Pipe cleaner used in urban gas pipeline

Abstract

The invention relates to a pipe cleaner for the interior of an urban gas pipeline. The pipe cleaner comprises a mounting barrel, partition plate seats fixedly mounted at the left end and the right end of the mounting barrel, supporting leather cups and driving leather cups, wherein the supporting leather cups and the driving leather cups are arranged on the outer sides of the partition plate seats; a bypass valve assembly is arranged at the left end of one partition plate seat, a positioning plate is fixedly installed at the right end of the other partition plate seat, and a speed collecting unit is arranged on the side of the surface of the positioning plate and used for collecting the moving speed of the pipe cleaner. An electromagnetic regulation and control assembly is arranged on the periphery of the driving leather cup in the circumferential direction and used for regulating the friction force between the driving leather cup and the inner wall of the pipeline so as to regulate and control the running speed of the pipe cleaner. The electronic control closed-loop system is introduced, the running speed is collected in real time through the speed measuring sensor, the preset target value is combined, the opening degree of the bypass valve is dynamically adjusted through the control system to change the overflow section, the friction force of the magneto-rheological leather cup is synchronized, the moving speed of the pipe cleaner is actively controlled, and the speed control precision is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pig, in particular to a pig for inside of city gas pipeline. BACKGROUND

[0002] In the city gas system, impurities such as water, sludge and corrosion products are easily accumulated in the pipeline after long-term operation, which seriously affects the gas transmission efficiency and operation safety. Regular use of pig for pipeline cleaning is a key means to ensure the healthy operation of the pipeline network. However, the running speed of the pig in the pipeline directly affects the operation quality: too fast speed may cause incomplete cleaning or damage to the pipe wall, and too slow speed reduces the operation efficiency, and even causes blockage. Therefore, the development of controllable speed pig with active speed regulation capability has become an important research direction in the industry.

[0003] In the prior art, a variety of mechanical automatic speed regulation devices have been applied to pigs. For example, Chinese invention patent CN106641575B discloses a bypass valve type automatic speed regulation pig for pipeline pigging operation, which overcomes the shortcomings of poor throughness of existing speed regulation pigs in the pipeline. The technical scheme is that two rollers are installed on both sides of the hydraulic pump, a supporting spring is arranged between the two hydraulic pumps, a front end cover and a rear end cover are installed on both sides of the cylinder body and a leather bowl is installed, the hydraulic pump is installed to the rear end of the pig through a connecting rod, the hydraulic motor drives the mass block to rotate through a spindle, the mass block is connected with a sliding sleeve through a connecting rod, the sliding sleeve is installed in the slot-shaped hole of the center cylinder, and the center cylinder is installed on the front end cover. The speed controller of the pig disclosed in the present application is safe and reliable without electric elements. The device has strong throughness in the pipeline and is not easy to be stuck in the pipeline three-way position and elbow position:

[0004] However, in the above technical scheme, the control logic is passive and lagging, and in the adjustment, the dynamic balance between the output pressure and the centrifugal force of the mass block is relied on, so that the adjustment accuracy is poor and the reaction is lagging. When the pig accelerates, it cannot adapt in time, forming a rapid response deceleration. Based on this, we propose a pig for inside of city gas pipeline to solve the above problems. SUMMARY

[0005] In order to overcome the problem that the existing pig for inside of city gas pipeline has passive and lagging control logic, relies on the dynamic balance between the output pressure and the centrifugal force of the mass block in the adjustment, so that the adjustment accuracy is poor and the reaction is lagging, and when the pig accelerates, it cannot adapt in time, forming a rapid response deceleration.

[0006] The technical scheme of the present application is: a pig for inside of city gas pipeline, comprising a mounting cylinder, a partition plate seat fixedly installed at the left and right ends of the mounting cylinder, a support leather bowl and a driving leather bowl arranged outside the partition plate seat.

[0007] The left end of the partition seat is provided with a bypass valve assembly, and the right end of the other partition seat is fixedly provided with a positioning plate, and the edge side of the surface of the positioning plate is provided with a speed acquisition unit for acquiring the moving speed of the pig;

[0008] The circumferential periphery of the driving leather bowl is provided with an electromagnetic control assembly for adjusting the friction between the driving leather bowl and the inner wall of the pipeline to control the running speed of the pig;

[0009] The bypass valve assembly comprises an outer valve body fixedly installed at the left end of the partition seat, an inner valve body sleeved on the inner side of the outer valve body, and an execution assembly arranged in the partition seat, and the inner valve body and the outer valve body are rotationally connected through a rotating shaft, and the execution assembly is used for adjusting the area of the flow channel formed by the cooperation of the two, so as to realize the main control speed adjustment based on fluid power.

[0010] It should be noted that the bypass valve assembly and the electromagnetic control assembly are cooperatively constructed as a double-mode speed control system, wherein the bypass valve assembly is a main control module responsible for basic speed adjustment under steady state conditions, and is suitable for long-time and large-range speed setting, and the electromagnetic control assembly is an auxiliary control module focusing on rapid compensation of transient disturbance (such as pressure sudden change, bend impact, start-stop process), and the two systems are coordinated and managed by a unified central control system, and the control weight is dynamically distributed according to real-time working conditions, so as to avoid function conflict or energy waste, and the control method is combined synchronously to realize accurate control.

[0011] Further, the speed acquisition unit comprises three support wheels arranged in a ring array, a hinge plate rotationally installed on the edge side of the surface of the positioning plate, the support wheels are rotationally installed on the end of the hinge plate through a rotating shaft, the wheel body of each support wheel is attached to the inner wall of the pipeline, each support wheel is rotationally connected to the positioning plate through the hinge plate, and a compression spring is arranged between the hinge plate and the positioning plate for maintaining constant contact pressure between the support wheel and the pipe wall.

[0012] A speed measurement sensor is arranged on the hinge plate for detecting the rotational speed of the support wheel and calculating the running speed of the pig accordingly.

[0013] It should be noted that the support wheel adopts a three-group ring-shaped uniform distribution design, which can effectively eliminate the measurement deviation caused by the eccentricity of the pig or the ellipticity of the pipeline, and improve the speed measurement accuracy, and the pre-tightening force of the compression spring is calibrated to ensure that the support wheel always maintains a contact pressure of 0.1-0.3 MPa with the pipe wall within the common gas pipe diameter range of DN100-DN600, which prevents slipping and avoids excessive wear, and the speed measurement sensor preferably adopts a Hall-type non-contact sensor to sense the magnet steel on the rotating shaft of the support wheel, thereby avoiding mechanical transmission error and ensuring stable and reliable signal.

[0014] Further, the electromagnetic control assembly comprises four electromagnetic coil plate bodies arranged in a ring array and surrounding the circumferential periphery of the driving leather bowl.

[0015] The surface of the driving cup is coated with a nano-ceramic coating (coating thickness is 80-120nm, the main component is Al2O3 / TiN composite material). The driving cup is a highly elastic rubber matrix, and the inside of the driving cup has a cavity filled with magnetorheological material. When the electromagnetic coil plate is energized, it generates a magnetic field, which changes the rheological properties of the magnetorheological material, thereby adjusting the friction between the driving cup and the inner wall of the pipeline and actively controlling the running speed of the pig.

[0016] It is important to note that the magnetorheological material is a silicone oil-based suspension containing micron-sized carbonyl iron powder particles (3-10 μm in diameter). Under an applied magnetic field, it can transform from a liquid to a near-solid state within milliseconds. The shear strength is adjustable to a range of over 50 kPa. The nano-ceramic coating significantly improves wear resistance and tear resistance, extending the lifespan of the cup. Furthermore, the electromagnetic coil plate adopts a flat winding process, with the magnetic field direction perpendicular to the cup surface, ensuring that the magnetic lines of force penetrate the magnetorheological material layer and maximize the rheological effect.

[0017] Furthermore, the cavity inside the drive cup is divided into four independent control zones along the circumference (each zone is separated by a sealed partition to prevent magnetorheological material from flowing through and to ensure that each zone responds independently). Each control zone corresponds to a set of independently powered electromagnetic coil plates, which can independently control the friction force in different directions.

[0018] It is important to note that the four control zones correspond to the directions of "front, back, left, right" or "east, south, west, north" respectively. Through independent current control, asymmetrical friction force distribution can be achieved. For example, when the pig enters a horizontal bend, the control system automatically increases the magnetic field strength of the outer zone, increases the friction force on that side, suppresses centrifugal deviation, and prevents blockage. Furthermore, the zone control can also achieve the "anti-slip" function in inclined pipes—increasing the friction force on the uphill side in the downhill section to maintain posture stability.

[0019] Furthermore, the actuation components include a worm gear fixedly installed at the end of the rotating shaft, a worm meshing with the upper end of the worm gear, and a micro motor fixedly installed inside the partition seat. The two ends of the worm are rotatably connected to the inner wall of the partition seat, and the output end of the micro motor is connected to the worm. The micro motor is used to drive the worm to rotate, and drives the rotating shaft to rotate through the transmission of the worm gear and worm. When the rotating shaft rotates, it drives the inner valve body to turn.

[0020] The actuator also includes a position feedback sensor mounted on the inner valve body. The position feedback sensor monitors the rotation angle of the inner valve body in real time and feeds the signal back to the control system to form a closed-loop regulation.

[0021] It should be noted that the worm gear has self-locking characteristics, which can keep the inner valve body position unchanged in the state of no power, prevent the drift of the leakage area caused by pipeline vibration, and the micro motor is a direct current brushless motor, the maximum torque is 0.8 N·m, which meets the adjustment requirements of the commonly used pressure difference (0.2-4.0 MPa) of the pipeline below DN600, and the position feedback sensor is a high-precision magnetic encoder, the resolution is better than 0.5°, combined with the throttling curve model of the inner valve body, the current leakage area can be calculated reversely, and the control system adopts PID algorithm, dynamically adjusts the motor speed according to the deviation between the target leakage area and the measured value, and realizes smooth and accurate adjustment.

[0022] Further, the connecting rod is fixedly installed on the other side of the positioning plate (made of lightweight high-strength aluminum alloy material, the length is adjustable, and is suitable for the pig combination with different lengths), and a positioning assembly is installed at the end of the connecting rod;

[0023] The positioning assembly comprises a bearing plate body fixedly installed at the end of the connecting rod, an outer supporting wheel (the outer supporting wheel is a nylon rubber wheel with certain elastic deformation capacity) installed on the bearing plate body, which is used to keep the pig in the center position in the pipeline, a battery compartment (the battery compartment is designed with IP68 protection level sealing, and a lithium ion battery pack is arranged in the battery compartment) arranged at the bottom of the bearing plate body, and a rechargeable power module arranged in the battery compartment, which is used to supply power to the electronic components of the pig.

[0024] Further, the GPS system and the odometer wheel are integrated at the bottom of the battery compartment, the GPS system is used to obtain the geographical position information of the pig in real time, and the odometer wheel is used to record the cumulative travel of the pig, and the two cooperate to accurately mark the position of the pig and form a trajectory tracking.

[0025] It should be noted that the GPS system is only used when the pig enters and exits the station, which is used to calibrate the initial / end position; during the operation in the pipeline, the position is calculated by relying on the odometer, inertial navigation, and the GPS system can be replaced by the Beidou positioning system, the position data is recorded every 5 seconds, and is marked synchronously with the speed, pressure and detection signal to generate a space data sequence with time stamp and coordinates, which is convenient for later analysis and defect positioning (the position positioning method is prior art, which will not be described in detail in the present application).

[0026] Further, the surfaces of the inner valve body and the outer valve body are provided with overflow openings matched with each other, and the surface of the partition seat is provided with an inflow opening, liquid enters the inside of the valve body through the inflow opening and flows out from the overflow opening, when rotating, the area of the leakage passage formed by the cooperation of the inner valve body and the outer valve body is changed, so as to accurately control the leakage area precision, and the overflow opening is provided with a leakage area detection module, the leakage area detection module and the execution assembly are connected, the current leakage area value is fed back in real time, and is synchronously transmitted to the pig control system through the signal transmission module.

[0027] It should be noted that the overflow opening angle is 30 degrees, and the ring array is distributed, and the overlapping area changes continuously when rotating relatively, realizing 0-95% flow area adjustment, and the leakage area detection module integrates a signal transmission module (using low-power Bluetooth or ZigBee protocol), which uploads the leakage state to the main control unit to participate in speed closed-loop control.

[0028] Further, the outer side of the mounting cylinder is detachably integrated with a functional module, and the functional module is a magnetic flux leakage detector.

[0029] It should be noted that the detachable integration refers to fast buckle or bolt flange connection, which allows users to replace different functional modules (such as magnetic flux leakage detectors, ultrasonic thickness gauges, video probes, etc.) according to task requirements, and all detection data are bound and stored with position information provided by GPS or odometer, forming a defect position map, supporting GIS system import and visual display.

[0030] A speed control method of a pig, comprising:

[0031] Real-time acquisition of pipeline pressure P, pig speed v, pipe diameter D and inclination angle θ;

[0032] Calculate the target friction coefficient based on the preset model μ=f(P,v,D,θ);

[0033] Adjust the current of the electromagnetic coil to change the characteristics of the magnetorheological material and realize dynamic adjustment of the friction force;

[0034] At the same time, adjust the leakage area through the bypass valve for main control speed compensation;

[0035] Form a dual-mode cooperative speed control strategy of electromagnetic fast response and bypass valve steady-state adjustment.

[0036] It should be noted that the above control method should be run in the embedded control system built in the pig, and the sampling frequency is not less than 10Hz, and the two systems of electromagnetic fast response and bypass valve steady-state adjustment share the same speed feedback source to avoid competitive control and ensure system stability.

[0037] The beneficial effects of the present application are:

[0038] 1. The pig for the inside of the urban gas pipeline introduces an electric control closed loop system, acquires the running speed in real time through a speed sensor, combines a preset target value, dynamically adjusts the bypass valve opening degree to change the overflow section by the control system, and synchronously adjusts the friction force of the magnetorheological skin bowl, realizes active control of the moving speed of the pig, and significantly improves the precision of speed control.

[0039] 2. The pig for the inside of the urban gas pipeline, taking the mechanical bypass valve as the basic speed regulating unit, retaining its applicability in the explosion-proof environment, while adding a magneto-rheological electromagnetic regulation system as a fast compensation unit, so that the speed control and response are faster, and sudden conditions (such as pressure drop, bend impact) are responded to.

[0040] 3. The pig for the inside of the urban gas pipeline, in the condition of small flow, low differential pressure and other traditional mechanical speed regulation failure, the friction force of the magneto-rheological skin bowl is enhanced to maintain the propulsion force, and stagnation is avoided, and in the high pressure and high speed section, the bypass valve is used to reduce the pressure difference, and overspeed is prevented, so that the whole working condition is covered, and it is especially suitable for the load fluctuation problem commonly existing in the urban gas network.

[0041] 4. The pig for the inside of the urban gas pipeline, the driving skin bowl is divided into four independent control areas, cooperating with the annular distributed electromagnetic coil, the asymmetric friction force regulation can be realized, when passing through the bend pipe, the friction force of the outer area is automatically increased to offset the centrifugal effect, the eccentric wear and jamming risk are reduced, and the passing property in the complex structure such as tee joint, reducing pipe and vertical section is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The overall structure schematic diagram of the present application is shown;

[0043] Figure 2 The structure schematic diagram of another embodiment of the present application is shown;

[0044] Figure 3 The internal structure schematic diagram of the present application is shown;

[0045] Figure 4 The internal valve body structure schematic diagram of the present application is shown;

[0046] Figure 5 The internal structure schematic diagram of the driving skin bowl of the present application is shown;

[0047] Figure 6 The execution assembly structure schematic diagram of the present application is shown;

[0048] Figure 7 The battery compartment structure schematic diagram of the present application is shown.

[0049] Marked: 1, mounting cylinder; 2, partition seat; 3, supporting skin bowl; 4, driving skin bowl; 41, electromagnetic coil plate body; 5, positioning plate; 51, supporting wheel; 52, hinge plate; 6, connecting rod; 61, bearing plate body; 7, outer valve body; 8, inner valve body; 9, rotating shaft rod. DETAILED DESCRIPTION

[0050] The present application will be further described below in combination with the drawings and examples.

[0051] Referring to Figures 1-7 The present application provides an embodiment: a pig for the inside of a city gas pipeline, comprising a mounting cylinder 1, baffle seats 2 fixedly mounted at both ends of the mounting cylinder 1, support cups 3 arranged outside the baffle seats 2, and drive cups 4; one end of one baffle seat 2 is provided with a bypass valve assembly, and the other end of the other baffle seat 2 is fixedly provided with a positioning plate 5, and the edge of the surface of the positioning plate 5 is provided with a speed acquisition unit, which is used to acquire the moving speed of the pig; the circumferential periphery of the drive cup 4 is provided with an electromagnetic control assembly, which is used to adjust the friction between the drive cup 4 and the inner wall of the pipeline to control the running speed of the pig; the bypass valve assembly comprises an outer valve body 7 fixedly mounted at the left end of the baffle seat 2, an inner valve body 8 sleeved on the inner side of the outer valve body 7, and an execution assembly arranged inside the baffle seat 2, and the inner valve body 8 and the outer valve body 7 are rotationally connected through a rotating shaft 9, and the execution assembly is used to adjust the area of the flow channel formed by the cooperation of the two, so as to realize the main control speed adjustment based on fluid power.

[0052] In this embodiment, the speed acquisition unit comprises three support wheels 51 arranged in an annular array, a hinge plate 52 rotationally mounted on the edge of the surface of the positioning plate 5, the support wheels 51 are rotationally mounted on the end of the hinge plate 52 through a rotating shaft, the wheel body of each support wheel 51 is in contact with the inner wall of the pipeline, each support wheel 51 is rotationally connected with the positioning plate 5 through the hinge plate 52, and a compression spring is arranged between the hinge plate 52 and the positioning plate 5, which is used to maintain the constant contact pressure of the support wheel 51 with the pipe wall; a speed sensor is arranged on the hinge plate 52, which is used to detect the rotational speed of the support wheel 51, and calculate the running speed of the pig according to the rotational speed.

[0053] It should be noted that the three support wheels 51 are evenly distributed in a 120° annular shape, and cooperate with the pre-tightening force (set to 80-120N) applied by the compression spring, which can effectively adapt to the change of the inner wall of the pipeline with different diameters in the range of DN100-DN600, the hinge plate 52 is made of high-strength stainless steel material, a self-lubricating shaft sleeve is arranged at the rotationally connected position, the friction resistance is reduced, the speed measurement distortion caused by jamming is avoided, the control system converts the support wheel speed by pulse counting in unit time, and then reversely deduces the running speed of the pig in combination with the circumference parameter under the standard pipe diameter, and the measurement accuracy can reach ±0.1m / s, in addition, the system is provided with a dynamic compensation algorithm: when the speed difference of multiple support wheels exceeds the threshold value, it is determined that there is eccentric wear or inclination state, and the electromagnetic control assembly is automatically started to adjust the posture, so as to ensure the reliability of speed measurement.

[0054] Referring to Figure 1 、 Figure 3 and Figure 5In the embodiment, the electromagnetic control assembly includes four annularly arrayed electromagnetic coil plate bodies 41, which are arranged around the circumferential periphery of the driving leather cup 4. The surface of the driving leather cup 4 is provided with a nano ceramic coating, the driving leather cup 4 is a high-elasticity rubber base body, and a cavity is formed in the inside of the driving leather cup 4, which is filled with a magneto-rheological material. After the electromagnetic coil plate bodies 41 are electrified, a magnetic field is generated to change the rheological properties of the magneto-rheological material, thereby adjusting the friction between the driving leather cup 4 and the inner wall of the pipeline, actively controlling the running speed of the pig, and the cavity in the inside of the driving leather cup 4 is circumferentially divided into four independent control areas, each of which corresponds to a group of independently powered electromagnetic coil plate bodies 41 for independent regulation and control of the friction in different directions.

[0055] It should be noted that the magneto-rheological material is prepared by mixing silicon oil-based liquid and micron-sized carbonyl iron powder at a mass ratio of 7:3, and has the advantages of fast response (phase change time < 20 ms), high shear strength (maximum up to 45 kPa), and good repeatability. Each group of coils is independently connected to a driving circuit module to receive a PWM modulated signal from a central controller to realize accurate current regulation (0-3A continuously adjustable). When the friction in a certain area needs to be increased (such as the outside of the curve), the control system increases the current of the coils in the area, the magnetic field strength is increased to more than 0.6T, the corresponding area of the magneto-rheological material is rapidly “solidified”, the rigidity and contact pressure of the leather cup are significantly increased, and thus the local friction coefficient is increased. The process can be completed in milliseconds, which is much faster than the adjustment response speed of the mechanical bypass valve, and is suitable for emergency braking or anti-skid control in sudden working conditions.

[0056] Please refer to Figure 3 and Figure 6 In the embodiment, the execution assembly includes a worm gear fixedly installed at the end of the rotating shaft rod 9, a worm fixedly installed at the upper end of the worm gear, and a micro motor fixedly installed in the inside of the partition plate seat 2. The two ends of the worm are rotatably connected with the inner wall of the partition plate seat 2, and the output end of the micro motor is connected with the worm. The micro motor is used to drive the rotation of the worm, and the rotating shaft rod 9 is driven to rotate through the transmission of the worm gear and the worm. When the rotating shaft rod 9 rotates, the inner valve body 8 is driven to turn. The execution assembly further includes a position feedback sensor installed on the inner valve body 8. The position feedback sensor monitors the rotation angle of the inner valve body 8 in real time, and feeds back signals to the control system to form a closed-loop adjustment.

[0057] Based on another embodiment of the execution assembly in this embodiment, the execution assembly can also directly drive the rotating shaft rod 9 with a stepping motor instead of the worm gear structure. In this scheme, the micro stepping motor is coaxially connected with the rotating shaft rod 9 through a shaft coupling, and the intermediate transmission mechanism is cancelled, further reducing the mechanical gap and energy loss. The stepping motor adopts a 200 steps / turn (1.8° step angle) type, and cooperates with a subdivision driver (16 subdivisions), which can achieve an angle resolution of 0.1125°, significantly improving the adjustment accuracy. At the same time, after the worm gear is removed, the overall axial size is shortened by about 30 mm, which is beneficial to the application in small-diameter pipelines (such as DN150 or below), and through software control strategies (such as maintaining excitation when stopping), the stable position can still be maintained, and higher precision closed-loop control can be realized through the feedback of the encoder, which is suitable for scenes with higher requirements for space compactness and speed control accuracy.

[0058] In this embodiment, the inner valve body 8 and the outer valve body 7 are provided with overflow ports matched with each other on the surfaces, and the surface of the partition seat 2 is provided with an inflow port. The liquid enters the inside of the valve body through the inflow port and flows out from the overflow port. When the inner valve body 8 rotates, the area of the flow leakage passage formed by the cooperation of the inner valve body 8 and the outer valve body 7 is changed, so as to accurately control the accuracy of the flow leakage area. The overflow port is provided with a flow leakage area detection module. The flow leakage area detection module is connected with the execution assembly, and real-time feedback of the current flow leakage area value is realized. The signal transmission module is synchronized to the pig control system.

[0059] It should be noted that the flow leakage area detection module is not directly measured flow, but is indirectly obtained through the angle displacement sensor, the pre-calibrated area, and the angle comparison table, so as to avoid introducing additional flow resistance. The current actual flow leakage area is inversely calculated in real time by accurately measuring the rotation angle of the inner valve body relative to the outer valve body and combining the pre-established “flow leakage passage area and rotation angle comparison relationship model”, so as to avoid introducing additional flow resistance. It includes an angle displacement sensor, a flow leakage passage geometric model database, and a real-time calculation unit. The angle displacement sensor synchronously collects the current rotation angle θ. The control system calls the pre-stored A(θ) model, calculates or looks up the corresponding flow leakage area A, and feeds back the A value to the speed control algorithm for adjusting the consistency of the target speed and the actual response. The flow leakage area-angle relationship modeling method is (A=f(θ)),

[0060] If the throttle port on the inner and outer valve bodies is a standard sector or rectangular arc groove, the area function can be derived by analytic geometry method:

[0061]

[0062] Among them:

[0063] The equivalent radius of the i-th overlapping area

[0064] The angle function determined by the inner and outer opening boundaries is a piecewise function of θ

[0065] n: the number of effective overlapping regions (may increase or decrease with θ).

[0066] Please refer to Figure 1 , Figure 2 and Figure 7 In this embodiment, it also includes a connecting rod 6 fixedly installed on the other side of the positioning plate 5, and a positioning assembly is installed at the end of the connecting rod 6; the positioning assembly includes a bearing plate body 61 fixedly installed at the end of the connecting rod 6, and an outer supporting wheel is installed on the bearing plate body 61, which is used to maintain the centered posture of the pipe cleaner in the pipeline, and a battery compartment is arranged at the bottom of the bearing plate body 61, and a rechargeable power module is arranged in the battery compartment to supply power to each electronic component of the pipe cleaner, and a GPS system and an odometer wheel are integrated at the bottom of the battery compartment, the GPS system is used to obtain the geographic position information of the pipe cleaner in real time, and the odometer wheel is used to record the cumulative travel of the pipe cleaner, and the two cooperate to accurately mark the position of the pipe cleaner and form a trajectory tracking.

[0067] It should be noted that during the operation inside the pipeline, the position is calculated by the odometer, and the control system records the position data (including latitude and longitude, cumulative mileage, and time stamp) every 5 seconds, and synchronously packs and stores the speed, pressure, and detection signal in the solid state memory. The data can be exported through the wireless interface to generate a pipeline health map with geographic coordinates, which supports GIS platform import and visual analysis.

[0068] Based on another embodiment of the present embodiment, a functional module is detachably integrated on the outer side of the installation cylinder 1, and the functional module is a magnetic flux leakage detector. The magnetic flux leakage detector is used for non-destructive detection of the inner wall of the pipeline, identifies structural defects such as corrosion and cracks, and synchronously records the detection data and the position information.

[0069] Please refer to Figure 2 It should be noted that the functional module allows users to quickly replace different functional modules according to task requirements, such as a magnetic flux leakage detector, an ultrasonic thickness gauge, a video probe, and a gas sampling device, to realize one device with multiple functions. The magnetic flux leakage detector includes an excitation unit and a Hall sensor array, which establishes a strong magnetic field on the pipe wall when working. When encountering metal loss type defects (such as corrosion pits and cracks), the magnetic force line is distorted, and the sensor captures the abnormal signal and converts it into an electrical signal output.

[0070] Working principle:

[0071] After the pig is put into the city gas pipeline, it starts to move with the medium flow, the three supporting wheels 51 in the speed acquisition unit are tightly attached to the pipe wall and rotate under the action of the compression spring, the speed sensor acquires the rotating speed signal in real time, and the current running speed is obtained through the conversion of the control system; the central controller starts the double-mode collaborative speed control strategy of the bypass valve main control and the electromagnetic control auxiliary control according to the deviation between the preset target speed and the measured value, the micro motor in the execution assembly drives the worm to rotate, the inner valve body 8 is rotated relative to the outer valve body 7 through the rotating shaft 9, the area of the leakage passage formed by the overlapping area of the overflow ports of the two valve bodies is changed, the pressure difference before and after the pig is adjusted, the steady-state speed control based on fluid power is realized, at the same time, the position feedback sensor monitors the rotating angle of the inner valve body in real time, the actual leakage area is inversely calculated by combining the pre-calibrated leakage detection module, and the adjustment accuracy is optimized through closed-loop feedback, when the pipeline pressure suddenly changes, passes through the elbow or three-way pipe and other complex conditions, the electromagnetic control assembly responds quickly, the control system calculates the required friction coefficient through the preset model according to the real-time acquisition of the pressure P, speed v, pipe diameter D and inclination angle θ, independently adjusts the current of the electromagnetic coil plate body driving the four independent control areas of the driving leather bowl 4, so that the filled magnetorheological material changes the rheological property within milliseconds, thereby dynamically adjusting the local friction between the driving leather bowl 4 and the pipe wall, realizing rapid compensation and posture stability, in the whole running process, the positioning assembly at the end of the connecting rod 6 keeps the pig in the central posture through the outer supporting wheel, the odometer continuously records the cumulative travel, the GPS system calibrates the geographical position when entering and leaving the station, and the two realize accurate trajectory tracking, and the magnetic flux leakage detector installed on the outside of the mounting cylinder 1 synchronously detects the inner wall of the pipeline in a non-destructive manner, identifies structural defects such as corrosion and cracks, and binds and stores all detection data with time and position information, finally forms a complete traceable data chain containing the running state, cleaning effect and pipeline health condition, and comprehensively realizes the intelligent, accurate and integrated operation of the pigging operation.

[0072] It should be noted that the control mode of the present application is controlled by a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art, and the power supply also belongs to the common knowledge in the art, so the control mode and circuit connection of the present application will not be explained in detail, and the control of the heat dissipation structure is adjusted following the temperature.

[0073] The above is only the preferred embodiment of the present application, and it should be pointed out that the above preferred embodiment should not be regarded as a limitation of the present application, and the protection scope of the present application should be limited by the scope defined in the claims. For ordinary skilled in the art, several improvements and refinements can be made without departing from the spirit and scope of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A pipeline cleaning device for use inside urban gas pipelines, characterized in that: It includes a mounting cylinder (1), a partition seat (2) fixedly installed at the left and right ends of the mounting cylinder (1), a support cup (3) and a drive cup (4) set on the outside of the partition seat (2); A bypass valve assembly is provided on the left end of one partition seat (2), while a positioning plate (5) is fixedly installed on the right end of the other partition seat (2), and a speed acquisition unit is provided on the side of the surface of the positioning plate (5). The speed acquisition unit is used to acquire the moving speed of the pig. An electromagnetic control component is provided on the circumferential periphery of the drive cup (4). The electromagnetic control component is used to adjust the friction between the drive cup (4) and the inner wall of the pipeline to control the running speed of the pig. The bypass valve assembly includes an outer valve body (7) fixedly installed on the left end of the partition seat (2), an inner valve body (8) fitted inside the outer valve body (7), and an actuator set inside the partition seat (2). The inner valve body (8) and the outer valve body (7) are rotatably connected by a rotating shaft (9). The actuator is used to adjust the area of ​​the discharge channel formed by the two working together to realize the main speed control regulation based on fluid dynamics.

2. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: The speed acquisition unit includes three support wheels (51) arranged in a ring array and a hinge plate (52) rotatably mounted on the side of the surface of the positioning plate (5). The support wheels (51) are rotatably mounted on the end of the hinge plate (52) via a rotating shaft. The wheel body of the support wheel (51) is in contact with the inner wall of the pipe. Each support wheel (51) is rotatably connected to the positioning plate (5) via the hinge plate (52). A compression spring is provided between the hinge plate (52) and the positioning plate (5) to maintain a constant contact pressure between the support wheel (51) and the pipe wall. A speed sensor is installed on the hinge plate (52) to detect the rotation speed of the support wheel (51) and calculate the running speed of the pig accordingly.

3. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: The electromagnetic control component includes four electromagnetic coil plates (41) arranged in a ring array, which are arranged around the circumferential periphery of the drive cup (4). The surface of the drive cup (4) is coated with a nano-ceramic coating. The drive cup (4) is a highly elastic rubber matrix, and the drive cup (4) has a cavity inside. The cavity is filled with magnetorheological material. When the electromagnetic coil plate (41) is energized, it generates a magnetic field, which changes the rheological properties of the magnetorheological material, thereby adjusting the friction between the drive cup (4) and the inner wall of the pipeline and actively controlling the running speed of the pig.

4. A pipeline cleaning device for use inside urban gas pipelines according to claim 3, characterized in that: The cavity inside the drive cup (4) is divided into four independent control areas along the circumference. Each control area corresponds to a set of independently powered electromagnetic coil plates (41) to independently control the friction force in different directions.

5. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: The actuator includes a worm gear fixedly installed at the end of the rotating shaft (9), a worm gear meshing with the upper end of the worm gear, and a micro motor fixedly installed inside the partition seat (2). The two ends of the worm gear are rotatably connected to the inner wall of the partition seat (2), and the output end of the micro motor is connected to the worm gear. The micro motor is used to drive the worm gear to rotate, and drives the rotating shaft (9) to rotate through the transmission of the worm gear and worm gear. When the rotating shaft (9) rotates, it drives the inner valve body (8) to turn. The actuator also includes a position feedback sensor mounted on the inner valve body (8). The position feedback sensor monitors the rotation angle of the inner valve body (8) in real time and feeds the signal back to the control system to form a closed-loop regulation.

6. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: It also includes a connecting rod (6) fixedly installed on the other side of the positioning plate (5), and a positioning component is installed at the end of the connecting rod (6); The positioning assembly includes a support plate (61) fixedly installed at the end of the connecting rod (6). The support plate (61) is equipped with an external support wheel to maintain the pig in the center position in the pipeline. The bottom of the support plate (61) is provided with a battery compartment, which contains a rechargeable power module to power the various electronic components of the pig.

7. A pipeline cleaning device for use inside urban gas pipelines according to claim 6, characterized in that: The bottom of the battery compartment integrates a GPS system and a mileage wheel. The GPS system is used to obtain the real-time geographical location information of the pig, and the mileage wheel is used to record the cumulative mileage of the pig. The two work together to accurately mark the location of the pig and form a trajectory tracking.

8. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: The inner valve body (8) and the outer valve body (7) are provided with mutually cooperating overflow ports, and the surface of the partition seat (2) is provided with an inlet port. Liquid enters the valve body through the inlet port and flows out from the overflow port. When (8) rotates, it changes the area of ​​the leakage channel formed by the cooperation of the inner valve body (8) and the outer valve body (7), thereby accurately controlling the leakage area accuracy. The overflow port is provided with a leakage area detection module. The leakage area detection module is connected to the execution component, and provides real-time feedback of the current leakage area value. It is also synchronized to the pig control system through the signal transmission module.

9. A pipeline cleaning device for use inside urban gas pipelines according to claim 1, characterized in that: The outer side of the mounting cylinder (1) is detachably integrated with a functional module, which is a magnetic flux leakage detector. The magnetic flux leakage detector is used to perform non-destructive testing on the inner wall of the pipeline, identify structural defects such as corrosion and cracks, and record the detection data and location information synchronously.

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