Pipeline detection device

Abstract

The invention relates to a pipeline detection device, and belongs to an intrusive pipeline detection device. The sealing system is installed outside the sensing system, the controller assembly is connected with the sensing system through a pull wire, and the propelling system is connected with a pipeline where the sensing system is located. The device has the advantages that the structure is novel, the sealing effect capable of guaranteeing propelling power is formed through intervention type control and pipeline walls, normal pipeline conveying work is not affected, the basic function of continuously detecting pipeline three-dimensional information is achieved, various sealed pipelines can be rapidly and accurately detected, and a three-dimensional map of the detected pipeline is formed; various required data can be obtained by adding different sensors to the probe part, and the device is not limited to what substances are conveyed in the pipeline and can be used under the continuous working condition; the device can work horizontally, obliquely and perpendicularly to the ground without being limited to the space trend of the pipeline, has obvious advantages when being used under the working conditions that the diameter changing multiple of the pipeline is large and diameter changing is frequent, and is easy to operate, low in cost and high in efficiency.

Description

Technical Field

[0001] The present invention relates to an intrusive pipeline detection device, specifically a pipeline detection device for detecting timely information including but not limited to the direction, position, depth, pressure, flow rate, damage, material, etc. of gas pipelines, water pipelines, oil pipelines, etc. Background Art

[0002] At present, the main methods for detecting underground pipelines are acoustic wave introduction method, electromagnetic wave emission method, gyroscope positioning method and other types. It is very difficult to obtain accurate three-dimensional information of pipelines by acoustic wave introduction method, and the error is large. At the same time, it is greatly restricted by the environment and can hardly work when encountering complex pipeline layout. Except for the acoustic wave introduction method, the other two methods are invasive detection, and the detector must be pushed into the pipeline through the connecting cable outside the pipeline. It is impossible to complete complex situations such as long distance, many turns, many divergences, and variable diameters. At the same time, the high-power electromagnetic wave generator is large in size and cannot adapt to the detection environment with narrow input ports and many turns. In addition, the electromagnetic wave emission method cannot complete the detection of metal pipelines due to electromagnetic shielding restrictions, and the underground depth of the detection pipeline is also greatly limited; the existing gyroscope positioning method uses a micro 6-axis or 9-axis gyroscope for inertial navigation positioning, and the probe is large in size, has large errors, and is complex in calculation. The above three methods all have the defects of low accuracy, low efficiency, small range, and narrow applicability.

[0003] Chinese patent CN107588282B discloses a crawling detection device in a cavity, which can be equipped with various sensors and drive the entire detection mechanism to move in the pipeline through 4 independently driven wheels, so as to provide the required pipeline information in real time. However, it can only operate when the slope is less than 15 degrees, and it cannot operate on the pipeline perpendicular to the ground; Chinese patent CN113586840B discloses a detection and grasping pipeline robot that can adapt to pipe diameters and curves. The driving mechanism makes the walking mechanism open and close, so that the walking mechanism is elastically tensioned on the inner wall of the pipeline. Because its walking mechanism is a mechanical structure, its ability to adapt to variable diameter working conditions and turning working conditions is in conflict, and the transmission structure is complex and difficult to manufacture, making it difficult to use and seal when the inner diameter of the pipeline is small. Summary of the invention

[0004] The present invention provides a pipeline detection device to solve the existing problems of low accuracy, low efficiency, small range and narrow applicability.

[0005] The technical solution adopted by the present invention is to include a sensing system, a sealing system, a traction line, a propulsion system and a controller assembly, wherein the sealing system is installed outside the sensing system, the controller assembly is connected to the sensing system through a traction line, and the propulsion system is connected to a pipeline where the sensing system is located.

[0006] The sensing system includes a shell, a seeker, a seeker radial swing control motor, a seeker axial rotation control motor, an air pump, a control circuit, and a camera, wherein the seeker radial swing control motor, the seeker axial rotation control motor, the air pump, the control circuit, and the camera are located in the shell, the seeker is connected to the seeker radial swing control motor and the seeker axial rotation control motor, the control circuit electrically connects the seeker radial swing control motor, the seeker axial rotation control motor, the air pump, and the camera, the air pump is connected to the valve of the sealing system, and the control circuit is electrically connected to the power line and the signal line in the traction line.

[0007] The control circuit includes a gyroscope, a signal transmission circuit and a photoelectric converter.

[0008] The gyroscope is a MEMS gyroscope.

[0009] The sealing system comprises an elastic expansion body, a sealing ring, a valve and a wear-resistant elastic material, wherein the elastic expansion body is installed outside the shell through the sealing ring, the valve is connected to the air pump, and the outer layer of the elastic expansion body is made of wear-resistant elastic material.

[0010] The traction line includes a rigid line, a power line, a signal line, a counter, and a line transmitter, wherein the rigid line, the power line and the signal line are a group of wire harnesses, one end of which is connected to the sensing system and the other end is connected to the line transmitter, and the counter is installed on the line transmitter.

[0011] The controller assembly includes a controller and a display.

[0012] The propulsion system adopts an air pump or a liquid pump.

[0013] The advantages of the present invention are novel structure, interventional type, control and sealing effect with the pipeline wall to ensure propulsion power, no influence on normal pipeline transportation, basic function of continuous detection of pipeline three-dimensional information, rapid and accurate detection of various sealed pipelines, forming a three-dimensional map of the pipeline under test, and adding different sensors to the probe part to obtain various required data, such as pipeline flaw detection. The present invention is not limited to what kind of material is transported in the pipeline, and can be used under non-stop working conditions; nor is it limited to the spatial direction of the pipeline, and can work horizontally, inclined, and vertically to the ground. The present invention has obvious advantages when used in working conditions with large pipe diameter change multiples and frequent diameter changes, and is simple to operate, low in cost, and high in efficiency.

[0014] The present invention is mainly applicable to underground or above-ground sealed or partially sealable pipelines that need to obtain information such as location and status, so as to achieve the purposes of pipeline flaw detection, replacement, repair, maintenance, drawing of three-dimensional pipeline digital maps, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the structure of the sensing system and the sealing system of the present invention. DETAILED DESCRIPTION

[0016] In order to further illustrate the purpose, structural features and effects of the present invention, the present invention is described in detail below with reference to the accompanying drawings.

[0017] It includes a sensing system 1, a sealing system 2, a traction line 3, a propulsion system 4 and a controller assembly 5, wherein the sealing system 2 is installed outside the sensing system 1, the controller assembly 5 is connected to the sensing system 1 through the traction line 3, and the propulsion system 4 is connected to the pipeline where the sensing system 1 is located.

[0018] The sensing system 1 includes a shell 101, a seeker 102, a seeker radial swing control motor 103, a seeker axial rotation control motor 104, an air pump 105, a control circuit 106, and a camera 107, wherein the seeker radial swing control motor 103, the seeker axial rotation control motor 104, the air pump 105, the control circuit 106, and the camera 107 are located in the shell 101, the seeker 102 is connected to the seeker radial swing control motor 103 and the seeker axial rotation control motor 104, the control circuit 106 electrically connects the seeker radial swing control motor 103, the seeker axial rotation control motor 104, the air pump 105, and the camera 107, the air pump 105 is connected to the valve 203 of the sealing system 2, and the control circuit 106 is electrically connected to the power line 302 and the signal line 303 in the traction line 3.

[0019] The control circuit 106 includes a gyroscope 10601 , a signal transmission circuit 10602 , and a photoelectric converter 10603 .

[0020] The gyroscope 10601 may be a MEMS gyroscope.

[0021] The sealing system 2 includes an elastic expansion body 201, a sealing ring 202, a valve 203 and a wear-resistant elastic material 204, wherein the elastic expansion body 201 is installed outside the housing 101 through the sealing ring 202, the valve 203 is connected to the air pump 105, and the outer layer of the elastic expansion body 201 is made of wear-resistant elastic material 204.

[0022] The traction line 3 includes a rigid line 301, a power line 302, a signal line 303, a counter 304, and a line transmitter 305, wherein the rigid line 301, the power line 302 and the signal line 303 are used as a group of wiring harnesses, one end of which is connected to the sensing system 1, and the other end is connected to the line transmitter 305, and the counter 304 is installed on the line transmitter 305.

[0023] The controller assembly 5 includes a controller 501 and a display 502 .

[0024] The propulsion system 4 uses an air pump or a liquid pump, and its main function is to increase pressure in the pipeline when there is no material flow in the detected pipeline and when it is impossible to generate a pressure difference before and after the sensing system 1.

[0025] Working principle: The sensing system 1 and the sealing system 2 are installed together and connected to the end of the traction line 3, and sent into the measured pipeline 6. When the sensing system 1 completely enters the pipeline, the gyroscope 10601, the camera 107, the counter 304, etc. start working, and transmit various information to the controller 501 and the display 502 through the signal transmission circuit 10602; the direction information of the gyroscope 10601 and the distance information clock of the counter 304 are synchronized through the algorithm software preset in the controller 501 to form a three-dimensional coordinate diagram of the running trajectory of the sensing system 1; the video signal generated by the camera 107 is displayed on the display 502 in a timely manner; when long-distance pipeline transmission is required, the sensing system 1 needs to use the photoelectric converter 10603; When the display 502 shows that the sensing system 1 encounters a pipeline bifurcation (forked road), the controller 501 controls the radial swing control motor 103 of the guide head to make the guide head 102 radially swing, and the axial rotation control motor 104 of the guide head to make the guide head 102 axially rotate so as to point to the pipeline branch to be entered, and guide the sensing system 1 to continue to move forward; When the sensing system 1 is just sent into the pipeline, the sealing system 2 is in a contracted state; when the line conveyor 305 is unable or difficult to make the sensing system 1 continue to move forward through the traction line 3 due to reasons such as being too long, too heavy, or having too much friction, the controller 501 instructs the air pump 105 to work, and expands the sealing system 2 through the valve 203, until the gap between the sealing system 2 and the pipeline wall creates a sufficient pressure difference in the forward direction of the sensing system 1; when the original substances in the pipeline, i.e., gas and liquid, flow and the pressure meets the requirements, the propulsion system 4 does not need to work; when there is no substance flowing in the pipeline, the propulsion system 4 needs to pressurize the pipeline to change the gap between the sealing system 2 and the pipeline wall, that is, to change the pressure difference before and after the sensing system 1, so as to control the forward speed of the sensing system 1; The sealing system 2 is made of elastic material, and the expansion coefficient of the elastic material is different along the forward direction of the sensing system 1. The middle part should have a relatively small expansion coefficient in the axial direction of the sensing system 1 and a large expansion coefficient in the radial direction. In order to make the sealing system 2 and the inner wall of the measured pipeline produce less friction resistance, the outer side of the middle part of the sealing system 2 can be added with wear-resistant elastic material 204 and coated with a lubricant suitable for actual working conditions.

[0026] The invention is further described below through application examples.

[0027] In a certain area, it is used to detect the specific location of underground natural gas pipelines in order to dig and replace old pipelines. Its perception system 1 has a built-in camera 107, a guide head 102, and a gyroscope 10601. The detection distance is up to 100 meters, and the electrical signal is transmitted. First, find the ground inspection port of the pipeline to be tested, connect the connected perception system 1, cable input sealer, and traction line 3 to the inspection port, open the inspection port valve, and control the line feeder 305 to send the perception system 1 connected to the traction line 3 into the pipeline. At this time, the camera 107, gyroscope 10601 of the perception system 1 and the counter 304 on the line feeder 305 start working. The three-dimensional trajectory formed by the gyroscope 10601 and counter 304 signals through the algorithm and the front image of the perception system 1 transmitted by the camera 107 are displayed on the display 502 at the same time. When the display 502 shows that there is a pipeline fork or turn ahead in the forward direction of the sensing system 1, the operator adjusts the knob on the controller 501 to make the front end of the guide head 102 in the sensing system 1 point to the fork to be detected, and slightly moves the line feeder 305 and the guide head 102 to make the guide head 102 contact the fork pipe wall, and continues to slightly move the line feeder 305 until the sensing system 1 completely enters the fork pipeline. When the sensing system 1 encounters a fork again, the above operation is repeated. After the sensing system 1 advances 100m, the controller 501 has formed a three-dimensional travel trajectory of the sensing system 1 within 100m, that is, the three-dimensional shape of the pipeline to be measured, and stores and displays it on the display 502. At this time, the line feeder 305 is controlled to operate in the reverse direction. After reaching the starting point, the inspection valve is closed and the detection equipment including the sensing system 1 is removed to complete all the work of a pipeline detection.

[0028] Although the above embodiments are described in detail for the purpose of illustrating the invention, persons familiar with the technical field may make various changes, additions, deletions or equivalent substitutions to the above embodiments without departing from the scope and spirit of the claims of the present invention. Therefore, the present invention is by no means limited to the above embodiments.

Claims

1. A pipeline detection device, characterized in that: It includes a perception system, a sealing system, a traction line, a propulsion system and a controller assembly, wherein the sealing system is installed outside the perception system, the controller assembly is connected to the perception system through the traction line, and the propulsion system is connected to a pipeline where the perception system is located.

2. A pipeline detection device according to claim 1, characterized in that: The sensing system includes a shell, a seeker, a seeker radial swing control motor, a seeker axial rotation control motor, an air pump, a control circuit, and a camera, wherein the seeker radial swing control motor, the seeker axial rotation control motor, the air pump, the control circuit, and the camera are located in the shell, the seeker is connected to the seeker radial swing control motor and the seeker axial rotation control motor, the control circuit electrically connects the seeker radial swing control motor, the seeker axial rotation control motor, the air pump, and the camera, the air pump is connected to the valve of the sealing system, and the control circuit is electrically connected to the power line and the signal line in the traction line.

3. A pipeline detection device according to claim 2, characterized in that: The control circuit includes a gyroscope, a signal transmission circuit and a photoelectric converter.

4. A pipeline detection device according to claim 3, characterized in that: The gyroscope is a MEMS gyroscope.

5. A pipeline detection device according to claim 1, characterized in that: The sealing system comprises an elastic expansion body, a sealing ring, a valve and a wear-resistant elastic material, wherein the elastic expansion body is installed outside the shell through the sealing ring, the valve is connected to the air pump, and the outer layer of the elastic expansion body is made of wear-resistant elastic material.

6. A pipeline detection device according to claim 1, characterized in that: The traction line includes a rigid line, a power line, a signal line, a counter, and a line transmitter, wherein the rigid line, the power line and the signal line are a group of wire harnesses, one end of which is connected to the sensing system and the other end is connected to the line transmitter, and the counter is installed on the line transmitter.

7. A pipeline detection device according to claim 1, characterized in that: The controller assembly includes a controller and a display.

8. A pipeline detection device according to claim 1, characterized in that: The propulsion system adopts an air pump or a liquid pump.

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