A method for locating a position of a pipe defect

Abstract

The application discloses a kind of methods for positioning pipeline defect position, specifically including the following steps, step one: install sonar unit, detection unit and water blocking unit on pipeline robot, and connect pipeline robot with pipe through device;Step two: put pipeline robot into the pipeline to be detected, and move forward along the pipeline, obtain the position of pipeline defect;Step three: drive water blocking unit to carry out water blocking operation at the front and rear ends of pipeline robot, and discharge the accumulated water remaining in the blocked pipeline outward;Step four: pipeline robot moves backward, obtains the type and grade of pipeline defect;In the present application, the detection cost is not increased additionally during detection, but the accuracy is more accurate than other methods, greatly reducing the artificial cost of subsequent excavation repair pipe finding, indirectly reducing the overall engineering cost;And it can adapt to the pipeline detection work without drainage, while considering the position, type and grade of detection, improve the detection quality.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a method for locating pipeline defects. Background Technology

[0002] Currently, the main methods for detecting defects in municipal pipelines include QV, CCTV, and sonar.

[0003] The QV periscope is primarily used by placing the periscope inside a nearby inspection well and observing the inside of the pipe through a camera. The advantage of this method is its convenience and ability to directly visualize the pipe's interior. However, its disadvantages include reliance on a nearby inspection well, a limited viewing area, and the inability to serve as written documentation for pipe inspections.

[0004] CCTV robots primarily work by lowering the water level in pipes, placing the robot inside, and using cameras to systematically inspect for defects. The advantage of this method is its ability to provide a comprehensive view of defects and accurately pinpoint their location within the pipe. However, its disadvantages include limitations imposed by the robot's size, limiting its inspection to pipes with a diameter of DN300 or larger; the need for prior water level control; and the inability of CCTV to determine the location and angle of bends in the pipe.

[0005] Sonar primarily involves placing a sonar robot into a pipe and using a sonar system to detect defects. Its advantage is that it eliminates the need for drainage work. Its disadvantage is that it cannot accurately determine the type, severity, and location of defects. Summary of the Invention

[0006] The main objective of this invention is to provide a method for locating pipeline defects, thereby addressing existing technical problems.

[0007] To achieve the above objectives, the present invention provides a method for locating pipeline defects, specifically including the following steps:

[0008] Step 1: Install the sonar unit, detection unit, and water blocking unit on the pipeline robot, and connect the pipeline robot to the pipe inserter;

[0009] Step 2: Place the pipeline robot into the pipeline to be inspected and move it forward along the pipeline. The sonar unit performs defect detection on the pipe wall as the pipeline robot passes through. When it encounters a defect, it stops and obtains the location of the pipeline defect.

[0010] Step 3: Drive the water blocking unit to block water at a distance of 1-2m between the front and rear ends of the pipeline robot, and drain the water remaining in the blocked pipeline.

[0011] Step 4: The pipeline robot moves backward and then forward along the direction of travel. During the movement, the detection unit re-detects the pipeline defects previously detected by sonar to obtain the type and level of the pipeline defects.

[0012] Furthermore, in step one, the tube inserter is equipped with scale lines. The root tube on the tube inserter follows the pipe robot and descends into the pipe synchronously. After vertical descent, the first record is made, corresponding to the depth of the pipe robot's descent. Then, it moves horizontally along the pipe to the defect location and makes a second record, corresponding to the distance the pipe robot travels. This is used to obtain the precise location of the pipe defect.

[0013] Furthermore, in step two, a metal probe is installed at the connection end between the pipe inserter and the pipe robot. After the pipe robot is placed inside the pipe, a worker on the ground uses a geophysical detector to detect the metal probe. Once a signal is detected, the worker moves synchronously on the ground while following the movement of the pipe robot inside the pipe, ensuring that the detection signal of the geophysical detector to the metal probe is not lost. After the defect location is detected, the location of the pipe defect is located according to the worker's movement route. Using this location as a marker, excavation is carried out vertically downwards to locate the pipe repair point.

[0014] Furthermore, in step three, the water-blocking unit includes supports located at the front and rear ends of the pipeline robot. The supports are equipped with telescopic rods, and the ends of the telescopic rods are equipped with balloons. The balloons are connected to an air pump via air pipes, and the balloons are equipped with electromagnetic vent valves. After the sonar unit detects a defect, the telescopic supports at both ends extend to two-thirds of their length. Then, the air pump injects gas into the balloons to make them expand until the balloons block the pipeline. The balloons on both sides expand and seal the pipeline space where the pipeline robot is located, thus performing the water-blocking operation.

[0015] Furthermore, the pipeline robot is equipped with a retractable support at its bottom, a drainage pump on the retractable support, a drainage pipe at the outlet of the drainage pump, and a conduit at the outlet of the drainage pipe. The conduit passes through a balloon, and the balloon has a hollow section in the middle that is adapted to the conduit. After the balloon blocks the pipeline space where the pipeline robot is located, the retractable support is driven to extend, so that the drainage pump is placed in the water in the enclosed space, and the water in the space where the pipeline robot is located after the pipeline is blocked is discharged to the outside of the enclosed space, so that subsequent testing operations can be carried out.

[0016] Furthermore, in step four, the telescopic support rod at the front end of the pipeline robot extends to its limit position, and the telescopic support rod at the rear end shortens accordingly. The pipeline robot then retreats one body length along the forward direction, activates the detection unit, and subsequently the rear telescopic support rod extends while the front telescopic support rod shortens. In conjunction with the pipeline robot's own drive, the pipeline robot re-detects the pipeline defect locations previously detected by sonar, thereby obtaining the type and level of the pipeline defect.

[0017] Furthermore, the pipeline robot is equipped with telescopic rods at both ends, and a push plate is provided at the front end of the telescopic rod. The telescopic rod passes through the balloon and has an installation channel inside. Before the balloon expands, the telescopic rod extends, driving the push plate to rotate downwards, pushing away debris in the space at both ends of the pipeline robot to the sides, thus creating space for the balloon to expand.

[0018] Furthermore, in step two, when the pipeline robot reaches the dark spot bend in the pipeline, before turning, the point where the pipeline robot is located corresponds to the point where the ground worker is located. After turning, the robot moves forward 1-2 meters along the pipeline direction and stops. The worker uses the position before the movement as a fixed point and moves in an arc path in the direction of the pipeline robot's movement with the distance moved as the radius, until the metal probe is detected by the object detector. Then, the worker continues to move forward along that direction to track the metal probe.

[0019] The beneficial effects of this invention are reflected in:

[0020] This invention combines geophysical instruments, pipeline robots, and pipe inserters to solve many problems existing in traditional pipeline inspection and repair. In addition, compared with traditional pipeline inspection methods, the method involved in this patent does not increase the inspection cost during the inspection process, but is more accurate than other methods, which greatly reduces the labor cost of subsequent excavation and repair for pipe location, and indirectly reduces the overall project cost. Moreover, it can adapt to pipeline inspection work without lowering drainage, and at the same time takes into account the location, type and level of inspection, thus improving the inspection quality. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the positioning of the present invention;

[0022] Figure 2 This is a schematic diagram of the pipeline robot structure of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 10. Pipeline robot; 11. Detection unit; 12. Sonar unit; 13. Pipe inserter; 14. Geophysical detector; 15. Telescopic support rod; 16. Balloon; 17. Telescopic support; 18. Drainage pump; 19. Telescopic rod; 20. Push plate. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent.

[0028] Please see Figure 1 and 2 The present invention provides a method for locating pipeline defects, which specifically includes the following steps:

[0029] Step 1: Install the sonar unit 12, detection unit 11 and water blocking unit on the pipeline robot 10, and connect the pipeline robot 10 to the pipe inserter 13;

[0030] Step 2: Place the pipeline robot 10 into the pipeline to be inspected and move it forward along the pipeline. The sonar unit 12 performs defect detection on the pipe wall that the pipeline robot 10 passes through. When it encounters a defect location, it stops and obtains the pipeline defect location.

[0031] Step 3: Drive the water blocking unit to block water at a distance of 1-2m between the front and rear ends of the pipeline robot 10, and drain the water remaining in the blocked pipeline.

[0032] Step 4: The pipeline robot 10 moves backward and then forward along the direction of travel. During the movement, the detection unit 11 re-detects the pipeline defect locations previously detected by sonar to obtain the type and level of the pipeline defect.

[0033] This invention solves many problems existing in traditional pipeline inspection and repair by combining a geophysical detector 14, a pipeline robot 10, and a pipe inserter 13. In addition, compared with traditional pipeline inspection methods, the method involved in this patent does not increase the inspection cost during the inspection process, but is more accurate than other methods, which greatly reduces the labor cost of subsequent excavation and repair for pipe location, and indirectly reduces the overall project cost. Moreover, it can adapt to pipeline inspection work without lowering drainage, and at the same time takes into account the location, type and level of inspection, thus improving the inspection quality.

[0034] In one embodiment, in step one, the tube inserter 13 is equipped with scale lines. The root tube on the tube inserter 13 synchronously descends into the pipe following the pipe robot 10. After vertical descent, a first record is made, corresponding to the depth of descent of the pipe robot 10. Then, it moves horizontally along the pipe to the defect location and a second record is made, corresponding to the distance traveled by the pipe robot 10. This is used to obtain the precise location of the pipe defect. This operation allows for the measurement of the length of the probe from the ground inside the pipe, thereby comparing it with the length displayed in the video of the pipe robot 10 and improving the accuracy of the defect location.

[0035] In one embodiment, in step two, a metal probe is installed at the connection end between the pipe inserter 13 and the pipe robot 10. After the pipe robot 10 is placed inside the pipe, a worker on the ground uses a geophysical detector 14 to detect the metal probe. Once a signal is detected, the worker moves synchronously on the ground following the movement of the pipe robot 10 inside the pipe, ensuring that the detection signal from the geophysical detector 14 to the metal probe is not lost. After a defect location is detected, the location of the pipe defect is determined based on the worker's movement route. Using this location as a marker, vertical excavation is performed to locate the pipe repair point. This operation, combined with the geophysical detector 14, allows for real-time knowledge of the pipe robot 10's position inside the pipe and ensures that the detection signal is not lost during the robot's movement. By moving synchronously with the robot on the ground, the pipe's location can be accurately determined when a defect is detected. During subsequent repairs, vertical excavation from this marker point allows for rapid repair of the pipe defect, improving the accuracy of the location.

[0036] In one embodiment, in step three, please refer to... Figure 2The water-blocking unit includes supports at the front and rear ends of the pipeline robot 10. Telescopic struts 15 are mounted on the supports, and balloons 16 are located at the ends of the struts 15. The balloons 16 are connected to an air pump via air pipes and are equipped with electromagnetic vent valves. After the sonar unit 12 detects a defect, the telescopic supports at both ends extend to two-thirds of their length. Then, the air pump injects gas into the balloons 16, causing them to expand until the balloons 16 block the pipeline. The expanded balloons 16 on both sides seal the pipeline space where the pipeline robot 10 is located, thus blocking the water. This operation eliminates the need for drainage work on the pipeline to detect defects. First, the sonar unit 12 detects the defect location, and then the balloons 16 block the water, allowing for a second detection at the defect location to determine the type and severity of the defect.

[0037] In one embodiment, please refer to Figure 2 The pipeline robot 10 has a retractable support 17 at its bottom, on which a drainage pump 18 is mounted. The drainage pump 18 has a drainage pipe at its outlet, and a conduit at its outlet. The conduit passes through a balloon 16, which has a hollow section in the middle that fits the conduit. After the balloon 16 seals the pipeline space where the pipeline robot 10 is located, the retractable support 17 extends, placing the drainage pump 18 in the water within the enclosed space. This discharges the accumulated water in the space where the pipeline robot 10 is located out of the enclosed space, allowing subsequent inspection operations to proceed. This operation, after sealing the spaces on both sides of the pipeline robot 10 with the balloon 16, drains the remaining water, keeping the inner wall of the pipeline at the defective location completely exposed. This facilitates precise detection by the inspection unit 11 to determine the type and level of the defect.

[0038] In one embodiment, please refer to Figure 2 In step four, the telescopic support rod 15 at the front end of the pipeline robot 10 extends to its limit position, while the telescopic support rod 15 at the rear end shortens accordingly. The pipeline robot 10 then retreats one body length along its forward direction, activating the detection unit 11. Subsequently, the rear telescopic support rod 15 extends, and the front telescopic support rod 15 shortens. Combined with the pipeline robot 10's own drive, this allows it to re-detect the pipeline defect location previously detected by sonar, obtaining the type and level of the pipeline defect. This operation allows for first detecting the defect location using the sonar unit 12, and then, after the balloon 16 blocks water, re-detecting the defect location to determine the type and level of the defect. This avoids the problem that the sonar unit 12 can only detect the defect location, while the detection unit 11 can only detect a single type and level of defect at the defect location. By conducting two detections, the defect location can be detected with high precision, improving the quality of the detection.

[0039] In one embodiment, please refer to Figure 2The pipeline robot 10 has telescopic rods 19 at both ends, with push plates 20 at the front end of each rod. The telescopic rods 19 pass through the balloon 16, and have installation channels within them. Before the balloon 16 expands, the telescopic rods 19 extend, causing the push plates 20 to rotate downwards, pushing away debris in the spaces at both ends of the pipeline robot 10 to create space for the balloon 16 to expand. This operation ensures that before the balloon 16 expands, the moving push plates 20 push away debris in the spaces at both ends of the pipeline robot 10, keeping the pipeline section at the defect location free of obstructions and preventing obstruction of the balloon 16's full expansion, thus avoiding damage to the balloon 16.

[0040] In one embodiment, in step two, when the pipeline robot 10 reaches the dark spot bend in the pipeline, before the rotation direction, the point where the pipeline robot 10 is located corresponds to the point where the ground worker is located. After the rotation direction, the robot moves forward 1-2m along the pipeline direction and stops. The worker uses the position before the movement as a fixed point and moves in an arc path in the direction of the pipeline robot 10's movement with the distance moved as the radius, until the metal probe is detected by the object detector. Then, the worker continues to move forward along that direction to track the metal probe.

[0041] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for locating the position of a pipeline defect, characterized in that: Specifically, it includes the following steps: Step 1: Install the sonar unit (12), detection unit (11) and water blocking unit on the pipeline robot (10), and connect the pipeline robot (10) to the pipe threader (13); Step 2: Place the pipeline robot (10) into the pipeline to be inspected and move forward along the pipeline. The sonar unit (12) performs defect detection on the pipe wall that the pipeline robot (10) passes through. When it encounters a defect location, it stops and obtains the pipeline defect location. Step 3: Drive the water blocking unit to block water at a distance of 1-2m between the front and rear ends of the pipeline robot (10) and discharge the water remaining in the blocked pipeline. Step 4: The pipeline robot (10) moves backward and then forward along the direction of travel. During the movement, the detection unit (11) re-detects the pipeline defect locations previously detected by sonar to obtain the type and level of the pipeline defect. In step three, the water blocking unit includes a support set at the front and rear ends of the pipeline robot (10). The support is provided with a telescopic support rod (15), and the end of the telescopic support rod (15) is provided with a balloon (16). The balloon (16) is connected to the air pump through an air pipe, and the balloon (16) is provided with an electromagnetic vent valve. After the sonar unit (12) detects the defect, the telescopic support at both ends extends to two-thirds of its length. Then the air pump injects gas into the balloon (16) to make it expand until the balloon (16) blocks the pipeline. The balloons (16) on both sides expand to block the pipeline space where the pipeline robot (10) is located, and water blocking operation is performed. The pipeline robot (10) is equipped with a retractable support (17) at its bottom. A drainage pump (18) is provided on the retractable support (17). The outlet of the drainage pump (18) is equipped with a drainage pipe. The outlet end of the drainage pipe is equipped with a conduit. The conduit passes through the balloon (16). The middle part of the balloon (16) is equipped with a hollow part that is compatible with the conduit. After the balloon (16) blocks the pipeline space where the pipeline robot (10) is located, the retractable support (17) is driven to extend, so that the drainage pump (18) is placed in the water body in the closed space and the water in the space where the pipeline robot (10) is located after the pipeline is blocked is discharged to the outside of the closed space, and then the subsequent detection operation is carried out.

2. The method for locating pipeline defects as described in claim 1, characterized in that: In step one, the tube inserter (13) is equipped with scale lines. The root tube on the tube inserter (13) follows the pipe robot (10) and descends into the pipe synchronously. After vertical descent, the first record is made, corresponding to the depth of the descent of the pipe robot (10). The second record is made, corresponding to the distance the pipe robot (10) moves horizontally along the pipe to the defect location. This is used to obtain the precise location of the pipe defect.

3. A method for locating pipeline defects as described in claim 1 or 2, characterized in that: In step two, a metal probe is set at the connection end between the pipe inserter (13) and the pipe robot (10). After the pipe robot (10) is placed in the pipe, the staff on the ground holds a geophysical detector (14) to detect the metal probe. After the signal is detected, the staff moves synchronously on the ground with the pipe robot (10) moving in the pipe. During this period, the detection signal of the geophysical detector (14) to the metal probe is not lost. After the defect location is detected, the location of the pipe defect is located according to the staff's movement route. The defect is then marked and excavated vertically downwards to locate the pipe repair point.

4. The method for locating pipeline defects as described in claim 1, characterized in that: In step four, the telescopic support rod (15) at the front end of the pipeline robot (10) extends to its limit position, and the telescopic support rod (15) at the rear end shortens accordingly. The pipeline robot (10) moves back one body length along the forward direction and activates the detection unit (11). Subsequently, the telescopic support rod (15) at the rear end extends and the telescopic support rod (15) at the front end shortens. With the self-drive of the pipeline robot (10), the pipeline robot (10) re-detects the pipeline defect location previously detected by sonar to obtain the type and level of the pipeline defect.

5. The method for locating pipeline defects as described in claim 1, characterized in that: The pipeline robot (10) is provided with telescopic rods (19) at both ends. The front end of the telescopic rod (19) is provided with a push plate (20). The telescopic rod (19) passes through the balloon (16). An installation channel is provided inside the telescopic rod (19). Before the balloon (16) expands, the telescopic rod (19) extends, driving the push plate (20) to rotate downwards, pushing the debris in the space at both ends of the pipeline robot (10) to the sides, so as to expand the space for the balloon (16).

6. The method for locating pipeline defects as described in claim 3, characterized in that: In step two, when the pipeline robot (10) moves to the dark spot bend in the pipeline, before the turning direction, the point where the pipeline robot (10) is located corresponds to the point where the ground staff is located. After the turning direction, the robot moves forward 1-2m along the pipeline direction and stops. The staff takes the position before the movement as a fixed point and moves in an arc path in the direction of the pipeline robot (10) with the distance moved as the radius until the metal probe is detected by the object detector. Then, the staff continues to move forward along that direction to track the metal probe.

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