A natural gas long-distance pipeline unpowered transportation device and tracking method

Abstract

The application provides a kind of natural gas long-distance pipeline unpowered transport equipment and tracking method, belongs to pipeline transport technical field, including installation framework, installation framework both ends are provided with equipment warehouse and counterweight warehouse respectively, equipment warehouse and counterweight warehouse are all provided with multiple groups of moving wheels for moving in natural gas pipeline on the side;The end corresponding to equipment warehouse and counterweight warehouse is provided with sound source generator, control module is provided in equipment warehouse, two groups of sound source generators are electrically connected with control module, the front end and the end of natural gas pipeline are provided with detection assembly corresponding to two groups of sound source generators, detection assembly includes sound source detection unit, temperature detection unit and pressure detection unit;Sound wave signals are emitted to the upstream and downstream of the pipeline by the sound source generators at both ends of the equipment, and the detection assemblies at both ends of the pipeline are used to locate the position of the equipment, solving the positioning method of the traditional transport equipment relying on the listening pit, avoiding the problem of remote site selection and high artificial inspection intensity.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline transportation, more particularly relates to a kind of natural gas long-distance pipeline unpowered transport equipment and tracking method. BACKGROUND

[0002] Natural gas long-distance pipeline as the "lifeline" of energy transmission, its operation has the characteristics of long line, large pipe diameter, high pressure and flammable and explosive medium, needs to carry out pigging and internal detection operation by operation equipment regularly to guarantee the safety of pipeline, and the position of transport equipment in natural gas pipeline needs to be positioned in this process.

[0003] The existing positioning technology mainly relies on the mode that transport equipment is equipped with signal emitter, listening pit and signal receiver are arranged along the pipeline, is restricted by signal transmission stability, signal false alarm, loss and other problems are prone to occur, especially in complex terrain or long distance pipe section, the positioning reliability decreases, secondly, listening pit needs to be arranged densely along the pipeline, there are problems such as remote site selection, high artificial inspection intensity, not only increase the risk of field operation of operating personnel, but also may cause monitoring omission due to personnel fatigue, in addition, the setting density of listening pit directly affects the positioning accuracy, low density arrangement will lead to deviation of the position of operation equipment, which may cause serious accidents such as equipment missing and pipe blockage, while high density arrangement greatly increases the construction and maintenance cost. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a kind of natural gas long-distance pipeline unpowered transport equipment and tracking method, to solve the technical problems in the prior art that traditional transport equipment needs to be set listening pit and equipped with signal emitting device when positioning, the setting density of listening pit directly affects the positioning accuracy and needs to be arranged along the pipeline, there are problems such as remote site selection and high artificial inspection intensity.

[0005] The purpose and effect of the natural gas long-distance pipeline unpowered transport equipment and tracking method of the present application are achieved by the following specific technical means:

[0006] A kind of natural gas long-distance pipeline unpowered transport equipment, including installation framework, rotatable rotating sleeve is sleeved on the installation framework, a plurality of groups of rotating push plates are arranged on the rotating sleeve, cleaning assembly is arranged on the rotating sleeve, the cleaning assembly includes a plurality of groups of scrapers and cleaning brushes, a plurality of groups of scrapers and cleaning brushes are equidistantly arranged on the rotating sleeve;

[0007] A plurality of groups of moving wheels for moving in natural gas pipeline are arranged on the periphery of the equipment warehouse and the counterweight warehouse;

[0008] The device bin and the corresponding end of the counterweight bin are provided with sound source generators, the device bin is provided with a control module, two groups of the sound source generators are electrically connected with the control module, the front end and the tail end of the natural gas pipeline are respectively provided with detection components corresponding to two groups of the sound source generators, and the detection components include sound source detection units, temperature detection units and pressure detection units.

[0009] According to a preferred embodiment, a wheel speed sensor is arranged on one side of the device bin corresponding to the rotating sleeve, one end of the rotating sleeve is connected with the wheel speed sensor, and an adjusting assembly for adjusting the rotating friction of the rotating sleeve is arranged on one side of the counterweight bin.

[0010] The adjusting assembly includes a push ring, the mounting skeleton is sleeved with the push ring, first connecting seats are arranged on the two sides of the push ring, two groups of electric telescopic rods are arranged on one side of the counterweight bin, the two groups of electric telescopic rods are respectively connected with the two groups of first connecting seats, pressure sensors are arranged at the bottoms of the two groups of first connecting seats, and the two groups of pressure sensors are respectively connected with the two groups of electric telescopic rods.

[0011] The wheel speed sensor, the electric telescopic rod and the pressure sensor are electrically connected with the control module, and thrust bearings are arranged at the two ends of the rotating sleeve.

[0012] According to a preferred embodiment, a pushing assembly is arranged outside the device bin, the pushing assembly includes two groups of expandable windward plates, two groups of arc-shaped tracks are symmetrically arranged outside the device bin, arc-shaped guide plates are connected outside the two groups of arc-shaped tracks through two groups of connecting columns, guide grooves are formed in the inner sides of the two groups of arc-shaped guide plates, slidable guide blocks are arranged in the two groups of guide grooves, electric sliding blocks are arranged on the two groups of arc-shaped tracks, and the windward plates are arranged between the electric sliding blocks and the guide blocks.

[0013] The device bin is further provided with a motion sensor and a storage battery, and the electric sliding block, the motion sensor and the storage battery are electrically connected with the control module.

[0014] According to a preferred embodiment, the cleaning assembly further includes a temporary storage box, the temporary storage box is mounted on one side of the device bin, a garbage storage groove is formed in the top of the temporary storage box, a plurality of first mounting through grooves are formed in the circumferential side of the rotating sleeve, mounting frames are arranged in the plurality of first mounting through grooves, two groups of second mounting through grooves are symmetrically formed in the mounting frames, a shovel is mounted in one group of the second mounting through grooves corresponding to the garbage storage groove, and a sealing plate is arranged in the other group of the second mounting through grooves.

[0015] According to a preferred embodiment, the rotating sleeve is provided with a plurality of first installation grooves on the side, a plurality of mounting seats are arranged in the plurality of first installation grooves, a plurality of installation cylinders are arranged on one side of the mounting seat, a plurality of movable telescopic rods are arranged in the plurality of installation cylinders, one end of the plurality of telescopic rods is connected with a plurality of scrapers and the cleaning brush respectively, a plurality of springs are arranged in the plurality of installation cylinders, a plurality of piezoelectric power generation units are arranged in the plurality of first installation grooves, and the springs on one side of the plurality of scrapers are in contact with the plurality of piezoelectric power generation units respectively.

[0016] According to a preferred embodiment, one end of the mounting skeleton is provided with a plurality of second connecting seats, the counterweight bin is screw connected with the plurality of second connecting seats on one side, the counterweight bin is provided with a counterweight seat, and a plurality of mass blocks are detachably arranged on the counterweight seat.

[0017] According to a preferred embodiment, the rotating sleeve is provided with a plurality of connecting rings at both ends, and a dustproof sleeve is arranged between the two connecting rings on one side of the equipment bin and the counterweight bin respectively.

[0018] One end of the rotating sleeve is provided with a plurality of second installation grooves, a plurality of mounting clamping plates are arranged in the plurality of second installation grooves, the rotating push plates are arranged on the outer sides of the plurality of mounting clamping plates, and fixing seats are arranged at both ends of the mounting clamping plate.

[0019] A tracking method of a natural gas long-distance pipeline non-powered transportation device is applied to the natural gas long-distance pipeline non-powered transportation device, and includes the following steps:

[0020] Detection components are arranged at both ends of the natural gas pipeline, upstream detection points and downstream detection points are established based on the installation positions of the detection components, pressure data and temperature data of the upstream detection points and the downstream detection points of the natural gas pipeline are obtained through the detection components, and an upstream and downstream pressure curve graph is generated based on the pressure data;

[0021] The transportation device in the natural gas pipeline sends an acoustic signal within a specified time, and the peak wave time difference of adjacent wave crests and troughs of a curve feature point is obtained based on the upstream and downstream pressure curve graph;

[0022] The upstream real-time sound velocity of the upstream section and the downstream real-time sound velocity of the downstream section in the natural gas pipeline are obtained, and the acoustic wave transmission time is obtained based on the peak wave time difference;

[0023] The distance between the transportation device and the upstream detection point and the downstream detection point is obtained based on the upstream real-time sound velocity, the downstream real-time sound velocity and the acoustic wave transmission time.

[0024] According to a preferred embodiment, the peak wave time difference of adjacent peak wave troughs of the curve feature point is obtained based on the upstream and downstream pressure curve diagram, specifically:

[0025] The upstream and downstream pressure curve diagram includes an upstream pressure curve and a downstream pressure curve.

[0026] Based on the response of the sound wave signal transmitted to the upstream detection point and the downstream detection point, corresponding peaks and corresponding troughs are generated in the upstream pressure curve and the downstream pressure curve.

[0027] Based on the card line method, the adjacent corresponding peaks and corresponding troughs are processed to obtain the upstream peak wave time of the upstream pressure curve and the downstream peak wave time of the downstream pressure curve.

[0028] The peak wave time difference is obtained based on the difference between the upstream peak wave time and the downstream peak wave time.

[0029] According to a preferred embodiment, the upstream real-time sound speed of the upstream section and the downstream real-time sound speed of the downstream section in the natural gas pipeline are obtained, specifically:

[0030] The upstream section represents the pipe section between the transportation equipment and the upstream detection point in the natural gas pipeline, and the downstream section represents the pipe section between the transportation equipment and the downstream detection point in the natural gas pipeline.

[0031] The upstream real-time sound speed and the downstream real-time sound speed calculation formula are represented as:

[0032]

[0033] Wherein, represents the upstream real-time sound speed or the downstream real-time sound speed, represents the corresponding temperature data, represents the corresponding pressure data, represents a constant;

[0034] represents the downstream section or the upstream section, The value range is 1 or 2, when When the value is 1, it represents the upstream section, represents the upstream real-time sound speed, when When the value is 2, it represents the downstream section, represents the downstream real-time sound speed.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] 1. Through the sound source generator at both ends of the device bin and the counterweight bin, the sound wave signals are emitted to the upstream and downstream of the pipeline, and the sound source detection unit, temperature detection unit and pressure detection unit of the pipeline two-end detection assembly are combined to collect the upstream and downstream pressure data and temperature data in real time, which solves the positioning mode of the traditional transportation equipment relying on the listening pit, avoids the problem of the listening pit being located in a remote place and the high labor intensity of manual inspection, realizes the non-contact calculation of the transportation equipment position by analyzing the sound wave transmission speed and transmission time, and improves the positioning efficiency and reliability.

[0037] 2. The rotating push plate on the side of the rotating sleeve is driven to rotate by the natural gas flow, which drives the scraper and the cleaning brush to scrape and brush the inner wall of the pipeline to complete the pipeline cleaning operation. The rotating energy of the rotating sleeve directly comes from the natural gas flow, without the need for an additional power source, which reduces the energy consumption of the equipment and realizes pipeline maintenance through mechanical movement. At the same time, the rotating sleeve also pushes the equipment to move in the natural gas pipeline, realizing the efficient operation mode of "moving maintenance".

[0038] 3. The rotating speed of the rotating sleeve is monitored in real time by the wheel speed sensor. When an abnormal rotating speed is detected, the control module adjusts the position of the push ring through the electric telescopic rod to change the axial friction of the rotating sleeve. Combined with the push data feedback by the pressure sensor, the rotating resistance and moving speed of the equipment in the pipeline are dynamically adjusted to avoid equipment jamming or speed mutation caused by fluid fluctuation, ensure the continuity of the cleaning operation and positioning process, and reduce the positioning error caused by unstable equipment operation.

[0039] 4. Through the setting of the piezoelectric power generation unit, the scraper on the side of the rotating sleeve is in contact with the piezoelectric power generation unit through the spring. The vibration mechanical energy generated by the scraper when cleaning the inner wall of the pipeline is transmitted to the piezoelectric unit through the spring and converted into electrical energy stored in the battery in the equipment bin. The energy self-sufficiency of the equipment itself realizes the reduction of the dependence on traditional batteries, prolongs the equipment endurance time, and improves the reliability of the equipment in long-distance pipeline operation.

[0040] 5. The device bin and the counterweight bin at both ends of the installation skeleton are connected by screws. The mass block in the counterweight bin can be replaced. The overall weight and gravity distribution of the equipment can be adjusted according to different pipeline conditions to prevent the garbage storage tank on the top of the temporary storage box from being inverted. By using the expandable wind board, the moving speed of the equipment in the natural gas pipeline can be sensed by the motion sensor. When the speed is too fast or too slow, the wind board can be folded or unfolded by the electric sliding block to correspondingly adjust the force of the natural gas flow acting on the equipment, so as to control the moving speed of the equipment in the natural gas pipeline, further improve the passing capacity of the equipment in the complex pipeline environment, and improve the stability. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1is the structural schematic diagram of the assembled application;

[0042] Figure 2 is the structural schematic diagram of the unfolded application;

[0043] Figure 3 is the structural schematic diagram of the assembled natural gas pipeline and detection assembly in the application;

[0044] Figure 4 is the structural schematic diagram of the assembled adjustment assembly in the application;

[0045] Figure 5 is the structural schematic diagram of the disassembled adjustment assembly in the application;

[0046] Figure 6 is the structural schematic diagram of the assembled pushing assembly in the application;

[0047] Figure 7 is the structural schematic diagram of the assembled application; Figure 6 disassembled structural schematic diagram;

[0048] Figure 8 is the structural schematic diagram of the assembled cleaning assembly in the application;

[0049] Figure 9 is the structural schematic diagram of the disassembled application; Figure 8

[0050] is the structural schematic diagram of the assembled installation framework and weight bin in the application; Figure 10

[0051] is the structural schematic diagram of the disassembled application; Figure 11 Figure 10 is the principle block diagram of the control module in the application;

[0052] Figure 12 is the step flow chart of the tracking method of the natural gas long-distance pipeline unpowered transportation equipment in the application.

[0053] Figure 13 In the figure, the corresponding relationship between the component name and the figure number is as follows:

[0054]

[0055] ​​101, mounting skeleton; 102, rotating sleeve; 103, rotating push plate; 104, equipment bin; 105, counterweight bin; 106, natural gas pipeline; 107, moving wheel; 108, sound source generator; 109, control module; 110, sound source detection unit; 111, temperature detection unit; 112, pressure detection unit; 113, second connecting seat; 114, counterweight seat; 115, mass block; 116, connecting ring; 117, dustproof cover; 118, second mounting groove; 119, mounting clamping plate; 120, fixing seat; 201, scraper; 202, cleaning brush; 203, temporary storage box; 204, garbage storage groove; 205, first mounting through groove; 206, mounting frame; 207, second mounting through groove; 208, shovel; 209, closing plate; 211, first mounting groove; 212, mounting seat; 213, mounting cylinder; 215, spring; 216, piezoelectric power generation unit; 301, wheel speed sensor; 302, push ring; 303, first connecting seat; 304, electric telescopic rod; 305, pressure sensor; 306, thrust bearing; 401, windward plate; 402, arc-shaped track; 403, connecting column; 404, arc-shaped guide plate; 405, guide groove; 406, guide block; 407, electric sliding block; 408, motion sensor; 409, battery. DETAILED DESCRIPTION

[0056] The embodiments of the present application will be further described in conjunction with the drawings and examples. The following examples are used to illustrate the technical solutions of the present application, but cannot be used to limit the protection scope of the present application.

[0057] Embodiment:

[0058] As shown in the accompanying drawings: Figures 1 to 12

[0059] The present application provides a kind of natural gas long-distance pipeline unpowered transport equipment, including installation skeleton 101, rotatable rotating sleeve 102 is sleeved on installation skeleton 101, rotating sleeve 102 side is provided with multiple groups of rotating push plate 103, rotating sleeve 102 is provided with cleaning assembly, and cleaning assembly includes multiple groups of scraper 201 and cleaning brush 202, and rotating sleeve 102 side equidistantly is provided with multiple groups of scraper 201 and cleaning brush 202;Installation skeleton 101 two ends are provided with equipment bin 104 and counterweight bin 105 respectively, and equipment bin 104 and counterweight bin 105 side are provided with multiple groups of moving wheel 107 for moving in natural gas pipeline 106;

[0060] Rotating push plate 103 of rotating sleeve 102 side is rotated under the action of natural gas flow, drives rotating sleeve 102 to rotate;

[0061] ​Specifically, the force of the natural gas flow acting on the rotating push plate 103 can be decomposed into a vertical component and a horizontal component, wherein the vertical component pushes the rotating sleeve 102 to rotate around the axis of the mounting frame 101, and the rotation of the rotating sleeve 102 causes the scraper 201 and the cleaning brush 202 to scrape and brush the inner wall of the pipeline, thereby completing the pipeline cleaning operation; the horizontal component is transmitted to the mounting frame 101 through the rotatable connection between the rotating sleeve 102 and the mounting frame 101, thereby pushing the mounting frame 101 and the equipment bin 104 and the counterweight bin 105 to move along the direction of the natural gas pipeline 106, and the moving wheels 107 roll on the inner wall of the pipeline to reduce the moving resistance. The rotational kinetic energy of the rotating sleeve 102 is directly derived from the natural gas flow, and no additional power source is needed. By converting the kinetic energy of the natural gas flow into the rotational power of the rotating sleeve 102 and the moving power of the entire equipment, the equipment is moved along the pipeline while the inner wall of the pipeline is cleaned, the energy consumption of the equipment is reduced, and the pipeline maintenance is realized through mechanical movement, forming a "moving maintenance" operation mode.

[0062] The ends of the equipment bin 104 and the counterweight bin 105 corresponding to each other are provided with sound source generators 108, which can be selected as TSG-17 type. The equipment bin 104 is provided with a control module 109, which can be selected as YF-52 type. The two groups of sound source generators 108 are electrically connected to the control module 109. The front end and the end of the natural gas pipeline 106 corresponding to the two groups of sound source generators 108 are provided with detection assemblies, which include sound source detection units 110, temperature detection units 111 and pressure detection units 112. The sound source detection units 110 can be selected as CT-20 type.

[0063] Specifically, the control module 109 controls the sound source generators 108 at both ends of the equipment bin 104 and the counterweight bin 105 to emit sound wave signals to the upstream and downstream of the pipeline synchronously when the equipment is running. The detection assemblies at the front end and the end of the natural gas pipeline 106 receive the sound wave signals through the sound source detection units 110, and the temperature detection units 111 and the pressure detection units 112 simultaneously collect temperature data and pressure data in the pipeline in real time. The transmission speed of the sound wave signals is obtained through the acquired temperature data and pressure data, and the position of the equipment is calculated in combination with the transmission speed of the sound wave signals and the transmission time of the sound wave signals. This positioning method does not need to densely arrange listening pits along the pipeline, avoiding the problems of site selection of listening pits being limited by terrain and high labor intensity in traditional positioning methods. Through non-contact sound wave signal transmission and multi-parameter detection, real-time tracking of the position of the transportation equipment is realized, and the reliability and efficiency of the positioning process are improved.

[0064] Please refer to Figure 4 and Figure 5As shown, the wheel speed sensor 301 is arranged on one side of the device bin 104 corresponding to the rotating sleeve 102, which can be selected as YH-27-EA type, one end of the rotating sleeve 102 is connected with the wheel speed sensor 301, the wheel speed sensor 301 can detect the rotating speed of the rotating sleeve 102 in real time and transmit the data to the control module 109, and the counterweight bin 105 is arranged on one side with an adjusting assembly for adjusting the rotating friction of the rotating sleeve 102, when the wheel speed sensor 301 detects that the rotating speed of the rotating sleeve 102 is abnormal, the control module 109 can adjust the rotating friction of the rotating sleeve 102 through the adjusting assembly.

[0065] Specifically, the adjusting assembly includes a push ring 302, the push ring 302 is arranged on the mounting skeleton 101, the push ring 302 is arranged on both sides with a first connecting seat 303, the counterweight bin 105 is arranged on one side with two groups of electric telescopic rods 304, the two groups of electric telescopic rods 304 are respectively connected with the two groups of first connecting seats 303, the bottom of the two groups of first connecting seats 303 is arranged with a pressure sensor 305, the two groups of pressure sensors 305 are respectively connected with the two groups of electric telescopic rods 304, the wheel speed sensor 301, the electric telescopic rod 304 and the pressure sensor 305 are electrically connected with the control module 109, and the rotating sleeve 102 is arranged on both ends with a thrust bearing 306; when the rotating speed of the rotating sleeve 102 is detected to be abnormal, the control module 109 controls the electric telescopic rod 304 to be elongated or shortened, the push ring 302 is driven by the first connecting seat 303 to move axially along the mounting skeleton 101, the contact pressure between the push ring 302 and the rotating sleeve 102 is changed, so as to adjust the axial friction of the rotating sleeve 102, and at the same time, the pressure sensor 305 feeds back the push force data applied by the push ring 302 in real time, the control module 109 further adjusts the extension amount of the electric telescopic rod 304 according to the data, and realizes the dynamic adjustment of the rotating resistance of the rotating sleeve 102;

[0066] It can be understood that when the rotating resistance of the rotating sleeve 102 decreases, the vertical component of the natural gas flow acting on the rotating push plate 103 makes the rotating speed of the rotating sleeve 102 faster, and the cleaning frequency of the scraper 201 and the cleaning brush 202 on the inner wall of the pipeline is improved; when the rotating resistance of the rotating sleeve 102 increases, the horizontal component of the natural gas flow acting on the rotating push plate 103 is more converted into the power for driving the device to move along the natural gas pipeline 106, so that the moving speed of the device is improved; the adjusting mechanism can adapt to the fluctuation of the fluid flow rate in the natural gas pipeline, avoid the device from being stuck or the speed from being suddenly changed due to abnormal rotating speed or moving speed, ensure the continuity of the cleaning operation and the positioning process, and reduce the influence of unstable operation of the device on the positioning accuracy.

[0067] Please refer to Figure 6 and Figure 7As shown, the equipment bin 104 is provided with a pushing assembly outside, the pushing assembly comprises two groups of unfoldable windward plates 401, the equipment bin 104 is symmetrically provided with two groups of arc-shaped tracks 402 outside, the arc-shaped tracks 402 are both connected with arc-shaped guide plates 404 outside through two groups of connecting columns 403, the arc-shaped guide plates 404 are both provided with guide grooves 405 inside, the guide grooves 405 are both provided with slidable guide blocks 406 inside, the arc-shaped tracks 402 are both provided with electric sliding blocks 407, the windward plates 401 are arranged between the electric sliding blocks 407 and the guide blocks 406; the equipment bin 104 is further provided with a motion sensor 408 and a battery 409, the motion sensor 408 can be selected as WT9011DCL-BT50, the electric sliding blocks 407, the motion sensor 408 and the battery 409 are electrically connected with the control module 109.

[0068] Specifically, the motion sensor 408 senses the moving speed of the equipment in the natural gas pipeline in real time, and transmits the speed data to the control module 109, when the control module 109 judges that the equipment moves too fast or too slow, sends an instruction to the electric sliding block 407, drives the electric sliding block 407 to slide along the arc-shaped track 402, drives the guide block 406 to move synchronously in the guide groove 405, so as to realize the folding or unfolding of the windward plate 401. When the windward plate 401 is unfolded, its windward area increases, the resistance of the natural gas flow acting on the windward plate 401 increases, which can slow down the moving speed of the equipment; when the windward plate 401 is folded, the windward area decreases, the resistance of the equipment decreases, and the moving speed is improved. By adjusting the unfolding state of the windward plate 401, the force of the natural gas flow acting on the equipment can be dynamically adjusted, so as to control the moving speed of the equipment in the natural gas pipeline, so as to adapt to the flow rate change of different pipe sections, further improve the passing capacity of the equipment in the complex pipeline environment, and maintain the stability of the equipment operation.

[0069] Please refer to Figure 2 , Figure 8 and Figure 9 As shown, the cleaning assembly further comprises a temporary storage box 203, the temporary storage box 203 is installed on one side of the equipment bin 104, the temporary storage box 203 is provided with a garbage storage groove 204 on the top, a plurality of first installation through grooves 205 are arranged on the side of the rotating sleeve 102, the first installation through grooves 205 are all provided with installation frames 206, two groups of second installation through grooves 207 are symmetrically arranged on the installation frames 206, a shovel 208 is installed in one group of the second installation through grooves 207 corresponding to the garbage storage groove 204, and a closing plate 209 is arranged in the other group of the second installation through grooves 207.

[0070] Specifically, the bucket 208 can be installed at two second installation through slots 207 on the installation frame 206, and the specific installation position depends on the rotation direction of the rotating sleeve 102 in the device; when the rotating sleeve 102 rotates, the installation frame 206 rotates synchronously with the rotating sleeve 102, and the bucket 208 collects the dirt scraped off the inner wall of the pipeline by the scraper 201 and the cleaning brush 202. When the bucket 208 rotates to above the temporary storage box 203, the dirt falls into the garbage storage tank 204 through the second installation through slot 207 at the bottom of the bucket 208 to complete temporary storage, and the closure plate 209 is used to shield the other group of second installation through slots 207 of the installation frame 206 to prevent sundries from entering.

[0071] The rotating sleeve 102 is provided with a plurality of first installation grooves 211 on the side, and a plurality of installation seats 212 are arranged in the plurality of first installation grooves 211. A plurality of installation barrels 213 are arranged on one side of the installation seat 212, and a plurality of movable telescopic rods are arranged in the plurality of installation barrels 213. One end of the plurality of telescopic rods is respectively connected with the plurality of scrapers 201 and the cleaning brush 202. A plurality of springs 215 are arranged in the plurality of installation barrels 213. A plurality of piezoelectric power generation units 216 are arranged in the plurality of first installation grooves 211. The piezoelectric power generation unit 216 can be selected from EPCOS / TDK CeraPlas model. The plurality of springs 215 on one side of the plurality of scrapers 201 are respectively in contact with the plurality of piezoelectric power generation units 216.

[0072] Specifically, when the scraper 201 rotates with the rotating sleeve 102 and contacts the inner wall of the pipeline, the resistance of the inner wall of the pipeline causes the scraper 201 to compress the spring 215 in the installation barrel 213 through the telescopic rod. The spring 215 generates vibration in the compression and reset process, and the vibration mechanical energy is transmitted to the piezoelectric power generation unit 216 through the spring 215. The piezoelectric power generation unit 216 converts mechanical energy into electrical energy, and the electrical energy is stored in the battery 409 in the device warehouse 104 through the circuit. The energy conversion process utilizes the vibration kinetic energy generated by the self-cleaning operation of the device to realize self-sufficient energy, without the need for additional power supply devices, reducing the dependence on traditional batteries, effectively prolonging the endurance time of the device in long-distance pipeline operation, while reducing the energy consumption of the device, and improving the reliability of the device in complex pipeline environment.

[0073] Please refer to Figure 6 、 Figure 9 、 Figure 10 and Figure 11 , one end of the installation framework 101 is provided with a plurality of second connecting seats 113, and the counterweight warehouse 105 is fixedly connected with the plurality of second connecting seats 113 through screws. The counterweight seat 114 is arranged in the counterweight warehouse 105, and a plurality of mass blocks 115 are detachably installed on the counterweight seat 114.

[0074] Specifically, by increasing or reducing the number of mass blocks 115 and adjusting the position of the mass blocks 115 on the counterweight seat 114, the overall weight and the center of gravity distribution of the equipment can be flexibly adjusted according to the inner diameter, flow rate and cleaning requirements of different pipelines, so as to ensure the balance and stability of the equipment when moving in the pipeline, and prevent the garbage storage tank 204 on the top of the temporary storage box 203 from being inverted due to the deviation of the center of gravity, thereby affecting the dirt collection function.

[0075] The two ends of the rotating sleeve 102 are provided with connecting rings 116, and the side adjacent to the equipment compartment 104 and the counterweight compartment 105 is respectively provided with a dustproof sleeve 117 between the two groups of connecting rings 116. The dustproof sleeve 117 is made of flexible sealing material, which can effectively block dust, dirt and other impurities in the natural gas pipeline from entering the connecting position of the rotating sleeve 102 and the equipment compartment 104 and the counterweight compartment 105, avoid the impurities from hindering the rotation of the rotating sleeve 102, and reduce the mechanical wear of the connecting position, thereby prolonging the service life of the equipment.

[0076] A plurality of second installation grooves 118 are formed in one end of the rotating sleeve 102, a plurality of installation clamping plates 119 are installed in the plurality of second installation grooves 118, a rotating push plate 103 is fixedly arranged outside the plurality of installation clamping plates 119, and a fixing seat 120 is arranged at both ends of the installation clamping plate 119. One of the connecting rings 116 is tightly connected with the plurality of fixing seats 120 through screws, so that the rotating push plate 103 and the rotating sleeve 102 form a stable transmission structure.

[0077] Specifically, when the natural gas flow acts on the rotating push plate 103, the rotating push plate 103 drives the rotating sleeve 102 to rotate around the axis of the connecting ring 116 through the installation clamping plate 119, so as to realize the transmission of rotational kinetic energy. The detachable installation mode facilitates the maintenance and replacement of the rotating push plate 103, so as to adapt to the power requirement under different working conditions.

[0078] Please refer to Figure 13 As shown in the accompanying drawings, the application further provides a tracking method of the natural gas long-distance pipeline non-powered transportation equipment, which is applied to the natural gas long-distance pipeline non-powered transportation equipment and includes the following steps:

[0079] First, detection assemblies are installed at both ends of the natural gas pipeline 106, the detection assemblies include a sound source detection unit 110, a temperature detection unit 111 and a pressure detection unit 112, and an upstream detection point and a downstream detection point are established based on the installation positions of the detection assemblies on the upstream and downstream of the pipeline;

[0080] Specifically, the temperature data and the pressure data at the upstream detection point and the downstream detection point are continuously collected by the temperature detection unit 111 and the pressure detection unit 112, the acquired pressure data are recorded and processed, and an upstream and downstream pressure curve reflecting the change of pressure with time is generated.

[0081] During the operation of the transportation device, the sound source generators 108 at both ends of the device bin 104 and the counterweight bin 105 synchronously emit sound wave signals to the upstream and downstream of the pipeline within a specified time under the control of the control module 109. The sound wave signals propagate in the natural gas medium and cause pressure fluctuations in the pipeline. By analyzing the upstream and downstream pressure curves, the corresponding peak wave and the corresponding trough and other curve feature points generated due to the transmission of the sound wave signals to the upstream detection point and the downstream detection point are identified. The timestamps of adjacent corresponding peak waves and corresponding troughs are extracted using the card line method, and the difference between the upstream peak wave time and the downstream peak wave time is calculated to obtain the peak wave time difference of adjacent wave peaks and troughs of the curve feature points. .

[0082] The peak wave time difference of adjacent wave peaks and troughs of the curve feature points is obtained based on the upstream and downstream pressure curves, specifically as follows:

[0083] The upstream and downstream pressure curves include an upstream pressure curve and a downstream pressure curve. The upstream pressure curve is generated from the data collected by the pressure detection unit 112 at the upstream detection point, and the downstream pressure curve is generated from the data collected by the pressure detection unit 112 at the downstream detection point.

[0084] The corresponding peak wave and the corresponding trough are generated in the upstream pressure curve and the downstream pressure curve based on the response of the transmission of the sound wave signals to the upstream detection point and the downstream detection point;

[0085] Specifically, after the sound wave signals are synchronously emitted by the sound source generators 108 at both ends of the device bin 104 and the counterweight bin 105 to the upstream and downstream of the pipeline under the control of the control module 109, the sound wave signals propagate in the natural gas medium. When the sound wave signals are transmitted to the upstream detection point and the downstream detection point, the pressure at the detection point will change, and this change response generates a corresponding peak wave and a corresponding trough in the upstream pressure curve and the downstream pressure curve, respectively.

[0086] The upstream peak wave time of the upstream pressure curve and the downstream peak wave time of the downstream pressure curve are obtained based on the processing of adjacent corresponding peak waves and corresponding troughs using the card line method;

[0087] Specifically, a horizontal card line is set on the pressure curve. When the pressure curve passes through the card line from bottom to top, it is recorded as the starting point of the wave peak, and when the pressure curve passes through the card line from top to bottom, it is recorded as the ending point of the wave peak. The average of the time of the starting point of the wave peak and the time of the ending point of the wave peak is taken as the time of the corresponding peak wave. Similarly, the time of the corresponding trough is obtained, thereby obtaining the upstream peak wave time of the upstream pressure curve and the downstream peak wave time of the downstream pressure curve.

[0088] The peak wave time difference is obtained based on the difference between the upstream peak wave time and the downstream peak wave time;

[0089] Specifically, the peak wave time difference is obtained by subtracting the upstream peak wave time from the downstream peak wave time The peak wave time difference reflects the time difference of the sound wave signal propagating from the transportation equipment to the upstream detection point and the downstream detection point.

[0090] The upstream real-time sound speed of the upstream section in the natural gas pipeline and the downstream real-time sound speed of the downstream section are obtained.

[0091] Specifically, the upstream section is the pipe section between the transportation equipment and the upstream detection point in the natural gas pipeline, and the downstream section is the pipe section between the transportation equipment and the downstream detection point in the natural gas pipeline.

[0092] The upstream real-time sound speed and the downstream real-time sound speed are calculated according to the following formula:

[0093]

[0094] wherein, represents the upstream real-time sound speed or the downstream real-time sound speed, represents the corresponding temperature data, represents the corresponding pressure data, represents a constant;

[0095] Further, since the pressures of the upstream section and the downstream section are different, the sound propagation speed is different, so the upstream real-time sound speed and the downstream real-time sound speed are calculated respectively.

[0096] represents the downstream section or the upstream section, the value range is 1 or 2, when the value is 1, it represents the upstream section, represents the upstream real-time sound speed, when the value is 2, it represents the downstream section, represents the downstream real-time sound speed.

[0097] Further, the constant can be calculated by using the dry line flow meter value of the same gas quality condition in the natural gas pipeline.

[0098] The sound wave transmission time is obtained based on the peak wave time difference.

[0099] The calculation formula of the sound wave signal transmission time of the upstream section is:

[0100]

[0101] The calculation formula of the sound wave signal transmission time of the downstream section is:

[0102]

[0103] wherein, represents the sound wave signal transmission time of the upstream section, represents the sound wave signal transmission time of the downstream section, represents the peak wave time difference, represents the upstream real-time sound velocity, downstream real-time sound velocity, represents the distance between the upstream detection point and the downstream detection point;

[0104] Based on the upstream real-time sound velocity, the downstream real-time sound velocity and the sound wave transmission time, the distance between the transportation equipment and the upstream detection point and the downstream detection point is obtained;

[0105] Specifically, according to the propagation law of sound wave in gas medium, the positional relationship between the equipment and the upstream and downstream detection points is obtained through the distance calculation formula;

[0106] wherein, the distance between the transportation equipment and the upstream pressure detection point is The calculation formula is:

[0107]

[0108] The distance between the transportation equipment and the downstream pressure detection point is The calculation formula is:

[0109]

[0110] The specific position of the transportation equipment in the natural gas pipeline can be determined in real time, and accurate position data support is provided for pipeline maintenance operation.

[0111] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A natural gas long distance pipeline unpowered transportation device, characterized in that: Including installation skeleton (101), the installation skeleton (101) is set up rotatable rotation sleeve (102), the rotation sleeve (102) is provided with multiple groups of rotation push plate (103) on the circumference, the rotation sleeve (102) is provided with cleaning assembly, the cleaning assembly includes multiple groups of scraper (201) and cleaning brush (202), the rotation sleeve (102) circumference equidistantly sets up multiple groups of the scraper (201) and cleaning brush (202); The installation skeleton (101) both ends are provided with equipment warehouse (104) and counterweight warehouse (105) respectively, the equipment warehouse (104) and counterweight warehouse (105) circumference are provided with multiple groups of mobile wheel (107) for moving in natural gas pipeline (106); The equipment warehouse (104) and the counterweight warehouse (105) corresponding one end are provided with sound source generator (108), the equipment warehouse (104) is provided with control module (109), two groups of the sound source generator (108) are electrically connected with the control module (109), the natural gas pipeline (106) front end and the end are provided with detection assembly corresponding two groups of the sound source generator (108) respectively, the detection assembly includes sound source detection unit (110), temperature detection unit (111) and pressure detection unit (112); The equipment warehouse (104) one side corresponding the rotation sleeve (102) is provided with wheel speed sensor (301), the rotation sleeve (102) one end is connected with the wheel speed sensor (301), the counterweight warehouse (105) one side is provided with adjusting assembly for adjusting the rotation sleeve (102) rotation friction force; The adjusting assembly includes push ring (302), the installation skeleton (101) is set up the push ring (302), the push ring (302) both sides are provided with first connecting seat (303), the counterweight warehouse (105) one side is provided with two groups of electric telescopic rod (304), two groups of the electric telescopic rod (304) are connected with two groups of the first connecting seat (303) respectively, two groups of the first connecting seat (303) bottom are provided with pressure sensor (305), two groups of the pressure sensor (305) are connected with two groups of the electric telescopic rod (304) respectively; The wheel speed sensor (301), electric telescopic rod (304) and pressure sensor (305) are electrically connected with the control module (109), the rotation sleeve (102) both ends are provided with thrust bearing (306).

2. The natural gas long-distance pipeline unpowered transportation equipment according to claim 1, wherein: The equipment bin (104) is provided with a pushing assembly outside, the pushing assembly comprises two groups of unfoldable windward plates (401), the equipment bin (104) is provided with two groups of arc-shaped tracks (402) outside in a symmetrical manner, the arc-shaped tracks (402) are connected with arc-shaped guide plates (404) outside through two groups of connecting columns (403), the arc-shaped guide plates (404) are provided with guide grooves (405) inside, the guide grooves (405) are provided with slidable guide blocks (406) inside, the arc-shaped tracks (402) are provided with electric sliding blocks (407) thereon, and the windward plates (401) are arranged between the electric sliding blocks (407) and the guide blocks (406); The equipment bin (104) is also provided with a motion sensor (408) and a battery (409), and the electric sliding block (407), the motion sensor (408) and the battery (409) are electrically connected with the control module (109).

3. The natural gas long-distance pipeline non-powered transportation equipment according to claim 1, wherein: The cleaning assembly further comprises a temporary storage box (203), the equipment bin (104) is provided with the temporary storage box (203) on one side, the temporary storage box (203) is provided with a garbage storage groove (204) on the top, a plurality of first installation through grooves (205) are formed in the circumferential side of the rotating sleeve (102), and installation frames (206) are arranged in the first installation through grooves (205); 4. The natural gas long-distance pipeline non-powered transportation equipment according to claim 3, wherein: A plurality of first installation grooves (211) are formed in the circumferential side of the rotating sleeve (102), installation seats (212) are arranged in the first installation grooves (211), a plurality of installation barrels (213) are arranged on one side of the installation seat (212), movable telescopic rods are arranged in the installation barrels (213), one end of the telescopic rods is connected with a plurality of the scrapers (201) and the cleaning brush (202) respectively, springs (215) are arranged in the installation barrels (213), piezoelectric power generation units (216) are arranged in the first installation grooves (211), and the springs (215) on one side of the plurality of the scrapers (201) are in contact with the piezoelectric power generation units (216).

5. The natural gas long-distance pipeline non-powered transportation equipment according to claim 3, wherein: The mounting framework (101) is provided with a plurality of second connecting seats (113) at one end, the counterweight bin (105) is screw-connected with the plurality of second connecting seats (113) at one side, the counterweight bin (105) is provided with a counterweight seat (114) inside, and a plurality of mass blocks (115) are detachably arranged on the counterweight seat (114).

6. The natural gas long-distance pipeline unpowered transportation equipment according to claim 1, characterized in that: Both ends of the rotating sleeve (102) are provided with connecting rings (116), and the adjacent sides of the equipment bin (104) and the counterweight bin (105) are provided with dust covers (117) between the two connecting rings (116); One end of the rotating sleeve (102) is provided with a plurality of second mounting grooves (118), a plurality of mounting clamping plates (119) are arranged in the second mounting grooves (118), the rotating push plates (103) are arranged outside the plurality of mounting clamping plates (119), and the mounting clamping plates (119) are provided with fixing seats (120) at both ends, and the connecting ring (116) and the fixing seats (120) are connected through screws.

7. A tracking method of the natural gas long-distance pipeline unpowered transportation device, applied to the natural gas long-distance pipeline unpowered transportation device of any one of claims 1 to 6, characterized in that, The method comprises the following steps: A detection assembly is arranged at both ends of the natural gas pipeline, upstream and downstream detection points are established based on the installation position of the detection assembly, pressure data and temperature data of the upstream and downstream detection points of the natural gas pipeline are obtained through the detection assembly, an upstream and downstream pressure curve graph is generated based on the pressure data; The transportation equipment in the natural gas pipeline sends out a sound wave signal within a specified time, and the peak wave time difference of adjacent wave peaks and troughs of a curve feature point is obtained based on the upstream and downstream pressure curve graph; The upstream real-time sound velocity of the upstream section and the downstream real-time sound velocity of the downstream section in the natural gas pipeline are obtained, and the sound wave transmission time is obtained based on the peak wave time difference; The distance between the transportation equipment and the upstream and downstream detection points is obtained based on the upstream real-time sound velocity, the downstream real-time sound velocity, and the sound wave transmission time.

8. The tracking method of a natural gas long-distance pipeline unpowered transportation device according to claim 7, characterized in that, The peak wave time difference of adjacent wave peaks and troughs of a curve feature point is obtained based on the upstream and downstream pressure curve graph, and specifically: The upstream and downstream pressure curve graph includes an upstream pressure curve and a downstream pressure curve; The corresponding peak wave and the corresponding trough are generated on the upstream pressure curve and the downstream pressure curve based on the response of the sound wave signal transmitted to the upstream and downstream detection points; The upstream peak wave time of the upstream pressure curve and the downstream peak wave time of the downstream pressure curve are obtained by processing adjacent corresponding peak waves and corresponding troughs based on the card line method; The peak wave time difference is obtained by subtracting the upstream peak wave time from the downstream peak wave time.

9. The method of claim 7, wherein the method further comprises: The upstream real-time sound velocity of the upstream section and the downstream real-time sound velocity of the downstream section in the natural gas pipeline are obtained, and specifically: The upstream section represents a pipe section between the transportation equipment and the upstream detection point in the natural gas pipeline, and the downstream section represents a pipe section between the transportation equipment and the downstream detection point in the natural gas pipeline; The calculation formula of the upstream real-time sound velocity and the downstream real-time sound velocity is: wherein, is expressed as an upstream real-time sound velocity or a downstream real-time sound velocity, is expressed as corresponding temperature data, is expressed as corresponding pressure data, is expressed as a constant; is expressed as a downstream segment or an upstream segment, has a value of 1 or 2, when has a value of 1, is expressed as an upstream segment, is expressed as the upstream real-time sound velocity, when has a value of 2, is expressed as a downstream segment, is expressed as the downstream real-time sound velocity.

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