An intelligent traction system for underground pipeline detection

Abstract

The application discloses an underground pipeline detection intelligent traction system, which comprises two intelligent traction devices and a remote traction control interactive terminal. The two intelligent traction devices are respectively arranged at two ends of an underground pipeline and are connected with a pipeline inertia positioner through a traction rope. The intelligent traction device comprises an outer frame, a winding drum rotatably connected to the outer frame, a rotary encoder coaxially connected to one side of the winding drum, a motor for driving the winding drum to rotate, an electric control module for controlling the motor to operate, a detachable battery pack for providing power supply for the whole traction device, a strain sensor for measuring the force of the traction rope, a distance measuring encoder for measuring the passing position of the pipeline inertia positioner, a main control interactive module and a wireless communication module. The application can improve the pipeline detection quality and efficiency, reduce the number of workers, reduce the operation complexity, improve the automatic operation degree, reduce the dependence on artificial experience, and enhance the safety of the measurement process.

Description

Technical Field

[0001] This invention relates to the field of underground pipeline measurement and processing technology, and in particular to an intelligent traction system for underground pipeline detection. Background Technology

[0002] The instrument used for three-dimensional trajectory inertial positioning measurement of underground pipelines is called an underground pipeline three-dimensional trajectory inertial positioning measuring instrument, or simply "pipeline inertial locator" (commonly known as "underground pipeline gyroscope"). It generally consists of a three-dimensional data inertial positioning acquisition unit, a data processing unit, and data processing software. It uses inertial sensors (gyroscopes, accelerometers) to travel within the pipeline, conducting inertial positioning measurements. Navigation and guidance are achieved using the inertial sensors, and the instantaneous velocity, position, and attitude of the measured carrier are calculated based on the acceleration (inertia) of the carrier, thereby obtaining the three-dimensional trajectory coordinates of the pipeline. The pipeline inertial locator requires traction power and a cable for operation. Currently, a winch is generally used as the traction power to pull the pipeline inertial locator within the pipeline to obtain the precise three-dimensional attitude of the pipeline.

[0003] During the measurement process of a pipeline inertial positioning instrument pulled by a winch, the winding and unwinding operations of the starting and ending winches are independent. Currently, operators generally coordinate the operation of two winches simultaneously by using communication equipment. Due to issues such as communication delays and human error, problems can easily arise where the winch winding and unwinding are not timely, causing excessive stress on the traction rope and resulting in damage. When the pipeline inertial positioning instrument encounters obstacles while traveling within the pipeline, it may become stuck and unable to move forward. If the winch stops winding and unwinding in a timely manner, it can also cause excessive stress on the traction rope and result in damage. In more serious cases, the pipeline inertial positioning instrument may become stuck inside the pipeline, leading to engineering measurement accidents.

[0004] Considering that existing winches cannot measure the force on the traction rope, the distance of the traction rope release and reeling, and the traction speed, and that it is difficult for the winch and the operator to coordinate at the starting and ending points, this patent proposes an intelligent traction system for underground pipeline detection that is capable of stable and uniform movement in pipelines, highly automated operation, and simple operation, in order to improve the quality and efficiency of pipeline detection. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an intelligent traction system for underground pipeline detection. This system can improve the quality and efficiency of pipeline detection, reduce the number of workers required, lower operational complexity, increase the degree of automation, reduce reliance on human experience, and enhance the safety of the measurement process.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An intelligent traction system for underground pipeline detection, the traction system comprising two intelligent traction devices and a remote traction control and interaction terminal:

[0008] The two intelligent traction devices are respectively located at both ends of the underground pipeline and connected to the pipeline inertial positioning device via traction ropes. The intelligent traction device includes an outer frame, a winding reel rotatably connected to the outer frame, a rotary encoder coaxially connected to one side of the winding reel, a motor that drives the winding reel to rotate, an electronic control module that controls the operation of the motor, a detachable battery pack that provides power to the entire traction device, a strain sensor that measures the force on the traction rope, a distance encoder that measures the position of the pipeline inertial positioning device, a main control interaction module, and a wireless communication module.

[0009] The remote traction control interactive terminal is connected to the main control interactive module via a wireless communication module. It is used to obtain instructions issued by the operator and send control instructions to the main control interactive module according to the instructions, so as to realize remote centralized control of equipment operation; and to receive and display various parameters of the intelligent traction device sent by the main control interactive module, so as to realize centralized display of equipment operation status information.

[0010] The two main control interaction modules are used to acquire measurement data from the rotary encoder, strain sensor, and distance encoder, calculate the operating status and control commands, and control the operation of the electronic control module. The two main control interaction modules are connected to each other through a wireless communication module, which is used to send and receive equipment operating status information between the two main control interaction modules, so as to realize the collaborative work of the two intelligent traction devices.

[0011] Preferably, the output terminals of the rotary encoder, strain sensor, and distance encoder are all electrically connected to the input terminal of the main control interaction module, the input terminal of the electronic control module is electrically connected to the output terminal of the main control interaction module, and the output terminal of the electronic control module controls the input terminal of the motor.

[0012] Preferably, the remote traction control interactive terminal includes a control part, a parameter display part, and a traction path display part.

[0013] Preferably, the control unit includes an emergency stop button, an acceleration button, a deceleration button, a forward button, and a reverse button.

[0014] Preferably, the parameter display section displays system parameters, including traction speed, traction force, winding reel speed and power supply, through a display screen. The parameter display section also includes system alarm indicator lights.

[0015] Preferably, the traction path display section displays the current traction direction and traction path distance of the pipeline inertial positioning instrument on a large screen.

[0016] Preferably, the outer frame is provided with a reciprocating winding screw whose axis is parallel to the axis of the winding reel on one side.

[0017] Preferably, a pulley is threadedly mounted on the reciprocating winding screw, and the traction rope drives the pulley to rotate, causing the pulley, which is threadedly engaged with the reciprocating winding screw, to reciprocate along the axis of the reciprocating screw.

[0018] Preferably, the traction rope passes sequentially from the winding reel over the rope wheel, the distance encoder, and the strain sensor, and is then connected to the pipeline inertial positioner.

[0019] Preferably, the motor is threadedly mounted on the bottom of the outer frame, and pulleys are provided on both the shaft of the motor and the shaft of the winding reel, and the two pulleys are connected by belt drive.

[0020] Compared with the prior art, the beneficial effects of this invention are as follows:

[0021] By setting strain sensors to measure the force on the traction rope, setting distance encoders to measure the position of the pipeline inertial locator, and setting rotary encoders to measure the angular velocity of the winding disc, the main control interaction module receives and calculates the measured data. Combined with the wireless communication module for sending and receiving, the intelligent traction equipment can operate in coordination. The pipeline inertial locator can travel smoothly and at a constant speed in underground pipelines without the traction rope breaking due to excessive force. When encountering obstacles, it can automatically retreat a short distance and then maintain the original direction of traction. It can also send the measured data to a remote traction control interaction terminal to display the equipment's position and other operating status. Operators can control the traction speed and direction of the intelligent traction equipment through the remote traction control interaction terminal. This solves the problems of complex measurement processes and heavy reliance on human experience caused by existing technologies that rely on communication equipment, making the measurement process simpler and more convenient. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural view of the intelligent traction device in an intelligent traction system for underground pipeline detection proposed in this invention;

[0023] Figure 2 This is a right view of the structure of the intelligent traction device in the intelligent traction system for underground pipeline detection proposed in this invention;

[0024] Figure 3 This is a front view of the structure of the intelligent traction device in the intelligent traction system for underground pipeline detection proposed in this invention;

[0025] Figure 4 Here is a flowchart of an intelligent traction system for underground pipeline detection proposed in this invention;

[0026] Figure 5This is a schematic diagram of the field application of the intelligent traction system for underground pipeline detection proposed in this invention.

[0027] Figure 6 This is a schematic diagram of the interface of the remote traction control interactive terminal in the intelligent traction system for underground pipeline detection proposed in this invention.

[0028] In the diagram: 1. Intelligent traction device; 2. Rope pulley; 3. Remote traction control interactive terminal; 4. Traction rope; 5. Outer frame; 6. Winding reel; 7. Rotary encoder; 8. Motor; 9. Electronic control module; 10. Removable battery pack; 11. Strain sensor; 12. Distance encoder; 13. Main control interactive module; 14. Wireless communication module; 15. Reciprocating winding screw. Detailed Implementation

[0029] 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 some embodiments of the present invention, and not all embodiments. 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. Example

[0030] Please see Figure 1-5The present invention provides the following technical solution: the traction system includes two intelligent traction devices 1 and a remote traction control interaction terminal 3, wherein: the two intelligent traction devices 1 are respectively located at both ends of the underground pipeline, and are connected to the pipeline inertial positioning device through the traction rope 4 to realize the joint traction of the pipeline inertial positioning device. The intelligent traction device 1 includes an outer frame 5, a winding reel 6 rotatably connected to the outer frame 5, a rotary encoder 7 coaxially connected to one side of the winding reel 6, a motor 8 driving the winding reel 6 to rotate, an electronic control module 9 controlling the operation of the motor 8, a removable battery pack 10 providing power to the entire traction device, a strain sensor 11 measuring the force on the traction rope 4, a distance encoder 12 measuring the travel position of the pipeline inertial locator, a main control interaction module 13, and a wireless communication module 14. Specifically: the winding reel 6 is used to wind the traction rope 4, providing traction force for the pipeline inertial locator to travel through the underground pipeline; the distance encoder 12 measures the travel distance of the traction rope 4 by measuring the number of rotations of the pulley on the distance encoder 12 driven by the traction rope 4 through a pulse conversion circuit, and the travel position of the pipeline inertial locator is obtained by subtracting the travel distance of the traction rope 4 from the length of the measured pipe section; the strain sensor 11 measures the force on the traction rope 4 by measuring the force on the pulley on the strain sensor 11 that is wound around by the traction rope 4 through a digital-to-analog conversion circuit. Size; The rotary encoder 7 measures the angular velocity of the winding reel 6 through the pulse conversion circuit, and combines it with the distance traveled by the traction rope 4 measured by the ranging encoder 12 within a certain time to obtain the current traveling speed of the pipeline inertial positioner, that is, the current linear velocity of the winding reel 6. According to V=ωR, the radius of the traction rope 4 on the winding reel 6 when the pipeline inertial positioner is at the current traveling position can be obtained. The radius of the traction rope 4 on the winding reel 6 changes with the traveling distance of the traction rope 4. Again, according to V=ωR, the target traveling speed of the traction rope 4 (V is constant) can be divided by the radius of the winding reel 6 (a constant value) when the traction rope 4 travels the current traveling distance to obtain the target angular velocity of the winding reel 6. Therefore, by setting the target angular velocity for the winding reel 6, the rotation speed of the motor 8 is adjusted in real time to control the unwinding speed of the winding reel 6, and further realizes that the traction speed of the two intelligent traction devices 1 remains stable during the traction process, ensuring the smooth operation of the pipeline inertial positioner during its travel; the electrical control module 9 controls the motor 8 to stop, rotate, accelerate, and decelerate. The remote traction control interactive terminal 3 communicates with the main control interactive module 13 via the wireless communication module 14. It is used to obtain the instructions issued by the operator and send control instructions to the main control interactive module 13 according to the instructions, so as to realize the remote centralized control of equipment operation; and to receive and display the various parameters of the intelligent traction device 1 sent by the main control interactive module 13, so as to realize the centralized display of equipment operation status information, which facilitates the operation of the operator and solves the problem that the measurement process of the pipeline inertial positioner is complicated and heavily dependent on human experience.Two main control interaction modules 13 are used to acquire measurement data from the rotary encoder 7, strain sensor 11, and distance encoder 12, calculate the operating status and control commands, and control the operation of the electronic control module 9. The two main control interaction modules 13 are connected to each other via a wireless communication module 14, which is used to send and receive operating status information of the equipment, so that the two intelligent traction devices 1 can run synchronously, stop, and operate at the same speed, realizing the collaborative work of the two intelligent traction devices 1. Furthermore, when the pipeline inertial positioning device encounters an obstacle in the pipeline and becomes stuck, the strain sensor 11 senses that the force on the traction rope 4 is greater than the set value and transmits the signal to the main control interaction module 13, which then sends it to the two intelligent traction devices 1 via the wireless communication module 14. On the traction device 1, the two motors 8 are reversed to cause the pipeline inertial positioner to retreat a certain distance, and then the motors 8 are restored to their normal operating direction to try to pass through the jammed area and continue measurement. This realizes the automatic handling of the pipeline inertial positioner's failure to move forward due to an obstacle encountered in the pipeline. Alternatively, when the force on the traction rope 4 is greater than the upper limit, the strain sensor 11 sends a signal to the main control interaction module 13, causing the winding reel 6 in the winding state to stop winding and the winding reel 6 in the unwinding state to accelerate unwinding. When the force on the traction rope 4 is less than the lower limit, the winding reel 6 in the winding state is controlled to accelerate winding and the winding reel 6 in the unwinding state is controlled to slow down unwinding, and a signal is sent to the remote traction control interaction terminal 3 to light up the alarm indicator and issue a system warning to notify the operator to handle the situation.

[0031] like Figure 4 As shown, the outputs of the rotary encoder 7, strain sensor 11, and distance encoder 12 are all electrically connected to the input of the main control interaction module 13, enabling them to send equipment operating status information to the main control interaction module 13. The input of the electronic control module 9 is electrically connected to the output of the main control interaction module 13, enabling it to receive control commands issued by the main control interaction module 13. The output of the electronic control module 9 controls the input of the motor 8, controlling the operating status of the motor 8 and thus controlling the operation of the traction system.

[0032] like Figure 6As shown, the remote traction control interactive terminal 3 includes a control section, a parameter display section, and a traction travel display section, facilitating operators to view the operating status of the traction system and perform operational control. The control section includes an emergency stop button, an acceleration button, a deceleration button, a forward button, and a reverse button. The emergency stop button terminates traction and puts the system in a stopped state when a system malfunction occurs. The acceleration and deceleration buttons control the traction speed; the forward and reverse buttons control the traction direction. The parameter display section shows system parameters on a screen, including traction speed, traction force, winding reel speed 6, and power supply. The parameter display section also includes system alarm indicator lights to notify the operator in case of system malfunction. The traction travel display section shows the current traction direction and traction travel distance of the pipeline inertial positioner on a large screen.

[0033] like Figure 1 As shown, a reciprocating winding screw 15 with its axis parallel to the axis of the winding reel 6 is provided on one side of the outer frame 5. A rope pulley 2 is threaded onto the reciprocating winding screw 15. The traction rope 4 drives the rope pulley 2 to rotate, causing the rope pulley 2, which is threaded with the reciprocating winding screw 15, to reciprocate along the axis of the reciprocating winding screw 15. This allows the traction rope 4 to reciprocate and wind around the winding reel 6 during the winding process. The traction rope 4 passes sequentially from the winding reel 6, around the rope pulley 2, the distance encoder 12, and the strain sensor 11, and is then connected to the pipeline inertial positioning instrument. This ensures that the traction rope 4 has tension when it winds around the pulley on the strain sensor 11, and that the distance traveled by the traction rope 4 measured by the distance encoder 12 is relatively accurate.

[0034] like Figure 1-3 As shown, the motor 8 is threadedly mounted on the bottom of the outer frame 5. Both the shaft of the motor 8 and the shaft of the winding reel 6 are equipped with pulleys. The two pulleys are connected by belt drive, which enables the motor 8 to drive the winding reel 6 to rotate.

[0035] In this invention, the rotary encoder 7, motor 8, electronic control module 9, strain sensor 11, distance encoder 12, main control interaction module 13, and wireless communication module 14 are all known technologies that have been widely disclosed and are used in daily life. The rotary encoder 7 and distance encoder 12 are both E6B2-CWZ6C, the motor 8 is a 42-48S stepper motor, the electronic control module 9 is a TB6600, the strain sensor 11 is a DYX-301, the main control interaction module 13 is an Atmel 328p, and the wireless communication module 14 is an ESP32.

[0036] The working principle and usage process of this invention are as follows: Two intelligent traction devices 1 are placed at opposite ends of an underground pipeline. Operators control the operation of the remote traction control interactive terminal 3. Since the wireless communication module 14 can transmit operator commands, the operation of both intelligent traction devices 1 can be remotely controlled simultaneously, achieving centralized remote control of equipment operation. When the intelligent traction devices 1 are running, the strain sensor 11 measures the force on the traction rope 4, the distance encoder 12 measures the distance traveled by the traction rope 4 (i.e., the position of the pipeline inertial positioning device), and the rotary encoder 7 measures the angular velocity of the winding reel 6. These measurement data are sent to the main control interactive module 13 for calculation to obtain the operating status and control commands. The control electrical control module 9 operates according to the control commands. The target traction speed is set through the remote traction control interactive terminal 3 to ensure that the traction speeds of the two intelligent traction devices 1 are the same and remain uniform. The traction speed can also be changed through the remote traction control interactive terminal 3, enabling automatic coordinated operation of the start and end point winches and controllable line release speed. When strain sensor 11 detects that the force on traction rope 4 is greater than the set value, it transmits a signal to the main control interaction module 13, which then sends it to the two intelligent traction devices 1 via wireless communication module 14. This causes the winding reel 6 in the winding state to stop winding and the winding reel 6 in the unwinding state to accelerate unwinding. When the force on traction rope 4 is less than the lower limit, the winding reel 6 in the winding state accelerates winding and the winding reel 6 in the unwinding state slows down unwinding to prevent traction rope 4 from breaking. A signal is also sent to the remote traction control interaction terminal 3 to illuminate the alarm indicator and issue a system warning to notify the operator for handling. When the pipeline inertial positioner encounters a jam during its movement, the two motors 8 reverse, causing the pipeline inertial positioner to retreat a certain distance. Then, the motors 8 resume their normal operating direction to attempt to pass through the jammed area and continue measurement. This achieves automatic handling of the fault where the pipeline inertial positioner encounters an obstacle in the pipeline and is unable to move forward. The remote traction control interactive terminal 3 can also receive and display various parameters of the intelligent traction device 1 sent by the main control interactive module 13, realize centralized display of equipment operation status information, facilitate operation by operators, and solve the problem that the measurement process of the pipeline inertial positioner is complicated and heavily reliant on human experience.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent pullback system for underground pipeline exploration, characterized by: The traction system comprises two intelligent traction devices and a remote traction control interactive terminal: The two intelligent traction devices are respectively arranged at two ends of the underground pipeline and are connected with the pipeline inertia positioner through a traction rope. The remote traction control interactive terminal is in communication connection with the main control interactive module through the wireless communication module, is used for obtaining the instruction issued by the operator and sending the control instruction to the main control interactive module according to the instruction to realize the remote centralized control of the equipment operation, and is used for receiving and displaying the parameters of the intelligent traction device sent by the main control interactive module to realize the centralized display of the equipment operation state information. The two main control interactive modules are in communication connection with each other through the wireless communication module, are used for sending and receiving the equipment operation state information between the two main control interactive modules to realize the cooperative work of the two intelligent traction devices. The output ends of the rotary encoder, the strain sensor and the distance measuring encoder are electrically connected with the input end of the main control interactive module. The traction rope is sequentially wound on the distance measuring encoder and the strain sensor from the winding disc to be connected on the pipeline inertia positioner. When the pipeline inertia positioner encounters an obstacle in the pipeline, the strain sensor senses that the force on the traction rope is greater than a set value, transmits a signal to the main control interactive module, and sends the signal to the two intelligent traction devices through the wireless communication module, so that the two motors are respectively reversed to make the pipeline inertia positioner retreat a certain distance, and then the motors are restored to the normal operation direction to try to pass through the jam area to continue measurement, thereby automatically processing the failure that the pipeline inertia positioner cannot move forward due to the jam caused by the obstacle encountered in the pipeline. When the force on the traction rope is greater than the upper limit, the strain sensor sends a signal to the main control interactive module to stop the winding disc in the winding state from winding and to accelerate the winding disc in the unwinding state, and when the force on the traction rope is less than the lower limit, the winding disc in the winding state is accelerated to wind and the winding disc in the unwinding state is slowed down to unwind, and a signal is sent to the remote traction control interactive terminal to make the warning indicator light on to issue a system warning to the operator.

2. The intelligent pullback system for underground pipeline exploration of claim 1, wherein: The remote traction control interactive terminal comprises a control part, a parameter display part and a traction travel display part.

3. The intelligent pullback system for underground pipeline exploration of claim 2, wherein: The control part comprises an emergency stop button, an acceleration button, a deceleration button, an advance button and a retreat button.

4. The intelligent pullback system for underground pipeline exploration of claim 2, wherein: The parameter display part displays system parameters including traction speed, traction force, winding reel rotating speed and power supply power through a display screen, and further includes system warning indicator lights.

5. The intelligent pullback system for underground pipeline exploration of claim 2, wherein: The traction path display part displays the current traction direction and the traction path distance position of the pipeline inertia positioner through a large screen.

6. The intelligent trenching system of claim 1, wherein: A reciprocating winding screw parallel to the winding reel axis is arranged on the outer frame and at one side of the winding reel.

7. The intelligent pullback system for underground pipeline exploration of claim 6, wherein: A rope wheel is threadedly installed on the reciprocating winding screw, and the traction rope drives the rope wheel to rotate so that the rope wheel threadedly matched with the reciprocating winding screw reciprocates along the axis of the reciprocating screw.

8. The intelligent pullback system for underground pipeline exploration of claim 7, wherein: The traction rope sequentially winds around the rope wheel, the distance measuring encoder and the strain sensor from the winding reel so as to be connected to the pipeline inertia positioner.

9. The intelligent trenching system of claim 1, wherein: The motor is threadedly installed at the bottom of the outer frame, and a belt pulley is arranged on the shaft head of the motor and the shaft of the winding reel, and the two belt pulleys are connected through a belt transmission.

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