Underwater pipelines include emergency response and repair methods.

Abstract

This invention relates to an emergency response and repair method for underwater pipelines, comprising the following steps: S1, firstly, placing the detection device into the pipeline in the direction of fluid flow; S2, activating the measuring instrument of the head mechanism, performing data fusion, and transmitting the data in real time to the control center of the head mechanism; S3, opening the fan plate, and then activating the thrusters on the head mechanism and propulsion mechanism: the two mechanisms work together to enable the detection device to move and turn within the pipeline, using sensors to detect the conditions inside the pipeline; S4, when the head mechanism detects a sudden change in flow velocity within the pipeline, retracting the fan plate, closing the helical thruster and the axial helical thruster, and activating the descending helical thruster to attach the detection device to the inner wall of the pipeline; S5, the crawling mechanism drives the detection device to creep and crawl; S6, when the flow velocity trend changes from an upward trend to a downward trend, fixing the device to the inner wall of the pipeline; S7, the repair mechanism begins operation; S8, the monitoring loop is activated. This invention provides autonomous, efficient, and automated detection and repair of pipelines.

Description

Technical Field

[0001] This invention belongs to the field of underwater pipeline positioning and detection technology, and specifically relates to emergency response and repair methods for underwater pipeline routes. Background Technology

[0002] Traditional underwater pipeline inspections primarily rely on manual checks by divers. However, due to the unique nature of the underwater environment, divers face challenges such as limited visibility and harsh working conditions, making operations difficult and risky. The current development of underwater pipeline detection technology is primarily due to the innovation and application of remote sensing technology, sonar systems, remotely operated vehicles (ROVs), and autonomous underwater vehicles (AUVs). Sonar, as the core technology for underwater detection, detects underwater objects by emitting sound waves and receiving their reflections. It can penetrate seawater, enabling non-contact detection of underwater topography and pipeline distribution. The rise of multibeam sonar technology has significantly improved detection resolution and coverage, enabling the construction of detailed three-dimensional seabed topographic maps, providing strong support for underwater pipeline routing and positioning.

[0003] Modern underwater pipeline detection systems use advanced signal processing algorithms to automatically identify and classify underwater targets. However, in extreme or complex aquatic environments, such as areas with high turbidity and strong currents, current technology cannot meet the needs of emergency response and repair of pipelines. Therefore, a more efficient, safe, and reliable method for locating and repairing underwater pipelines is needed. Summary of the Invention

[0004] This invention provides an emergency response and repair method for underwater pipelines to address the technical problems existing in the prior art. It can autonomously, efficiently, and automatically detect and repair pipelines, reduce labor costs, and minimize the risks associated with manual operation.

[0005] This invention includes the following technical solutions:

[0006] An emergency response and repair method for underwater pipelines includes the following steps:

[0007] S1. First, the detection device is placed into the pipeline in the direction of fluid medium flow. The detection device includes a head mechanism, a propulsion mechanism, a crawling mechanism, and a repair mechanism. The head mechanism and the propulsion mechanism, the propulsion mechanism and the crawling mechanism, and the crawling mechanism and the repair mechanism are all connected by universal couplings and connecting pipes.

[0008] S2. The acoustic Doppler velocity profiler of the head mechanism is activated to measure the flow velocity in the pipe. The laser rangefinder, acoustic rangefinder, attitude sensor and obstacle avoidance radar assist device move. The ultra-low frequency electromagnetic wave locator is used to locate the detection device in the pipe. The diffused silicon pressure sensor measures the pressure in the pipe in real time. The Kalman filter performs data fusion and transmits the data to the control center of the head mechanism in real time.

[0009] S3. The main body of the head mechanism is the head compartment. The head compartment is designed with rotating shafts on the top, bottom, left and right sides. The rotating shafts are hinged to fan plates. The fan plates rotate around the shafts and assist the detection device to move forward by changing the angle of the force of the flowing medium. The fan plates are equipped with four helical propellers. When the fan plates are opened, the helical propellers of the head mechanism and the four axial helical propellers on the propulsion mechanism are activated. The head mechanism and the propulsion mechanism work together to realize the movement and turning of the detection device in the pipeline. The sensors on the head mechanism are used to detect the situation in the pipeline.

[0010] S4. When the head mechanism detects a sudden change in flow velocity in the pipe, it retracts the fan plate, shuts off the helical propeller and the axial helical propeller, and activates the descending helical propeller at the top of the crawling mechanism to attach the detection device to the inner wall of the pipe. The crawling mechanism includes a crawling front chamber, a connecting hose, and a crawling rear chamber. The crawling front chamber is connected to the crawling rear chamber through the connecting hose. The three of them enclose an internally connected space structure. A crawling frame is installed inside the crawling front chamber and the crawling rear chamber. A self-controlled adsorber for adsorbing the pipe is installed on the side of the crawling front chamber and the crawling rear chamber away from the connecting hose.

[0011] S5. Next, activate the two self-controlled adsorbers of the crawling front chamber to fix the crawling front chamber, and push the crawling rear chamber forward through the crawling frame; then activate the two self-controlled adsorbers of the crawling rear chamber to adsorb and fix the crawling rear chamber to the inner wall of the pipe, close the self-controlled adsorbers of the crawling front chamber, and push the crawling front chamber forward through the crawling frame. Repeat step S5 to make the crawling mechanism drive the detection device to crawl and record the location of the change in flow rate.

[0012] S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps to position the repair mechanism around the damaged area, and all the self-controlled adsorbers of the crawling mechanism are activated, fixing the detection device to the inner wall of the pipe. The repair mechanism is a spindle-shaped frustum, including a connecting disc, a breakable cable box, and a telescopic cable box. One end of the breakable cable box is connected to the connecting disc, and the other end is connected to the front end of the front bonding block. The rear end of the front bonding block is equipped with an electromagnet and connected to the telescopic cable box. The other end of the telescopic cable box is connected to the front end of the rear bonding block. The front end of the rear bonding block is equipped with an electromagnet, has an internal umbrella frame structure, and the rear end is connected to a monitoring ring.

[0013] S7. The repair mechanism operates. The telescopic cable box of the repair mechanism extends the cable and releases the rear bonding block in a traction manner. After the rear bonding block extends out of the damaged area, the telescopic cable box then releases the rear bonding block with a force F not less than the thrust of the fluid medium on the rear bonding block. 收回 The rear bonding block is retracted, gradually bringing it closer to the outer wall of the pipe. Then, the self-controlled guide rail slider in the rear bonding block is activated, driving the umbrella-shaped structure to open and increase the bonding area of ​​the rear bonding block. The electromagnet is activated to firmly attach the rear bonding block to the outer wall of the pipe. After the attachment is stable, the cable cable of the breakable cable box at the front end of the front bonding block extends the cable, and at the same time, the telescopic cable box retracts the cable. When the front bonding block is close to the inner wall of the pipe, the electromagnet is activated to make it adhere to the inner wall of the pipe, and together with the rear bonding block, adheres to the damaged area.

[0014] S8. Start the monitoring ring at the end of the repair mechanism to detect the damaged area. If no abnormal fluid flow is detected, the repair is considered to be in good condition. Then, disconnect the cable box and cable, leaving the front and rear bonding blocks at the damaged area. Inflate the airbag of the monitoring ring. After inflation, disconnect the monitoring ring to make it float to the water surface to upload data. Turn off the self-control adsorber of the crawling mechanism, start the monitoring instrument of the head mechanism and open the fan plate. Then start the screw propeller and axial screw propeller. The detection device continues to move and turn in the pipeline, while continuing to detect the condition inside the pipeline.

[0015] Furthermore, in S3, the flowing medium pushes the fan plate to give the detection device an overall acceleration as follows:

[0016] Where m is the total weight of the detection device, and C T It is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid. ρ represents the density of the fluid medium, and A... 总 It is the area of ​​contact between the object and the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate impacted by the fluid medium, and v1 is the velocity of the fluid medium relative to the fan plate.

[0017] Furthermore, the lower propeller of the head mechanism in S3 provides a thrust F1 equal to the weight of the detection device as follows: Where F 螺1 The force provided by a lower propeller is ω1, the angular velocity provided by the lower propeller is D, the diameter of the lower propeller is N, the number of blades is b, the blade spacing is s, and the propulsion efficiency is η.

[0018] Furthermore, the radial helical propellers on the left and right sides of the head mechanism in S3 provide a steering thrust F2 as follows: Where F 螺2Let ω2 be the force provided by a radial propeller, ω2 be the angular velocity provided by the radial propeller, D be the diameter of the radial propeller, N be the number of blades, b be the blade width, s be the blade spacing, and η be the propulsion efficiency.

[0019] Furthermore, the steering thrust F3 provided by the four axial helical propellers on the propulsion mechanism in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 ω3 is the force provided by an axial propeller, D is the diameter of the axial propeller, N is the number of blades, b is the blade width, s is the blade spacing, and η is the propulsion efficiency.

[0020] Furthermore, the abrupt change in flow velocity detected in S4 is the breach flow velocity v. 破口 Specifically: Among them, P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipe, v 流体 ρ is the velocity of the fluid medium, and ρ is the density of the fluid medium.

[0021] Furthermore, v in S4 流体 Calculated using an acoustic Doppler velocity profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the frequency of the emitted sound wave, and f r θ is the frequency of the received sound wave, θ is the angle between the sound wave and the direction of fluid flow, and λ is the wavelength of the sound wave.

[0022] Furthermore, the angular velocity ω4 of the descending propeller in S4 is:

[0023] Among them, P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipeline, A 管 ρ is the cross-sectional area of ​​the pipe, D is the density of the fluid medium, N is the diameter of the descending propeller, b is the number of blades, s is the blade spacing, and η is the propulsion efficiency.

[0024] Furthermore, the adsorption pressure P provided by a single self-controlled adsorber in S5 a for:

[0025] Where Aa is the contact area between a single self-controlled adsorber and the pipeline, A 管 Let μ be the cross-sectional area of ​​the pipe, and μ be the coefficient of friction.

[0026] Furthermore, the fluid medium thrust experienced by the rear bonding block in S7 is:

[0027] Where A 后大端 Let be the area of ​​the large end of the back-bonded block, i.e., the area of ​​the back-bonded block subjected to the impact of the fluid medium, which is a known condition; from this, we can obtain...

[0028] Furthermore, in S7, the moving acceleration a of the self-controlled guide rail slider... 滑块 for:

[0029] The rolling friction coefficient of the ball is μ, and the weight of the slider is M. 滑块， P 活塞 To increase the pressure of the hydraulic cylinder that drives the slider, A 活塞 This is the cross-sectional area of ​​the hydraulic cylinder.

[0030] Furthermore, the attraction force Fc of the electromagnet in S7 is... Where μ0 is the vacuum permeability, μr is the relative permeability, N is the number of turns of the coil, I is the current in the coil, and Ac is the area of ​​the electromagnet.

[0031] The advantages and positive effects of this invention are as follows:

[0032] 1. The first part of the present invention integrates a variety of detection elements, such as an acoustic Doppler flow profiler, a pressure sensor, a temperature sensor, and a binocular camera. By integrating these detection elements, the pipeline environment can be perceived more accurately, pipeline breaches can be detected in a timely manner and emergency responses can be initiated, providing data support for subsequent repair work, thereby significantly improving work efficiency and safety.

[0033] 2. This invention uses a self-controlled adsorber to firmly adhere to the inner wall of the pipe, ensuring stable crawling of the device within the pipe. Electromagnetic adsorption is used to improve the stability and passability of the device, enhancing its adaptability in complex environments.

[0034] 3. This invention adopts a traction-type repair method and has a data monitoring and uploading function, thereby achieving rapid response and accurate repair; through the traction-type repair mechanism, the cable box pulls the front bonding block and the rear bonding block to achieve rapid response and emergency repair.

[0035] 4. This invention transmits data to the ground through a monitoring ring. During operation, it can monitor data such as flow velocity and flow rate at the damaged point in real time, and transmit the data to the ground through an upward-floating airbag. This data is of great significance for assessing the condition of the pipeline and formulating repair plans. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the head mechanism of the present invention;

[0038] Figure 3 This is a schematic diagram of the internal structure of the front compartment of the present invention;

[0039] Figure 4 This is a schematic diagram of the propulsion mechanism of the present invention;

[0040] Figure 5 This is a schematic diagram of the crawling mechanism of the present invention;

[0041] Figure 6 yes Figure 5 A cross-sectional view of the structure of a self-controlled adsorber.

[0042] Figure 7 This is a three-dimensional structural schematic diagram of the repair mechanism of the present invention;

[0043] Figure 8 This is a schematic diagram of the internal structure of the repair mechanism of the present invention;

[0044] Figure 9 yes Figure 7 Schematic diagram of the middle monitoring ring;

[0045] In the diagram: 1 is a universal coupling, 2 is a connecting pipe; 100 is the bow mechanism, 101 is the bow compartment, 102 is a pressure sensor, 103 is a fan plate, 104 is a propeller, 105 is a rotating shaft, 106 is an acoustic Doppler current profiler, 107 is a temperature sensor, 108 is a laser rangefinder, 109 is an acoustic rangefinder, 110 is a lighting lamp, 111 is a camera, and 115 is an ultra-low frequency electromagnetic wave locator.

[0046] 200 is the propulsion mechanism, 201 is the propulsion compartment, 202 is the axial propeller, and 203 is the power source;

[0047] 300 is the crawling mechanism, 301 is the front crawling chamber, 302 is the connecting hose, 303 is the rear crawling chamber, 304 is the attitude sensor and obstacle avoidance radar, 305 is the servo motor, 306 is the crawling frame, 3070 is the self-controlled suction device; 3071 is the suction cup, 3072 is the chamber, 3073 is the support frame, 3074 is the magnetic piston, 3075 is the self-controlled electromagnet, 3076 is the controllable power supply, and 308 is the descending propeller.

[0048] 400 is the repair mechanism; 401 is the connecting disc; 402 is the breakable cable box; 403 is the front bonding block; 404 is the controllable battery; 405 is the electromagnet; 406 is the telescopic cable box; 407 is the rear bonding block; 408 is the umbrella frame pole; 409 is the push ring; 410 is the self-control guide rail slider; 411 is the guide rail; 4120 is the monitoring ring; 4121 is the annular cabin; 4122 is the sensor; 4123 is the inflation component; and 4124 is the airbag. Detailed Implementation

[0049] To further disclose the invention's content, features, and effects, the following examples are provided and described in detail with reference to the accompanying drawings.

[0050] In the following description of the embodiments, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0051] In the following description of the embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0052] Example: See Appendix Figure 1-9 An emergency response and repair method for underwater pipelines includes the following steps:

[0053] S1. First, the detection device is placed into the pipe in the direction of fluid flow. The detection device includes a head mechanism 100, a propulsion mechanism 200, a crawling mechanism 300, and a repair mechanism 400. The head mechanism 100 and the propulsion mechanism 200, the propulsion mechanism 200 and the crawling mechanism 300, and the crawling mechanism 300 and the repair mechanism 400 are all connected by a universal coupling 1 and a connecting pipe 2.

[0054] S2. The acoustic Doppler velocity profiler 106 of the head mechanism 100 is activated to measure the flow velocity in the pipe. The laser rangefinder 108, the acoustic rangefinder 109, the attitude sensor and the obstacle avoidance radar 304 assist the movement of the detection device. The ultra-low frequency electromagnetic wave locator 115 is used to position the detection device in the pipe. The pressure sensor 102 is used to measure the pressure in the pipe in real time and transmit the data to the control center of the head mechanism 100 in real time.

[0055] S3. The main body of the head mechanism 100 is the head compartment 101. The head compartment 101 is designed with rotating shafts 105 on the four sides (up, down, left, and right). The rotating shafts 105 are hinged to fan plates 103. The fan plates 103 rotate around the shafts and assist the detection device to move forward by changing the angle of the force of the flowing medium. Four spiral propellers 104 are installed on the fan plates 103. When the fan plates 103 are opened, the spiral propellers 104 of the head mechanism 100 and the four axial spiral propellers 202 on the propulsion mechanism 200 are activated. The head mechanism 100 and the propulsion mechanism 200 work together to realize the movement and turning motion of the detection device in the pipeline.

[0056] The acceleration that the flowing medium in S3 pushes the fan plate 103 to give the detection device is:

[0057] Where m is the total weight of the detection device, and C T It is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid. ρ represents the density of the fluid medium, and A... 总 It is the area of ​​contact between the object and the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate 103 impacted by the fluid medium, and v1 is the velocity of the fluid medium relative to the fan plate.

[0058] The lower helical thruster 104 of the head mechanism 100 in S3 provides a thrust F1 equal to the weight of the detection device: Where F 螺1 The force provided by a lower propeller 104 is ω1, the angular velocity provided by the lower propeller 104 is D, the diameter of the lower propeller 104 is N, the number of blades is b, the blade spacing is s, and the propulsion efficiency is η.

[0059] The radial propellers 104 on both sides of the head mechanism 100 in S3 provide a steering thrust F2 as follows: Where F 螺2 ω2 is the force provided by a radial propeller 104, D is the angular velocity provided by the radial propeller 104, N is the number of blades, b is the blade width, s is the blade spacing, and η is the propulsion efficiency.

[0060] The steering thrust F3 provided by the four axial screw thrusters 202 on the propulsion mechanism 200 in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 ω3 is the force provided by an axial propeller 202, ω3 is the angular velocity provided by the axial propeller 202, D is the diameter of the axial propeller 202, N is the number of blades, b is the blade width, s is the blade spacing, and η is the propulsion efficiency.

[0061] S4. When the head mechanism 100 detects a sudden change in flow velocity in the pipe, it retracts the fan plate 103, shuts off the screw propeller 104 and the axial screw propeller 202, and activates the descending screw propeller 308 at the top of the crawling mechanism 300 to attach the detection device to the inner wall of the pipe. The crawling mechanism 300 includes a crawling front chamber 301, a connecting hose 302, and a crawling rear chamber 303. The crawling front chamber 301 is connected to the crawling rear chamber 303 through the connecting hose 302. The three of them enclose an internally connected space structure. A crawling frame 306 is provided in the space structure, which is hinged to the inside of the crawling front chamber 301 and the crawling rear chamber 303. A self-controlled adsorber 3070 for adsorbing the pipe is provided on the side of the crawling front chamber 301 and the crawling rear chamber 303 away from the connecting hose 302.

[0062] The sudden change in flow velocity detected in S4 is the breach flow velocity v. 破口 Specifically:

[0063] Among them, P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipe, v 流体 ρ is the velocity of the fluid medium, and ρ is the density of the fluid medium.

[0064] v in S4 流体 Using an acoustic Doppler current profiler 106, the following calculation was performed: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the frequency of the emitted sound wave, and f r θ is the frequency of the received sound wave, θ is the angle between the sound wave and the direction of fluid flow, and λ is the wavelength of the sound wave.

[0065] The angular velocity ω4 of the descending propeller 308 in S4 is: , where P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipeline, A 管 ρ is the cross-sectional area of ​​the pipe, D is the density of the fluid medium, D is the diameter of the descending propeller 308, N is the number of blades, b is the blade width, s is the blade spacing, and η is the propulsion efficiency.

[0066] S5. Next, the two self-controlled adsorbers 3070 of the crawling front chamber 301 are activated to fix the crawling front chamber 301. The adsorption pressure P provided by a single self-controlled adsorber 3070 is... a for: Where Aa is the contact area between a single self-controlled adsorber 3070 and the pipeline, A 管 Let μ be the cross-sectional area of ​​the pipe and μ be the coefficient of friction. The crawling rear chamber 303 is pushed forward by the crawling frame 306; then the two self-controlled adsorbers 3070 of the crawling rear chamber 303 are activated to adsorb and fix the crawling rear chamber 303 to the inner wall of the pipe. The self-controlled adsorber 3070 of the crawling front chamber 301 is closed, and the crawling front chamber 301 is pushed forward by the crawling frame 306. The process of step S5 is repeated to make the crawling mechanism 300 drive the detection device to crawl in a creeping manner.

[0067] S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps to position the repair mechanism 400 around the damaged area, and the self-controlled suction device 3070 of the crawling mechanism 300 is fully activated, fixing the detection device to the inner wall of the pipe.

[0068] S7. The repair mechanism 400 operates. The telescopic cable box 406 of the repair mechanism 400 extends the cable and releases the rear bonding block 407 in a traction manner. After the rear bonding block 407 extends out of the damaged area, the telescopic cable box 406 then releases the rear bonding block 407 with a force F not less than the thrust of the fluid medium on the rear bonding block 407. 收回 The rear bonding block 407 is retracted, gradually bringing it closer to the outer wall of the pipe. Then, the self-controlled guide rail slider 410 in the rear bonding block 407 is activated, driving the umbrella-shaped structure to open and increase the bonding area of ​​the rear bonding block 407. The electromagnet 405 is activated to firmly attach the rear bonding block 407 to the outer wall of the pipe. After the attachment is stable, the cable box 402 at the front end of the front bonding block 403 extends the cable, while the telescopic cable box 406 retracts the cable. When the front bonding block 403 is close to the inner wall of the pipe, the electromagnet 405 is activated to make it adhere to the inner wall of the pipe, and together with the rear bonding block 407, they adhere to the damaged area.

[0069] The fluid medium thrust experienced by the rear bonding block 407 in S7 is: Where A 后大端 The area of ​​the large end of the rear bonding block 407, i.e., the area of ​​the rear bonding block 407 subjected to the impact of the fluid medium, is a known condition; therefore, we can obtain... The moving acceleration a of the self-controlled guide rail slider 410 in S7 滑块 for: The rolling friction coefficient of the ball is μ, and the weight of the slider is M. 滑块， P 活塞 To increase the pressure of the hydraulic cylinder that drives the slider, A 活塞 This is the cross-sectional area of ​​the hydraulic cylinder.

[0070] The attraction force F of the electromagnet 405 in S7 c for Where μ0 is the free permeability, μ r It is the relative permeability, N is the number of turns of the coil, and I is the current in the coil (A). c It is the adsorption area of ​​the electromagnet.

[0071] S8. Start the monitoring ring 4120 at the end of the repair mechanism 400 to detect the damaged area. If no abnormal fluid flow is detected, the repair is considered to be in good condition. Then, disconnect the cable by the cable box 402, leaving the front bonding block 403 and the rear bonding block 407 at the damaged area. Inflate the airbag 4124 of the monitoring ring 4120. After inflation, disconnect the monitoring ring 4120 to make it float to the water surface and upload data. Turn off the self-control adsorber 3070 of the crawling mechanism 300, start the monitoring instrument of the head mechanism 100 and open the fan plate 103. Then start the screw propeller 104 and the axial screw propeller 202. The detection device continues to move and turn in the pipeline, while continuing to detect the situation inside the pipeline.

[0072] The data acquisition bit rate of the monitoring ring 4120 is R acq =f s* b, where R acq It is the bit rate of data acquisition, f s This is the sampling frequency, which, according to the Nyquist theorem, should be at least twice the highest frequency component of the signal. 'b' is the quantization bit depth for each sample, determining the quantization precision. The data upload time for monitoring loop 4120 is T. upload =D / (B*η), where T upload D is the time required to upload a specific amount of data, B is the total amount of data to be uploaded, η is the network bandwidth, and η is the upload efficiency (which takes into account possible protocol overhead, error retransmission, etc., and its value is less than or equal to 1).

[0073] like Figures 2-3 As shown, the head mechanism 100 is generally in the shape of a biomimetic snake head. The head compartment 101 is equipped with a pressure sensor 102, an acoustic Doppler current profiler 106, a temperature sensor 107, a laser rangefinder 108, an acoustic rangefinder 109, a lighting lamp 110, a camera 111, and an ultra-low frequency electromagnetic wave locator 115.

[0074] like Figure 4 As shown, the propulsion mechanism 200 is generally cylindrical and includes a propulsion chamber 201 and four propellers 202 mounted on the outer rear end of the propulsion chamber 201. The propulsion chamber 201 has a built-in power source 203 to provide power to the propellers 202.

[0075] like Figure 5 As shown, the crawling mechanism 300 is generally shaped like a biomimetic caterpillar. The front crawling chamber 301 and the rear crawling chamber 303, away from the connecting hose 302, are equipped with self-controlled adsorbers 3070 for adsorbing onto the pipe. The crawling mechanism 300 also includes an attitude sensor and an obstacle avoidance radar 304. The attitude sensor and obstacle avoidance radar 304 are located on the outer surfaces of the front crawling chamber 301 and the rear crawling chamber 303 to assist the crawling mechanism 300 in attitude adjustment and obstacle avoidance. Two symmetrically arranged self-controlled adsorbers 3070 are located at the bottom of each of the front crawling chamber 301 and the rear crawling chamber 303. By controlling the adsorption function of the self-controlled adsorbers 3070 in conjunction with the crawling frame 306, the crawling mechanism 300 can move forward along the inner wall of the pipe.

[0076] like Figure 6 As shown, the self-controlled adsorber 3070 has an overall cylindrical structure, including a suction cup 3071, a chamber 3072, a support frame 3073, a magnetic piston 3074, a self-controlled electromagnet 3075, and a controllable power supply 3076. ； The suction cup 3071 is mounted below the chamber 3072, forming a sealed whole. Inside the chamber 3072, there is a support frame 3073, which is located above the suction cup 3071 and supports the magnetic piston 3074. The magnetic piston 3074 can move up and down. Above the magnetic piston 3074, there is a self-controlled electromagnet 3075, which is fixed in the groove of the chamber 3072 and connected to a controllable power supply 3076 to provide power.

[0077] like Figures 7-8As shown, the repair mechanism 400 is generally shaped like a frustum of a spindle, including a connecting disc 401, a breakable cable box 402, a front bonding block 403, a controllable battery 404, an electromagnet 405, a telescopic cable box 406, a rear bonding block 407, an umbrella frame rod 408, a push ring 409, a self-controlling guide rail slider 410, a guide rail 411, and a monitoring ring 4120. The connecting disc 401 is connected to the rear end of the breakable cable box 402. The breakable cable box 402 can extend the cable and can also disconnect the cable at once. The end of the cable is connected to the front end of the front bonding block 403. The front bonding block 403 is frustum-shaped, with a small front end and a large rear end. The rear end of the front bonding block 403 is designed with an electromagnet, which is energized by the controllable battery 404 to adhere to the inner wall of the pipe. The rear end of the front bonding block 403 is connected to the telescopic cable box 406, which can extend... The cable can also be retrieved. The end of the cable is connected to the front end of the back-adhesive block 407. The back-adhesive block 407 is frustum-shaped, with a large front end and a small rear end. The front end of the back-adhesive block 407 is designed with an electromagnet 405, which is controlled by a controllable battery 404 to energize and adhere to the outer wall of the pipe. The back-adhesive block 407 has an umbrella frame structure inside. The self-controlled guide rail slider 410 can slide on the guide rail 411. The self-controlled guide rail slider 410 is connected to a push ring 409, which is connected to the umbrella frame rod. The sliding of the push ring 409 causes the umbrella frame rod 408 to move outward. The outward movement of the umbrella frame rod 408 can expand and change the front end area of ​​the back-adhesive block 407. After the back-adhesive block 407 extends out of the damaged part of the pipe, it can open and adhere to repair the outer wall of the pipe. The rear end of the back-adhesive block 407 is connected to a monitoring ring 4120, which can be detached.

[0078] like Figure 8 As shown, a cable is coiled and wound inside the cable box 402. The cable can be released and retracted, or it can be broken. The end of the cable can be fixed to the front bonding block 403. Similarly, the telescopic cable box 406 can extend and retract the cable, and the end of the cable is connected to the front end of the rear bonding block 407.

[0079] like Figure 9 As shown, the monitoring ring 4120 is a hollow ring shape, including a ring chamber 4121, a sensor 4122, an inflation component 4123, and an airbag 4124. The ring chamber 4121 is designed with the sensor 4122 and the inflation component 4123. The air tube of the inflation component 4123 is connected to the airbag 4124. The inflation component 4123 can inflate the airbag 4124. After the monitoring ring 4120 is detached from the adhesive block 407, it can float to the water surface.

[0080] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art, under the guidance of the present invention, can make many other modifications without departing from the spirit and scope of the claims. These modifications all fall within the scope of protection of the present invention.

Claims

1. An emergency response and repair method for underwater pipelines, characterized in that, Includes the following steps: S1. First, the detection device is placed into the pipe in the direction of fluid flow. The detection device includes a head mechanism (100), a propulsion mechanism (200), a crawling mechanism (300), and a repair mechanism (400). The head mechanism (100) and the propulsion mechanism (200), the propulsion mechanism (200) and the crawling mechanism (300), and the crawling mechanism (300) and the repair mechanism (400) are all connected by universal couplings (1) and connecting pipes (2). S2. Start the acoustic Doppler velocity profiler (106) of the head mechanism (100) to measure the flow velocity in the pipe. Use a laser rangefinder (108), an acoustic rangefinder (109), an attitude sensor and an obstacle avoidance radar (304) to assist the movement of the detection device. Use an ultra-low frequency electromagnetic wave locator (115) to locate the detection device in the pipe. Use a pressure sensor (102) to measure the pressure in the pipe in real time and transmit the data to the control center of the head mechanism (100) in real time. S3. The main body of the head mechanism (100) is the head compartment (101). The head compartment (101) is designed with a rotating shaft (105) on the top, bottom, left and right sides. The rotating shaft (105) is hinged to a fan plate (103). The fan plate (103) is equipped with four spiral propellers (104). When the fan plate (103) is opened, the spiral propellers (104) of the head mechanism (100) and the four axial spiral propellers (202) on the propulsion mechanism (200) are activated. The head mechanism (100) and the propulsion mechanism (200) work together to realize the movement and turning motion of the detection device in the pipeline. S4. When the head mechanism (100) detects a sudden change in flow velocity in the pipe, it retracts the fan plate (103), shuts off the helical propeller (104) and the axial helical propeller (202), and starts the descending helical propeller (308) at the top of the crawling mechanism (300) to make the detection device attach to the inner wall of the pipe. The crawling mechanism (300) includes a crawling front chamber (301), a connecting hose (302) and a crawling rear chamber (303). The crawling front chamber (301) is connected to the crawling rear chamber (303) through the connecting hose (302). The three of them enclose an internally connected space structure. The space structure is provided with a crawling frame (306) hinged to the inside of the crawling front chamber (301) and the crawling rear chamber (303). The crawling front chamber (301) and the crawling rear chamber (303) are provided with a self-controlled adsorber (3070) for adsorbing the pipe on the side away from the connecting hose (302). S5. Next, activate the two self-controlled adsorbers (3070) of the crawling front chamber (301) to fix the crawling front chamber (301), and push the crawling rear chamber (303) forward through the crawling frame (306); then activate the two self-controlled adsorbers (3070) of the crawling rear chamber (303) to adsorb and fix the crawling rear chamber (303) on the inner wall of the pipe, close the self-controlled adsorber (3070) of the crawling front chamber (301), and push the crawling front chamber (301) forward through the crawling frame (306). Repeat step S5 to make the crawling mechanism (300) drive the detection device to crawl in a creeping motion. S6. When the measured flow rate trend changes from an upward trend to a downward trend, the detection device creeps to position the repair mechanism (400) around the damaged area, and the self-controlled suction device (3070) of the crawling mechanism (300) is fully activated, fixing the detection device to the inner wall of the pipe. S7. The repair mechanism (400) operates. The telescopic cable box (406) of the repair mechanism (400) extends the cable to release the backing block (407) in a traction manner. After the backing block (407) extends out of the damaged area, the telescopic cable box (406) then releases the backing block (407) with a force F not less than the thrust of the fluid medium on the backing block (407). 收回 Retract the rear bonding block (407) so that it gradually approaches the outer wall of the pipe. Then, the self-controlled guide rail slider (410) in the rear bonding block (407) is activated, driving the umbrella structure to open and increase the bonding area of ​​the rear bonding block (407). The electromagnet (405) is activated to firmly attach the rear bonding block (407) to the outer wall of the pipe. After the adsorption is stable, the cable box (402) at the front end of the front bonding block (403) extends the cable, and at the same time, the telescopic cable box (406) retracts the cable. When the front bonding block (403) approaches the inner wall of the pipe, the electromagnet (405) is activated to make it adhere to the inner wall of the pipe and adhere to the damaged area of ​​the rear bonding block (407). S8. Start the monitoring ring (4120) at the end of the repair mechanism (400) to detect the damaged area. If no abnormal fluid flow is detected, the repair is considered to be in good condition. Then, disconnect the cable box (402) to disconnect the cable, leaving the front bonding block (403) and the rear bonding block (407) at the damaged area, and inflate the airbag (4124) of the monitoring ring (4120). After inflation, disconnect the monitoring ring (4120) to make it float to the water surface to upload data. Close the self-control adsorber (3070) of the crawling mechanism (300), start the monitoring instrument of the head mechanism (100) and open the fan plate (103), and then start the screw propeller (104) and the axial screw propeller (202). The detection device continues to move and turn in the pipeline, while continuing to detect the situation inside the pipeline.

2. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The acceleration that the flowing medium in S3 pushes the fan plate (103) to give to the overall detection device is: Where m is the overall weight of the detection device, C T It is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid. ρ represents the density of the fluid medium, and A... 总 It is the area of ​​contact between the object and the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate (103) impacted by the fluid medium, and v1 is the velocity of the fluid medium flow relative to the fan plate.

3. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The lower propeller (104) of the head mechanism in S3 provides a thrust F1 equal to the weight of the detection device: Where F 螺1 The force provided by a lower propeller (104), ω1 is the angular velocity provided by the lower propeller (104), D is the diameter of the lower propeller (104), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

4. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The velocity change detected in S4 is the breach velocity v. 破口 Specifically: Where P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipe, v 流体 ρ is the velocity of the fluid medium, and ρ is the density of the fluid medium.

5. The emergency response and repair method for underwater pipelines according to claim 4, characterized in that: v in S4 流体 Calculated using an acoustic Doppler velocity profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the frequency of the emitted sound wave, and f r θ is the frequency of the received sound wave, θ is the angle between the sound wave and the direction of fluid flow, and λ is the wavelength of the sound wave.

6. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The angular velocity ω4 of the descending propeller (308) in S4 is: , where P 管内 It is the pressure inside the pipe, P 管外 It is the external pressure of the pipeline, A 管 ρ is the cross-sectional area of ​​the pipe, D is the density of the fluid medium, D is the diameter of the descending helical propeller (308), N is the number of blades, b is the blade width, s is the blade spacing, and η is the propulsion efficiency.

7. The emergency response and repair method for underwater pipelines according to claim 6, characterized in that: The adsorption pressure P provided by the single self-controlled adsorber (3070) in S5 a for: Where A a For the contact area between a single self-controlled adsorber (3070) and the pipe, A 管 Let μ be the cross-sectional area of ​​the pipe, and μ be the coefficient of friction.

8. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The fluid medium thrust experienced by the rear bonding block (407) in S7 is: A 后大端 For the area of ​​the large end of the back-attached block (407); thus F 收回 ≥F 后贴合块 .

9. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The moving acceleration a of the self-controlled guide rail slider (410) in S7 滑块 The rolling friction coefficient of the ball is μ, and the weight of the slider is M. 滑块， P 活塞 To increase the pressure of the hydraulic cylinder that drives the slider, A 活塞 This is the cross-sectional area of ​​the hydraulic cylinder.

10. The emergency response and repair method for underwater pipelines according to claim 1, characterized in that: The attraction force F of the electromagnet (405) in S7 c for Where μ0 is the free permeability, μr is the relative permeability, N is the number of turns in the coil, and I is the current in the coil (A). c It is the adsorption area of ​​the electromagnet.

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