Intelligent inspection device for preventing gas pipeline leakage

Abstract

The invention discloses an intelligent inspection device for preventing gas pipeline leakage, which comprises a mobile trolley and a mobile trolley control module, and further comprises a take-off platform and a terminal operation system which are arranged on the mobile trolley, an unmanned aerial vehicle is placed on the take-off platform, and a flight control module and a pipeline plugging control module are arranged on the unmanned aerial vehicle; the unmanned aerial vehicle is connected with the pipeline plugging assembly through the connecting mechanism, the pipeline plugging assembly comprises a pipeline plugging ring sleeve and a first opening and closing mechanism used for controlling opening and closing of the pipeline plugging ring sleeve, and a plugging mechanism is arranged on the inner side of the pipe wall of the pipeline plugging ring sleeve. The plugging mechanism comprises a heating assembly arranged in the pipeline plugging ring sleeve and a curing plugging glue mounting block, and the pipeline plugging control module is connected with the first opening and closing mechanism and the control end of the heating assembly. According to the invention, intelligent inspection of the gas pipeline is realized, the leakage position is positioned, meanwhile, the pipeline is blocked immediately, potential safety hazards are eliminated in time, and the intelligence and efficiency of gas inspection are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline inspection, and in particular relates to an intelligent inspection device for preventing and controlling gas pipeline leakage. Background Art

[0002] As an important infrastructure for modern urban energy supply, gas pipelines are responsible for safely and efficiently transporting clean energy such as natural gas or liquefied petroleum gas to thousands of households and various industrial enterprises. The safe operation of gas pipelines is directly related to the safety of public life and property as well as social stability and development.

[0003] However, traditional gas pipeline inspection devices have significant shortcomings when dealing with safety hazards such as gas leaks. On the one hand, due to the wide distribution of gas pipelines, it is difficult for inspection personnel to fully cover all areas, resulting in poor timeliness of inspection work and difficulty in timely detection and treatment of potential leakage risks. In addition, traditional inspection devices have certain limitations in the accuracy of leak point detection, and are often unable to accurately determine the location and extent of the leak, thus affecting the timeliness and effectiveness of leak treatment. On the other hand, the inspection device has a relatively single function. Even if it can accurately determine the location of the leak, it is necessary to wait for manual arrival at the leak location, and it is impossible to immediately perform leak sealing treatment, which delays the optimal leak treatment time and easily causes safety hazards.

[0004] The Chinese invention patent with publication number CN116658830A discloses a residential gas pipeline leakage inspection system based on drone swarm collaboration, including a drone swarm inspection unit, a loading vehicle processing unit, and a drone landing platform; the drone is launched and recovered through the drone landing platform; the flight path of the drone swarm is planned by the loading vehicle processing unit to generate a flight trajectory, and the track signal is output to the drone inspection unit; the drone inspection unit realizes accurate navigation, real-time obstacle avoidance, track correction after obstacle avoidance, and gas pipeline leakage monitoring through the flight path; the loading vehicle processing unit can also process the received gas leakage data to achieve accurate positioning of the gas leakage position. However, the intelligent inspection device can only locate the leakage position, which is not enough to meet the safety protection needs of the gas pipeline. It is necessary to be able to immediately perform intelligent pipeline blocking after locating the leakage position to eliminate safety hazards in time and ensure the safe operation of the gas pipeline. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, to intelligently inspect the gas pipeline and locate the leakage position, to immediately seal the pipeline, to eliminate safety hazards in time, and to provide an intelligent inspection device for preventing and controlling gas pipeline leakage.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An intelligent inspection device for preventing and controlling gas pipeline leakage comprises a mobile trolley and a mobile trolley control module, and also comprises a take-off platform and a terminal operating system arranged on the mobile trolley, wherein the terminal operating system is connected to the mobile trolley control module, an unmanned aerial vehicle is placed on the take-off platform, a control unit is arranged on the unmanned aerial vehicle, the control unit is wirelessly connected to the terminal operating system, the control unit comprises a flight control module and a pipeline plugging control module, the unmanned aerial vehicle is connected to a pipeline plugging component through a connecting mechanism, the connecting mechanism is used to change the position and posture of the pipeline plugging component, the pipeline plugging component comprises a pipeline plugging snare and a first opening and closing mechanism for controlling the opening and closing of the pipeline plugging snare, a plugging mechanism is arranged on the inner side of the pipe wall of the pipeline plugging snare, the plugging mechanism comprises a heating component and a curing plugging glue mounting block arranged in the pipeline plugging snare, the heating component is used to heat the curing plugging glue on the curing plugging glue mounting block, and the pipeline plugging control module is respectively connected to the control ends of the first opening and closing mechanism and the heating component.

[0008] The present invention realizes intelligent inspection of gas pipelines, locates leakage positions, and immediately blocks the pipelines, timely eliminates potential safety hazards, and improves the intelligence and efficiency of gas inspections.

[0009] Preferably, the sealing mechanism also includes a first slide groove arranged in the pipe sealing ring, a first gear ring is slidably arranged in the first slide groove, the heating component and the curing sealing glue mounting block are arranged on the inner side of the first gear ring, and a sealing drive motor is arranged on the pipe sealing ring. A first gear is connected to the output shaft of the sealing drive motor, the first gear and the first gear ring are meshed and rotatably connected, and the control end of the sealing drive motor is connected to the pipe sealing control module.

[0010] By setting a plugging drive motor, the first gear ring and the first gear to rotate in coordination with each other, the solidified plugging glue installation block is driven to rotate in the pipeline plugging ring, so as to facilitate the moving position to plug the leakage point.

[0011] Preferably, the control unit also includes a pipeline polishing control module, the end of the connecting mechanism is also connected to a pipeline polishing assembly, the connecting mechanism is also used to change the position and posture of the pipeline polishing assembly, the pipeline polishing assembly includes a pipeline polishing snare and a second opening and closing mechanism for controlling the opening and closing of the pipeline polishing snare, a polishing mechanism is arranged on the inner side of the pipe wall of the pipeline polishing snare, and the pipeline polishing control module is respectively connected to the connecting mechanism, the second opening and closing mechanism, and the control end of the polishing mechanism.

[0012] Preferably, the polishing mechanism includes a second slide groove arranged in the pipe polishing ring, a second gear ring is slidably arranged in the second slide groove, polishing paper is arranged on the inner side of the second gear ring, a polishing drive motor is arranged on the pipe polishing ring, a second gear is connected to the output shaft of the polishing drive motor, and the second gear is meshingly and rotatably connected with the second gear ring.

[0013] By grinding the pipeline before sealing and cleaning the sealing surface in time, the solid sealing glue can be effectively bonded, thus improving the intelligence and efficiency of gas inspection.

[0014] Preferably, the connecting mechanism includes a first mechanical arm, and the pipe plugging trap includes a first arc-shaped trap and a second arc-shaped trap, the first arc-shaped trap and the second arc-shaped trap are hinged at the non-free end through a first connecting part, the first connecting part is connected to the end of the first mechanical arm, and the first opening and closing mechanism includes a first telescopic cylinder and a second telescopic cylinder arranged on both sides of the first connecting part, the piston rod ends of the first telescopic cylinder and the second telescopic cylinder are respectively hinged on the outer walls of the first arc-shaped trap and the second arc-shaped trap, the ends of the first telescopic cylinder and the second telescopic cylinder are both hinged to the end of the first mechanical arm, and the pipe plugging control module is respectively connected to the control ends of the first mechanical arm, the first telescopic cylinder, and the second telescopic cylinder.

[0015] Preferably, the connecting mechanism includes a second robotic arm, the pipe grinding trap includes a third arc trap and a fourth arc trap, the third arc trap and the fourth arc trap are hinged at the non-free end through a second connecting part, the second connecting part is connected to the end of the second robotic arm, the second opening and closing mechanism includes a third telescopic cylinder and a fourth telescopic cylinder arranged on both sides of the second connecting part, the piston rod ends of the third telescopic cylinder and the fourth telescopic cylinder are respectively hinged on the outer walls of the third arc trap and the fourth arc trap, the ends of the third telescopic cylinder and the fourth telescopic cylinder are both hinged to the end of the second robotic arm, and the pipeline blocking control module is respectively connected to the control ends of the second robotic arm, the third telescopic cylinder and the fourth telescopic cylinder.

[0016] Preferably, the connecting mechanism includes a third mechanical arm, the pipe sealing trap includes a fifth arc-shaped trap, the pipe polishing trap includes a sixth arc-shaped trap, the fifth arc-shaped trap and the sixth arc-shaped trap are hinged at the non-free end by a third connecting portion, the third connecting portion is connected to the end of the third mechanical arm, the first opening and closing mechanism includes a fifth telescopic cylinder, the second opening and closing mechanism includes a sixth telescopic cylinder, the piston rod ends of the fifth telescopic cylinder and the sixth telescopic cylinder are respectively hinged on the outer walls of the fifth arc-shaped trap and the sixth arc-shaped trap, the ends of the fifth telescopic cylinder and the sixth telescopic cylinder are both hinged to the end of the third mechanical arm, the pipe sealing control module is connected to the control end of the fifth telescopic cylinder, the pipe polishing control module is connected to the control end of the sixth telescopic cylinder, and the control end of the third mechanical arm is connected to the pipe sealing control module or the pipe polishing control module.

[0017] Preferably, a liquid nitrogen tank is provided under the drone, the air outlet of the liquid nitrogen tank is connected to the air inlet of the jet pipe, a cooling control valve is provided on the jet pipe, and the control end of the cooling control valve is connected to the pipeline blocking control module.

[0018] Preferably, a laser methane detector and a temperature detector are provided at the bottom of the drone, and the signal output ends of the laser methane detector and the temperature detector are electrically connected to the pipeline plugging control module.

[0019] Preferably, a jet drive motor is provided on the mobile vehicle, and an injector is connected to the output shaft of the jet drive motor. The injector includes a storage part for storing liquid sealing glue and an injection pipe for injecting liquid sealing glue. The injection pipe is connected to the storage part, and the jet drive motor is electrically connected to the pipeline sealing control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described in detail below with reference to the accompanying drawings.

[0021] Figure 1 is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0022] Figure 2 is a schematic structural diagram of a pipeline plugging assembly according to Embodiment 1 of the present invention;

[0023] Figure 3 is a schematic structural diagram of a mobile vehicle according to Embodiment 1 of the present invention;

[0024] Figure 4 is a schematic structural diagram of Embodiment 2 of the present invention;

[0025] Figure 5 is a schematic structural diagram of a pipeline polishing assembly according to Embodiment 2 of the present invention;

[0026] Figure 6 is a schematic diagram of the structure of the pipeline polishing assembly after being opened according to Embodiment 2 of the present invention;

[0027] Figure 7 is a schematic diagram of the structure of Embodiment 3 of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the pipeline plugging assembly and the pipeline polishing assembly of Example 3 of the present invention.

[0029] Explanation of the accompanying drawings: 1. Mobile trolley; 2. Take-off platform; 3. UAV; 4. Terminal operating system; 5. Pipeline plugging trap; 501. First arc-shaped trap; 502. Second arc-shaped trap; 503. Fifth arc-shaped trap; 6. First opening and closing mechanism; 601. First telescopic cylinder; 602. Second telescopic cylinder; 603. Fifth telescopic cylinder; 7. Blocking mechanism; 701. First slide groove; 702. First gear ring; 703. Heating component; 704. Curing plugging glue mounting block; 705. Blocking drive motor; 706. First gear; 8. Connecting mechanism; 801. First mechanical arm; 802. Second mechanical arm; 803. Third mechanical arm; 9. First connecting part; 10. Liquid nitrogen tank; 11. jet pipe; 12. cooling control valve; 13. laser methane detector; 14. temperature detector; 15. camera; 16. jet drive motor; 17. ejector; 18. pipe grinding snare; 1801. third arc snare; 1802. fourth arc snare; 1803. sixth arc snare; 19. second opening and closing mechanism; 1901. third telescopic cylinder; 1902. fourth telescopic cylinder; 1903. sixth telescopic cylinder; 20. grinding mechanism; 2001. second slide groove; 2002. second gear ring; 2003. grinding paper; 2004. grinding drive motor; 2005. second gear; 21. second connecting part; 22. third connecting part; 23. fence. DETAILED DESCRIPTION

[0030] Example 1

[0031] like Figure 1As shown, the present invention provides an intelligent inspection device for preventing and controlling gas pipeline leakage, comprising a mobile trolley 1 and a mobile trolley control module, and also comprising a take-off platform 2 and a terminal operating system 4 arranged on the mobile trolley 1, the terminal operating system 4 is connected to the control module of the mobile trolley 1, a drone 3 is placed on the take-off platform 2, a control unit is arranged on the drone 3, the control unit is wirelessly connected to the terminal operating system 4, the control unit comprises a flight control module and a pipeline plugging control module, the drone 3 is connected to the pipeline plugging assembly through a connecting mechanism 8, the connecting mechanism 8 is used to change the position and posture of the pipeline plugging assembly, the pipeline plugging assembly comprises a pipeline plugging snare 5 and a first opening and closing mechanism 6 for controlling the opening and closing of the pipeline plugging snare 5, and a plugging mechanism 7 is arranged on the inner side of the pipe wall of the pipeline plugging snare 5.

[0032] The present invention realizes intelligent inspection of gas pipelines, locates leakage positions, and immediately blocks the pipelines, timely eliminates potential safety hazards, and improves the intelligence and efficiency of gas inspections.

[0033] In this embodiment, a fence 23 is hinged on the side wall of the mobile vehicle 1, the fuselage of the drone 3 is made of carbon fiber, and the pipeline plugging snare 5 is made of aluminum alloy.

[0034] In this embodiment, Figure 2 As shown, a liquid nitrogen tank 10 is arranged below the drone 3, and the gas outlet of the liquid nitrogen tank 10 is connected to the gas inlet of the jet pipe 11. The jet pipe 11 is provided with a cooling control valve 12, and the control end of the cooling control valve 12 is connected to the pipeline plugging control module. By spraying liquid nitrogen gas, the leak point after plugging is cooled down, and the cooling and solidification of the plugging glue is accelerated to achieve a rapid plugging effect.

[0035] In this embodiment, a laser methane detector 13 and a temperature detector 14 are provided at the bottom of the drone 3, and the signal output ends of the laser methane detector 13 and the temperature detector 14 are electrically connected to the pipeline plugging control module. By combining the sonic method with the laser methane detector 13 to detect gas pipeline leaks, the detection range is expanded and the accuracy of leak detection can be effectively improved.

[0036] In this embodiment, a camera 15 is further provided at the bottom of the drone 3, and a signal output end of the camera 15 is electrically connected to the pipeline blocking control module. The camera 15 collects flight image data of the drone 3 to monitor the flight path of the drone 3.

[0037] In this embodiment, a jet drive motor 16 is provided on the mobile vehicle 1, and an injector 17 is connected to the output shaft of the jet drive motor 16. The injector 17 includes a storage part for storing liquid sealing glue and an injection pipe for injecting liquid sealing glue. The injection pipe is connected to the storage part, and the jet drive motor 16 is electrically connected to the pipeline sealing control module.

[0038] like Figure 3 As shown, the sealing mechanism 7 includes a heating component 703 and a curing sealing glue mounting block 704 arranged in the pipeline sealing ring 5, the heating component 703 is used to heat the curing sealing glue on the curing sealing glue mounting block 704, and the pipeline sealing control module is respectively connected to the first opening and closing mechanism 6 and the control end of the heating component 703.

[0039] In this embodiment, the plugging mechanism 7 also includes a first slide groove 701 arranged in the pipeline plugging trap 5, a first gear ring 702 is slidably arranged in the first slide groove 701, a heating component 703 and a solidified plugging glue mounting block 704 are arranged on the inner side of the first gear ring 702, a plugging drive motor 705 is arranged on the pipeline plugging trap 5, a first gear 706 is connected to the output shaft of the plugging drive motor 705, the first gear 706 and the first gear ring 702 are meshed and rotatably connected, and the control end of the plugging drive motor 705 is connected to the pipeline plugging control module. By setting the plugging drive motor 705, the first gear ring 702 and the first gear 706 to rotate in coordination with each other, the solidified plugging glue mounting block 704 is driven to rotate in the pipeline plugging trap 5, so as to facilitate the moving position to plug the leakage point.

[0040] In this embodiment, the connecting mechanism 8 includes a first mechanical arm 801, and the pipeline plugging snare 5 includes a first arc snare 501 and a second arc snare 502. The first arc snare 501 and the second arc snare 502 are hinged at the non-free end through a first connecting part 9, and the first connecting part 9 is connected to the end of the first mechanical arm 801. The first opening and closing mechanism 6 includes a first telescopic cylinder 601 and a second telescopic cylinder 602 arranged on both sides of the first connecting part 9. The piston rod ends of the first telescopic cylinder 601 and the second telescopic cylinder 602 are respectively hinged on the outer walls of the first arc snare 501 and the second arc snare 502. The ends of the first telescopic cylinder 601 and the second telescopic cylinder 602 are both hinged to the end of the first mechanical arm 801, and the pipeline plugging control module is respectively connected to the control ends of the first mechanical arm 801, the first telescopic cylinder 601, and the second telescopic cylinder 602.

[0041] In this embodiment, the first robotic arm 801 is a multi-directional robotic arm, which includes a first connecting shaft and a second connecting shaft connected by a rotating connecting mechanism. The rotating connecting mechanism is connected to a rotating control mechanism, and the rotating control mechanism is connected to a pipeline plugging control module.

[0042] In this embodiment, during specific use, acoustic wave sensors are provided on the upstream and downstream pipe walls of the pipeline. When a gas pipeline leaks, the leakage acoustic wave signal propagates along the pipeline medium to the acoustic wave sensors pre-buried on the upstream and downstream pipe walls, and the signal to be processed is input into the terminal operating system 4. The laser methane detector 13 also inputs the detected leakage signal into the terminal operating system 4. The terminal operating system 4 processes the leakage acoustic wave signal and the leakage signal and obtains the leakage point position.

[0043] Then start the drone 3, control the drone 3 and the pipeline plugging assembly connected to the drone 3 to fly to the leak point, and monitor the flight path of the drone 3 through the camera 15. Then start the first mechanical arm 801, put down the pipeline plugging assembly, retract the piston rods of the first telescopic cylinder 601 and the second telescopic cylinder 602, drive the first arc snare 501 and the second arc snare 502 to open through the connecting arm, and cover the leak point and its surroundings. Start the plugging drive motor 705, the output shaft of the plugging drive motor 705 rotates, drives the first gear 706 to rotate, the first gear 706 rotates to drive the first gear ring 702 to rotate, and the first gear ring 702 rotates to drive the heating assembly 703 to rotate. After that, the heating assembly 703 starts heating, melts the solid plugging glue pre-fixed on the solid plugging glue mounting block 704, sticks to the leak point, and blocks the leak point. After the solid plugging glue is sealed, open the control valve, and use the nitrogen in the liquid nitrogen tank 10 to cool the glue seal.

[0044] After the sealing is completed, the pipeline plugging control module controls the pipeline plugging assembly to separate from the pipeline, and the drone 3 returns to the take-off platform 2, and continues the inspection driven by the mobile car 1. In this embodiment, when the terminal operating system 4 receives that the pipeline plugging control module is in an abnormal state, the terminal operating system 4 sends the leak point location to the mobile car 1 control module, and the mobile car 1 control module controls the mobile car 1 to move to the leak point location, and uses the jet drive motor 16 to drive the injector 17 to rotate, and the glue outlet of the injector 17 faces the leak point, so as to temporarily seal the leak point of the pipeline.

[0045] The present invention realizes intelligent inspection of gas pipelines, locates leakage positions, and immediately blocks the pipelines, timely eliminates potential safety hazards, and improves the intelligence and efficiency of gas inspections.

[0046] Example 2

[0047] like Figure 4As shown, this embodiment is different from the above embodiment in that the control unit also includes a pipeline polishing control module, the end of the connecting mechanism 8 is also connected to a pipeline polishing assembly, the connecting mechanism 8 is also used to change the position and posture of the pipeline polishing assembly, the pipeline polishing assembly includes a pipeline polishing snare 18 and a second opening and closing mechanism 19 for controlling the opening and closing of the pipeline polishing snare 18, a polishing mechanism 20 is arranged on the inner side of the pipe wall of the pipeline polishing snare 18, and the pipeline polishing control module is respectively connected to the control ends of the connecting mechanism 8, the second opening and closing mechanism 19, and the polishing mechanism 20.

[0048] In this embodiment, the connection mechanism 8 includes a first mechanical arm 801 and a second mechanical arm 802. The first mechanical arm 801 and the second mechanical arm 802 are multi-directional mechanical arms. The multi-directional mechanical arm includes a first connecting shaft and a second connecting shaft connected by a rotating connecting mechanism, and the rotating connecting mechanism is connected to a rotating control mechanism. The rotating control mechanism of the first mechanical arm 801 is connected to the pipeline plugging control module, and the rotating control mechanism of the second mechanical arm 802 is connected to the pipeline grinding control module.

[0049] In this embodiment, Figure 5 and Figure 6 As shown, the grinding mechanism 20 includes a second slide groove 2001 arranged in the pipe grinding ring 18, a second gear ring 2002 is slidably arranged in the second slide groove 2001, a grinding paper 2003 is arranged on the inner side of the second gear ring 2002, a grinding drive motor 2004 is arranged on the pipe grinding ring 18, a second gear 2005 is connected to the output shaft of the grinding drive motor 2004, and the second gear 2005 is meshed and rotatably connected with the second gear ring 2002.

[0050] By grinding the pipeline before sealing and cleaning the sealing surface in time, the solid sealing glue can be effectively bonded, thus improving the intelligence and efficiency of gas inspection.

[0051] The pipeline grinding snare 18 includes a third arc snare 1801 and a fourth arc snare 1802, which are hinged at the non-free end through a second connecting portion 21, and the second connecting portion 21 is connected to the end of the second mechanical arm 802. The second opening and closing mechanism 19 includes a third telescopic cylinder 1901 and a fourth telescopic cylinder 1902 arranged on both sides of the second connecting portion 21, and the piston rod ends of the third telescopic cylinder 1901 and the fourth telescopic cylinder 1902 are respectively hinged on the outer walls of the third arc snare 1801 and the fourth arc snare 1802, and the ends of the third telescopic cylinder 1901 and the fourth telescopic cylinder 1902 are both hinged to the end of the second mechanical arm 802, and the pipeline blocking control module is respectively connected to the control ends of the second mechanical arm 802, the third telescopic cylinder 1901, and the fourth telescopic cylinder 1902.

[0052] In this embodiment, during specific use: acoustic wave sensors are provided on the upstream and downstream pipe walls of the pipeline. When a gas pipeline leaks, the leakage acoustic wave signal propagates along the pipeline medium to the acoustic wave sensors pre-buried on the upstream and downstream pipe walls, and the signal to be processed is input into the terminal operating system 4. The laser methane detector 13 also inputs the detected leakage signal into the terminal operating system 4. The terminal operating system 4 processes the leakage acoustic wave signal and the leakage signal and obtains the leakage point position.

[0053] Then start the drone 3, control the drone 3 and the pipe polishing assembly connected to the drone 3 to fly to the leak point, and monitor the flight path of the drone 3 through the camera 15. Then start the second mechanical arm 802, put down the pipe polishing assembly, retract the piston rods of the third telescopic cylinder 1901 and the fourth telescopic cylinder 1902, and drive the third arc snare 1801503 and the fourth arc snare 1802 to open through the connecting arm to trap the leak point and its surroundings. Start the polishing drive motor 2004, the output shaft of the polishing drive motor 2004 rotates, drives the second gear 2005 to rotate, the second gear 2005 rotates to drive the second gear ring 2002 to rotate, and the second gear ring 2002 rotates to drive the polishing paper 2003 to rotate, and the pipeline is derusted and polished. After polishing, withdraw the pipe polishing assembly.

[0054] Start the first mechanical arm 801, put down the pipeline plugging assembly, retract the piston rods of the first telescopic cylinder 601 and the second telescopic cylinder 602, drive the first arc snare 501 and the second arc snare 502 to open through the connecting arm, and cover the leakage point and its surroundings. Start the plugging drive motor 705, the output shaft of the plugging drive motor 705 rotates, drives the first gear 706 to rotate, the first gear 706 rotates to drive the first gear ring 702 to rotate, and the first gear ring 702 rotates to drive the heating assembly 703 to rotate. After that, the heating assembly 703 starts heating, melts the solid plugging glue pre-fixed on the solid plugging glue mounting block 704, sticks to the leakage point, and blocks the leakage point. After the solid plugging glue is sealed, open the control valve, and use the nitrogen in the liquid nitrogen tank 10 to cool the glue seal. After the glue is sealed, the pipeline plugging control module controls the pipeline plugging assembly to separate from the pipeline, and the drone 3 returns to the take-off platform 2, and continues the inspection under the drive of the mobile car 1.

[0055] The present invention realizes intelligent inspection of gas pipelines, positioning of leakage positions, and immediate polishing and plugging of pipelines, thereby timely eliminating potential safety hazards and improving the intelligence and efficiency of gas inspections.

[0056] Example 3

[0057] like Figure 7 and Figure 8As shown, this embodiment is different from the above embodiment in that the connection mechanism 8 includes a third mechanical arm 803, the pipeline plugging snare 5 includes a fifth arc snare, the pipeline grinding snare 18 includes a sixth arc snare 1803, the fifth arc snare 503 and the sixth arc snare 1803 are hinged at the non-free end through the third connecting portion 22, and the third connecting portion 22 is connected to the end of the third mechanical arm 803. In this embodiment, the first gear ring 702 and the second gear ring 2002 are both half gear rings. In this embodiment, the third mechanical arm 803 is a multi-directional mechanical arm. The multi-directional mechanical arm includes a first connecting shaft and a second connecting shaft connected by a rotating connecting mechanism, the rotating connecting mechanism is connected to a rotating control mechanism, and the rotating control mechanism is connected to a pipeline plugging control module and a pipeline grinding control module.

[0058] The first opening and closing mechanism 6 includes a fifth telescopic cylinder 603, and the second opening and closing mechanism 19 includes a sixth telescopic cylinder 1903. The piston rod ends of the fifth telescopic cylinder 603 and the sixth telescopic cylinder 1903 are respectively hinged on the outer walls of the fifth arc-shaped snare and the sixth arc-shaped snare, and the ends of the fifth telescopic cylinder 603 and the sixth telescopic cylinder 1903 are both hinged to the end of the third mechanical arm 803. The pipeline blocking control module is connected to the control end of the fifth telescopic cylinder 603, the pipeline polishing control module is connected to the control end of the sixth telescopic cylinder 1903, and the control end of the third mechanical arm 803 is connected to the pipeline blocking control module or the pipeline polishing control module.

[0059] In this embodiment, during specific use, acoustic sensors are provided on the upstream and downstream walls of the pipeline. When a gas pipeline leaks, the leakage acoustic wave signal propagates along the pipeline medium to the acoustic wave sensors pre-buried on the upstream and downstream walls, and the signal to be processed is input into the terminal operating system 4. The laser methane detector 13 also inputs the detected leakage signal into the terminal operating system 4. The terminal operating system 4 processes the leakage acoustic wave signal and the leakage signal to obtain the leakage point position. Subsequently, the drone 3 is started, and the drone 3 and the pipeline plugging assembly connected to the drone 3 are controlled to fly to the leakage point position, and the flight path of the drone 3 is monitored by the camera 15. The third mechanical arm 803 is started, the pipeline plugging assembly and the pipeline grinding assembly are lowered, the piston rods of the fifth telescopic cylinder 603 and the sixth telescopic cylinder 1903 are retracted, and the fifth arc snare and the sixth arc snare 1803 are driven to open through the connecting arm, and the pipeline is enclosed, so that the sixth arc snare is located at the leakage point. Start the polishing drive motor 2004, the output shaft of the polishing drive motor 2004 rotates, driving the second gear 2005 to rotate, the second gear 2005 rotates to drive the second gear ring 2002 to rotate, the second gear ring 2002 rotates to drive the polishing paper 2003 to rotate, and the pipeline is rust-removed and polished. After polishing, the piston rods of the fifth telescopic cylinder 603 and the sixth telescopic cylinder 1903 move outward, drive the fifth arc snare and the sixth arc snare 1803 to open through the connecting arm, and move the pipeline plugging assembly and the pipeline polishing assembly out of the pipeline. Then rotate the pipeline plugging assembly and the pipeline polishing assembly, the fifth arc snare and the sixth arc snare 1803 re-cover the pipeline, so that the fifth arc snare is located at the leakage point, the output shaft of the plugging drive motor 705 rotates, driving the first gear 706 and the first gear ring 702 to rotate, and the solidified plugging glue mounting block 704 rotates accordingly. The heating component 703 starts heating, melts the solid plugging glue pre-fixed on the solid plugging glue mounting block 704, sticks it to the leak point, and plugs the leak point. After the solid plugging glue is sealed, open the control valve and use the nitrogen in the liquid nitrogen tank 10 to cool the sealing part. After the sealing is completed, the pipeline plugging control module controls the pipeline plugging component to separate from the pipeline, and the drone 3 returns to the take-off platform 2 and continues the inspection driven by the mobile car 1.

[0060] The present invention realizes intelligent inspection of gas pipelines, positioning of leakage positions, and immediate polishing and plugging of pipelines, thereby timely eliminating potential safety hazards and improving the intelligence and efficiency of gas inspections.

[0061] The above are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined by the claims.

Claims

1. An intelligent inspection device for preventing and controlling gas pipeline leakage, comprising a mobile vehicle and a mobile vehicle control module, characterized in that: It also includes a take-off platform and a terminal operating system arranged on the mobile vehicle, the terminal operating system is connected to the mobile vehicle control module, a drone is placed on the take-off platform, a control unit is arranged on the drone, the control unit is wirelessly connected to the terminal operating system, the control unit includes a flight control module and a pipeline blocking control module, the drone is connected to the pipeline blocking assembly through a connecting mechanism, the connecting mechanism is used to change the position and posture of the pipeline blocking assembly, the pipeline blocking assembly includes a pipeline blocking snare and a first opening and closing mechanism for controlling the opening and closing of the pipeline blocking snare, a blocking mechanism is arranged on the inner side of the pipe wall of the pipeline blocking snare, the blocking mechanism includes a heating assembly and a curing blocking glue mounting block arranged in the pipeline blocking snare, the heating assembly is used to heat the curing blocking glue on the curing blocking glue mounting block, and the pipeline blocking control module is respectively connected to the control ends of the first opening and closing mechanism and the heating assembly.

2. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: The sealing mechanism also includes a first slide groove arranged in the pipeline sealing ring, a first gear ring is slidably arranged in the first slide groove, the heating component and the curing sealing glue mounting block are arranged on the inner side of the first gear ring, a sealing drive motor is arranged on the pipeline sealing ring, a first gear is connected to the output shaft of the sealing drive motor, the first gear and the first gear ring are meshed and rotatably connected, and the control end of the sealing drive motor is connected to the pipeline sealing control module.

3. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: The control unit also includes a pipeline polishing control module. The end of the connecting mechanism is also connected to a pipeline polishing assembly. The connecting mechanism is also used to change the position and posture of the pipeline polishing assembly. The pipeline polishing assembly includes a pipeline polishing snare and a second opening and closing mechanism for controlling the opening and closing of the pipeline polishing snare. A polishing mechanism is arranged on the inner side of the pipe wall of the pipeline polishing snare. The pipeline polishing control module is respectively connected to the connecting mechanism, the second opening and closing mechanism, and the control end of the polishing mechanism.

4. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 3 is characterized in that: The polishing mechanism includes a second slide groove arranged in the pipe polishing ring, a second gear ring is slidably arranged in the second slide groove, polishing paper is arranged on the inner side of the second gear ring, a polishing drive motor is arranged on the pipe polishing ring, a second gear is connected to the output shaft of the polishing drive motor, and the second gear is meshed and rotatably connected with the second gear ring.

5. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: The connecting mechanism includes a first mechanical arm, and the pipeline plugging trap includes a first arc-shaped trap and a second arc-shaped trap, the first arc-shaped trap and the second arc-shaped trap are hinged at the non-free end through a first connecting part, the first connecting part is connected to the end of the first mechanical arm, the first opening and closing mechanism includes a first telescopic cylinder and a second telescopic cylinder arranged on both sides of the first connecting part, the piston rod ends of the first telescopic cylinder and the second telescopic cylinder are respectively hinged on the outer walls of the first arc-shaped trap and the second arc-shaped trap, the ends of the first telescopic cylinder and the second telescopic cylinder are both hinged to the end of the first mechanical arm, and the pipeline plugging control module is respectively connected to the control ends of the first mechanical arm, the first telescopic cylinder, and the second telescopic cylinder.

6. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 3 is characterized in that: The connecting mechanism includes a second mechanical arm, and the pipe grinding trap includes a third arc trap and a fourth arc trap, the third arc trap and the fourth arc trap are hinged at the non-free end through a second connecting part, the second connecting part is connected to the end of the second mechanical arm, and the second opening and closing mechanism includes a third telescopic cylinder and a fourth telescopic cylinder arranged on both sides of the second connecting part, the piston rod ends of the third telescopic cylinder and the fourth telescopic cylinder are respectively hinged on the outer walls of the third arc trap and the fourth arc trap, the ends of the third telescopic cylinder and the fourth telescopic cylinder are both hinged to the end of the second mechanical arm, and the pipeline blocking control module is respectively connected to the control ends of the second mechanical arm, the third telescopic cylinder, and the fourth telescopic cylinder.

7. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 3 is characterized in that: The connecting mechanism includes a third mechanical arm, the pipeline plugging trap includes a fifth arc-shaped trap, and the pipeline polishing trap includes a sixth arc-shaped trap. The fifth arc-shaped trap and the sixth arc-shaped trap are hinged at the non-free end through a third connecting portion, and the third connecting portion is connected to the end of the third mechanical arm. The first opening and closing mechanism includes a fifth telescopic cylinder, and the second opening and closing mechanism includes a sixth telescopic cylinder. The piston rod ends of the fifth telescopic cylinder and the sixth telescopic cylinder are respectively hinged on the outer walls of the fifth arc-shaped trap and the sixth arc-shaped trap, and the ends of the fifth telescopic cylinder and the sixth telescopic cylinder are both hinged to the end of the third mechanical arm. The pipeline plugging control module is connected to the control end of the fifth telescopic cylinder, and the pipeline polishing control module is connected to the control end of the sixth telescopic cylinder. The control end of the third mechanical arm is connected to the pipeline plugging control module or the pipeline polishing control module.

8. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: A liquid nitrogen tank is arranged below the drone, the air outlet of the liquid nitrogen tank is connected to the air inlet of the jet pipe, a cooling control valve is arranged on the jet pipe, and the control end of the cooling control valve is connected to the pipeline blocking control module.

9. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: A laser methane detector and a temperature detector are arranged at the bottom of the drone, and the signal output ends of the laser methane detector and the temperature detector are electrically connected to the pipeline plugging control module.

10. The intelligent inspection device for preventing and controlling gas pipeline leakage according to claim 1 is characterized in that: The mobile trolley is provided with a jet drive motor, and an injector is connected to the output shaft of the jet drive motor. The injector includes a storage part for storing liquid sealing glue and an injection pipe for injecting liquid sealing glue. The injection pipe is connected to the storage part, and the jet drive motor is electrically connected to the pipeline sealing control module.

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