Internal welding machine control method and device and internal welding machine

Abstract

The invention discloses an internal welding machine control method and device and an internal welding machine, and relates to the technical field of internal welding machines. The method comprises the steps that the pipe section state of a pipe section where an internal welding machine is located is determined based on angle data output by an angle sensor, and the pipe section state comprises an uphill section, a flat section and a downhill section; based on the pipe section state and the received control instruction, the advancing state of the internal welding machine is determined; determining a motor control parameter based on the travel state and the angle data; the operating state of the motor is controlled based on the motor control parameter. In the embodiment of the invention, the inner welding machine can automatically match the advancing speed meeting the working requirement by adjusting the motor control parameters according to the angle data and the operation state, and the safety of pipe section welding is ensured.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of internal welding machines, and in particular to an internal welding machine control method, device and internal welding machine. Background Art

[0002] With the construction of intelligent oil and gas pipelines and the increasing attention paid to pipeline construction quality, automatic pipeline welding technology has become the mainstream in oil and gas pipeline section construction.

[0003] Internal welding machine is an automatic welding equipment that moves inside the pipeline to perform assembly and welding. In the current related technology, the driving force of the internal welding machine generally comes from the pneumatic motor. The speed and torque of the pneumatic motor are determined by the fixed air pressure.

[0004] Because pipelines are constructed in complex terrain, such as mountainous areas, with different slopes, the internal welding machine maintains the same driving force in flat sections, uphill and downhill sections, which can easily lead to safety issues such as difficulty in uphill sections and stalling in downhill sections. In order to adapt to different slopes and different operating tasks, the internal welding machine needs to manually adjust the speed to the corresponding size through a pressure reducing valve, which consumes manpower. Summary of the invention

[0005] The embodiment of the present application provides an internal welding machine control method, device and internal welding machine. The technical solution is as follows:

[0006] On the one hand, an embodiment of the present application provides a method for controlling an internal welding machine, the method comprising:

[0007] Based on the angle data output by the angle sensor, determine the pipe section state of the pipe section where the internal welding machine is located, wherein the pipe section state includes an uphill section, a flat section, and a downhill section;

[0008] Determining the traveling state of the internal welding machine based on the state of the pipe section and the received control instruction;

[0009] determining a motor control parameter based on the travel state and the angle data;

[0010] The operating state of the motor is controlled based on the motor control parameter.

[0011] On the other hand, an embodiment of the present application provides an internal welding machine control device, the device comprising:

[0012] A pipe section state determination module, used to determine the pipe section state of the pipe section where the internal welding machine is located based on the angle data output by the angle sensor, wherein the pipe section state includes an uphill section, a flat section and a downhill section;

[0013] A traveling state determination module, used to determine the traveling state of the internal welding machine based on the state of the pipe section and the received control instruction;

[0014] a motor control parameter determination module, configured to determine a motor control parameter based on the travel state and the angle data;

[0015] A control module is used to control the running state of the motor based on the motor control parameters.

[0016] On the other hand, an embodiment of the present application provides an internal welding machine, the internal welding machine comprising: an angle sensor, a communication component, a main control, a signal conversion component, a control component, a motor and a travel drive component;

[0017] The angle sensor is arranged on the travel drive assembly;

[0018] The communication component is used to connect the angle sensor and the main control;

[0019] The signal conversion component is used to connect the main control and the motor;

[0020] The control component is connected to the main control;

[0021] The main control is used to implement the internal welding machine control method provided in the above aspect.

[0022] In the embodiment of the present application, the internal welding machine determines the motor control parameters through the slope information and its own traveling state, and controls the motor to enter the corresponding operating state. Wherein, the slope information comes from the angle data output by the internal welding machine through the angle sensor, and the angle data not only reflects the type of road section, including uphill section, flat section and downhill section, but also reflects the slope size. In different types of road sections, the pipe section has its corresponding pipe section state. The internal welding machine can identify the traveling state in the current pipe section according to the pipe section state and the received control instructions, so as to determine the appropriate motor control parameters, thereby controlling the operation of the motor and realizing the automatic control of the speed of the internal welding machine. Since the internal welding machine is too fast in the process of traveling, it is easy to cause safety accidents, and the speed is too slow to reduce the work efficiency. Therefore, compared with the method of manually controlling the speed adjustment, the scheme provided by the embodiment of the present application not only saves human resources, but also ensures the safety of construction, and also improves the work efficiency of the internal welding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A flow chart of an internal welding machine control method provided by an exemplary embodiment of the present application is shown;

[0025] Figure 2 A flow chart of an internal welding machine control method provided by another exemplary embodiment of the present application is shown;

[0026] Figure 3 is a schematic diagram of an implementation of a welding machine control process in an uphill section shown in an exemplary embodiment of the present application;

[0027] Figure 4 is a schematic diagram of an implementation of a welding machine control process in a downhill section shown in an exemplary embodiment of the present application;

[0028] Figure 5 It is a schematic diagram of an implementation of a flat section inner welding machine control process shown in an exemplary embodiment of the present application;

[0029] Figure 6 A flow chart of an internal welding machine control method provided by another exemplary embodiment of the present application is shown;

[0030] Figure 7 A structural block diagram of an internal welding machine control device provided by an exemplary embodiment of the present application is shown;

[0031] Figure 8 A structural block diagram of an internal welding machine provided by an exemplary embodiment of the present application is shown;

[0032] Fig. 9 A schematic structural diagram of an internal welding machine provided by another exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0034] Please refer to Figure 1 , which shows a flow chart of an internal welding machine control method provided by an exemplary embodiment of the present application, the method may include the following steps:

[0035] Step 101, based on the angle data output by the angle sensor, determine the pipe section state of the pipe section where the internal welding machine is located, and the pipe section state includes an uphill section, a flat section and a downhill section.

[0036] In this embodiment, the angle sensor is used to detect the inclination angle of the pipe section on the current working section of the internal welding machine in real time and measure the angle data. The state of the pipe section and the angle size under the current working environment can be determined based on the angle data.

[0037] The pipe section state of the pipe section is used to reflect the walking state of the internal welding machine in the pipe section, such as uphill, downhill, and parallel, so different pipe section states are called uphill section, flat section, and downhill section.

[0038] In some possible embodiments, when the internal welding machine is in an uphill section, the head of the internal welding machine is toward the higher end of the pipe section; when the internal welding machine is in a downhill section, the head of the internal welding machine is toward the lower end of the pipe section; when the internal welding machine is in a flat section, the head of the internal welding machine is toward the horizontal direction.

[0039] Step 102, based on the pipe section state and the received control instruction, determine the travel state of the internal welding machine.

[0040] When the internal welding machine receives the control command, it starts to move. There are three control commands for the internal welding machine, namely forward, backward, and position backward. When the control command is "position backward", the positioning cylinder of the internal welding machine will rise.

[0041] The positioning cylinder is used to align the welding gun at the head of the internal welding machine with the welding position to facilitate the completion of the subsequent welding work. After the positioning cylinder is raised, the internal welding machine moves backward until the positioning cylinder touches the pipe section interface. At this time, the welding gun of the internal welding machine is aligned with the target welding position of the pipe section.

[0042] According to the different pipe section states of the internal welding machine in the working environment, nine traveling states of the internal welding machine can be distinguished.

[0043] When the internal welding machine is in an uphill section, the traveling states of the internal welding machine include an uphill forward state, an uphill backward state and an uphill positioned backward state; when the internal welding machine is in a downhill section, the traveling states of the internal welding machine include a downhill forward state, a downhill backward state and a downhill positioned backward state; when the internal welding machine is in a flat section, the traveling states of the internal welding machine include a flat section forward state, a flat section backward state and a flat section positioned backward state.

[0044] Step 103: determining motor control parameters based on the traveling state and the angle data.

[0045] In different travel states, the power required for the internal welding machine to travel is different, so the corresponding motor parameters need to be determined for the motor. For example, when the internal welding machine is in an uphill section, due to the influence of gravity, the internal welding machine has a backward trend. Therefore, the power required for the internal welding machine to move forward uphill is smaller than the power required to move backward uphill, and the two correspond to different motor control parameters.

[0046] Under the same traveling state, when the internal welding machine is in an uphill section with different inclination angles, the motor control parameters that the internal welding machine needs to determine are also different. For example, when the internal welding machine is in an uphill section, the steeper the slope, the greater the power required for the internal welding machine to move forward. Therefore, the motor control parameters required for moving forward on a steep slope are different from those required for moving forward on a gentle slope.

[0047] Step 104: Control the running state of the motor based on the motor control parameters.

[0048] The motor control parameter is a parameter index used to control the motor speed. The internal welding machine changes the motor speed through the motor control parameter of the motor, thereby changing the travel speed of the internal welding machine.

[0049] In a possible implementation, the internal welder adjusts the gas flow inside the pneumatic motor through the motor control parameters of the pneumatic motor, changes the motor speed through the air pressure change, and thus changes the travel speed of the internal welder. The pneumatic motor valves that can be adjusted according to the pneumatic motor control parameters include directional control valves, pressure control valves, flow control valves, etc. The embodiments of the present application do not limit the control valves involved in the motor control parameters of the pneumatic motor.

[0050] In another possible implementation, the internal welding machine adjusts the input voltage of the motor through the motor control parameter of the motor, changes the motor speed, and thus changes the travel speed of the internal welding machine. Optionally, the control of the motor speed can be achieved by changing the analog voltage or by changing the pulse frequency.

[0051] In the embodiment of the present application, the internal welding machine determines the motor control parameters through the slope information and its own traveling state, and controls the motor to enter the corresponding operating state. Wherein, the slope information comes from the angle data output by the internal welding machine through the angle sensor, and the angle data not only reflects the type of road section, including uphill section, flat section and downhill section, but also reflects the slope size. In different types of road sections, the pipe section has its corresponding pipe section state. The internal welding machine can identify the traveling state in the current pipe section according to the pipe section state and the received control instructions, so as to determine the appropriate motor control parameters, thereby controlling the operation of the motor and realizing the automatic control of the speed of the internal welding machine. Since the internal welding machine is too fast in the process of traveling, it is easy to cause safety accidents, and the speed is too slow to reduce the work efficiency. Therefore, compared with the method of manually controlling the speed adjustment, the scheme provided by the embodiment of the present application not only saves human resources, but also ensures the safety of construction, and also improves the work efficiency of the internal welding machine.

[0052] In the embodiment of the present application, after the internal welding machine determines the corresponding motor control parameters based on the angle data and its travel status, since the motor control parameters are digital signals, it is necessary to convert the motor control parameters into analog signals that can be recognized by the motor in advance, and then control the motor speed according to the motor control parameters to achieve speed control of the internal welding machine.

[0053] Please refer to Figure 2 , which shows a flow chart of an internal welding machine control method provided by another exemplary embodiment of the present application, the method comprising the following steps:

[0054] Step 201, based on the angle data output by the angle sensor, determine the pipe section state of the pipe section where the internal welding machine is located, and the pipe section state includes an uphill section, a flat section and a downhill section.

[0055] The angle sensor can measure the inclination angle (based on the horizontal or vertical direction) of the pipe section where the internal welding machine is located and the status of the pipe section.

[0056] In a possible implementation, the angle sensor determines the state of the pipe section according to the direction of the head of the internal welding machine. For example, when the angle sensor detects that the head of the internal welding machine is facing upward, it is determined that the state of the pipe section is an uphill section.

[0057] In another possible implementation, the angle sensor determines the state of the pipe section according to the range of the inclination angle value of the pipe section where the internal welding machine is located. For example, based on the horizontal direction, when the inclination angle value of the pipe section is between 0° and 30°, the pipe section state is judged to be an uphill section; when the inclination angle value of the pipe section is between -30° and 0°, the pipe section state is judged to be a downhill section; when the inclination angle value of the pipe section is 0°, the pipe section state is judged to be a flat section.

[0058] It should be noted that, for safety reasons, in the embodiment of the present application, the internal welding machine is applicable to a slope range of 0° to 30°. Since the angle involved in the terrain of pipe segment laying is relatively small and generally does not exceed 30°, the internal welding machine in the present application is sufficient to cope with most pipe segment assembly welding tasks.

[0059] Since the ground slope of the internal welding machine may exceed 30° during actual operation, in a possible implementation, the internal welding machine first determines whether the angle data monitored by the angle sensor is less than the upper limit of the angle, and then performs subsequent control operations. When the angle data is less than the upper limit of the angle, the angle data meets the implementation conditions of the embodiment of the present application, and the control method of the internal welding machine can be implemented. When the angle data is greater than the upper limit of the angle, before implementing the control method, the internal welding machine needs to add an additional traction device at the head position to assist the internal welding machine to move forward, so as to ensure the safety of the internal welding machine.

[0060] Step 202, based on the pipe section state and the received control instruction, determine the travel state of the internal welding machine.

[0061] The internal welding machine determines the traveling state of the internal welding machine according to the pipe section state judged by the angle sensor, the positioning cylinder state and the control instructions transmitted by the control device.

[0062] Indicatively, Figure 3 As shown, when the pipe section state is an uphill section, the internal welding machine determines the traveling state according to the received control instruction. When the control instruction received by the internal welding machine is a forward control instruction, it is determined that the internal welding machine is in an uphill forward state; when the control instruction received by the internal welding machine is a backward control instruction, it is determined that the internal welding machine is in an uphill backward state; when the control instruction received by the internal welding machine is a backward control instruction, and the internal welding machine detects that the positioning cylinder is in a raised state, it is determined that the internal welding machine is in an uphill positioning backward state.

[0063] Indicatively, Figure 4 As shown, when the pipe section state is a downhill section, the internal welding machine determines the traveling state according to the received control instruction. When the control instruction received by the internal welding machine is a forward control instruction, it is determined that the internal welding machine is in a downhill forward state; when the control instruction received by the internal welding machine is a backward control instruction, it is determined that the internal welding machine is in a downhill backward state; when the control instruction received by the internal welding machine is a backward control instruction, and the internal welding machine detects that the positioning cylinder is in a raised state, it is determined that the internal welding machine is in a downhill positioning backward state.

[0064] Indicatively, Figure 5 As shown, when the pipe section state is flat, the internal welding machine determines the traveling state according to the received control instruction. When the control instruction received by the internal welding machine is a forward control instruction, it is determined that the internal welding machine is in a flat forward state; when the control instruction received by the internal welding machine is a backward control instruction, it is determined that the internal welding machine is in a flat backward state; when the control instruction received by the internal welding machine is a backward control instruction, and the internal welding machine detects that the positioning cylinder is in a raised state, it is determined that the internal welding machine is in a flat positioning backward state.

[0065] Step 203 , determining motor control parameters based on the traveling state and the angle data.

[0066] When the angle data is the same, different internal welding machine travel states correspond to different motor control parameters, and there is a certain size relationship between the corresponding motor control parameters in different travel states. When the internal welding machine is in a certain travel state, its corresponding motor control parameter also needs to be determined according to the relationship between the motor control parameter and the angle data.

[0067] like Figure 3 As shown in the figure, when the internal welding machine is in an uphill forward state, due to the influence of gravity, the internal welding machine has a tendency to slide downward, and the motor needs to provide the internal welding machine with sufficient power to move upward. Therefore, the internal welding machine needs to adjust the motor control parameters to the maximum so that the motor runs at the maximum speed. At this time, the travel speed of the internal welding machine is the maximum speed.

[0068] like Figure 3 As shown, when the internal welding machine is in an uphill backward state, the internal welding machine is easily stalled due to the influence of gravity during the backward process. In order to reduce the moving speed during the backward process, the internal welding machine controls the motor to run at a lower speed with a second control parameter less than the maximum control parameter. The specific value of the second control parameter is determined according to the angle data output by the angle sensor. When the angle data increases, the power required by the motor for the internal welding machine to retreat decreases due to the influence of gravity on the internal welding machine, and the second control parameter for controlling the motor's backward power also decreases, so the second control parameter is negatively correlated with the angle data.

[0069] In order to determine the specific value of the second control parameter, in a possible implementation, the internal welding machine determines the specific value of the second control parameter by consulting a correspondence table between the angle data and the second control parameter. The correspondence table divides the angle data into several intervals, and when the value of the angle data belongs to a certain angle interval, the internal welding machine determines the corresponding second control parameter as the motor control parameter.

[0070] Schematically, as shown in Table 1, the table divides the angle range of 0° to 30° into 5 angle intervals of equal length. When the angle data is 8°, the angle data belongs to the interval of 7° to 12°, and the second control parameter is 16. When the angle is 20°, the angle data belongs to the interval of 19° to 24°, and the second control parameter is 8. The larger the angle data, the smaller the second control parameter corresponding to the angle interval.

[0071] Table 1

[0072]

[0073] In another possible implementation, the second control parameter may be determined according to a fitting relationship between the angle data and the second control parameter, wherein the fitting relationship may be a linear fitting relationship or a nonlinear fitting relationship, which is not limited in this embodiment.

[0074] like Figure 3 As shown, when the internal welding machine is in the uphill positioning retreat state, the internal welding machine determines the corresponding third control parameter according to the angle data. During the positioning of the internal welding machine, the internal welding machine needs to reduce the travel speed to ensure that the welding gun of the internal welding machine is accurately positioned to the target welding point. Therefore, when the angle data is the same, the motor control parameter in the uphill positioning retreat state is smaller than the motor control parameter in the uphill retreat state, that is, the third control parameter is smaller than the second control parameter. When the angle data increases, due to the increase in the influence of gravity on the internal welding machine, the power required for the positioning retreat of the internal welding machine decreases, that is, the third control parameter decreases. Therefore, there is a negative correlation between the third control parameter and the angle data.

[0075] Optionally, the method for obtaining the third control parameter is similar to the method for obtaining the second control parameter, and can be obtained through a corresponding relationship table between angle data and the third control parameter, or through a fitting relationship between angle data and the third control parameter. It should be noted that the reference table of the third control parameter is numerically different from Table 1, that is, the corresponding relationship between the third control parameter and the angle parameter is different from the corresponding relationship between the second control parameter and the angle parameter.

[0076] like Figure 4As shown, when the internal welding machine is in a downhill forward state, the internal welding machine determines the corresponding fourth control parameter according to the angle data, and the determination method is similar to the determination method of the second control parameter. Since the internal welding machine is easily stalled due to the influence of gravity during the forward process, in order to reduce the moving speed during the forward process, the internal welding machine determines the fourth control parameter that is less than the maximum control parameter as the motor control parameter, so that the motor speed is less than the maximum speed.

[0077] like Figure 4 As shown, when the internal welding machine is in a downhill backward state, due to the influence of gravity, the internal welding machine has a tendency to slide downward, and the motor needs to provide sufficient power to prevent the internal welding machine from sliding down and move toward the top of the slope. Therefore, the internal welding machine needs to set the motor control parameter to the first control parameter so that the motor runs at the maximum speed.

[0078] like Figure 4 As shown, when the internal welding machine is in a downhill positioning retreat state, the internal welding machine determines the corresponding fifth control parameter according to the angle data, and the determination method is similar to the determination method of the third control parameter. In the process of positioning the internal welding machine, the internal welding machine needs to reduce the travel speed to ensure that the welding gun of the internal welding machine is accurately positioned to the target welding point. Therefore, when the angle data is the same, the motor control parameter in the downhill positioning retreat state is smaller than the motor control parameter in the downhill retreat state, that is, the fifth control parameter is smaller than the first control parameter, and the motor speed at this time is less than the maximum speed. When the angle data increases, due to the increase in the influence of gravity on the internal welding machine, the power required for the internal welding machine to position and retreat increases, that is, the fifth control parameter increases. Therefore, there is a positive correlation between the fifth control parameter and the angle data.

[0079] like Figure 5 As shown, when the internal welding machine is in the flat section forward state, the flat section backward state, and the flat section positioning backward state, since the flat section is not affected by gravity, there is no safety hazard in the process of the internal welding machine. In order to improve the working efficiency of the internal welding machine, when the pipe section state is a flat section, the internal welding machine moves at the maximum speed. At this time, the motor speed is the maximum, and the motor control parameter is the first control parameter.

[0080] Step 204: Perform digital-to-analog conversion on the motor control parameters to obtain analog signals.

[0081] Since the motor control parameter is a digital signal, and the motor of the internal welding machine cannot recognize the digital signal, it is necessary to first perform digital-to-analog conversion on the motor control parameter, that is, convert the digital signal into an analog signal. The analog signal may be an analog current signal or an analog voltage signal, which is not limited in the present embodiment.

[0082] In a possible implementation, a DAC (Digital to Analog Converter) is provided in the internal welding machine, and the motor control parameters are input into the DAC. The DAC converts the motor control parameters into corresponding analog signals. The specific form of the analog signal is determined by the specific type of the DAC.

[0083] In the embodiment of the present application, after obtaining the analog signal, the internal welding machine controls the operation of the motor in accordance with the control principle of the motor. The internal welding machine adopts different control methods for different motors.

[0084] In one possible implementation, the internal welding machine uses a pneumatic motor to provide it with operating power. In order to realize automatic control of the air pressure of the pneumatic motor by the internal welding machine, the pneumatic motor adjusts the valve opening of the electric proportional valve according to the analog signal, thereby controlling the motor speed and realizing automatic control of the travel speed of the internal welding machine.

[0085] Step 205 , sending an analog signal to the electrical proportional valve corresponding to the pneumatic motor, so that the electrical proportional valve reaches an opening corresponding to the analog signal, wherein the rotation speed of the pneumatic motor is different at different openings.

[0086] The electric proportional valve is a valve used to control the gas flow of the pneumatic motor. The electric proportional valve controls the opening of the inlet valve and the exhaust valve through the control circuit, thereby changing the gas flow inside the cylinder of the pneumatic motor and thus changing the speed of the pneumatic motor.

[0087] In the embodiment of the present application, the internal welding machine first obtains the pipe section state of the current pipe section according to the angle data output by the angle sensor. After determining the pipe section state, the internal welding machine determines the corresponding motor control parameters according to the control instructions and angle data transmitted by the control device. Since the motor control parameters are data volume signals, the internal welding machine converts the motor control parameters into analog signals so that the electric proportional valve can determine the corresponding opening of the valve. After determining the opening of the intake valve and the exhaust valve, the electric proportional valve changes the gas flow inside the cylinder of the pneumatic motor. The change of the gas flow inside the cylinder of the pneumatic motor changes the speed of the pneumatic motor, that is, the power size provided by the pneumatic motor to the internal welding machine changes, thereby realizing the automatic control of the speed of the internal welding machine.

[0088] Since the positioning and welding work of the internal welding machine is mainly completed at the pipe section mouth where welding is required, the moving speed of the internal welding machine in the pipe section can be faster than the moving speed near the pipe section mouth. Therefore, the pipe section position of the internal welding machine in the pipe section can also be used as the basis for the speed control of the internal welding machine, that is, the pipe section position information can be used as a consideration for determining the motor control parameters of the internal welding machine.

[0089] In another possible embodiment, the internal welding machine determines the motor control parameters through the pipe segment position, travel state and angle data. The pipe segment position is determined through the travel distance and pipe segment length recorded by the internal welding machine.

[0090] Regarding the acquisition of the travel distance of the internal welding machine, in a possible implementation, a displacement sensor is provided in the internal welding machine, and the displacement sensor can detect the movement distance of the internal welding machine inside the pipe section. For example, the displacement sensor can be a Hall sensor provided on the wheel drive assembly of the internal welding machine.

[0091] Regarding the pipe segment position of the internal welding machine, in a possible implementation, the internal welding machine divides the pipe segment into three positions: the front, the middle, and the rear, and the corresponding relationship between the angle data and the motor control parameters at each position is different. The internal welding machine moves from the rear of the pipe segment, through the middle of the pipe segment, to the front. In order to improve work efficiency and ensure construction safety, the speed of the internal welding machine is relatively high when it moves to the rear, and it starts to slow down when it moves to the middle. When the internal welding machine moves to the front of the pipe segment, the moving speed is relatively low. Among them, the specific lengths of the front, middle, and rear of the pipe segment are determined according to the length of the pipe segment and the distance required for the speed change.

[0092] Indicatively, Figure 6 As shown, the internal welding machine determines the pipe section position 603 according to the travel distance 601 and the pipe section length 602, and determines the corresponding motor control parameters 606 according to the travel state 604 of the internal welding machine and the angle data 605 measured by the angle sensor.

[0093] In the embodiment of the present application, the internal welding machine first obtains the position of the pipe section through the travel distance and the length of the pipe section, and then the internal welding machine determines the motor control parameters for adjusting the moving speed of the internal welding machine according to its travel state and angle data. Compared with the embodiment in which the motor control parameters are determined according to the travel state and angle data, the embodiment of the present application is conducive to enabling the main control of the internal welding machine to more accurately determine the moving speed of the internal welding machine, while ensuring the working safety of the internal welding machine, and improving the moving speed of the internal welding machine at some positions in the pipe section, thereby improving the working efficiency of the internal welding machine.

[0094] Please refer to Figure 7 , which shows a structural block diagram of an internal welding machine control device provided by an exemplary embodiment of the present application. The device includes:

[0095] The pipe section state determination module 701 is used to determine the pipe section state of the pipe section where the internal welding machine is located based on the angle data output by the angle sensor, and the pipe section state includes an uphill section, a flat section and a downhill section;

[0096] A traveling state determination module 702, for determining the traveling state of the internal welding machine based on the pipe segment state and the received control instruction;

[0097] A motor control parameter determination module 703, configured to determine a motor control parameter based on the travel state and the angle data;

[0098] The control module 704 is used to control the running state of the motor based on the motor control parameters.

[0099] Optionally, the traveling state determining module 702 includes:

[0100] A first state determination unit, configured to determine an uphill forward state of the traveling state when the pipeline state is an uphill section and a forward control instruction is received;

[0101] A second state determination unit is used to determine the uphill backward state of the traveling state when the pipeline state is an uphill section and a backward control instruction is received;

[0102] The third state determination unit is used to determine the uphill positioning backward state of the traveling state when the pipeline state is an uphill section and a positioning cylinder lifting and backward control instruction is received.

[0103] Optionally, the motor control parameter determination module 703 includes:

[0104] a first parameter determination unit, configured to determine, when the traveling state is the uphill advancing state, a first control parameter as the motor control parameter, wherein the motor operates at a maximum speed under the first control parameter;

[0105] a second parameter determination unit, configured to determine, when the traveling state is the uphill backward state, a second control parameter corresponding to the angle data as the motor control parameter, wherein the second control parameter is negatively correlated with the angle data, and the rotation speed of the motor under the second control parameter is lower than the maximum rotation speed;

[0106] The third parameter determination unit is used to determine the third control parameter corresponding to the angle data as the motor control parameter when the traveling state is the uphill positioning backward state, the third control parameter is negatively correlated with the angle data, and the motor speed is lower than the maximum speed under the third control parameter.

[0107] Optionally, the traveling state determining module 702 further includes:

[0108] a fourth state determination unit, configured to determine a downhill forward state of the traveling state when the pipeline state is a downhill section and a forward control instruction is received;

[0109] a fifth state determination unit, configured to determine a downhill backward state of the traveling state when the pipeline state is in a downhill section and a backward control instruction is received;

[0110] The sixth state determination unit is used to determine the downhill positioning backward state of the traveling state when the pipeline state is a downhill section and a positioning cylinder lifting and backward control instruction is received.

[0111] Optionally, the motor control parameter determination module 703 further includes:

[0112] a fourth parameter determination unit, configured to determine, when the traveling state is the downhill advancing state, a fourth control parameter corresponding to the angle data as the motor control parameter, wherein the fourth control parameter is negatively correlated with the angle data, and the rotation speed of the motor under the fourth control parameter is lower than the maximum rotation speed;

[0113] a fifth parameter determination unit, configured to determine, when the traveling state is the downhill backward state, a first control parameter as the motor control parameter, wherein the motor operates at a maximum speed under the first control parameter;

[0114] The sixth parameter determination unit is used to determine the fifth control parameter corresponding to the angle data as the motor control parameter when the traveling state is the downhill positioning backward state, the fifth control parameter is positively correlated with the angle data, and the motor speed is lower than the maximum speed under the fifth control parameter.

[0115] Optionally, the traveling state determining module 702 further includes:

[0116] a seventh state determination unit, configured to determine a flat forward state of the traveling state when the pipeline state is a flat section and a forward control instruction is received;

[0117] an eighth state determination unit, configured to determine a flat section backward state of the traveling state when the pipeline state is flat and a backward control instruction is received;

[0118] A ninth state determination unit, configured to determine the flat section positioning retreat state of the traveling state when the pipeline state is a flat section and a positioning cylinder lifting and retreat control instruction is received;

[0119] The motor control parameter determination module 703 further includes:

[0120] The seventh parameter determination unit is used to determine the first control parameter as the motor control parameter in the flat section forward state, the flat section backward state or the flat section positioning backward state, and the motor runs at the maximum speed under the first control parameter.

[0121] Optionally, the motor is a pneumatic motor, and the control module 704 includes:

[0122] A conversion unit, used for performing digital-to-analog conversion on the motor control parameters to obtain an analog signal;

[0123] The signal sending unit is used to send the analog signal to the electrical proportional valve corresponding to the pneumatic motor, so that the electrical proportional valve reaches the opening corresponding to the analog signal, wherein the rotation speed of the pneumatic motor is different at different openings.

[0124] Optionally, the device further includes:

[0125] A pipe segment position determination module, used to determine the pipe segment position where the internal welding machine is located based on the travel distance and the pipe segment length of the pipe segment;

[0126] The motor control parameter determination module 703 further includes:

[0127] An eighth parameter determination unit is used to determine the motor control parameters based on the pipe segment position, the traveling state and the angle data, wherein the motor control parameters corresponding to the same traveling state and angle data are different under different pipe segment positions.

[0128] Please refer to Figure 8 , which shows a structural block diagram of an internal welding machine provided by an exemplary embodiment of the present application. The internal welding machine may include the following components: a control component 801, an angle sensor 802, a communication component 803, a main control 804, a signal conversion component 805, a motor 806 and a travel drive component 807.

[0129] The control component 801 is connected to the main control 804 and is used to control the internal welding machine to complete tasks such as forward, backward, positioning backward, welding, etc. The control method of the control component 801 can be long-distance control, such as using a wireless remote control device to control, or close-range control, such as using an internal welding machine operating rod to control.

[0130] The angle sensor 802 is a tilt sensor, which is arranged on the travel drive component 807 and is used to monitor the road section type and slope and transmit angle data to the main control 804.

[0131] The communication component 803 is used to connect the angle sensor 802 and the main control 804. After receiving and reading the angle data output by the angle sensor 802, the communication component 803 sends the angle data to the main control 804.

[0132] The main control 804 is used to implement the internal welding machine control method in the embodiment of the present application. The main control 804 receives signals from various components and completes the control operation. For example, the main control 804 receives the control command signal transmitted by the control component 801. After receiving the control command signal, the main control 804 controls other components to complete the corresponding control task.

[0133] The signal conversion component 805 is used to connect the main control 804 and the motor 806. The signal conversion component 805 converts the digital signal from the main control 804 into an analog signal and sends it to the motor 806, so that the motor 806 changes the speed according to the analog signal.

[0134] The motor 806 is used to provide power for the internal welding machine. In the embodiment of the present application, the motor 806 can be a pneumatic motor or an electric motor, such as a BLDC (Brushless Direct Current Motor) that requires a large battery to provide power.

[0135] The travel drive assembly 807 is used to help the internal welding machine to travel in the pipe section under various pipe section states. Among them, the various pipe section states include uphill sections, flat sections and downhill sections, and the travel states of the internal welding machine in the pipe section include forward state, backward state, positioning backward state, etc. The travel drive mode of the internal welding machine can adopt roller drive, or other drive modes, such as crawler drive, etc., which is not limited in the embodiment of the present application.

[0136] Please refer to Fig. 9 , which shows a schematic diagram of the structure of an internal welding machine provided by another exemplary embodiment of the present application. The internal welding machine may include the following components: a travel drive assembly 901, a brake system 902, an electric proportional valve 903, an angle sensor 904 and a PLC (Programmable Logic Controller) control system 905.

[0137] The travel drive assembly 901 is used to help the internal welding machine move inside the pipe section, including forward, backward, positioning and backward, etc.

[0138] The brake system 902 is used to fix the internal welding machine inside the pipe section, and assist the internal welding machine to complete tasks such as positioning and welding inside the pipe section.

[0139] The electrical proportional valve 903 is used to adjust the valve opening according to the analog signal transmitted by the PLC control system 905, thereby realizing air pressure control of the pneumatic motor.

[0140] The angle sensor 904 is used to monitor the road section type and slope, and transmit angle data to the PLC control system 905 .

[0141] The PLC control system 905 is used to transmit the corresponding analog signal to the electrical proportional valve 903 according to the angle data output by the angle sensor 904 and the control command transmitted by the wireless remote control device, thereby controlling the opening of the electrical proportional valve 903 and thus controlling the air pressure and speed of the pneumatic motor.

[0142] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling an internal welding machine, characterized in that: The method comprises: Based on the angle data output by the angle sensor, determine the pipe section state of the pipe section where the internal welding machine is located, wherein the pipe section state includes an uphill section, a flat section, and a downhill section; Determining the traveling state of the internal welding machine based on the state of the pipe section and the received control instruction; determining a motor control parameter based on the travel state and the angle data; The operating state of the motor is controlled based on the motor control parameter.

2. The method according to claim 1, characterized in that The step of determining the traveling state of the internal welding machine based on the pipe segment state and the received control instruction comprises: When the pipe section state is an uphill section and a forward control instruction is received, determining an uphill forward state of the travel state; When the pipe section state is an uphill section and a retreat control instruction is received, determining an uphill retreat state of the traveling state; When the pipe section state is an uphill section and a positioning cylinder lifting and retreating control instruction is received, the uphill positioning retreating state of the traveling state is determined.

3. The method according to claim 2, characterized in that The determining of the motor control parameters based on the traveling state and the angle data comprises: When the traveling state is the uphill advancing state, determining a first control parameter as the motor control parameter, under which the motor runs at a maximum speed; When the traveling state is the uphill backward state, a second control parameter corresponding to the angle data is determined as the motor control parameter, the second control parameter is negatively correlated with the angle data, and the rotation speed of the motor under the second control parameter is lower than the maximum rotation speed; When the traveling state is the uphill positioning backward state, the third control parameter corresponding to the angle data is determined as the motor control parameter, the third control parameter is negatively correlated with the angle data, and the motor speed is lower than the maximum speed under the third control parameter.

4. The method according to claim 1, characterized in that The step of determining the traveling state of the internal welding machine based on the pipe segment state and the received control instruction comprises: When the pipe section state is a downhill section and a forward control instruction is received, determining the downhill forward state of the travel state; When the pipe section state is a downhill section and a retreat control instruction is received, determining a downhill retreat state of the traveling state; When the pipe section state is a downhill section and a positioning cylinder lifting and retreating control instruction is received, the downhill positioning retreating state of the traveling state is determined.

5. The method according to claim 4, characterized in that The determining of the motor control parameters based on the traveling state and the angle data comprises: When the traveling state is the downhill advancing state, determining a fourth control parameter corresponding to the angle data as the motor control parameter, the fourth control parameter is negatively correlated with the angle data, and the rotation speed of the motor under the fourth control parameter is lower than the maximum rotation speed; When the traveling state is the downhill backward state, determining a first control parameter as the motor control parameter, under which the motor runs at a maximum speed; When the traveling state is the downhill positioning backward state, the fifth control parameter corresponding to the angle data is determined as the motor control parameter, the fifth control parameter is positively correlated with the angle data, and the motor speed is lower than the maximum speed under the fifth control parameter.

6. The method according to claim 1, characterized in that The step of determining the traveling state of the internal welding machine based on the pipe segment state and the received control instruction comprises: When the pipe section state is a flat section and a forward control instruction is received, determining a flat section forward state of the traveling state; When the pipe section state is a flat section and a retreat control instruction is received, determining a flat section retreat state of the traveling state; When the pipe section state is a flat section and a positioning cylinder lifting and retreating control command is received, determining the flat section positioning retreating state of the traveling state; The determining of the motor control parameters based on the traveling state and the angle data comprises: In the case of the flat section forward state, the flat section backward state or the flat section positioned backward state, a first control parameter is determined as the motor control parameter, and under the first control parameter, the motor runs at a maximum speed.

7. The method according to any one of claims 1 to 6, characterized in that: The motor is a pneumatic motor, and the operating state of the motor is controlled based on the motor control parameter, including: Performing digital-to-analog conversion on the motor control parameters to obtain analog signals; The analog signal is sent to the electrical proportional valve corresponding to the pneumatic motor, so that the electrical proportional valve reaches an opening corresponding to the analog signal, wherein the rotation speed of the pneumatic motor is different at different openings.

8. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining the pipe segment position where the internal welding machine is located based on the travel distance and the pipe segment length of the pipe segment; The determining of the motor control parameters based on the traveling state and the angle data comprises: The motor control parameters are determined based on the pipe segment position, the travel state and the angle data, wherein the motor control parameters corresponding to the same travel state and angle data are different under different pipe segment positions.

9. An internal welding machine control device, characterized in that: The device comprises: A pipe section state determination module, used to determine the pipe section state of the pipe section where the internal welding machine is located based on the angle data output by the angle sensor, wherein the pipe section state includes an uphill section, a flat section and a downhill section; A traveling state determination module, used to determine the traveling state of the internal welding machine based on the state of the pipe section and the received control instruction; a motor control parameter determination module, configured to determine a motor control parameter based on the travel state and the angle data; A control module is used to control the running state of the motor based on the motor control parameters.

10. An internal welding machine, characterized in that: The internal welding machine includes: an angle sensor, a communication component, a main control, a signal conversion component, a control component, a motor and a travel drive component; The angle sensor is arranged on the travel drive assembly; The communication component is used to connect the angle sensor and the main control; The signal conversion component is used to connect the main control and the motor; The control component is connected to the main control; The main control is used to implement the internal welding machine control method as described in any one of claims 1 to 8.

Images