Equipment and method for endoscopic detection of long-distance pipeline

Abstract

The invention relates to equipment and a method for long-distance pipeline endoscopic detection, and relates to the technical field of pipeline non-excavation construction. Comprising a pay-off device which is arranged at one end of a to-be-detected pipeline and is used for winding and paying off a cable, a cable blowing machine which is arranged at the pay-off end of the pay-off device and is used for conveying the cable to the other end of the pipeline, and a crawler which is arranged at the other end of the pipeline and is connected with the cable after the cable is conveyed to the other end, a driving device does not need to be arranged on the crawler, endoscopic detection of pipelines with different diameters can be achieved through one small crawler, additional customization is not needed, one-time and continuous endoscopic detection of long-distance underground pipelines can be achieved by arranging a power source outside the pipelines, arrangement of segmented detection working wells is reduced, the detection efficiency is improved, and the labor intensity of workers is reduced. The detection cost is reduced, and the detection quality is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of trenchless pipeline construction, and in particular relates to a device and method for long-distance pipeline endoscopic detection. Background Art

[0002] Pipeline inspection involves inspecting internal pipeline conditions such as scaling, siltation, leakage, misalignment, and damage, as well as external damage and soil cavities, through invasive visual inspection or the use of robots, periscopes, television cameras, radar, and sonar. For underground pipelines requiring repair, structural defects (deformation, rupture, misalignment, etc.) and functional defects (scale, obstructions, tree roots, etc.) must also be inspected and evaluated to develop a reasonable pipeline repair and maintenance plan. Repaired pipelines must also undergo a quality inspection. Key methods for underground pipeline inspection include visual inspection, CCTV (closed-circuit television inspection), sonar, periscopes, magnetic flux leakage testing, radar, and microseismic testing.

[0003] The CCTV method is currently the most widely used underground pipeline inspection system. The image data obtained from CCTV inspections can directly reveal the type, location, and severity of defects in the pipeline, and the assessment results are intuitive and reliable. Based on the quantitative assessment conclusions of CCTV inspections, construction parties can formulate detailed maintenance and repair work plans for the pipeline, greatly improving work efficiency and targeting. For more serious defects, trenchless repairs can be carried out in a timely manner to avoid consequences such as deformation, leakage, and increased damage caused by long-term defects in the pipeline. The CCTV inspection system includes systems such as cameras, crawlers, winches, power supplies, and control equipment. Its working principle is as follows: the main controller connects the crawler and cable reel via a connecting line. The crawler is equipped with a camera that can rotate left and right. The inspector controls the crawler's operation in the pipeline. The video inside the pipeline captured by the camera is then transmitted to the main controller for defect diagnosis.

[0004] CCTV inspections are significantly affected by the space inside the pipeline. In smaller pipelines, the crawler's power is insufficient, limiting the length of the cable it can drag, making long-distance pipeline inspection impossible. In larger pipelines, while longer-distance inspections can be achieved by enhancing and improving the crawler's power system, this increases the crawler's size and weight, and the maximum achievable inspection distance is currently limited to 500 meters, making it unsuitable for longer-distance pipeline inspections (>500 meters).

[0005] Currently, the main methods for addressing underground pipeline inspection over long distances are: ① For underground pipelines under 1,000 meters, inspections can be performed separately at both ends of the pipeline. Taking a crawling cable with a maximum length of 500 meters and a 900-meter underground pipeline to be inspected as an example, the crawler first crawls 450 meters on one side of the pipeline, then moves to the other end and crawls to inspect the remaining length (450 meters) to achieve the goal of full-line inspection. ② For pipelines of 1,000 meters or longer, the crawler must not only be specially customized to meet the crawling force requirements, but also require inspection entry / exit ports to be set up every 500 meters along the pipeline or in existing pipeline inspection well sections to facilitate the crawler's entry and exit and complete the full-line inspection. Neither of the above two endoscopic inspection methods can achieve the continuity of long-distance pipeline endoscopic inspection, and cannot achieve the optimal inspection time, cost, and effect.

[0006] Therefore, in response to the above technical problems, the design of equipment and methods for long-distance pipeline endoscopic inspection to meet the long-distance (>500m) and continuity requirements of underground pipeline inspection, while improving the inspection efficiency, reducing costs and improving the inspection quality are technical problems that technical personnel in this field need to solve. Summary of the Invention

[0007] In order to solve the above problems, the present invention provides a device and method for long-distance pipeline endoscopic detection, which meets the long-distance (>500m) and continuity requirements of underground pipeline detection, while improving detection efficiency, reducing costs and improving detection quality.

[0008] To achieve the above object, the present invention provides the following solutions:

[0009] A device for long-distance pipeline endoscopic inspection includes a wire-winding device arranged at one end of the pipeline to be inspected for winding and paying out a cable, a cable blowing machine arranged at the wire-winding end of the wire-winding device for conveying the cable to the other end of the pipeline, and a crawler arranged at the other end of the pipeline for connecting with the cable after it is conveyed to the other end.

[0010] Preferably, the pay-off device includes a bracket, a coil drum provided on the bracket for winding the cable, and a driving motor for driving the coil drum to rotate.

[0011] Preferably, the driving motor is communicatively connected to a control system, and the control system is used to analyze the pay-out length and realize the opening and closing of the driving motor according to the pay-out length data.

[0012] Preferably, the crawler includes a crawler body, running wheels arranged at the bottom of the crawler body, a camera device arranged on the crawler body, and a power supply arranged inside the crawler body for supplying power to the camera device.

[0013] Preferably, the walking wheels are detachably arranged on the crawler body.

[0014] Preferably, the crawler body is provided with a BDS module for realizing the pipeline detection and positioning function and a sonar module for preliminarily judging the corrosion integrity of the pipeline. Both the BDS module and the sonar module are communicatively connected with the control system to realize the collection and analysis of the data collected by the BDS module and the sonar module and to issue control instructions.

[0015] Preferably, the camera device includes a camera arranged on the crawler body, and a lighting device arranged on one side of the camera.

[0016] Preferably, there are four cameras, which are respectively arranged on the top, bottom and side walls of the crawler body, and there are four lighting devices, which are respectively arranged corresponding to the cameras.

[0017] Preferably, it is characterized in that the cable is plugged into the crawler.

[0018] The present invention also discloses a method for long-distance pipeline endoscopic detection, which uses the above-mentioned device for long-distance pipeline endoscopic detection and is characterized by comprising the following steps:

[0019] Lay out the cables according to the required length;

[0020] After the cable is delivered to the other end of the pipeline, connect the crawler to the cable;

[0021] Pull the cable back, and the cable drives the crawler to crawl inside the pipeline to perform pipeline endoscopic inspection.

[0022] Drag the cable back to the pay-out device to complete the pipeline inspection.

[0023] Compared with the prior art, the present invention has achieved the following technical effects:

[0024] By setting up a wire-laying device and a cable-blowing machine, when the crawler is connected to the cable delivered to the other end of the pipeline, the crawler at the other end of the pipeline can be pulled to the wire-laying end through the wire-laying device to complete the pipeline inspection. Therefore, there is no need to set up a driving device on the crawler. A small crawler can be used for endoscopic inspection of pipelines of different diameters without the need for additional customization. Moreover, by setting up a power source outside the pipeline, a one-time, continuous endoscopic inspection of long-distance underground pipelines can be achieved, reducing the setting of segmented inspection work wells, improving inspection efficiency, reducing inspection costs, and improving inspection quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Attachment Figure 1 This is a schematic diagram of the operation of a wire-paying device and a cable-blowing machine in the equipment for long-distance pipeline endoscopic inspection disclosed in an embodiment of the present invention;

[0027] Attachment Figure 2 This is a schematic structural diagram of a wire-paying device in a device for long-distance pipeline endoscopic inspection disclosed in an embodiment of the present invention;

[0028] Attachment Figure 3 This is a schematic diagram of the structure of a crawler in a device for long-distance pipeline endoscopic inspection disclosed in an embodiment of the present invention;

[0029] Attachment Figure 4 This is a schematic diagram of the connection structure between the crawler and the cable in the device for long-distance pipeline endoscopic inspection disclosed in an embodiment of the present invention;

[0030] Attachment Figure 5 This is a schematic diagram of the disassembly structure of the device for long-distance pipeline endoscopic inspection disclosed in an embodiment of the present invention;

[0031] Among them, 1. Cable; 2. Pipeline; 3. Pay-off device; 4. Bracket; 5. Coil disk; 6. Drive motor; 7. Crawler body; 8. Lithium battery installation slot; 9. Travel wheel; 10. BDS module; 11. Sonar module; 12. Display device; 13. Equipment box; 14. Camera. DETAILED DESCRIPTION

[0032] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a device and method for long-distance pipeline endoscopic detection, which meets the long-distance (>500m) and continuity requirements of underground pipeline detection, while improving detection efficiency, reducing costs and improving detection quality.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] refer to Figure 1-Figure 5 The device for long-distance pipeline endoscopic inspection disclosed in the embodiment of the present invention comprises at least a pay-out device 3 arranged at one end of the pipeline 2 to be inspected, the pay-out device 3 is used to wind the cable 1 and pay out the cable 1, the pay-out end of the pay-out device 3 is connected to a cable blowing machine, the cable blowing machine transports the cable 1 after being paid out by the pay-out device 3 into the interior of the pipeline 2 and passes it out from the other end of the interior of the pipeline 2, a crawler for inspecting the interior of the pipeline 2 is placed at the other end of the pipeline 2, the crawler is connected to the cable 1 passing through the other end of the pipeline 2, and by setting the pay-out device 3 and the cable blowing machine When the crawler is connected to the cable 1 delivered to the other end of the pipeline 2, the crawler at the other end of the pipeline 2 can be pulled to the pay-out end through the pay-out device 3 to complete the inspection of the pipeline 2. Therefore, there is no need to set a driving device on the crawler, which can realize the miniaturization of the crawler, and there is no need to customize the endoscopic inspection of pipelines 2 with different diameters. By setting a power source outside the pipeline 2, a one-time and continuous endoscopic inspection of long-distance underground pipelines can be realized, reducing the setting of segmented inspection work wells, improving inspection efficiency, reducing inspection costs, and improving inspection quality.

[0036] refer to Figure 1-Figure 2 As an embodiment, the pay-off device 3 includes a bracket 4, a coil disk 5 is provided on the bracket 4, the cable 1 is wound on the coil disk 5, the coil disk 5 is rotatably connected to the bracket 4, and a driving motor 6 for driving the coil disk 5 to rotate is also provided on the bracket 4. The rotation of the coil disk 5 driven by the driving motor 6 can realize the winding and pay-off of the cable 1 on the coil disk 5.

[0037] refer to Figure 1-Figure 4 As an embodiment, the drive motor 6 is communicatively connected to the control system. The control system is used to analyze the pay-off length and realize the opening and closing of the drive motor 6 through the pay-off length data. The control system calculates the wire feeding speed and wire feeding length of the coil disk 5 according to the manually input initial winding diameter of the coil disk 5, the rotation speed of the drive motor 6 and the change in the winding diameter of the coil disk 5. Furthermore, the control system can turn off and on the drive motor 6 according to the wire feeding length interval. When the wire feeding length reaches the preset value, the control system controls the drive motor 6 to turn off. When the cable 1 is connected to the crawler, the control system starts the drive motor 6 to reel in the wire to realize the dragging of the crawler and detect the inside of the pipeline 2.

[0038] It should be noted that the pay-off device 3 is also provided with a display device 12 and operation buttons to facilitate data display and manual operation.

[0039] refer to Figure 1-Figure 4As an embodiment, the crawler includes a crawler body 7, a walking wheel 9 for enabling the crawler body 7 to move is provided at the bottom of the crawler body 7, a camera device for capturing images of the inside of the pipeline 2 is provided on the crawler body 7, and a power supply for powering the camera device is provided inside the crawler body 7 to achieve smooth detection of the inside of the pipeline 2.

[0040] It should be noted that the power supply is a lithium battery, which is detachably mounted on the crawler body 7 through a lithium battery mounting slot 8 . The lithium battery mounting slot 8 is provided with a camera 14 for capturing images inside the pipeline 2 and lighting equipment.

[0041] refer to Figure 1-Figure 4 As an embodiment, the walking wheel 9 is detachably arranged on the crawler body 7. By detachably arranging the walking wheel 9 and the crawler body 7, walking wheels 9 of different specifications can be used according to the different pipe diameters of the required detection pipeline 2, thereby increasing the stability of the crawler body 7 during the walking process in the pipeline 2.

[0042] It should be noted that the traveling wheel 9 is rotatably connected to the crawler body 7 by a single screw, which is convenient for disassembly and installation.

[0043] refer to Figure 1-Figure 4 As an embodiment, the crawler body 7 is provided with a BDS module 10 for realizing the detection and positioning function of the pipeline 2 and a sonar module 11 for preliminarily judging the corrosion integrity of the pipeline 2. The BDS module 10 and the sonar module 11 are both communicatively connected to the control system to realize the collection and analysis of the data collected by the BDS module 10 and the sonar module 11 and to issue control instructions. The BDS module 10 (Beidou satellite navigation system) is used to realize precise positioning in the pipeline 2, so that the position of the crawler body 7 can be accurately understood. By setting the sonar module 11 based on the principle of sound wave reflection, it is possible to transmit high-frequency sound waves (such as 1MHz) to scan the inner wall of the pipeline 2, and analyze defects such as corrosion and cracks by the time difference and intensity of the reflected waves. The control system is connected to the BDS module 10 and the sonar module 11 via RS485 or CAN bus, and uploads the positioning coordinates and sonar imaging data in real time, thereby improving the accuracy of pipeline 2 detection.

[0044] It should be noted that both the BDS module 10 and the sonar module 11 are powered by lithium batteries.

[0045] refer to Figure 1-Figure 4 As an embodiment, the camera device includes a camera 14 arranged on the crawler body 7, and a lighting device arranged on one side of the camera 14. The camera 14 and the lighting device can be used to collect images of the pipeline 2, and the collected images can be uploaded to the control system for analysis.

[0046] refer to Figure 1-Figure 4As an implementation method, there are four cameras 14, which are respectively arranged on the top, bottom and side walls of the crawler body 7. There are four lighting devices, which are respectively arranged corresponding to the cameras 14. The top camera 14 monitors the deformation / leakage of the pipe 2 arch, the bottom camera 14 detects the sediment at the bottom of the pipe, and the side wall double cameras 14 cross-cover the entire circumference of the pipe wall. Combined with the lighting devices correspondingly arranged on one side of the camera 14, the clarity of the image acquisition can be guaranteed.

[0047] It should be noted that the crawler body 7 and the camera 14 adopt an external spiral socket-type quick interface, which can facilitate the replacement of the camera 14, and the lighting equipment is an LED lamp.

[0048] refer to Figure 1-Figure 4 As an implementation method, the cable 1 is plugged into the crawler body 7, specifically using a socket-type quick interface.

[0049] refer to Figure 1-Figure 5 The present invention also discloses a method for endoscopic inspection of a long-distance pipeline 2, which uses the above-mentioned device for endoscopic inspection of a long-distance pipeline 2, including the following steps:

[0050] The cable 1 is threaded through the pipe 2 by the pay-off device 3 and the cable blowing machine. The drive motor 6 rotates the coil disk 5 and the cable is threaded according to the required length. The control system calculates the speed and length of the wire fed by the coil disk 5 according to the required length. When the required length is reached, the computer automatically turns off the drive motor 6.

[0051] After the cable 1 is delivered to the other end of the pipeline 2, the crawler is connected to the cable 1 at the outlet of the pipeline 2. The interface body is a socket-type quick interface with a threaded outer circle that can be tightened and fixed;

[0052] The control system controls the driving motor 6 to pull the cable 1 back, and the cable 1 drives the crawler to crawl in the pipeline 2 to perform endoscopic inspection of the pipeline 2;

[0053] Drag the cable 1 back to the end of the pay-off device 3 to complete the inspection of the pipeline 2;

[0054] Disassemble the system device (camera 14, lithium battery, lighting equipment) and place it in the equipment box 13;

[0055] The endoscopic detection data of pipeline 2 is analyzed and displayed through the control system, and the sonar data can be processed and analyzed at the same time to provide a basis for subsequent work.

[0056] Adaptive changes based on actual needs are all within the scope of protection of the present invention.

[0057] It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be encompassed therein. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. A device for long-distance pipeline endoscopic detection, characterized in that: It includes a wire-releasing device arranged at one end of the pipeline to be inspected for winding and releasing the cable, a cable blowing machine arranged at the wire-releasing end of the wire-releasing device for transporting the cable to the other end of the pipeline, and a crawler arranged at the other end of the pipeline for connecting with the cable after it is transported to the other end.

2. The device for long-distance pipeline endoscopic detection according to claim 1, characterized in that: The pay-off device includes a bracket, a coil disk arranged on the bracket for winding the cable, and a driving motor for driving the coil disk to rotate.

3. The device for long-distance pipeline endoscopic detection according to claim 2, characterized in that: The driving motor is communicatively connected to a control system, and the control system is used to analyze the pay-out length and realize the opening and closing of the driving motor according to the pay-out length data.

4. The device for long-distance pipeline endoscopic inspection according to claim 3, characterized in that: The crawler includes a crawler body, running wheels arranged at the bottom of the crawler body, a camera device arranged on the crawler body, and a power supply arranged inside the crawler body for supplying power to the camera device.

5. The device for long-distance pipeline endoscopic inspection according to claim 4, characterized in that: The walking wheels are detachably arranged on the crawler body.

6. The device for long-distance pipeline endoscopic inspection according to claim 4, characterized in that: The crawler body is provided with a BDS module for realizing the pipeline detection and positioning function and a sonar module for preliminarily judging the corrosion integrity of the pipeline. Both the BDS module and the sonar module are communicatively connected with the control system to realize the collection and analysis of the data collected by the BDS module and the sonar module and to issue control instructions.

7. The device for long-distance pipeline endoscopic inspection according to claim 4, characterized in that: The camera device includes a camera arranged on the crawler body and a lighting device arranged on one side of the camera.

8. The device for long-distance pipeline endoscopic inspection according to claim 7, characterized in that: There are four cameras, which are respectively arranged on the top, bottom and side walls of the crawler body; there are four lighting devices, which are respectively arranged corresponding to the cameras.

9. The device for long-distance pipeline endoscopic inspection according to claim 1, characterized in that: The cable is plugged into the crawler.

10. The method for long-distance pipeline endoscopic inspection according to claim 1, using the device for long-distance pipeline endoscopic inspection according to any one of claims 1 to 9, characterized in that: The following steps are involved: Lay out the cables according to the required length; After the cable is delivered to the other end of the pipeline, connect the crawler to the cable; Pull the cable back, and the cable drives the crawler to crawl inside the pipeline to perform pipeline endoscopic inspection. Drag the cable back to the pay-out device to complete the pipeline inspection.

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