Method, system, apparatus and medium for servicing a liquid delivery conduit

Abstract

The application provides a liquid conveying pipeline maintenance method, system equipment and medium, the liquid conveying pipeline maintenance method comprises the following steps: making the maintenance structure float on the liquid surface, and adjusting the liquid level; obtain the current height; the current height is the liquid level height in the current liquid conveying pipeline; it is judged whether the current height is greater than the first preset value; the first preset value is the maximum height value of the part of the liquid conveying pipeline wall that needs to be maintained; when the current height is not greater than the first preset value, it is judged whether the current height is less than the second preset value; the second preset value is the minimum height value of the part of the liquid conveying pipeline wall that needs to be maintained; when the current height is not less than the second preset value, the maintenance structure is used to maintain the liquid conveying pipeline wall. The liquid conveying pipeline maintenance method provided by the application can effectively improve the safety of the maintenance process and effectively improve the timeliness of the maintenance.

Description

Technical Field

[0001] This application belongs to the field of maintenance equipment technology, and more specifically, relates to a maintenance method, system equipment and medium for liquid transportation pipelines. Background Technology

[0002] Pumped storage power station water transmission pipelines are mainly made of concrete and steel, with a maximum height difference exceeding 500 meters and an inclination angle of up to 90°, i.e., vertical. Due to the high height difference and pressure, long-term operation can easily lead to problems such as cracking, protective layer peeling, and even large-scale collapse.

[0003] Among the relevant technologies, there are three solutions. First, drain the water from the pipe and then use a tow rope to guide an unmanned inspection device into the pipe to acquire images and other information. However, this method carries the risk of the unmanned inspection device falling, which could damage the device and the pipe wall. Second, drain the water from the pipe and then use a drone to enter the pipe to acquire images and other information. However, due to the chimney effect within the pipe, airflow is unstable, making it difficult for the drone to fly stably, and it also carries the risk of falling. Third, with water present in the pipe, use an unmanned underwater vehicle (UUV) to enter the pipe to acquire images and other information. However, due to water quality limitations, the clarity of the acquired photos and other data is relatively low. Summary of the Invention

[0004] The purpose of this application is to provide a method, system equipment, and medium for the maintenance of liquid transport pipelines, so as to solve the technical problems of existing liquid transport pipeline maintenance methods having the risk of falling and low image clarity.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, embodiments of this application provide a method for overhauling a liquid transport pipeline, comprising:

[0007] Make the structure under maintenance float on the liquid surface and adjust the liquid level.

[0008] Get the current height; the current height is the liquid level height in the current liquid delivery pipeline;

[0009] Determine whether the current height is greater than a first preset value; the first preset value is the maximum height of the section of the liquid delivery pipeline wall that needs maintenance.

[0010] When the current height is not greater than the first preset value, it is determined whether the current height is less than the second preset value; the second preset value is the minimum height of the part of the pipe wall of the liquid delivery pipeline that needs to be inspected.

[0011] When the current height is not less than the second preset value, the pipe wall of the liquid delivery pipeline is inspected using the inspection structure.

[0012] The maintenance method for liquid transport pipelines provided in this application involves floating the maintenance structure on the liquid surface. When the liquid transport pipeline is a water pipeline, the liquid surface is the water surface. Compared to traditional methods such as using a tow rope to pull the maintenance structure, using a drone-borne maintenance structure, or using an underwater unmanned vehicle, floating on the liquid surface allows for the support of more weight and effectively avoids the risk of falling. Therefore, personnel can be carried on the maintenance structure to facilitate timely manual maintenance of the pipeline wall. Furthermore, the position of the maintenance structure can be precisely controlled by adjusting the liquid level. In summary, the maintenance method for liquid transport pipelines provided in this application can effectively improve the accuracy and safety of the maintenance process and significantly enhance the timeliness of maintenance.

[0013] In one possible implementation of the first aspect, the inspection of the pipe wall of the liquid transport pipeline using the inspection structure includes:

[0014] The first information is obtained through the inspection structure; the first information is the image information of the pipe wall of the liquid delivery pipeline in the preset area;

[0015] Determine whether the first information is the first preset information; the first preset information is the image information of the pipe wall of the liquid delivery pipeline under normal conditions;

[0016] If the first information is not the first preset information, drive the inspection structure to move closer to the preset area;

[0017] The second information is obtained through the inspection structure; the second information is the ultrasonic information of the pipe wall of the liquid delivery pipeline in the preset area.

[0018] Determine whether the second information is the second preset information; the second preset information is the ultrasonic information of the pipe wall of the liquid delivery pipeline under normal conditions;

[0019] If the second information is not the second preset information, the pipe wall at the preset area is repaired.

[0020] By acquiring the first piece of information, the condition of the pipe wall in the preset area can be roughly determined. If the first piece of information is not the first preset information, it indicates that the pipe wall in the preset area may have an anomaly. At this point, the maintenance structure is driven closer to the preset area, and then the second piece of information is acquired to further determine the condition of the pipe wall in the preset area. If the second piece of information is not the second preset information, it indicates that the pipe wall in the preset area may have an anomaly. In this case, workers can manually repair the pipe wall in the preset area. In summary, since acquiring the first piece of information does not require close proximity, a preliminary screening of the pipe wall can be quickly performed by first acquiring the first piece of information. After an anomaly is found in the preliminary screening, the second piece of information is acquired by approaching the pipe wall, followed by a more in-depth screening. This effectively improves the efficiency of the screening process.

[0021] In one possible implementation of the first aspect, during the maintenance of the pipe wall at the preset area, the adjustment of the liquid level is stopped.

[0022] After the liquid level adjustment is stopped, the liquid level remains stable, and the height of the maintenance structure also remains stable. This allows the staff to maintain this height throughout the maintenance process, which is conducive to stable operation.

[0023] In one possible implementation of the first aspect, after the pipe wall at the preset area is repaired, the step of adjusting the liquid level is repeated.

[0024] After the pipe wall repair in the preset area is completed, the liquid level is readjusted to the next level so that the inspection structure can obtain the first and second information of the preset area corresponding to the next level.

[0025] In one possible implementation of the first aspect, if the first information is the first preset information, the step of obtaining the current height is repeated.

[0026] If the first information is the first preset information, then there is no abnormality in the pipe wall within the preset area at the current height. Therefore, there is no need to get close to the inspection. The current height can be obtained again as the liquid level changes, so that the maintenance structure can obtain the first information at the preset area corresponding to the next height at the next height.

[0027] In one possible implementation of the first aspect, if the second information is the second preset information, the step of obtaining the current height is repeated.

[0028] If the second information is the second preset information, then there is no abnormality in the pipe wall within the preset area at the current height. Therefore, there is no need for maintenance. The current height can be obtained again as the liquid level changes, so that the maintenance structure can obtain the second information at the preset area corresponding to the next height.

[0029] In one possible implementation of the first aspect, when the current height is greater than the first preset value, the step of adjusting the liquid level is repeated.

[0030] If the current height is greater than the first preset value, it means that the maintenance structure has not yet sunk to the height range of the liquid conveying pipeline wall that needs to be maintained. At this time, it is necessary to continue to adjust the liquid level so that the maintenance structure can continue to sink until it sinks to the current height of the first preset value before maintenance can begin.

[0031] Secondly, embodiments of this application provide a maintenance system for liquid transport pipelines, including:

[0032] The inspection structure is designed to float on the liquid surface and to inspect the walls of liquid transport pipelines.

[0033] An adjustment structure is used to adjust the liquid level in the liquid delivery pipeline; a height detection structure is used to obtain the current height; the current height is the current liquid level in the liquid delivery pipeline.

[0034] A processing structure is connected to the height detection structure and the maintenance structure; the processing structure is used to receive the current height and determine whether the current height is within a preset range. When the current height is within the preset range, the processing structure controls the maintenance structure to perform maintenance on the pipe wall of the liquid delivery pipeline.

[0035] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the above-mentioned maintenance method for liquid delivery pipelines.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the above-described method for inspecting and repairing liquid transport pipelines.

[0037] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the maintenance method for the liquid conveying pipeline described in any of the first aspects.

[0038] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A schematic flowchart illustrating the maintenance method for a liquid transport pipeline provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the maintenance structure for a liquid transport pipeline provided in an embodiment of this application.

[0042] The following are the labeling elements in the figure:

[0043] 100. Inspection structure; 110. Base; 120. Floating structure; 130. First collection structure; 150. Second collection structure; 160. Adsorption structure; 180. Guiding structure; 190. Seat; 191. Fence. Detailed Implementation

[0044] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0045] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0046] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "level", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] The present application will now describe the maintenance method, maintenance structure, system equipment and medium for liquid transportation pipelines provided in the embodiments.

[0049] like Figure 1 As shown, an embodiment of this application provides a method for inspecting and maintaining a liquid transport pipeline. Specifically, the liquid transport pipeline can be a water pipeline, an oil pipeline, or other similar pipeline. In a specific embodiment of this application, a water transport pipeline used in an energy storage hydropower station is used as an example. Water transport pipelines used in energy storage hydropower stations are characterized by high elevation differences, thus traditional methods pose a high risk; furthermore, these pipelines also have large diameters, allowing for the inclusion of large-volume structures that can accommodate personnel.

[0050] The method includes:

[0051] S1. Make the structure under inspection float on the liquid surface.

[0052] Specifically, the maintenance structure can be designed in a boat-like or raft-like form, allowing it to float on the liquid surface. Personnel can also travel on the maintenance structure.

[0053] S2. Adjust the liquid level.

[0054] Specifically, the liquid level can be adjusted by slowly draining the liquid from the liquid delivery pipe, in which case the liquid level in the liquid delivery pipe will continuously decrease; alternatively, the liquid level can be adjusted by slowly injecting liquid into the liquid delivery pipe, in which case the liquid level in the liquid delivery pipe will continuously increase; of course, a combination of both methods can also be used, that is, slowly draining the liquid from the liquid delivery pipe for a period of time and slowly injecting liquid into the liquid delivery pipe for another period of time, in which case the liquid level can be flexibly adjusted.

[0055] In a specific embodiment of this application, the liquid level can be adjusted by slowly draining the liquid from the liquid delivery pipeline. In this case, as the maintenance structure slowly sinks with the liquid level, the pipe wall of the water delivery pipeline can be repaired, and the repaired area will be exposed to the air for a considerable period of time afterward, thereby effectively preventing the repaired area from being prematurely submerged in water and affecting the repair effect.

[0056] S3. Obtain the current height, which is the liquid level in the current liquid delivery pipeline.

[0057] Specifically, the current height can be obtained by measuring the liquid level using instruments such as infrared rangefinders, or by measuring the volume of water discharged, or by measuring the time it takes for the water to be discharged. This application does not limit the specific method for obtaining the current height.

[0058] S4. Determine whether the current height is greater than the first preset value, where the first preset value is the maximum height of the part of the pipe wall of the liquid conveying pipeline that needs to be inspected.

[0059] As the liquid in the liquid delivery pipeline is slowly discharged, the maintenance structure gradually sinks from a position close to the first preset value. When the maintenance structure sinks to the current height of the first preset value, it indicates that the maintenance structure has moved to the position where maintenance is required.

[0060] S5. Determine whether the current height is less than the second preset value, where the second preset value is the minimum height of the part of the pipe wall of the liquid conveying pipeline that needs to be inspected.

[0061] As the liquid in the liquid delivery pipeline is slowly discharged, the maintenance structure gradually sinks from a position close to the first preset value to a position close to the second preset value. When the maintenance structure sinks to a height greater than the second preset value, it indicates that the maintenance structure is still in a position that requires maintenance.

[0062] S6. When the current height is not less than the second preset value, the pipe wall of the liquid delivery pipeline is inspected using the inspection structure.

[0063] When the current height is not less than the second preset value, it indicates that the maintenance structure is located in the pipe wall of the liquid transportation pipeline and needs to be maintained. At this time, the maintenance structure can be used to maintain the pipe wall of the liquid transportation pipeline.

[0064] In some embodiments of this application, the inspection of the pipe wall of a liquid delivery pipeline using an inspection structure includes the following steps:

[0065] S7. Obtain first information through the inspection structure. The first information is an image of the pipe wall of the liquid delivery pipeline at a preset area at the current height.

[0066] Specifically, the pipe wall of the liquid delivery pipeline forms a ring-shaped region at the current height, and a preset region can be a part of this ring-shaped region. For example, the circumference of the pipe wall of the liquid delivery pipeline can be 10 units in length, and a preset region can be formed within each unit length region. That is, the ring-shaped region formed by the pipe wall of the liquid delivery pipeline at the current height is divided into 10 connected preset regions, and these 10 preset regions can be inspected one by one. Of course, the division of the preset regions can also be carried out in other ways, which will not be specifically described in the embodiments of this application.

[0067] Specifically, the inspection structure may include an image acquisition device, which can be a camera or similar device. Specifically, the inspection structure can be held in the middle of the liquid surface, and then the image acquisition device can be rotated one full circle vertically to quickly obtain image information of all preset areas at the current height.

[0068] By obtaining the first information, the structural condition of the pipe wall surface of the liquid transportation pipeline can be known. If there are cracks or peeling of the protective layer in the pipe wall, it will be reflected in the first information.

[0069] S8. Determine whether the first information is the first preset information. Wherein, the first preset information is the image information of the pipe wall of the liquid delivery pipeline under normal conditions.

[0070] If the first information is the first preset information, it means that the image information in the preset area is normal, that is, the pipe wall of the liquid delivery pipeline is not abnormal in the preset area; if the first information is not the first preset information, it means that the image information in the preset area is abnormal, that is, the pipe wall of the liquid delivery pipeline may be abnormal in the preset area.

[0071] S9. If the first information is not the first preset information, drive the maintenance structure to move closer to the preset area.

[0072] Since there may be abnormalities in the pipe wall of the liquid delivery pipeline in a preset area, driving the maintenance structure close to the preset area can further inspect the part of the pipe wall in the preset area.

[0073] S10. Obtain second information through the inspection structure; the second information is the ultrasonic information of the pipe wall of the liquid delivery pipeline in a preset area.

[0074] Specifically, the inspection structure may include an ultrasonic flaw detector. Specifically, the inspection structure can be positioned close to a predetermined area, and then the ultrasonic flaw detector can be applied to the predetermined area of ​​the liquid transport pipeline wall to quickly obtain ultrasonic information about the predetermined area.

[0075] By obtaining the second information, the internal structure of the liquid transport pipeline wall can be known. If there are cracks or other defects in the pipe wall, this will be reflected in the second information.

[0076] S11. Determine whether the second information is the second preset information. The second preset information is the ultrasonic information of the pipe wall of the liquid delivery pipeline under normal conditions.

[0077] If the second information is the second preset information, it means that the ultrasonic information in the preset area is normal, that is, the pipe wall of the liquid delivery pipeline is not abnormal in the preset area; if the second information is not the second preset information, it means that the ultrasonic information in the preset area is abnormal, that is, the pipe wall of the liquid delivery pipeline is abnormal in the preset area.

[0078] S12. If the second information is not the second preset information, repair the pipe wall at the preset area.

[0079] An anomaly has been detected in the pipe wall of the liquid transport pipeline at a predetermined area. Personnel aboard the inspection structure can then carry out repairs in the predetermined area to ensure timely maintenance.

[0080] In some embodiments of this application, the adjustment of the liquid level is stopped when performing step S12.

[0081] Since repairing the pipe wall in the preset area takes a certain amount of time, stopping the adjustment of the liquid level during this period can ensure the stability of the height of the staff, which is conducive to the staff to carry out the repair and prevents the situation where the inspection structure sinks before the staff can complete the repair, making it impossible to continue the repair.

[0082] In some embodiments of this application, after step S12 is completed, step S2 is repeated.

[0083] Since the liquid level adjustment was stopped during step S12, which is the repair of the pipe wall in the preset area, the liquid level needs to be readjusted after step S12 is completed, so that the liquid level can be lowered to allow the inspection structure to sink to the next height and the pipe wall at the next height can be inspected.

[0084] In some embodiments of this application, when the first information is the first preset information, step S3 is repeated to obtain the current height.

[0085] Since the image information in the preset area is normal, meaning there are no abnormalities in the pipe wall of the liquid delivery pipeline in the preset area, the detection structure can descend to the next height as the liquid level drops, and obtain the current height after descending to the next height to determine whether the maintenance is completed.

[0086] In some embodiments of this application, when the second information is the second preset information, step S3 is repeated, i.e., the current height is obtained.

[0087] Since the ultrasonic information at the preset area is normal, meaning there are no abnormalities in the pipe wall of the liquid delivery pipeline at the preset area, the detection structure can descend to the next height as the liquid level drops. After descending to the next height, it can obtain the current height to determine whether the maintenance is complete.

[0088] In some embodiments of this application, step S2 is repeated when the current height is greater than a first preset value.

[0089] If the current height is greater than the first preset value, it means that the maintenance structure has not yet sunk to the height range of the liquid conveying pipeline wall that needs to be maintained. At this time, it is necessary to continue to adjust the liquid level so that the maintenance structure can continue to sink until it sinks to the current height of the first preset value before maintenance can begin.

[0090] In some embodiments of this application, the maintenance is terminated when the current height is less than a second preset value.

[0091] When the current height is less than the second preset value, it means that the maintenance structure has sunk to a height range outside the required maintenance range of the pipe wall of the liquid transportation pipeline. At this time, the maintenance work on the pipe wall of the liquid transportation pipeline has been completed, and the maintenance ends.

[0092] like Figure 2 As shown, an embodiment of this application also provides a maintenance structure 100 for a liquid transport pipeline, which is used to perform the above-described maintenance method for the liquid transport pipeline. The maintenance structure 100 includes: a base 110, a floating structure 120, and a first collection structure 130.

[0093] The base 110 forms a carrying platform for carrying people. Specifically, the carrying platform can be a flat surface formed by a plate-like structure or a groove formed by a channel-like structure, as long as it can accommodate workers.

[0094] The floating structure 120 is installed on the base 110. Specifically, the floating structure 120 can be fixedly installed on the base 110 by means of bonding, welding, etc., to ensure the connection strength between the two; the floating structure 120 can also be fixedly installed on the base 110 by means of clips, screws, etc., so as to facilitate the assembly and disassembly of the two. In a specific embodiment of this application, the floating structure 120 can be installed on the base 110 by binding with ropes, so as to facilitate the disassembly of the two, and also to allow relative movement between the two within a certain range, so as to reduce the concentrated stress generated by the floating structure 120 and the base 110 during the shaking on the liquid surface, and prevent the connection point between the floating structure 120 and the base 110 from breaking during shaking.

[0095] The first acquisition structure 130 is fixedly installed on the base 110. Specifically, the first acquisition structure 130 can be fixedly installed on the base 110 by welding, bonding, or other methods to ensure the connection strength; it can also be fixedly installed on the base 110 by bolts, clips, or other structures to facilitate assembly and disassembly. The first acquisition structure 130 is used to acquire first information, which is image information of a preset area on the wall of the liquid delivery pipeline. Specifically, the first acquisition structure 130 may include a camera, which can be used to take pictures of the preset area to obtain image information of the preset area. Specifically, the first acquisition structure 130 can rotate around the vertical direction and is connected to the base 110. The first acquisition structure 130 can be set at a high position, so that the first acquisition structure 130 can take pictures of the wall of the liquid delivery pipeline without obstruction when rotating one revolution, thereby quickly acquiring image information of the preset area at the current height.

[0096] The maintenance structure 100 for liquid transport pipelines provided in this application, due to its floating structure 120, allows for operations while floating on the liquid surface. When the liquid transport pipeline is a water pipeline, the liquid surface is considered the water surface. Compared to traditional methods such as using a tow rope, a drone-borne maintenance structure 100, or an underwater unmanned vehicle, the floating method allows for greater weight support and effectively avoids the risk of falling. Therefore, workers can safely sit on the support platform of the base 110 to manually inspect the pipe wall of the liquid transport pipeline. The first acquisition structure 130 acquires first information, which allows workers to determine if there are cracks or protective layer detachment in the pipe wall. If such issues occur, workers can immediately carry out repairs, effectively improving the timeliness of maintenance. In summary, the maintenance structure 100 for liquid transport pipelines provided in this application effectively improves the safety and timeliness of the maintenance process.

[0097] In some embodiments of this application, the maintenance structure 100 further includes a driving structure and a second acquisition structure 150.

[0098] The drive structure is mounted on the base 110. Specifically, the drive structure may include a motor and a propeller blade. The motor is driven and connected to the propeller blade. By controlling the magnitude of the motor current, the rotation speed of the propeller blade can be controlled, thereby controlling the movement speed of the base 110; by controlling the direction of the motor current, the rotation direction of the propeller blade can be controlled, thereby controlling the movement direction of the base 110. Of course, in other embodiments of this application, the drive structure may also utilize other drive devices such as an internal combustion engine to drive the propeller blade rotation instead of the motor. Specifically, the motor in the drive structure may be fixedly mounted on the base 110, and the propeller blade in the drive structure may be rotatably connected to the base 110. It is only necessary to ensure that the motor can drive the propeller blade to rotate relative to the base 110 to propel the water flow and move the base 110.

[0099] The second acquisition structure 150 is fixedly installed on the base 110. Specifically, the second acquisition structure 150 can be fixedly installed on the base 110 by welding, bonding, or other methods to ensure the connection strength; it can also be fixedly installed on the base 110 by bolts, clips, or other structures to facilitate assembly and disassembly. The second acquisition structure 150 is used to acquire second information, which is ultrasonic information within a preset area of ​​the pipe wall of the liquid transport pipeline. Specifically, the second acquisition structure 150 may include an ultrasonic flaw detector and a robotic arm. The ultrasonic flaw detector is used to conform to the pipe wall at the preset area to acquire the ultrasonic information of the pipe wall at the preset area, i.e., to acquire the second information. The robotic arm is fixedly installed on the base 110 and connected to the ultrasonic flaw detector. The robotic arm is used to control the ultrasonic flaw detector to abut against the wall surface of the preset area.

[0100] In some embodiments of this application, the maintenance structure 100 further includes an adsorption structure 160.

[0101] The adsorption structure 160 is mounted on the base 110 and is used to fix and adsorb onto the wall of the liquid conveying pipeline. Specifically, the adsorption structure 160 can be a suction cup. The fixed end of the adsorption structure 160 is fixedly connected to the base 110, and the adsorption end of the adsorption structure 160 is used to fix and adsorb onto the wall of the liquid conveying pipeline. When the adsorption structure 160 is fixedly adsorbed onto the wall of the liquid conveying pipeline, the base 110 can remain fixed relative to the liquid conveying pipeline. It should be noted that, because the inner diameter of the liquid conveying pipeline is relatively large, the wall of the liquid conveying pipeline can be considered as a plane within a small area; and because the wall of the liquid conveying pipeline is covered with a protective layer, and the surface of the protective layer is relatively smooth, the suction cup can adsorb onto the wall of the liquid conveying pipeline. Of course, in some other embodiments of this application, if the wall of the liquid conveying pipeline cannot be adsorbed by the suction cup, a structure such as a hook can be built on the wall of the liquid conveying pipeline, and a structure such as a buckle can be installed on the base 110, so that the base 110 can be stabilized near the wall of the liquid conveying pipeline by means of the hook and buckle engaging with each other.

[0102] In some embodiments of this application, the maintenance structure 100 further includes a processing structure.

[0103] The processing structure is connected to the first acquisition structure 130 and the base 110. Specifically, the processing structure can be connected to the first acquisition structure 130 via electrical signals, wireless signals, or other means; the processing structure can be fixedly installed on the base 110. The processing structure is used to receive first information and determine whether the first information is first preset information. The first preset information is image information of the pipe wall of the liquid delivery pipeline under normal conditions. Specifically, the processing structure can be a control circuit, a microcontroller, or other structure capable of information processing.

[0104] If the first information is the first preset information, it means that the pipe wall in the preset area is in a normal state. In this case, no processing is required, and the next step can be carried out directly.

[0105] If the first information is not the first preset information, it indicates that there may be an anomaly in the pipe wall of the preset area. The processing structure then controls the drive structure to move the base 110 towards the preset area. This allows the operator to use the second acquisition structure 150 to obtain the second information, thereby further determining whether there is an anomaly in the pipe wall of the preset area.

[0106] In some embodiments of this application, the processing structure is also connected to the second acquisition structure 150 and the adsorption structure 160. Specifically, the processing structure can be connected to the second acquisition structure 150 and the adsorption structure 160 via electrical signals, wireless signals, or other means. The processing structure is also used to receive second information and determine whether the second information is second preset information. The second preset information is the ultrasonic information of the pipe wall of the liquid delivery pipeline under normal conditions.

[0107] If the second information is the second preset information, it means that the pipe wall in the preset area is in a normal state. In this case, no processing is required, and the next step can be carried out directly.

[0108] If the second information is not the second preset information, it indicates that there is an abnormality in the pipe wall of the preset area. In this case, the processor controls the adsorption structure 160 to be fixedly adsorbed onto the pipe wall of the liquid delivery pipeline. With the adsorption structure 160 fixedly adsorbed onto the pipe wall of the liquid delivery pipeline, it is convenient for staff to repair the pipe wall of the preset area.

[0109] In some embodiments of this application, the maintenance structure 100 includes a guide structure 180.

[0110] The guide structure 180 is mounted on the base 110. Specifically, the guide structure 180 can be fixedly mounted to the base 110 by welding, bonding, or other methods to ensure the connection strength; it can also be fixedly mounted to the base 110 by bolts, clips, or other structures to facilitate assembly and disassembly. One end of the guide structure 180 protrudes from the base 110. Specifically, one end of the guide structure 180 can protrude from the base 110 along the forward direction of the base 110. The guide structure 180 is used to abut against the pipe wall of the liquid conveying pipeline and guide the base 110 to move along the extension direction of the pipe wall. Specifically, the guide structure 180 can be a support rod and a wheel. The wheel is connected to the support rod and is used to rotate relative to the support rod, and the axis of rotation of the wheel is vertical. The support rod is fixedly connected to the base 110 and is used to provide support for the wheel. When the base 110 is close to the wall of the liquid conveying pipeline, the wheel is in contact with the wall of the liquid conveying pipeline. In this case, the base 110 can be guided to move along the extension direction of the wall of the liquid conveying pipeline, and the base 110 can also be prevented from hitting the wall of the liquid conveying pipeline.

[0111] In some embodiments of this application, the access control structure 100 includes a seat 190 and a railing 191.

[0112] Seat 190 is fixedly installed on the support platform. Specifically, seat 190 can be fixed to the support platform by welding, bonding, or other methods to ensure the connection strength; alternatively, it can be fixed to the support platform by bolts, clips, or other structures to facilitate assembly and disassembly. Enclosure 191 is fixedly installed on base 110. Specifically, enclosure 191 can be fixed to base 110 by welding, bonding, or other methods to ensure the connection strength; alternatively, it can be fixed to base 110 by bolts, clips, or other structures to facilitate assembly and disassembly. Enclosure 191 encloses a receiving cavity, within which seat 190 is located. Specifically, this receiving cavity has an opening for workers to extend out, facilitating inspection of the walls of the liquid delivery pipelines in the designated area. This opening can be located at the top of the receiving cavity.

[0113] This application also provides a maintenance system for a liquid transport pipeline, which includes: a maintenance structure, an adjustment structure, and a processing structure.

[0114] The inspection structure floats on the liquid surface and is used for inspecting the pipe wall of the liquid delivery pipeline. Specifically, this inspection structure is the one described above. The adjustment structure is used to adjust the liquid level in the liquid delivery pipeline. Specifically, the adjustment structure can be a water pump, which can draw water out of the liquid delivery pipeline. The adjustment structure can also be a control valve such as a solenoid valve, which can control the speed at which water flows out of the liquid delivery pipeline. The height detection structure is used to obtain the current height; the current height is the current liquid level in the liquid delivery pipeline. Specifically, the height detection structure can be an infrared distance measuring instrument. The processing structure is connected to the height detection structure and the inspection structure; the processing structure receives the current height and determines whether the current height is within a preset range. When the current height is within the preset range, the processing structure controls the inspection structure to inspect the pipe wall of the liquid delivery pipeline.

[0115] The maintenance system for this liquid transport pipeline can be used to implement the aforementioned maintenance methods for liquid transport pipelines, thereby achieving safe and efficient maintenance of liquid transport pipeline components.

[0116] This application also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for inspecting and repairing liquid delivery pipelines.

[0117] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for inspecting and repairing liquid transport pipelines.

[0118] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of inspecting a liquid-carrying pipeline, characterized by, The application is applied to a conveying pipeline with high drop and large diameter, comprising: The maintenance structure is floated on the liquid surface, and the liquid level is adjusted; The current height is obtained; the current height is the liquid level height in the current liquid conveying pipeline; It is judged whether the current height is greater than a first preset value; the first preset value is the maximum height value of the part of the pipeline wall of the liquid conveying pipeline that needs to be maintained; When the current height is not greater than the first preset value, it is judged whether the current height is less than a second preset value; the second preset value is the minimum height value of the part of the pipeline wall of the liquid conveying pipeline that needs to be maintained; When the current height is not less than the second preset value, the pipeline wall of the liquid conveying pipeline is maintained by using the maintenance structure; The pipeline wall of the liquid conveying pipeline is maintained by using the maintenance structure, comprising: First information is obtained by the maintenance structure; the first information is image information of the pipeline wall of the liquid conveying pipeline in a preset area; It is judged whether the first information is first preset information; the first preset information is image information of the pipeline wall of the liquid conveying pipeline in a normal state; When the first information is not the first preset information, the maintenance structure is driven to be close to the preset area; Second information is obtained by the maintenance structure; the second information is ultrasonic information of the pipeline wall of the liquid conveying pipeline in the preset area, and the ultrasonic information is used to reflect the structure of the inside of the pipeline wall of the liquid conveying pipeline; It is judged whether the second information is second preset information; the second preset information is ultrasonic information of the pipeline wall of the liquid conveying pipeline in a normal state; When the second information is not the second preset information, the pipeline wall at the preset area is repaired.

2. The method of claim 1, wherein, During the process of repairing the pipeline wall at the preset area, the adjustment of the liquid level is stopped.

3. The method of claim 2, wherein, After the pipeline wall at the preset area is repaired, the step of adjusting the liquid level is repeatedly executed.

4. The method of claim 1, wherein, When the first information is the first preset information, the step of obtaining the current height is repeatedly executed.

5. The method of inspecting a liquid-carrying pipe according to claim 1, wherein When the second information is the second preset information, the step of obtaining the current height is repeatedly executed.

6. The method of inspecting a liquid-carrying pipe according to claim 1, wherein When the current height is greater than the first preset value, the step of adjusting the liquid level is repeatedly executed.

7. An inspection system for a liquid-carrying pipeline, characterized in that The application is applied to a conveying pipeline with high drop and large diameter, comprising: A maintenance structure is used to float on the liquid surface and to maintain the pipeline wall of the liquid conveying pipeline; An adjustment structure is used to adjust the liquid level height in the liquid conveying pipeline; A height detection structure is used to obtain a current height; the current height is the liquid level height in the current liquid conveying pipeline; A processing structure is connected to the height detection structure and the maintenance structure; the processing structure is used to receive the current height and to judge whether the current height is in a preset range; when the current height is in the preset range, the processing structure controls the maintenance structure to maintain the pipeline wall of the liquid conveying pipeline; The processing structure controls the maintenance structure to maintain the pipeline wall of the liquid conveying pipeline, comprising: First information is obtained by the maintenance structure; the first information is image information of the pipeline wall of the liquid conveying pipeline in a preset area; determining whether the first information is first preset information; the first preset information is image information of a pipe wall of the liquid delivery pipeline in a normal state; in a case where the first information is not the first preset information, driving the maintenance structure to be close to the preset area; acquiring second information through the maintenance structure; the second information is ultrasonic information of the pipe wall of the liquid delivery pipeline in the preset area, and the ultrasonic information is used to reflect a structure condition inside the pipe wall of the liquid delivery pipeline; determining whether the second information is second preset information; the second preset information is ultrasonic information of the pipe wall of the liquid delivery pipeline in a normal state; in a case where the second information is not the second preset information, performing maintenance on the pipe wall at the preset area.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the liquid delivery pipeline maintenance method in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to implement the liquid delivery pipeline maintenance method in any one of claims 1 to 6.

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