An automated inspection device for underwater transport pipelines and its usage method

Abstract

This invention relates to the field of intelligent inspection device technology, specifically to an automated inspection device and method for underwater transportation pipelines. The device includes a main body of an inspection robot, warning flashlights, leak protection auxiliary components, and a cleaning component. Upon detecting a leak, the device first alerts the user with the warning flashlights. Then, based on the actual leak location, the leak protection auxiliary components provide temporary sealing. A rotating control motor and a telescopic control rod work together to attach an arc-shaped sealing plate to the leak location. If the leak location deviates, a control motor drives an arc-shaped movable sealing plate and an elastic winding belt to seal the leak. This device quickly detects and promptly remedies pipeline leaks, saving valuable time for repair work and meeting practical application needs.

Description

Technical Field

[0001] This invention relates to the field of intelligent inspection device technology, specifically to an automated inspection device for underwater transportation pipelines and its usage method. Background Technology

[0002] Chinese patent document CN110470669A discloses a method, system, and related device for leak detection in underwater pipelines. It proposes that existing technologies typically include two detection methods: one using distributed optical fiber sensing technology and the other using forward-looking sonar. However, the distributed optical fiber sensing method for detecting pipeline leaks has only been tested in laboratory environments. This method utilizes OTDR and Rayleigh scattering technology to detect leaks in underwater pipelines, but this technology has limitations on the length of the optical fiber, and the fiber, when attached to the pipeline surface, is easily affected by water flow, leading to vibrations and false positives. Therefore, the proposed solution provides a detection method using optical imaging image processing to detect leaks in underwater pipelines. It employs inter-frame difference to detect digital signals frame by frame, achieving high resolution and accurate location detection, thus improving leak detection accuracy and significantly reducing the false positive rate compared to the distributed optical fiber sensing method. Furthermore, it provides an underwater pipeline leak detection system, a computer-readable storage medium, and an underwater robot for leak detection in underwater pipelines.

[0003] Existing underwater pipelines are typically located on the seabed, and leaks in these pipelines can cause serious water pollution. Current methods, such as installing fixed-point sensors and manual inspection, are not sensitive or timely enough to detect leaks. Existing detection robots only perform detection and alarm functions, transmitting the leak point to a signal receiving station. If a leak occurs, they cannot provide immediate temporary remedial treatment; they must wait for repair personnel to arrive, which may cause even greater problems. Furthermore, locating leaks is inconvenient for repair personnel, and the detection devices, which need to provide warnings, do not meet the actual work requirements and need improvement and optimization.

[0004] To address these issues, this invention proposes an automated inspection device and method for underwater transport pipelines. Summary of the Invention

[0005] The purpose of this invention is to provide an automated inspection device and method for underwater transportation pipelines to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automated inspection device for underwater transport pipelines, comprising an inspection robot fish body, a warning flashing light, a leakage protection auxiliary component, and a cleaning component; the inspection robot fish body is equipped with a warning flashing light, a tail fin is connected to the tail of the inspection robot fish body, a support plate is connected to the bottom side of the inspection robot fish body, the leakage protection auxiliary component is connected to the support plate, and the leakage protection auxiliary component is connected to the cleaning component.

[0007] Preferably, the leakage protection auxiliary component includes a support body, a rotary control motor, a load-bearing rotating column, a telescopic control rod, an arc-shaped connecting plate, a connecting slot, mounting bolts, an arc-shaped sealing plate, an arc-shaped movable sealing plate, an arc-shaped transmission rack, a drive gear plate, a control motor, a loading box, an elastic winding belt, and auxiliary protrusions. The support bodies are symmetrically fixedly arranged on the bottom side of the load-bearing plate, and a rotary control motor is fixedly connected to the side wall of one of the support bodies. One end of the support body is connected to the load-bearing rotating column, and a telescopic control rod is fixedly arranged on one side of the load-bearing rotating column. An arc-shaped connecting plate is fixedly arranged at one end of the telescopic control rod. The arc-shaped connecting plate has symmetrically arranged through holes, and the arc-shaped connecting plate is adapted to and engages with the connecting slot. The connecting slot is located on the outer side wall of the arc-shaped sealing plate, and symmetrically arranged threaded grooves are provided in the connecting slot. The arc-shaped connecting plate is fixedly arranged in the connecting slot by mounting bolts. Symmetrically movable internal components are arranged on both sides of the arc-shaped sealing plate. An arc-shaped transmission rack has an arc-shaped connecting strip fixedly installed on its inner side wall, which is movably installed in an arc-shaped sealing plate. An arc-shaped movable sealing plate is fixedly installed on the inner side wall of the connecting strip. A drive gear is meshingly connected to one side of the arc-shaped transmission rack. The drive gear is symmetrically and movably installed in the arc-shaped sealing plate and fixedly installed at one end of a rotating shaft. The rotating shaft is inserted into the arc-shaped sealing plate and connected to one end of a control motor. The control motor is symmetrically fixedly installed on the arc-shaped sealing plate. A loading box is symmetrically installed in the arc-shaped sealing plate, and an elastic winding belt is connected inside the loading box. One end of the elastic winding belt extends to the outer side wall of the loading box and is fixedly connected to one end of the arc-shaped movable sealing plate. Auxiliary protrusions are fixedly installed at equal intervals on one side of the elastic winding belt. A cleaning component is connected to one end of the arc-shaped movable sealing plate to pre-clean the outer wall of the pipe.

[0008] Preferably, the arc-shaped connecting plate and the connecting slot are positioned correspondingly and have the same number of sets.

[0009] Preferably, the arc-shaped movable sealing plate, the arc-shaped connecting strip, and the arc-shaped transmission rack are positioned in a corresponding manner and have the same number of sets.

[0010] Preferably, the elastic winding tape is driven by an arc-shaped movable sealing plate, and the elastic winding tape is tightly attached to the outer wall of the pipe.

[0011] Preferably, the cleaning component includes a cleaning scraper, a placement groove, an auxiliary roller, and a cleaning brush; the cleaning scraper is symmetrically fixed at one end of the arc-shaped movable sealing plate, and the inner sidewall of the cleaning scraper is provided with a placement groove, the auxiliary roller is movably disposed in the placement groove, and the cleaning brush is connected to the placement groove.

[0012] Preferably, the cleaning scraper is configured as an angled block.

[0013] Preferably, one auxiliary roller is provided in the placement groove, and the cleaning brushes are symmetrically arranged about the auxiliary roller.

[0014] A method for using an automated inspection device for underwater transport pipelines, the method being as follows:

[0015] The main body of the inspection robot fish patrols and inspects underwater pipelines. Upon detecting a leak, it first uses a warning flashing light to alert the user. Then, based on the actual leak location, it uses a leak protection auxiliary component for temporary sealing and emergency repair. A rotating control motor and a telescopic control rod work together to attach an arc-shaped sealing plate to the leak location. If the leak location deviates, a control motor drives an arc-shaped movable sealing plate and an elastic retractable belt to seal the leak. Furthermore, a cleaning component removes debris from the pipeline at the leak location, effectively contributing to leak repair.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention presents an automated inspection device for underwater transport pipelines, which incorporates a collaborative intelligent inspection mode using underwater robotic fish and aerial drones. It features high inspection accuracy, wide applicability, and early problem detection. The resulting intelligent monitoring system for underwater oil pipelines optimizes traditional methods of installing fixed-point sensors and manual inspection. It automatically generates risk reports for faulty water areas, promptly reporting pipeline defects and achieving efficient and reliable pipeline leak detection and location. This minimizes economic losses and prevents ecological damage caused by oil pipeline leaks. The robotic inspection fish patrols the underwater pipeline. Upon detecting a leak, it first uses warning lights to alert the system. Then, based on the actual leak location, it uses a leak protection auxiliary component for temporary sealing. A rotating control motor and a telescopic control rod work together to attach an arc-shaped sealing plate to the leak location. If the leak location deviates, a control motor drives an arc-shaped movable sealing plate and an elastic retractable belt to seal the leak. A cleaning component removes debris from the leak location, positively impacting leak repair efforts. This device quickly detects and promptly repairs pipeline leaks, saving valuable time for repair work and meeting practical application needs. Attached Figure Description

[0018] Figure 1 This is a top view of the structure and connection of the automated oil pipeline inspection device of the present invention;

[0019] Figure 2 This is a top view of the structure and connection of the automated oil pipeline inspection device of the present invention;

[0020] Figure 3 For the present invention Figure 2 Enlarged schematic diagram of the structural connection at point A;

[0021] Figure 4 This is a schematic diagram of the front side of the connection between the leakage protection auxiliary component and the cleaning component of the present invention;

[0022] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structural connection at point A;

[0023] Figure 6 This is a schematic diagram of the back side of the connection between the leakage protection auxiliary component and the cleaning component of the present invention;

[0024] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of the structural connection at point A in the middle.

[0025] In the diagram: 1. Inspection robot fish body; 2. Tail fin; 3. Warning flashing light; 4. Support plate; 5. Leakage protection auxiliary component; 501. Support body; 502. Rotary control motor; 503. Support column; 504. Telescopic control rod; 505. Arc-shaped connecting plate; 506. Connecting slot; 507. Mounting bolt; 508. Arc-shaped sealing plate; 509. Arc-shaped movable sealing plate; 510. Arc-shaped transmission rack; 511. Drive gear plate; 512. Control motor; 513. Loading box; 514. Elastic winding belt; 515. Auxiliary protrusion; 6. Cleaning component; 601. Cleaning scraper; 602. Placement groove; 603. Auxiliary roller; 604. Cleaning brush. Detailed Implementation

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0027] Please see Figures 1-2 and Figure 6 An automated inspection device for underwater transport pipelines includes an inspection robot fish body 1, a warning flashing light 3, a leakage protection auxiliary component 5, and a cleaning component 6. The warning flashing light 3 is connected to the inspection robot fish body 1, a tail fin 2 is connected to the tail of the inspection robot fish body 1, a support plate 4 is connected to the bottom side of the inspection robot fish body 1, the leakage protection auxiliary component 5 is connected to the support plate 4, and the leakage protection auxiliary component 5 is connected to the cleaning component 6. It features high inspection accuracy, wide applicability, and early problem detection. The resulting intelligent monitoring system for underwater oil pipelines optimizes traditional methods of installing fixed-point sensors and manual inspection. It automatically generates risk reports for faulty waters, promptly reports pipeline defects, and achieves efficient and reliable pipeline leak detection and location, minimizing economic losses and preventing ecological damage caused by oil pipeline leaks. In addition, the robotic fish adopts a modular compartmentalized design, equipped with different sensors to perform various functions, such as monitoring the impact of oil pipelines on the seabed environment, identifying cracks in underwater structures, and acting as a signal relay. The designed underwater robotic fish can work in conjunction with aerial drones to achieve intelligent inspection mode.

[0028] Please see Figures 3-5 Please see Figures 3-5The leakage protection auxiliary component 5 includes a support body 501, a rotary control motor 502, a bearing rotating column 503, a telescopic control rod 504, an arc-shaped connecting plate 505, a connecting slot 506, mounting bolts 507, an arc-shaped sealing plate 508, an arc-shaped movable sealing plate 509, an arc-shaped transmission rack 510, a drive gear 511, a control motor 512, a loading box 513, an elastic winding belt 514, and auxiliary protrusions 515. The support bodies 501 are symmetrically fixedly arranged on the bottom side of the bearing plate 4, and a rotary control motor 502 is fixedly connected to the side wall of one of the support bodies 501, with a bearing rotating column 503 connected to one end. A telescopic control rod 504 is fixedly installed on one side of the arc-shaped sealing plate 508. An arc-shaped connecting plate 505 is fixedly installed at one end of the telescopic control rod 504. The arc-shaped connecting plate 505 has symmetrical through holes and is adapted to and engaged with a connecting slot 506. The connecting slot 506 is located on the outer wall of the arc-shaped sealing plate 508 and has symmetrical threaded grooves. The arc-shaped connecting plate 505 is fixedly installed in the connecting slot 506 by mounting bolts 507. Arc-shaped transmission racks 510 are symmetrically and movably arranged on both sides of the inner side of the arc-shaped sealing plate 508. An arc-shaped connecting strip is fixedly installed on the inner side wall of the arc-shaped transmission rack 510 and is movably positioned... In the arc-shaped sealing plate 508, an arc-shaped movable sealing plate 509 is fixedly installed on the inner wall of the arc-shaped connecting strip. A drive gear 511 is adapted to and meshes with one side of the arc-shaped transmission rack 510. The drive gear 511 is symmetrically and movably installed in the arc-shaped sealing plate 508, and is fixedly installed at one end of a rotating shaft. The rotating shaft is inserted into the arc-shaped sealing plate 508 and connected to one end of a control motor 512. The control motor 512 is symmetrically fixed on the arc-shaped sealing plate 508. A loading box 513 is symmetrically installed in the arc-shaped sealing plate 508, and an elastic winding belt 514 is connected inside the loading box 513. One end of 14 extends to the outer wall of the loading box 513 and is fixedly connected to one end of the arc-shaped movable sealing plate 509. Auxiliary protrusions 515 are fixedly provided at equal intervals on one side of the elastic winding belt 514. A cleaning component 6 is connected to one end of the arc-shaped movable sealing plate 509. The cleaning component 6 pre-cleans the outer wall of the pipe. The arc-shaped connecting plate 505 and the connecting slot 506 are positioned correspondingly and have the same number of sets. The arc-shaped movable sealing plate 509, the arc-shaped connecting strip, and the arc-shaped transmission rack 510 are positioned correspondingly and have the same number of sets. The elastic winding belt 514 is driven by the arc-shaped movable sealing plate 509 and is tightly attached to the outer wall of the pipe.The rotary control motor 502 drives the bearing rotating column 503 and the telescopic control rod 504 to rotate until the arc-shaped sealing plate 508 reaches the appropriate position. The telescopic control rod 504 then pushes the arc-shaped sealing plate 508, securing it at the leak location in the pipeline. Simultaneously, the control motor 512 drives the drive gear disc 511 to mesh with the arc-shaped transmission rack 510, which in turn drives the arc-shaped movable sealing plate 509 to wrap around the pipeline. At the same time, one end of the arc-shaped movable sealing plate 509 drives the elastic winding tape 514, ensuring the elastic winding tape 514 is tightly adhered to the pipeline sidewall. 4. During the process of tightly adhering to the pipeline, the auxiliary protrusions 515 set on the side wall of the elastic winding tape 514 are intended to further clean impurities on the pipeline side wall and improve its sealing effect; the arc-shaped sealing plate 508 is fixedly connected to the telescopic control rod 504 through the cooperation of the arc-shaped connecting plate 505, the connecting groove 506 and the mounting bolt 507, which facilitates subsequent disassembly and assembly. On the one hand, it facilitates replacement and maintenance work; on the other hand, when inspecting pipelines of different diameters, a matching arc-shaped sealing plate 508 can be replaced for timely remedial work, which is highly flexible and better meets the actual work needs.

[0029] Please see Figures 6-7 The cleaning component 6 includes a cleaning scraper 601, a placement groove 602, an auxiliary roller 603, and a cleaning brush 604. The cleaning scraper 601 is symmetrically fixed at one end of the arc-shaped movable sealing plate 509, and the inner side wall of the cleaning scraper 601 is provided with a placement groove 602. The auxiliary roller 603 is movably disposed in the placement groove 602, and the cleaning brush 604 is connected to the placement groove 602. The cleaning scraper 601 is set as an inclined block. There is one auxiliary roller 603 in the placement groove 602, and the cleaning brush 604 is symmetrically arranged about the auxiliary roller 603. The cleaning scraper 601 scrapes away impurities on the outer wall of the pipe, and the auxiliary roller 603 flattens the scraped pipe side wall to avoid scratching damage to the pipe. The cleaning brush 604 performs further cleaning work on the pipe.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated inspection device for underwater transport pipelines, characterized in that: The system includes a main body (1) of an inspection robot fish, a warning flashlight (3), a leakage protection auxiliary component (5), and a cleaning component (6). The main body (1) of the inspection robot fish is equipped with a warning flashlight (3), a tail fin (2) is connected to the tail of the main body (1), a support plate (4) is connected to the bottom side of the main body (1), a leakage protection auxiliary component (5) is connected to the support plate (4), and the leakage protection auxiliary component (5) is connected to the cleaning component (6). The leakage protection auxiliary component (5) includes a support body (501), a rotary control motor (502), a bearing rotating column (503), a telescopic control rod (504), an arc-shaped connecting plate (505), a connecting slot (506), mounting bolts (507), an arc-shaped sealing plate (508), an arc-shaped movable sealing plate (509), an arc-shaped transmission rack (510), a drive gear plate (511), a control motor (512), a loading box (513), an elastic winding belt (514), and auxiliary protrusions (515). The support bodies (501) are symmetrically fixedly arranged on the bottom side of the bearing plate (4), and a rotary control motor is fixedly connected to the side wall of one of the support bodies (501). A motor (502) is provided with a bearing rotating column (503) at one end. A telescopic control rod (504) is fixedly provided on one side of the bearing rotating column (503). An arc-shaped connecting plate (505) is fixedly provided at one end of the telescopic control rod (504). The arc-shaped connecting plate (505) has symmetrical through holes and is adapted to and snapped into a connecting slot (506). The connecting slot (506) is provided on the outer side wall of the arc-shaped sealing plate (508). Threaded grooves are symmetrically provided in the connecting slot (506). The arc-shaped connecting plate (505) is fixedly provided in the connecting slot (508) by mounting bolts (507). In step 6), an arc-shaped transmission rack (510) is symmetrically and movably arranged on both sides of the inner side of the arc-shaped sealing plate (508). An arc-shaped connecting strip is fixedly arranged on the inner side wall of the arc-shaped transmission rack (510), and the arc-shaped connecting strip is movably arranged in the arc-shaped sealing plate (508). An arc-shaped movable sealing plate (509) is fixedly arranged on the inner side wall of the arc-shaped connecting strip. A drive gear plate (511) is adapted to mesh with one side of the arc-shaped transmission rack (510). The drive gear plate (511) is symmetrically and movably arranged in the arc-shaped sealing plate (508), and the drive gear plate (511) is fixedly arranged at one end of the rotating shaft. The rotating shaft is inserted into the arc-shaped sealing plate (508), and the rotating shaft is connected to... The control motor (512) is symmetrically fixed on the arc-shaped sealing plate (508). The loading box (513) is symmetrically arranged in the arc-shaped sealing plate (508), and an elastic winding belt (514) is connected inside the loading box (513). One end of the elastic winding belt (514) extends to the outer wall of the loading box (513) and is fixedly connected to one end of the arc-shaped movable sealing plate (509). An auxiliary protrusion (515) is fixedly arranged at equal intervals on one side of the elastic winding belt (514). A cleaning component (6) is connected to one end of the arc-shaped movable sealing plate (509). The cleaning component (6) pre-cleans the outer wall of the pipe.

2. The automated inspection device for underwater transportation pipelines according to claim 1, characterized in that: The arc-shaped connecting plate (505) and the connecting slot (506) are positioned in the same way and have the same number of sets.

3. The automated inspection device for underwater transportation pipelines according to claim 1, characterized in that: The arc-shaped movable sealing plate (509), the arc-shaped connecting strip, and the arc-shaped transmission rack (510) are positioned in the same way and have the same number of sets.

4. The automated inspection device for underwater transportation pipelines according to claim 1, characterized in that: The elastic winding tape (514) is driven by the arc-shaped movable sealing plate (509), and the elastic winding tape (514) is tightly attached to the outer wall of the pipe.

5. The automated inspection device for underwater transportation pipelines according to claim 1, characterized in that: The cleaning component (6) includes a cleaning scraper (601), a placement groove (602), an auxiliary roller (603), and a cleaning brush (604). The cleaning scraper (601) is symmetrically fixed at one end of the arc-shaped movable sealing plate (509), and the inner sidewall of the cleaning scraper (601) is provided with a placement groove (602). The auxiliary roller (603) is movably arranged in the placement groove (602), and the cleaning brush (604) is connected in the placement groove (602).

6. The automated inspection device for underwater transportation pipelines according to claim 5, characterized in that: The cleaning scraper (601) is configured as an inclined block.

7. The automated inspection device for underwater transportation pipelines according to claim 5, characterized in that: The auxiliary roller (603) is provided in the placement groove (602), and the cleaning brush (604) is symmetrically arranged about the auxiliary roller (603).

8. A method of using an automated inspection device for underwater transport pipelines as described in any one of claims 1-7, characterized in that, The usage method is as follows: The main body of the inspection robot fish (1) patrols and inspects underwater pipelines. If a leak occurs, it first uses the warning flashlight (3) to issue a warning. Then, based on the actual leak location, it uses the leak protection auxiliary component (5) to temporarily seal and repair the leak. The arc-shaped sealing plate (508) is attached to the leak location of the pipeline by the cooperation of the rotary control motor (502) and the telescopic control rod (504). When the leak location is deviated, the arc-shaped movable sealing plate (509) and the elastic winding belt (514) are driven by the control motor (512) to seal and repair the leak location. The cleaning component (6) removes dirt from the pipeline at the leak location, which has a positive impact on the leak repair work.

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