A pipe inner wall cleaning system based on airbag expansion technology

Abstract

The present invention discloses a pipeline inner wall cleaning system based on airbag expansion technology, the system including a pressure control module for dynamically adjusting the gas pressure inside the airbag based on a preset pressure gradient control strategy to achieve uniform pressure distribution, an airbag module for inserting into the pipeline to be cleaned, and after the airbag gradually expands to contact the inner wall of the pipeline, physically rubbing and cleaning the inner wall of the pipeline by continuous expansion and contraction, a gas supply module for providing controllable gas pressure to the airbag assembly, and an exhaust module for exhausting the gas in the airbag assembly after cleaning is completed; the pipeline inner wall cleaning system based on airbag expansion technology solves the problem in the prior art that local stress concentration is generated when cleaning the curved part of the pipeline due to uneven pressure distribution inside the airbag, thereby causing airbag rupture.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning, and in particular to a pipeline inner wall cleaning system based on airbag expansion technology. Background Art

[0002] Among existing pipeline cleaning technologies, the balloon expansion method is widely used for cleaning pipeline interiors due to its simple structure, ease of operation, and adaptability to a wide range of pipe diameters. This method typically involves injecting compressed air or liquid into a balloon to inflate it, using friction and contact pressure between the balloon surface and the pipe interior to clean the pipe. This cleaning method is particularly suitable for removing deposits on pipe interior walls, such as oil, scale, and sediment.

[0003] However, in actual application, this technology has also exposed some obvious shortcomings. Since the pressure distribution inside the airbag is usually uneven, local stress concentration is easily generated when cleaning the curved part of the pipe. This stress concentration will cause additional mechanical load on the airbag, especially in pipes with a small curvature radius or complex curved structures. The high-pressure contact area between the airbag surface and the pipe wall is more susceptible to damage, resulting in the phenomenon of airbag rupture. Once the airbag ruptures, it will not only interrupt the cleaning operation, but may also lead to incomplete cleaning of the pipeline or cause subsequent safety problems. In addition, the existing technology has deficiencies in the adaptive design of different pipe bends, making it difficult to effectively optimize the airbag pressure distribution and deformation control, further limiting the application scope and cleaning efficiency of this cleaning method. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipe inner wall cleaning system based on airbag expansion technology to solve the problem in the prior art that due to the uneven pressure distribution inside the airbag, local stress concentration is generated when cleaning the curved part of the pipe, which in turn causes the airbag to rupture.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a pipeline inner wall cleaning system based on balloon dilation technology, the system comprising:

[0006] The pressure control module is used to dynamically adjust the gas pressure inside the airbag based on the preset pressure gradient control strategy to achieve uniform pressure distribution. This includes setting the initial pressure and target total pressure difference, dividing the pressure distribution points according to the pipe length, and dynamically adjusting the pressure to ensure that the pressure at each point in the airbag is close to uniform. The specific formula is:

[0007]

[0008] Among them, P irepresents the gas pressure of the airbag at the i-th position along the length of the pipeline, i represents the sequence number of the pressure distribution point, P0 represents the initial gas pressure inside the airbag when it is not inflated, ΔP represents the pressure change amplitude required for the airbag to expand from the initial state to the final cleaning state, N represents the number of equally spaced points into which the pressure distribution is divided according to the length of the pipeline, and k represents the adjustment coefficient;

[0009] The airbag module, connected to the pressure control module, is used to be inserted into the pipe to be cleaned. After the airbag gradually expands until it contacts the inner wall of the pipe, it physically rubs and cleans the inner wall of the pipe through continuous expansion and contraction.

[0010] A gas supply module for providing controllable gas pressure to the airbag assembly;

[0011] The exhaust module connected to the airbag module and the gas supply module is used to exhaust the gas in the airbag assembly after cleaning is completed.

[0012] Preferably, the airbag module is inserted into the pipe to be cleaned, and after the airbag gradually expands to contact the inner wall of the pipe, the inner wall of the pipe is physically cleaned by continuous expansion and contraction, including simulating the expansion and contraction cycle motion, and the specific formula is: r(t) = r0 + A·sin(ωt);

[0013] Where r(t) represents the expansion radius of the airbag at time t, t represents time, r0 represents the initial radius of the airbag in the uninflated state, A represents the range of radius change of the airbag during the inflation process, and ω represents the speed of airbag expansion and contraction;

[0014] Cooperate with the pressure control module to dynamically adjust the expansion period according to the characteristics of the inner wall of the pipeline: T = 2π / ω;

[0015] Where T represents the time required for the airbag to complete one expansion and contraction movement, and ω represents the speed of the airbag expansion and contraction.

[0016] Preferably, the gas supply module provides controllable gas pressure to the airbag assembly by controlling the gas supply volume through the ideal gas state equation in thermodynamics, and the specific formula is: MV=nRG;

[0017] Where M represents the pressure required during balloon expansion, V represents the volume of the balloon at different inflation states, n represents the amount of gas required to be injected into the balloon during the gas supply process, R represents the ideal gas constant, and G represents the ambient temperature of the gas injected into the balloon during the gas supply process.

[0018] During the gas supply process, the gas temperature is adjusted through a temperature sensor to improve the uniformity of airbag expansion.

[0019] Preferably, the exhaust module exhausts the gas in the airbag assembly after completing the cleaning, including setting the gas inlet rate and the exhaust rate, and the specific formula is: Q = λ - μ;

[0020] Where Q represents the exhaust rate, λ represents the intake rate, and μ represents the discharge rate;

[0021] After deflation is completed, the airbag is deflated and recovered with the assistance of a robotic arm.

[0022] Preferably, the pressure control module includes a pressure sensor and a feedback control unit, and the feedback control unit adjusts the air supply pressure according to the real-time pressure data inside the airbag collected by the pressure sensor to achieve dynamic pressure distribution regulation.

[0023] Preferably, the gas supply module includes a temperature sensor and a heating device for real-time monitoring and adjusting the gas supply temperature to prevent the airbag from expanding unevenly due to temperature fluctuations.

[0024] Preferably, the exhaust module includes an adjustable exhaust valve and a gas recovery device for controlling the exhaust rate and recovering the gas to reduce environmental pollution.

[0025] Preferably, the airbag module further includes a built-in strain sensor for monitoring the stress distribution on the airbag surface in real time.

[0026] Preferably, the gas supply module is provided with an air filtering device for filtering impurities in the gas before supplying the gas to avoid contamination or damage inside the airbag.

[0027] Preferably, the pressure control module supports presetting pressure gradient parameter templates for different pipeline types and automatically loads corresponding control parameters according to the pipeline shape and size.

[0028] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0029] The pipe inner wall cleaning system based on the airbag expansion technology dynamically adjusts the gas pressure inside the airbag based on a preset pressure gradient control strategy through the pressure control module to achieve uniform pressure distribution. The airbag module is inserted into the pipe to be cleaned, and after the airbag gradually expands to contact the inner wall of the pipe, the inner wall of the pipe is cleaned by physical friction through continuous expansion and contraction. The gas supply module provides controllable gas pressure to the airbag component, and the exhaust module discharges the gas in the airbag component after cleaning. It can dynamically adjust the gas pressure inside the airbag to achieve uniform pressure distribution, especially effectively avoiding the problem of local stress concentration in the curved part of the pipe, thereby reducing the risk of airbag rupture, and can adapt to pipes with different curvature radii and complex curved structures, effectively improving the cleaning system in the curved part. The operational stability and cleaning effect can significantly improve the cleaning efficiency, while reducing the interruption of the cleaning process, effectively reducing the mechanical load of the airbag in the high-pressure contact area, significantly extending the service life of the airbag, and avoiding safety problems caused by airbag rupture. At the same time, the exhaust and recovery modules reduce the potential environmental risks in the cleaning process, improve the adaptability of the cleaning system, and make it suitable for a variety of pipe types and inner wall attachment cleaning scenarios, reduce manual intervention, improve the convenience and reliability of the cleaning process, and reduce the difficulty of operation. While reducing the maintenance cost of the cleaning system, it reduces the downtime caused by faults, and solves the problem of uneven pressure distribution inside the airbag in the existing technology, which leads to local stress concentration when cleaning the curved part of the pipe, thereby causing airbag rupture. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the system module connection of the present invention. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] like Figure 1 As shown, the present invention provides a technical solution: a pipeline inner wall cleaning system based on airbag expansion technology, the system comprising:

[0033] The pressure control module is used to dynamically adjust the gas pressure inside the airbag based on the preset pressure gradient control strategy to achieve uniform pressure distribution. This includes setting the initial pressure and target total pressure difference, dividing the pressure distribution points according to the pipe length, and dynamically adjusting the pressure to ensure that the pressure at each point in the airbag is close to uniform. The specific formula is:

[0034]

[0035] Among them, P i represents the gas pressure of the airbag at the i-th position along the length of the pipeline, i represents the sequence number of the pressure distribution point, P0 represents the initial gas pressure inside the airbag when it is not inflated, ΔP represents the pressure change amplitude required for the airbag to expand from the initial state to the final cleaning state, N represents the number of equally spaced points into which the pressure distribution is divided according to the length of the pipeline, and k represents the adjustment coefficient;

[0036] The airbag module, connected to the pressure control module, is used to be inserted into the pipe to be cleaned. After the airbag gradually expands until it contacts the inner wall of the pipe, it physically rubs and cleans the inner wall of the pipe through continuous expansion and contraction.

[0037] A gas supply module for providing controllable gas pressure to the airbag assembly;

[0038] The exhaust module connected to the airbag module and the gas supply module is used to exhaust the gas in the airbag assembly after cleaning is completed.

[0039] The above system is based on the balloon expansion technology. Through the pressure control module, the gas pressure inside the balloon is dynamically adjusted according to the set pressure gradient control strategy to achieve uniform pressure distribution. The difference between the initial pressure and the target total pressure is calculated according to the formula Dynamic calculation and distribution are performed to ensure that the pressure changes at various locations are uniform when the airbag is inflated in the pipeline, thereby avoiding damage to the airbag or the pipe wall caused by excessive local pressure. At the same time, after the airbag module is inserted into the pipe, the expansion and contraction of the airbag generate physical friction to clean the inner wall of the pipe. The gas supply module is responsible for providing a stable gas source and adjusting the pressure output according to the instructions of the pressure control module. The exhaust module exhausts the gas in the airbag after cleaning is completed, making it easier to remove the airbag module from the pipe. This embodiment realizes dynamic gas pressure regulation based on the pressure gradient control strategy, which effectively avoids the problem of incomplete pipe wall cleaning caused by uneven pressure in traditional cleaning methods. At the same time, the physical friction during the expansion and contraction of the airbag can efficiently clean the attachments on the inner wall of the pipe, ensuring the cleaning effect. The gas supply module and the exhaust module work together to improve the operational convenience and safety of the system, and reduce the risk of pipe wall damage through uniform pressure distribution.

[0040] The airbag module is inserted into the pipe to be cleaned. After the airbag gradually expands until it contacts the inner wall of the pipe, it continuously expands and contracts to perform physical friction cleaning on the inner wall of the pipe, including simulating the expansion and contraction cycle. The specific formula is: r(t) = r0 + A·sin(ωt);

[0041] Where r(t) represents the expansion radius of the airbag at time t, t represents time, r0 represents the initial radius of the airbag in the uninflated state, A represents the range of radius change of the airbag during the inflation process, and ω represents the speed of airbag expansion and contraction;

[0042] Cooperate with the pressure control module to dynamically adjust the expansion period according to the characteristics of the inner wall of the pipeline: T = 2π / ω;

[0043] Where T represents the time required for the airbag to complete one expansion and contraction movement, and ω represents the speed of the airbag expansion and contraction.

[0044] The core of this embodiment is to achieve efficient cleaning of the inner wall of the pipe through the expansion and contraction cyclic movement of the airbag module. Under the dynamic regulation of the pressure control module, the airbag adjusts the change amplitude A of the expansion radius r(t) and the speed ω to achieve cyclic expansion and contraction movement that simulates the law of a sine wave. The initial radius r0 ensures that the airbag can be smoothly inserted into the pipe in the unexpanded state. The parameter settings of the expansion radius change range A and the speed ω are dynamically optimized according to the characteristics of the inner wall material of the pipe, the thickness of the attachments, etc. The design of the period T = 2π / ω keeps the airbag movement stable and uniform, thereby ensuring cleaning efficiency and protection of the pipe wall. The contact friction force during the expansion and contraction process scrapes and removes the attachments on the inner wall of the pipe, and gradually covers all the clean areas of the pipe wall through cyclic movement. At the same time, combined with the dynamic adjustment function of the pressure control module, the airbag movement speed and expansion amplitude are flexibly adjusted according to the length of the pipe and the shape of the inner wall to further optimize the cleaning effect.

[0045] This implementation achieves stable cleaning of the airbag module within the pipe by simulating a sinusoidal expansion and contraction motion. Compared to traditional cleaning methods, this design dynamically adapts to the varying characteristics of the pipe's inner wall, effectively improving cleaning coverage and efficiency. The ability to dynamically adjust the expansion radius and speed reduces mechanical stress on the pipe's inner wall, thereby minimizing potential damage during the cleaning process. Furthermore, the optimized cycle design makes the cleaning process more energy-efficient and efficient, helping to shorten operation time and reduce system operating energy consumption and costs.

[0046] The gas supply module provides controllable gas pressure to the airbag assembly, including controlling the gas supply volume through the ideal gas state equation in thermodynamics, the specific formula is: MV = nRG;

[0047] Where M represents the pressure required during balloon expansion, V represents the volume of the balloon at different inflation states, n represents the amount of gas required to be injected into the balloon during the gas supply process, R represents the ideal gas constant, and G represents the ambient temperature of the gas injected into the balloon during the gas supply process.

[0048] During the gas supply process, the gas temperature is adjusted through a temperature sensor to improve the uniformity of airbag expansion.

[0049] In this embodiment, the gas supply module utilizes the ideal gas state equation MV=nRG to dynamically control the gas supply to the airbag assembly, thereby achieving precise gas pressure regulation. Specifically, during operation, the gas supply module monitors the airbag's pressure M, expansion volume V, and ambient temperature G in real time, and calculates the gas injection amount n to meet the requirements of the current expansion state. Using the ideal gas constant R as a fixed parameter, the gas supply module can flexibly adjust the gas supply according to different expansion states (such as initial expansion, maximum expansion, or dynamic contraction). Furthermore, the gas supply system is equipped with a temperature sensor to monitor and adjust the gas temperature G in real time during the gas supply process. If the ambient temperature fluctuates significantly, the temperature sensor sends a signal to the control module to adjust the gas supply temperature. This dynamic temperature regulation ensures the stability of the gas state within the airbag, thereby improving the uniformity of the airbag expansion and avoiding potential damage to the tube wall caused by local over- or under-expansion. By introducing the ideal gas state equation, this embodiment achieves precise control of pressure, volume, and temperature during the airbag gas supply process, effectively improving the stability of the gas supply and the uniformity of the airbag expansion. Compared to traditional gas supply methods, this system dynamically adapts to changes in the balloon's expansion state and environmental conditions, improving the efficiency and safety of pipe cleaning. Real-time gas temperature adjustment via a temperature sensor further improves the balloon's expansion performance, reducing the risk of pipe wall abrasion caused by uneven expansion during the cleaning process. Furthermore, this temperature regulation function ensures normal operation even under extreme temperature conditions (such as high or low temperatures), further expanding the system's applicability.

[0050] The exhaust module exhausts the gas in the airbag assembly after cleaning, including setting the gas entry rate and exhaust rate. The specific formula is: Q = λ-μ; where Q represents the exhaust rate, λ represents the entry rate, and μ represents the exhaust rate; after the exhaust is completed, the airbag is deflated and recovered with the assistance of a robotic arm.

[0051] In this embodiment, the exhaust module realizes the controllable discharge of the gas in the airbag assembly by controlling the gas entry rate λ and the exhaust rate μ. The gas entry and exhaust rates are controlled by an independent valve adjustment system, which is specifically manifested in that the dominant gas exhaust rate μ is greater than the gas entry rate λ, thereby ensuring that the system can quickly and safely complete the exhaust of the gas inside the airbag. The size of the exhaust rate Q is dynamically calculated and controlled by the above formula Q = λ-μ. After the gas is completely exhausted, the airbag assembly naturally shrinks due to the balance of internal and external pressures. At the same time, the robotic arm device equipped with the system will assist in smoothly recovering the airbag from the inner wall of the pipe. The auxiliary action of the robotic arm is driven by the instructions of the central control module. Its task is to avoid damage to the airbag assembly due to friction or uneven tension during the recovery process. The design of the entire exhaust and recovery process fully considers the adaptability of the pipeline inner wall environment and the airbag structure to ensure safe and efficient operation. By setting the gas entry and exhaust rates, this embodiment accurately controls the exhaust process of the airbag, ensures the rapid contraction of the airbag assembly, thereby shortening the exhaust operation time and improving the overall cleaning efficiency. Dynamic adjustment of the exhaust rate adapts to pipes of varying sizes and shapes, ensuring operational safety and system stability. Furthermore, the robotic arm's assisted recovery function effectively avoids jamming caused by complex pipe structures or incomplete airbag contraction, extending the device's service life and ease of operation.

[0052] The pressure control module includes a pressure sensor and a feedback control unit. The feedback control unit adjusts the gas supply pressure based on real-time pressure data collected by the pressure sensor inside the airbag to achieve dynamic pressure distribution adjustment. In this embodiment, the pressure control module achieves dynamic regulation of the airbag's internal pressure by integrating the pressure sensor and the feedback control unit. The pressure sensor monitors the pressure changes inside the airbag in real time and transmits the data to the feedback control unit. The feedback control unit, in conjunction with a preset pressure gradient control strategy, compares the collected pressure data with the target pressure value and calculates the pressure deviation that needs to be adjusted. Based on this deviation, the feedback control unit sends adjustment instructions to the gas supply module, dynamically changing the gas supply pressure to ensure that the pressure distribution inside the airbag meets the preset uniformity requirements. In specific operation, the pressure control module dynamically adjusts the gas supply volume based on the different positions and states of the airbag within the pipeline (such as expansion, contact with the pipe wall, or contraction phase) to meet the pressure requirements at different locations. This closed-loop control mechanism can quickly respond to pressure changes, avoiding problems such as airbag damage or reduced cleaning effectiveness caused by excessively high or low local pressure.

[0053] The gas supply module includes a temperature sensor and a heater, which monitor and adjust the gas supply temperature in real time to prevent uneven expansion of the airbag due to temperature fluctuations. In this embodiment, the gas supply module achieves real-time monitoring and adjustment of the gas supply temperature through the coordinated operation of the temperature sensor and heater. The temperature sensor is responsible for sampling the gas temperature of the gas supply system in real time and transmitting the data to the control module. The control module sends adjustment instructions to the heater based on the detected temperature data and a preset gas temperature threshold. When the gas supply temperature falls below the set value, the heater automatically activates and heats the gas to increase the temperature, ensuring that the gas state parameters remain stable during the expansion of the airbag. During operation, dynamic adjustment of the gas supply temperature can prevent uneven expansion or uneven pressure distribution of the airbag due to ambient temperature fluctuations (such as high or low temperature operating environments). This module can also be linked with the pressure control module to optimize the expansion performance of the airbag by comprehensively adjusting the gas supply temperature and pressure parameters, thereby improving the efficiency and safety of the cleaning process. In this embodiment, the combination of the temperature sensor and heater enables real-time monitoring and dynamic adjustment of the gas supply temperature, effectively preventing the problem of uneven expansion of the airbag due to temperature fluctuations. Compared to traditional air supply methods, this module significantly improves airbag inflation uniformity and cleaning stability, particularly in extreme environments such as low or high temperatures, further ensuring system operation. The timely insertion of the heating device also improves airbag inflation accuracy, reduces the risk of damage to the airbag and piping, and mitigates the loss of cleaning efficiency caused by uneven inflation.

[0054] The exhaust module includes an adjustable exhaust valve and a gas recovery device, which are used to control the exhaust rate and recover gas to reduce environmental pollution. The exhaust module in this embodiment consists of an adjustable exhaust valve and a gas recovery device. The exhaust valve precisely controls the exhaust rate by adjusting the valve opening, ensuring a smooth and safe exhaust process and preventing damage to the tube wall or the airbag body caused by excessive airbag contraction. The exhaust rate can be dynamically adjusted according to actual operating conditions to accommodate variations in pipe length, airbag volume, and ambient pressure. The gas recovery device, connected after the exhaust valve, collects the gas discharged from the airbag and purifies it through a filter. The purified gas can be released directly into the environment or stored in a recovery tank for reuse, effectively reducing environmental pollution caused by cleaning operations. Furthermore, the gas recovery device can be integrated into the overall system's energy management module, reducing system energy consumption by reusing recovered gas. In this embodiment, the adjustable exhaust valve precisely controls the exhaust rate, ensuring the stability of the airbag during the exhaust process and preventing mechanical damage or system instability caused by excessive airbag exhaust. The addition of a gas recovery device allows exhaust gases to be recycled, significantly reducing gas waste during operation and lowering the environmental impact of harmful gas emissions. Compared to traditional exhaust methods, this solution balances operational safety and environmental friendliness, helping to improve the economic efficiency and sustainability of the cleaning system.

[0055] The airbag module also includes built-in strain sensors for real-time monitoring of the stress distribution on the airbag surface. In this embodiment, the airbag module integrates built-in strain sensors for real-time monitoring of the stress distribution on the airbag surface. These strain sensors are evenly distributed on the airbag surface. By sensing changes in surface stress during the airbag's expansion and contraction processes, they generate stress distribution data and transmit it to the central control module in real time. Based on the collected data, the control module analyzes whether the stress distribution on the airbag surface is uniform, determines whether the airbag is in sufficient contact with the pipe's inner wall, and whether there is any abnormal expansion. During operation, the strain sensors can help optimize the airbag inflation control strategy. For example, if excessive stress is detected in a certain area, the control module can dynamically adjust the pressure in that area to prevent damage to the airbag or excessive pressure on the pipe wall due to overinflation. Furthermore, by real-time monitoring of the stress distribution on the airbag surface, special conditions on the pipe's inner wall (such as irregularities or increased localized resistance) can be promptly detected, providing a basis for optimizing the cleaning system. By integrating strain sensors into the airbag surface, this embodiment enables real-time monitoring of the stress distribution on the airbag surface, significantly improving the safety and controllability of the airbag inflation process. The use of strain sensors effectively avoids the risk of damage to the airbag due to excessive localized stress, while also optimizing contact between the airbag and the pipe's inner wall, improving cleaning efficiency. Furthermore, the system can quickly identify unusual conditions on the pipe's inner wall (such as dents or foreign objects), further enhancing its adaptability to complex pipe environments. Compared to traditional systems, this implementation significantly enhances the intelligence and reliability of cleaning operations.

[0056] The gas supply module is equipped with an air filter to filter impurities from the gas before supply, preventing contamination or damage to the airbag interior. The gas supply module in this embodiment is equipped with an air filter that performs multi-stage filtration on the gas before it enters the airbag. The filter comprises a primary filter and a fine filter unit. The primary filter is used to remove larger particles, such as dust or suspended solids, from the gas. The fine filter unit further removes fine particles, oil mist, and harmful gas components from the gas using a high-efficiency filter membrane (such as a HEPA filter) or adsorbent material (such as activated carbon). During the air supply process, the air filter ensures that the gas entering the airbag is pure and free of impurities, thereby preventing surface wear or internal blockage caused by gas contamination. Furthermore, the filtered clean gas protects the normal operation of the gas supply pipeline and other modules, extending the service life of the equipment. The filter element of the filter can be dynamically replaced according to actual operational needs to adapt to the air supply requirements in different environments. By adding an air filter to the gas supply module, this embodiment effectively avoids impurity contamination during the air supply process, thereby significantly reducing the risk of damage to the airbag assembly. The high purity of the gas ensures smooth and uniform inflation of the airbag, thereby improving the effectiveness and safety of pipeline cleaning operations. Compared to traditional systems, this solution significantly enhances equipment reliability and durability while reducing maintenance costs. Furthermore, the modular design of the air filter facilitates replacement of filter elements to meet the needs of different operating scenarios, enhancing the system's adaptability and flexibility.

[0057] The pressure control module supports preset pressure gradient parameter templates for different pipe types and automatically loads corresponding control parameters based on the pipe shape and size. The pressure control module in this embodiment has a library of multiple preset pressure gradient parameter templates. These templates are optimized for different pipe types (such as straight pipes, curved pipes, and special-shaped pipes) and different pipe sizes (such as inner diameter, length, and thickness). Before the cleaning system is started, by inputting or scanning basic pipe information (such as shape, diameter, and length), the pressure control module automatically loads pressure gradient parameters that match the pipe from the template library. Specifically, the module dynamically adjusts the distribution of the air supply pressure based on the preset parameter templates to ensure that the airbag maintains uniform contact with the inner wall of the pipe during the expansion process. For complex pipes (such as those with multiple bends or irregular shapes), the system automatically loads an adapted nonlinear pressure distribution parameter template to ensure smooth and safe expansion of the airbag throughout the cleaning process. Users can also manually select or modify template parameters according to specific needs to optimize the cleaning effect. By supporting the function of presetting pressure gradient parameter templates, this embodiment greatly enhances the intelligence level of the pressure control module. The system automatically loads optimal control parameters based on pipe type and size, eliminating uneven balloon expansion or poor cleaning results caused by improper parameter settings. This feature ensures accurate and safe balloon inflation for pipes of varying types and complexities, reducing potential damage to pipe walls during cleaning. Furthermore, the pre-set template function simplifies the operational process, improving cleaning efficiency and adaptability, making it suitable for widespread application in a variety of industrial scenarios.

[0058] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A pipe inner wall cleaning system based on airbag expansion technology, characterized in that: The system comprises: The pressure control module is used to dynamically adjust the gas pressure inside the airbag based on the preset pressure gradient control strategy to achieve uniform pressure distribution. This includes setting the initial pressure and target total pressure difference, dividing the pressure distribution points according to the pipe length, and dynamically adjusting the pressure to ensure that the pressure at each point in the airbag is close to uniform. The specific formula is: ； Among them, P i represents the gas pressure of the airbag at the i-th position along the length of the pipeline, i represents the sequence number of the pressure distribution point, P0 represents the initial gas pressure inside the airbag when it is not inflated, ΔP represents the pressure change amplitude required for the airbag to expand from the initial state to the final cleaning state, N represents the number of equally spaced points into which the pressure distribution is divided according to the length of the pipeline, and k represents the adjustment coefficient; The airbag module, connected to the pressure control module, is used to be inserted into the pipe to be cleaned. After the airbag gradually expands until it contacts the inner wall of the pipe, it physically rubs and cleans the inner wall of the pipe through continuous expansion and contraction. A gas supply module, used to provide controllable gas pressure to the airbag; The exhaust module is connected to the airbag module and the gas supply module, and is used to exhaust the gas in the airbag after cleaning is completed.

2. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The airbag module is inserted into the pipe to be cleaned, and after the airbag gradually expands until it contacts the inner wall of the pipe, the inner wall of the pipe is cleaned by physical friction through continuous expansion and contraction, including simulating the expansion and contraction cycle. The specific formula is: ; Where r(t) represents the expansion radius of the airbag at time t, t represents time, r0 represents the initial radius of the airbag in the uninflated state, A represents the range of radius change of the airbag during the inflation process, and ω represents the speed of airbag expansion and contraction; Cooperate with the pressure control module to dynamically adjust the expansion cycle according to the characteristics of the inner wall of the pipeline: ; Where T represents the time required for the airbag to complete one expansion and contraction movement, and ω represents the speed of the airbag expansion and contraction.

3. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The gas supply module provides controllable gas pressure to the airbag, including controlling the gas supply volume by the ideal gas state equation in thermodynamics, specifically the formula: MV=nRG; Where M represents the pressure required during balloon expansion, V represents the volume of the balloon at different inflation states, n represents the amount of gas required to be injected into the balloon during the gas supply process, R represents the ideal gas constant, and G represents the ambient temperature of the gas injected into the balloon during the gas supply process. During the gas supply process, the gas temperature is adjusted through a temperature sensor to improve the uniformity of airbag expansion.

4. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The exhaust module exhausts the gas in the airbag after cleaning, including setting the gas inlet rate and outlet rate, and the specific formula is: Q=λ−μ; Where Q represents the exhaust rate, λ represents the intake rate, and μ represents the discharge rate; After deflation is completed, the airbag is deflated and recovered with the assistance of a robotic arm.

5. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The pressure control module includes a pressure sensor and a feedback control unit. The feedback control unit adjusts the air supply pressure according to the real-time pressure data inside the airbag collected by the pressure sensor to achieve dynamic pressure distribution regulation.

6. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The gas supply module includes a temperature sensor and a heating device for real-time monitoring and adjusting the gas supply temperature to prevent the airbag from expanding unevenly due to temperature fluctuations.

7. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The exhaust module includes an adjustable exhaust valve and a gas recovery device for controlling the exhaust rate and recovering the gas to reduce environmental pollution.

8. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The airbag module also includes a built-in strain sensor for real-time monitoring of the stress distribution on the airbag surface.

9. The pipe inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The gas supply module is provided with an air filter device for filtering impurities in the gas before supplying the gas to avoid contamination or damage inside the airbag.

10. The pipeline inner wall cleaning system based on balloon dilation technology according to claim 1, characterized in that: The pressure control module supports presetting pressure gradient parameter templates for different pipeline types and automatically loads corresponding control parameters according to the pipeline shape and size.

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