliary power system can be started in a climbing pipe section, and the braking system can be started in a downhill pipe section to reduce the operating power, thereby ensuring the safe and stable movement of the self-crawling internal detector.

[0012] Furthermore, the S2 specifically includes:

[0013] When the internal detector is in an uphill state and the slope value is within a first preset range, the driving wheel is accelerated by increasing the driving wheel power to adjust the running speed to the first preset speed;

[0014] The slope information includes: uphill state, downhill state and slope value.

[0015] The beneficial effect of adopting the above further solution is: by increasing the driving wheel power to control the driving wheel acceleration, the internal detector can stably pass through the uphill section of the pipe.

[0016] Furthermore, S2 also specifically includes: when the internal detector is in an uphill state and when the slope value is in a second preset range, the auxiliary wheel power is controlled through the auxiliary wheel, and the driving wheel power is reduced to adjust the running speed to the first preset speed.

[0017] The beneficial effect of adopting the above further scheme is: by starting the auxiliary wheel and controlling the power of the auxiliary wheel, while reducing the power of the driving wheel, a stable uphill speed is obtained under the control of the driving power of the internal detector as a whole.

[0018] Furthermore, S2 also specifically includes: when the internal detector is in an uphill state and when the slope value is in a third preset range, the auxiliary wheel power is controlled by starting the auxiliary wheel, and the driving wheel power is increased at the same time, and the running speed is adjusted to the first preset speed.

[0019] The beneficial effect of adopting the above further solution is: by starting the auxiliary wheel and controlling the power of the auxiliary wheel, the power of the driving wheel is increased at the same time.

[0020] Furthermore, the S3 specifically includes:

[0021] When the internal detector is in a downhill state and when the slope value is in a fourth preset range, the braking system is activated and the running speed is adjusted to the second preset speed by controlling the brake.

[0022] The beneficial effect of adopting the above further solution is: by starting the braking system, the braking degree is controlled to control the operating speed of the internal detector.

[0023] Furthermore, S3 also specifically includes: when the internal detector is in a downhill state and when the slope value is in a fifth preset range, starting the brake system and the auxiliary wheel to drive in reverse, and adjusting the running speed to a second preset speed by controlling the brake system and the auxiliary wheel.

[0024] The beneficial effect of adopting the above further solution is: by starting the brake system, the auxiliary wheel reverse drive is started at the same time, so as to achieve the purpose of controlling the running speed of the internal detector.

[0025] Furthermore, it also includes:

[0026] Obtain slope information based on the posture information of the internal detector;

[0027] According to the mileage information, the running speed of the internal detector is obtained.

[0028] Another technical solution of the present invention to solve the above technical problems is as follows:

[0029] A power control system based on an internal detector of a long-distance pipeline, comprising: a speed acquisition module, a first adjustment module, a second adjustment module and an operation adjustment module;

[0030] The speed acquisition module is used to acquire the slope information of the internal detector located in the long-distance pipeline and the running speed of the internal detector;

[0031] The first adjustment module is used to determine whether the internal detector is in an uphill state or a downhill state according to the slope information, and when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjust the running speed to a first preset speed;

[0032] The second adjustment module is used for adjusting the running speed to a second preset speed when the internal detector is in a downhill state and the running speed does not meet the downhill requirement;

[0033] The operation adjustment module is used to adjust the operation speed in real time according to the speed acquisition module, the first adjustment module, and the second adjustment module until the internal detector passes through the long-distance pipeline.

[0034] The beneficial effects of the present invention are as follows: through this scheme, the self-crawling internal detector can be effectively operated at a uniform speed in a stable pipe section, power can be increased and the auxiliary power system can be started in a climbing pipe section, and the braking system can be started in a downhill pipe section to reduce the operating power, thereby ensuring the safe and stable movement of the self-crawling internal detector.

[0035] Further, the first adjustment module is used to control the acceleration of the driving wheel by increasing the driving wheel power and adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a first preset range;

[0036] The slope information includes: uphill state, downhill state and slope value.

[0037] The beneficial effect of adopting the above further solution is: by increasing the driving wheel power to control the driving wheel acceleration, the internal detector can stably pass through the uphill section of the pipe.

[0038] Furthermore, the first adjustment module is specifically used to control the auxiliary wheel power through the auxiliary wheel and reduce the driving wheel power to adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a second preset range.

[0039] The beneficial effect of adopting the above further scheme is: by starting the auxiliary wheel and controlling the power of the auxiliary wheel, while reducing the power of the driving wheel, a stable uphill speed is obtained under the control of the driving power of the internal detector as a whole.

[0040] Furthermore, the first adjustment module is specifically used to control the auxiliary wheel power by starting the auxiliary wheel and increase the driving wheel power to adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a third preset range.

[0041] The beneficial effect of adopting the above further solution is: by starting the auxiliary wheel and controlling the power of the auxiliary wheel, the power of the driving wheel is increased at the same time.

[0042] Furthermore, the second adjustment module is specifically used to adjust the running speed to the second preset speed by starting the braking system and controlling the brakes when the internal detector is in a downhill state and when the slope value is in a fourth preset range.

[0043] The beneficial effect of adopting the above further solution is: by starting the braking system, the braking degree is controlled to control the operating speed of the internal detector.

[0044] Furthermore, the second adjustment module is specifically used to start the brake system and the auxiliary wheel to drive in reverse when the internal detector is in a downhill state and when the slope value is in a fifth preset range, and adjust the running speed to a second preset speed by controlling the brake system and the auxiliary wheel.

[0045] The beneficial effect of adopting the above further solution is: by starting the brake system, the auxiliary wheel reverse drive is started at the same time, so as to achieve the purpose of controlling the running speed of the internal detector.

[0046] Furthermore, the speed acquisition module is specifically used to obtain slope information according to the posture information of the internal detector;

[0047] According to the mileage information, the running speed of the internal detector is obtained.

[0048] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic flow chart of a power control method based on an internal detector of a long-distance pipeline provided by an embodiment of the present invention;

[0050] Figure 2 A structural block diagram of a power control system based on an internal detector of a long-distance pipeline provided by an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of a power control method for a self-crawling intelligent internal detector of a long-distance pipeline based on posture recognition provided by another embodiment of the present invention;

[0052] Figure 4 A schematic diagram of a power control method for a long-distance pipeline self-crawling intelligent internal detector based on power monitoring provided in another embodiment of the present invention;

[0053] Figure 5 A schematic diagram of a power control system for a long-distance pipeline self-crawling intelligent internal detector provided in other embodiments of the present invention. DETAILED DESCRIPTION

[0054] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention but not to limit the scope of the present invention.

[0055] like Figure 1 As shown, a power control method based on an internal detector of a long-distance pipeline provided by an embodiment of the present invention includes:

[0056] The inertial navigation system is used to sense the position and direction of the inner detector in real time, obtain the attitude information of the inner detector, analyze the slope information of the inner detector in real time based on the attitude information, and control the acceleration and deceleration of the drive wheel and whether to start the auxiliary wheel based on the slope information, so as to achieve the purpose of controlling the inner detector to pass smoothly through the uphill and downhill sections.

[0057] According to the buried depth and direction information of the pipeline to be detected, through the preliminary simulation calculation, the uphill slope value interval of the internal detector self-crawling drive change is set as (θ a ,θ b );Set the internal detector downhill driving change critical slope value to θd Among them, the preliminary simulation calculation includes: 1. Combined with the kinematic equation, according to the influencing factors such as slope, weight of the internal detector, and driving power, analyze the uphill slope value at which the driving wheel can stably run the set speed at maximum power; analyze the uphill slope value at which the internal detector can stably run the set speed under the condition of the intervention of the auxiliary wheel; 2. Downhill drive changes the critical slope value. Combined with the kinematic equation, according to the influencing factors such as slope, weight of the internal detector, and driving power, analyze the slope value corresponding to the limit operating speed that can be controlled by power regulation in the downhill state. When this slope value is exceeded, the braking system needs to intervene to control the operating speed of the internal detector to keep it in a controllable and stable state.

[0058] The uphill slope value interval is (θ a ,θ b ), according to the test results that have been completed, the uphill slope interval of the internal detector self-creep drive change is (π / 4, 2π / 5).

[0059] Downhill driving changes the critical slope value to θ d According to the test results that have been completed, the critical slope value of the downhill drive change from the creep drive change of the internal detector is 3π / 4.

[0060] S1, obtain the slope information of the internal detector located in the long-distance pipeline and the running speed of the internal detector; in a certain embodiment, obtain the mileage information and posture information of the internal detector; analyze the real-time running speed of the internal detector based on the mileage information; and analyze in real time whether the internal detector is in an uphill or downhill running state and the slope information based on the posture information.

[0061] S2, judging whether the internal detector is in an uphill state or a downhill state according to the slope information, when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjusting the running speed to a first preset speed; wherein the first preset speed can be a stable uphill speed, which can be determined according to the actual downhill situation.

[0062] In one embodiment, in the uphill pipe section, the real-time slope value of the self-climbing internal detector is θ t , when θ t ∈(0,θ a ), the driving wheel power is increased to control the driving wheel acceleration, so that the internal detector can stably pass through the uphill section; when θ t ∈(θ a ,θ b ), start the auxiliary wheel and control the auxiliary wheel power, while reducing the driving wheel power, and control the internal detector to obtain a stable uphill speed under the driving power of the whole machine; when θ t ∈(θ b ,π / 2), the auxiliary wheel is started and the power of the auxiliary wheel is controlled, and the power of the driving wheel is increased at the same time.

[0063] S3, when the internal detector is in a downhill state, when the running speed does not meet the downhill requirement, the running speed is adjusted to a second preset speed; wherein the second preset speed may be a stable downhill speed, which may be determined according to the actual downhill situation.

[0064] In one embodiment, in the downhill pipe section, the real-time slope value of the self-crawling internal detector is θ t , when θ t ∈(0,θ d ), the brake system is started and the braking degree is controlled to control the running speed of the internal detector; when θ t ∈(θ d ,π / 2), the brake system is activated and the auxiliary wheel reverse drive is started at the same time to achieve the purpose of controlling the running speed of the internal detector.

[0065] S4, repeating steps S1-S3, adjusting the running speed in real time until the internal detector passes through the long-distance pipeline.

[0066] This solution can effectively achieve uniform speed operation of the self-crawling internal detector in the stable pipe section, increase power and start the auxiliary power system in the climbing pipe section, and start the braking system in the downhill pipe section to reduce the operating power, thereby ensuring the safe and stable movement of the self-crawling internal detector.

[0067] Optionally, in any of the above embodiments, S2 specifically includes:

[0068] When the internal detector is in an uphill state and the slope value is within a first preset range, the driving wheel is accelerated by increasing the driving wheel power to adjust the running speed to the first preset speed;

[0069] The slope information includes: uphill state, downhill state and slope value.

[0070] By increasing the driving wheel power to control the acceleration of the driving wheel, the internal detector can be stably passed through the uphill section of the pipe.

[0071] Optionally, in any of the above embodiments, S2 further specifically includes: when the internal detector is in an uphill state and when the slope value is in a second preset range, the auxiliary wheel power is controlled through the auxiliary wheel, and the driving wheel power is reduced to adjust the running speed to the first preset speed.

[0072] By starting the auxiliary wheel and controlling the power of the auxiliary wheel, while reducing the power of the driving wheel, the driving power of the internal detector is controlled to obtain a stable uphill speed.

[0073] Optionally, in any of the above embodiments, S2 further specifically includes: when the internal detector is in an uphill state and when the slope value is in a third preset range, the auxiliary wheel power is controlled by starting the auxiliary wheel, and the driving wheel power is increased at the same time, and the running speed is adjusted to the first preset speed.

[0074] By starting the auxiliary wheel and controlling the power of the auxiliary wheel, the power of the driving wheel is increased at the same time.

[0075] Optionally, in any of the above embodiments, S3 specifically includes:

[0076] When the internal detector is in a downhill state and when the slope value is in a fourth preset range, the braking system is activated and the running speed is adjusted to the second preset speed by controlling the brake.

[0077] By activating the brake system, the degree of braking is controlled to control the operating speed of the internal detector.

[0078] Optionally, in any of the above embodiments, S3 further specifically includes: when the internal detector is in a downhill state and when the slope value is in a fifth preset range, starting the brake system and the auxiliary wheel to drive in reverse, and adjusting the running speed to a second preset speed by controlling the brake system and the auxiliary wheel.

[0079] By activating the brake system and simultaneously activating the reverse drive of the auxiliary wheel, the purpose of controlling the running speed of the internal detector is achieved.

[0080] Optionally, in any of the above embodiments, it further includes:

[0081] Obtain slope information based on the posture information of the internal detector;

[0082] According to the mileage information, the running speed of the internal detector is obtained.

[0083] In another embodiment, a power control method of a long-distance pipeline self-crawling intelligent internal detector based on power monitoring includes:

[0084] Acquire the real-time voltage signal and real-time current signal of the self-creeping internal detector driving motor; acquire the mileage information and posture information of the internal detector; analyze the real-time running speed of the internal detector based on the mileage information; and analyze in real time whether the internal detector is in an uphill or downhill running state and the slope information based on the posture information.

[0085] According to the real-time operating speed and real-time operating environment data of the internal detector obtained by analysis, it is compared with the set operating speed of the internal detector to determine whether the internal detector is in a reasonable operating state. The speed and torque of the motor are controlled by changing the input current of the DC motor, thereby achieving the requirement of controlling the operating speed of the internal detector.

[0086] The set running speed of the internal detector is V0, V0 = (V a +V b ) / 2, where V a ,V b They are the upper and lower limits of the internal detector operating speed respectively.

[0087] Real-time speed V of the internal detector t Ratio V to the set running speed V0 t / V0<1, the motor current of the driving wheel is increased, thereby increasing the output power of the driving wheel, so that the actual speed is consistent with the set speed; when only increasing the motor current of the driving wheel cannot make the speed reach the set value, the auxiliary drive wheel is started to increase the overall power of the internal detector, so as to reach the set speed. t / V0>1, if V t <V b , then reduce the motor speed to reduce the running speed; if V t >V b , the braking mode is activated, the driving wheel and auxiliary wheel are rotated in the opposite direction, so that the running speed of the internal detector reaches the set value.

[0088] According to the self-crawling internal detector driving part is composed of driving wheel and auxiliary wheel, the total operating power P of the internal detector is t The calculation expression is:

[0089]

[0090] Among them, P iA P is the power required for the i-th driving wheel to maintain the set speed when the internal detector is actually running; jB The power required for the jth auxiliary drive wheel to maintain the set speed when the internal detector is actually running; U i is the i-th driving wheel motor voltage, I iA is the i-th driving wheel motor current; U j is the voltage of the jth auxiliary wheel motor, I jB is the jth auxiliary wheel motor current; I A is a set value of the driving wheel current. When I iA >I A When the auxiliary wheel is started, it can assist the internal detector to run stably. Otherwise, the auxiliary wheel will not be started.

[0091] When the self-crawling internal detector is in the uphill state, according to the relationship between power and speed, it can be obtained that:

[0092] P t =(μmgcosθ+mgsinθ)V t ,

[0093] Wherein, μ is the friction coefficient between the internal detector driving device and the pipeline; m is the mass of the internal detector itself; θ is the angle between the pipe section where the internal detector is located and the horizontal direction; V t is the real-time speed of the internal detector.

[0094] Therefore, the power calculation expression required for the internal detector is:

[0095] ΔP=(μmgcosθ+mgsinθ)ΔV,

[0096] Where, ΔV = V0 - V t .

[0097] Combining the above formulas, the calculation expression for the change of the driving wheel and auxiliary wheel motor current can be obtained as shown below. The specific change of the driving wheel and auxiliary wheel motor current can be obtained through calculation.

[0098]

[0099] Among them, ΔI iA is the change in the current of the driving wheel motor; ΔI jB is the current change of the auxiliary wheel motor.

[0100] In another embodiment, a power control system for a self-crawling intelligent internal detector of a long-distance pipeline includes a data acquisition module, a processor module, a drive control module, a power supply module, and a human-computer interaction module.

[0101] The data acquisition module collects information from the crawling internal detector itself and the external environment, and is connected in series with the processor and the drive control and actuator. The data acquisition module collects relevant data information and transmits it to the processor module; the processor module analyzes and processes the data, makes planning decisions on whether to start the drive wheel and the auxiliary wheel and the power adjustment, and issues action instructions to the mechanical control mechanism; the drive control module controls the working parameters of the DC motor of the drive wheel to control the running speed of the entire internal detector. The power supply module provides power for the entire machine such as the DC motor, processor and sensor. The human-computer interaction module is mainly used to set the relevant parameter requirements of the detector before the internal detector is put into the pipeline, including the set running speed of the internal detector and its stable running speed range; in addition, the module can also complete the data transmission, reading and display between the pipeline self-crawling internal detector and the host computer.

[0102] The data acquisition module includes an inertial navigation mapping unit and a mileage unit. The inertial navigation mapping unit can fully describe the geographic coordinate direction of the pipeline and perceive the attitude information of the internal detector in real time; the mileage unit uses a recording sensor to record the mileage of the internal detector in real time. The attitude information and mileage information of the internal detector are digitized through an analog-to-digital converter and transmitted to the data processing module.

[0103] The present invention can effectively realize the uniform speed operation of the self-crawling internal detector in a stable pipe section.

[0104] The present invention can effectively deal with complex situations in pipelines, increase power and start the auxiliary power system in the climbing section to ensure smooth ascent; start the braking system in the downhill section to ensure smooth descent, so that the internal detector can move safely and stably.

[0105] In one embodiment, if Figure 2 As shown, a power control system based on an internal detector of a long-distance pipeline includes: a speed acquisition module 1101, a first adjustment module 1102, a second adjustment module 1103 and an operation adjustment module 1104;

[0106] The speed acquisition module 1101 is used to acquire the slope information of the internal detector located in the long-distance pipeline and the running speed of the internal detector;

[0107] The first adjustment module 1102 is used to determine whether the internal detector is in an uphill state or a downhill state according to the slope information, and when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjust the running speed to a first preset speed;

[0108] The second adjustment module 1102 is used for adjusting the running speed to a second preset speed when the internal detector is in a downhill state and the running speed does not meet the downhill requirement;

[0109] The operation adjustment module 1103 is used to adjust the operation speed in real time according to the speed acquisition module, the first adjustment module and the second adjustment module until the internal detector passes through the long-distance pipeline.

[0110] This solution can effectively achieve uniform speed operation of the self-crawling internal detector in the stable pipe section, increase power and start the auxiliary power system in the climbing pipe section, and start the braking system in the downhill pipe section to reduce the operating power, thereby ensuring the safe and stable movement of the self-crawling internal detector.

[0111] Optionally, in any of the above embodiments, the first adjustment module 1102 is used to control the acceleration of the driving wheel by increasing the driving wheel power to adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a first preset range;

[0112] The slope information includes: uphill state, downhill state and slope value.

[0113] By increasing the driving wheel power to control the acceleration of the driving wheel, the internal detector can be stably passed through the uphill section of the pipe.

[0114] Optionally, in any of the above embodiments, the first adjustment module 1102 is specifically used to control the auxiliary wheel power through the auxiliary wheel and reduce the driving wheel power to adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a second preset range.

[0115] By starting the auxiliary wheel and controlling the power of the auxiliary wheel, while reducing the power of the driving wheel, the driving power of the internal detector is controlled to obtain a stable uphill speed.

[0116] Optionally, in any of the above embodiments, the first adjustment module 1102 is specifically used to control the power of the auxiliary wheel by starting the auxiliary wheel and increase the power of the driving wheel to adjust the running speed to the first preset speed when the internal detector is in an uphill state and when the slope value is in a third preset range.

[0117] By starting the auxiliary wheel and controlling the power of the auxiliary wheel, the power of the driving wheel is increased at the same time.

[0118] Optionally, in any of the above embodiments, the second adjustment module 1103 is specifically used to adjust the running speed to the second preset speed by starting the braking system and controlling the brakes when the internal detector is in a downhill state and when the slope value is in a fourth preset range.

[0119] By activating the brake system, the degree of braking is controlled to control the operating speed of the internal detector.

[0120] Optionally, in any of the above embodiments, the second adjustment module 1103 is specifically used to start the braking system and the auxiliary wheel to drive in reverse when the internal detector is in a downhill state and when the slope value is in a fifth preset range, and adjust the running speed to the second preset speed by controlling the braking system and the auxiliary wheel.

[0121] By activating the brake system and simultaneously activating the reverse drive of the auxiliary wheel, the running speed of the internal detector can be controlled.

[0122] Optionally, in any of the above embodiments, the speed acquisition module 1101 is specifically used to obtain slope information according to the posture information of the internal detector;

[0123] According to the mileage information, the running speed of the internal detector is obtained.

[0124] It can be understood that in some embodiments, some or all of the optional implementation modes in the above embodiments may be included.

[0125] It should be noted that the above embodiments are product embodiments corresponding to the previous method embodiments. For the description of the optional implementation methods in the product embodiments, reference can be made to the corresponding description in the above method embodiments, which will not be repeated here.

[0126] In another embodiment, if Figure 3 As shown, a schematic diagram of a power control method for a self-crawling intelligent inner detector of a long-distance pipeline based on posture recognition includes the following steps: sensing the position and direction of the inner detector in real time through an inertial navigation system, acquiring the posture information of the inner detector, analyzing the slope information of the inner detector in real time based on the posture information, and controlling the acceleration and deceleration of the drive wheel and whether to start the auxiliary drive wheel based on the slope information, so as to achieve the purpose of controlling the inner detector to pass smoothly through uphill and downhill sections of the pipeline.

[0127] Specifically, according to the buried depth and direction information of the pipeline to be detected, through the previous simulation calculation, the uphill slope value interval of the internal detector self-crawling drive change is set to (θ a ,θ b );Set the internal detector downhill driving change critical slope value to θ d .

[0128] In the uphill section, the real-time slope value of the self-crawling internal detector is θ t , when θ t ∈(0,θ a ), the driving wheel power is increased to control the driving wheel acceleration, so that the internal detector can stably pass through the uphill section; when θ t ∈(θ a ,θ b ), start the auxiliary wheel and control the auxiliary wheel power, while reducing the driving wheel power, and control the internal detector to obtain a stable uphill speed under the driving power of the whole machine; when θ t ∈(θ b ,π / 2), the auxiliary wheel is started and the power of the auxiliary wheel is controlled, and the power of the driving wheel is increased at the same time.

[0129] In the downhill section, the real-time slope value of the self-crawling internal detector is θ t , when θ t ∈(θ d ,0), the brake system is started and the braking degree is controlled to control the running speed of the internal detector; when θ t ∈(-π / 2,θ d ), the brake system is activated and the auxiliary wheel reverse drive is started at the same time to achieve the purpose of controlling the running speed of the internal detector.

[0130] In another embodiment, if Figure 4As shown, a schematic diagram of a power control method for a self-creeping intelligent internal detector of a long-distance pipeline based on power monitoring includes the following steps: according to real-time monitoring of the operating speed of the internal detector, by comparing it with the set operating speed value, it is determined whether the internal detector is in a safe operating state, and then the corrected DC motor output current is calculated and fed back to the DC motor control box to control the motor speed, thereby changing the operating speed of the internal detector.

[0131] Specifically, when the internal detector is in an uphill state and the running speed is too low, that is, the real-time running speed V of the internal detector is t Ratio V to the set running speed V0 t When / V0 is less than 1, the motor current of the driving wheel is increased, thereby increasing the output power of the driving wheel and making the actual speed consistent with the set speed; when simply increasing the motor current of the driving wheel cannot make the speed reach the set speed, the auxiliary wheel is started to increase the overall power of the internal detector, thereby reaching the set speed and running stably.

[0132] U i is the i-th driving wheel motor voltage, I iA is the i-th driving wheel motor current; U j is the voltage of the jth auxiliary wheel motor, I jB is the jth auxiliary wheel motor current; I A is a set value of the driving wheel current. When I iA >I A When the internal detector is in the state of motion, the auxiliary wheel is started to assist the internal detector to run stably. Otherwise, the auxiliary wheel is not started. μ is the friction coefficient between the internal detector drive device and the pipeline; m is the mass of the internal detector itself; θ is the angle between the pipe section where the internal detector is located and the horizontal direction; V t is the real-time speed of the internal detector; the specific calculation expression for the current change of the driving wheel and auxiliary wheel motor is as follows:

[0133]

[0134] Among them, ΔI iA is the change in the current of the driving wheel motor; ΔI jB is the auxiliary wheel motor current change.

[0135] The motor current signal is corrected according to the calculated current changes of the driving wheel and the auxiliary wheel motors, so that the internal detector can operate stably within the set operating speed range.

[0136] When the internal detector is in the downhill state and the running speed is too high, that is, V t / V0>1, if V t <V b , then reduce the motor speed to reduce the running speed; if V t >Vb , the braking mode is activated, the driving wheel and auxiliary wheel are rotated in the opposite direction, so that the internal detector reaches the set value.

[0137] In another embodiment, if Figure 5 As shown, a power control system for a self-crawling intelligent internal detector of a long-distance pipeline includes a data acquisition module, a processor module, a drive control module, a power supply module and a human-computer interaction module.

[0138] The data acquisition module collects information from the crawling internal detector itself and the external environment, and is connected in series with the processor and the drive control and actuator. The data acquisition module collects relevant data information and transmits it to the processor module; the processor module analyzes and processes the data, makes planning decisions on whether to start the drive wheel and the auxiliary wheel and the power adjustment, and issues action instructions to the mechanical control mechanism; the drive control module controls the working parameters of the DC motor of the drive wheel to control the running speed of the entire internal detector. The power supply module provides power for the entire machine such as the DC motor, processor and sensor. The human-computer interaction module is mainly used for data transmission, reading and display between the pipeline self-crawling internal detector and the host computer.

[0139] The data acquisition module includes an inertial navigation mapping unit, a mileage unit, and a pipeline endoscope imaging unit. The inertial navigation mapping unit can fully describe the geographic coordinate direction of the pipeline and perceive the attitude information of the internal detector in real time; the mileage unit is composed of a recording sensor that records the mileage of the internal detector in real time; the pipeline endoscope imaging unit is composed of a high-definition camera equipped with an acquisition system, which is installed at the front end of the internal detector to collect image information in the pipeline in real time. The attitude information, mileage information, and image information of the internal detector are digitized through an analog-to-digital converter and transmitted to the data processing module.

[0140] The reader should understand that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the method embodiments described above are only illustrative, for example, the division of steps is only a logical function division, and there may be other division methods in actual implementation, such as multiple steps can be combined or integrated into another step, or some features can be ignored or not executed.

[0142] If the above method is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0143] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A power control method based on an internal detector of a long-distance pipeline, characterized in that: include: S1, obtaining slope information of an internal detector located in a long-distance pipeline and a running speed of the internal detector; S2, judging whether the internal detector is in an uphill state or a downhill state according to the slope information, and when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjusting the running speed to a first preset speed; S3, when the internal detector is in a downhill state and the running speed does not meet the downhill requirement, adjusting the running speed to a second preset speed; S4, repeating steps S1-S3, adjusting the running speed in real time until the internal detector passes through the long-distance pipeline; The S2 specifically includes: When the internal detector is in an uphill state and the slope value is within a first preset range, the driving wheel is accelerated by increasing the driving wheel power to adjust the running speed to the first preset speed; Wherein, the slope information includes: uphill state, downhill state and slope value; The S2 further specifically includes: when the internal detector is in an uphill state and when the slope value is in a second preset range, the auxiliary wheel power is controlled by starting the auxiliary wheel, and the driving wheel power is reduced, and the running speed is adjusted to the first preset speed; The step S2 further specifically includes: when the internal detector is in an uphill state and the slope value is in a third preset range, the auxiliary wheel power is controlled by starting the auxiliary wheel, and the driving wheel power is increased to adjust the running speed to the first preset speed; The S3 specifically includes: When the internal detector is in a downhill state and the slope value is in a fourth preset range, the brake system is activated to adjust the running speed to a second preset speed by controlling the brake; The step S3 further specifically includes: when the internal detector is in a downhill state and the slope value is in a fifth preset range, starting the brake system and the auxiliary wheel to drive in reverse, and adjusting the running speed to a second preset speed by controlling the brake system and the auxiliary wheel; Also includes: According to the internal detector driving part consisting of a driving wheel and an auxiliary wheel, the total operating power P of the internal detector is t The calculation expression is: Among them, P iA P is the power required for the i-th driving wheel to maintain the set speed when the internal detector is actually running; jB The power required for the jth auxiliary drive wheel to maintain the set speed when the internal detector is actually running; U i is the i-th driving wheel motor voltage, I iA is the i-th driving wheel motor current; U j is the voltage of the jth auxiliary wheel motor, I jB is the jth auxiliary wheel motor current; I A is a set value of the driving wheel current. When I iA >I A When the auxiliary wheel is started, the auxiliary wheel is started to assist the internal detector to run stably, otherwise the auxiliary wheel is not started; When the internal detector is in the uphill state, according to the relationship between power and speed: P t =(μmgcosθ+mgsinθ)V t , Wherein, μ is the friction coefficient between the internal detector driving device and the pipeline; m is the mass of the internal detector itself; θ is the angle between the pipe section where the internal detector is located and the horizontal direction; V t is the real-time speed of the internal detector; The power calculation expression required for the internal detector is: ΔP=(μmgcosθ+mgsinθ)ΔV, Where, ΔV = V0 - V t , the set running speed of the internal detector is V0, V0=(V a +V b ) / 2, where V a ,V b are the upper and lower limits of the internal detector’s operating speed respectively; Then we get the calculation expression of the change of the driving wheel and auxiliary wheel motor current: Among them, ΔI iA is the change in the current of the driving wheel motor; ΔI jB is the current change of the auxiliary wheel motor; The change in the driving wheel and auxiliary wheel motor current is calculated using the calculation expression for the change in the driving wheel and auxiliary wheel motor current.

2. A power control method based on an internal detector of a long-distance pipeline according to claim 1, characterized in that: The S1 specifically includes: Obtain slope information based on the posture information of the internal detector; According to the mileage information, the running speed of the internal detector is obtained.

3. A power control system based on an internal detector of a long-distance pipeline, characterized in that: include: A speed acquisition module, a first adjustment module, a second adjustment module and an operation adjustment module; The speed acquisition module is used to acquire the slope information of the internal detector located in the long-distance pipeline and the running speed of the internal detector; The first adjustment module is used to determine whether the internal detector is in an uphill state or a downhill state according to the slope information, and when the internal detector is in an uphill state and when the running speed does not meet the uphill requirement, adjust the running speed to a first preset speed; The second adjustment module is used for adjusting the running speed to a second preset speed when the internal detector is in a downhill state and the running speed does not meet the downhill requirement; The operation adjustment module is used to adjust the operation speed in real time according to the speed acquisition module, the first adjustment module, and the second adjustment module until the internal detector passes through the long-distance pipeline; The first adjustment module is used for controlling the acceleration of the driving wheel by increasing the driving wheel power and adjusting the running speed to the first preset speed when the internal detector is in an uphill state and the slope value is in a first preset range; Wherein, the slope information includes: uphill state, downhill state and slope value; The first adjustment module is specifically used for controlling the power of the auxiliary wheel by starting the auxiliary wheel and reducing the power of the driving wheel to adjust the running speed to the first preset speed when the internal detector is in an uphill state and the slope value is in a second preset range; The first adjustment module is specifically used for controlling the auxiliary wheel power by starting the auxiliary wheel and increasing the driving wheel power to adjust the running speed to the first preset speed when the internal detector is in an uphill state and the slope value is in a third preset range; The second adjustment module is specifically used for adjusting the running speed to the second preset speed by starting the brake system and controlling the brake when the internal detector is in a downhill state and the slope value is in a fourth preset range; The second adjustment module is specifically used for starting the brake system and the auxiliary wheel to drive in reverse when the internal detector is in a downhill state and when the slope value is in a fifth preset range, and adjusting the running speed to a second preset speed by controlling the brake system and the auxiliary wheel; According to the internal detector driving part consisting of a driving wheel and an auxiliary wheel, the total operating power P of the internal detector is t The calculation expression is: Among them, P iA P is the power required for the i-th driving wheel to maintain the set speed when the internal detector is actually running; jB The power required for the jth auxiliary drive wheel to maintain the set speed when the internal detector is actually running; U i is the i-th driving wheel motor voltage, I iA is the i-th driving wheel motor current; U j is the voltage of the jth auxiliary wheel motor, I jB is the jth auxiliary wheel motor current; I A is a set value of the driving wheel current. When I iA >I A When the auxiliary wheel is started, the auxiliary wheel is started to assist the internal detector to run stably, otherwise the auxiliary wheel is not started; When the internal detector is in the uphill state, according to the relationship between power and speed: P t =(μmgcosθ+mgsinθ)V t , Wherein, μ is the friction coefficient between the internal detector driving device and the pipeline; m is the mass of the internal detector itself; θ is the angle between the pipe section where the internal detector is located and the horizontal direction; V t is the real-time speed of the internal detector; The power calculation expression required for the internal detector is: ΔP=(μmgcosθ+mgsinθ)ΔV, Where, ΔV = V0 - V t , the set running speed of the internal detector is V0, V0=(V a +V b ) / 2, where V a ,V b are the upper and lower limits of the internal detector’s operating speed respectively; Then we get the calculation expression of the change of the driving wheel and auxiliary wheel motor current: Among them, ΔI iA is the change in the current of the driving wheel motor; ΔI jB is the current change of the auxiliary wheel motor; The change in the driving wheel and auxiliary wheel motor current is calculated using the calculation expression for the change in the driving wheel and auxiliary wheel motor current.

Images