Control device of pipeline repairing equipment and equipment

Abstract

The invention provides a control device and equipment for pipeline repair equipment, and the device comprises a main control module which is used for controlling each execution unit; the moving control unit is used for responding to the first control instruction and controlling the pipeline repairing equipment to move to the inlet position of the to-be-repaired pipeline; the pressure control unit is used for inflating a pressure bin of the pipeline repairing equipment to reach a preset pressure threshold value according to a second control instruction; and the lining unfolding control unit is used for responding to the third control instruction and controlling a fabric lining pipe of the pipeline repairing equipment to be unfolded after the gas pressure of the pressure bin reaches a preset pressure threshold value. The main control module sends the first control instruction, the second control instruction and the third control instruction in sequence, the execution units achieve the purpose that the pipeline repairing process is automatically completed based on the pipeline repairing equipment on the basis of the execution instructions, and therefore automation of the whole pipeline repairing process is achieved, and construction efficiency and repairing operation reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a control device and equipment for pipeline repair equipment. Background Technology

[0002] The fabric-lined pipe repair equipment uses the in-situ curing method (CIPP) to repair water pipes, natural gas pipes, and other pipelines that need repair. The equipment mainly consists of a pressure chamber, a winding mechanism, and a tracked chassis walking device, and can be used for pipeline repair work under different pipe diameters and pressure conditions.

[0003] The fabric-lined pipe repair equipment can temporarily store the glue-filled fabric lining tube. The pneumatic components of the repair equipment are filled with compressed gas, and through the movement of the winding structure, the fabric lining tube is flipped inside the pipe, promoting the formation of a pipe-within-a-pipe composite pipe structure, thus achieving pipe repair. The internal structure of the fabric-lined pipe repair equipment can withstand an air pressure of 4 bar, ensuring that the temporarily stored glue-filled fabric lining tube can be successfully flipped.

[0004] The existing control process for fabric-lined pipe repair equipment relies on manual operation, where a person places the equipment at the pipe opening to be repaired. This manual operation requires sequentially operating multiple modules of the repair equipment, resulting in low repair efficiency. Summary of the Invention

[0005] This invention provides a control device and equipment for pipeline repair equipment, which improves the repair efficiency of pipeline repair equipment.

[0006] This invention provides a control device for pipeline repair equipment, the device comprising: The main control module is connected to each execution unit and is used to control each execution unit. Each execution unit includes a motion control unit, a pressure control unit, and an inner lining deployment control unit. The mobile control unit is used to respond to the first control command of the main control module and control the pipeline repair equipment to move to the inlet position of the pipeline to be repaired; The pressure control unit is used to respond to the second control command of the main control module to inflate the pressure chamber of the pipeline repair equipment and reach a preset pressure threshold. The lining deployment control unit is used to respond to the third control command of the main control module and control the fabric lining tube of the pipeline repair equipment to deploy after the gas pressure in the pressure chamber reaches a preset pressure threshold.

[0007] According to a control device for pipeline repair equipment provided by the present invention, the main control module is specifically used for: Based on the inlet location information of the pipeline to be repaired, the first control command is generated and sent to the mobile control unit; After determining that the pipeline repair equipment has moved to the inlet position of the pipeline to be repaired, the second control command is generated and sent to the pressure control unit; During the process of the pressure chamber reaching the preset pressure threshold and starting to flip, the third control command is generated and sent to the liner unfolding control unit.

[0008] According to a control device for pipeline repair equipment provided by the present invention, the main control module is further configured to: After the fabric liner of the pipeline repair device is fully deployed, the second control command is sent to the pressure control unit, so that the pressure control unit maintains pressure in the pressure chamber based on the second control command.

[0009] According to a control device for a pipeline repair equipment provided by the present invention, the pressure control unit includes at least one pressure sensor, a solenoid valve, and a pressure adjustment device. At least one of the pressure sensors is used to determine the real-time pressure data of the pressure chamber and send the real-time pressure data to the pressure adjustment device; A solenoid valve is installed on the inflation line of the pressure chamber to control the opening and closing of the inflation line; A pressure adjustment device is used to compare the real-time pressure data with the preset pressure threshold, and based on the comparison result, control the inflation process of the pressure chamber by the solenoid valve.

[0010] According to a control device for pipeline repair equipment provided by the present invention, the pressure adjustment device is specifically used for: Compare the real-time pressure data with the preset pressure threshold; If the real-time pressure data is less than the preset pressure threshold, the solenoid valve is opened to inflate the pressure chamber. If the real-time pressure data is greater than or equal to the preset pressure threshold, the solenoid valve is controlled to close.

[0011] According to a control device for a pipeline repair equipment provided by the present invention, the pressure control unit further includes a bypass valve arranged in parallel with the solenoid valve; The bypass valve is used to inflate or depressurize the pressure chamber in the event of failure of the solenoid valve.

[0012] A control device for a pipeline repair equipment according to the present invention further includes: A remote control device, wherein a first end of the remote control device is connected to the main control module, and a second end of the remote control device is wirelessly connected to a remote control transmitting device for receiving control signals from the remote control transmitting device; The control signals are used to control each execution unit.

[0013] According to a control device for a pipeline repair equipment provided by the present invention, the mobile control unit includes a communication module, a remote control transmitting device, and a hydraulic drive device; The communication module is used to receive the first control command from the main control module; A remote control transmitting device is used to generate a movement control command containing direction information and speed information based on the first control command, and to send the movement control command to the hydraulic drive device; A hydraulic drive unit is used to receive the movement control command and drive the hydraulic motor in the tracked chassis of the pipeline repair equipment to move.

[0014] According to a control device for a pipeline repair equipment provided by the present invention, the hydraulic drive device further includes a proportional servo valve; The proportional servo valve is used to control the hydraulic motor to adjust the moving speed of the tracked chassis.

[0015] The present invention also provides a fabric-lined pipe repair device, including a control device as described in any of the above-described pipe repair devices.

[0016] The control device and equipment for pipeline repair provided by this invention decompose the complex control logic of pipeline repair into a control process of three units: a main control module and a movement control unit, a pressure control unit, and an inner lining deployment control unit. The main control module sequentially sends first, second, and third control commands, and each execution unit executes these commands to automatically complete the pipeline repair process, thereby automating the entire pipeline repair process and improving construction efficiency and the reliability of repair operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the control device of the pipeline repair equipment provided by the present invention.

[0019] Figure 2This is a schematic diagram of the connection structure of the repair control device provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the touch screen control panel provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the pressure adjustment device provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the panel of the remote control transmitting device provided by the present invention.

[0023] Figure label: 101: Intake pipe; 102: Pressure regulating filter; 103: Solenoid valve; 104: Bypass pipe; 105: Pressure regulating valve. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] Figure 1 This is a schematic diagram of the control device of the pipeline repair equipment provided by the present invention, as shown below. Figure 1 As shown, the control device of the pipeline repair equipment is the core of the entire equipment, used to coordinate the operation of various execution units on the equipment to complete the pipeline repair process. The control device specifically includes a main control module 110, a motion control unit 120, a pressure control unit 130, and an inner lining deployment control unit 140. The main control module is connected to the motion control unit, the pressure control unit, and the inner lining deployment control unit.

[0026] It should be noted that the pipeline repair equipment is a fabric-lined pipeline repair equipment. The repair process includes moving the equipment to the pipe opening to be repaired, and using pressure to flip and unfold the glue-filled fabric liner tube inside the old pipe.

[0027] Pipeline repair equipment generally includes three core components: a pressure chamber, a winding mechanism, and a tracked chassis traveling device. These three core components work together to achieve the fabric-lined pipeline repair process.

[0028] The tracked chassis is used to transport the pipeline repair equipment to the designated location; the pressure chamber provides air pressure; and the winding mechanism precisely controls the delivery process of repair materials such as fabric-lined tubes.

[0029] Specifically, in the automatic control process implemented based on the main control module, the main control module is responsible for processing input signals and generating control commands, which are then distributed to various execution units. Optionally, the main control module can be a microcontroller control board, or a programmable logic controller (PLC) or industrial computer, or other computing units with processing capabilities.

[0030] First, equipment movement and precise positioning. The function of the movement control unit is to drive the entire pipeline repair equipment to move in position. The movement control unit may specifically include a drive source (such as an electric motor or hydraulic motor), a transmission mechanism, and a walking mechanism (such as wheels or tracks). The walking mechanism can be a tracked chassis because tracked walking provides a larger ground contact area and friction, has excellent load-bearing capacity and obstacle-crossing ability, and is especially suitable for moving heavy equipment in complex construction sites.

[0031] The mobile control unit receives the first control command from the main control module. After receiving the first control command, the mobile control unit controls the heavy equipment, which integrates a pressure chamber and a winding mechanism, to move to the inlet position of the pipeline to be repaired. The mobile control unit's walking device performs the movement and positioning tasks.

[0032] After the equipment is in place, the pressure control unit receives a second control command from the main control module. Upon receiving the second control command, the pressure control unit inflates and regulates the pressure chamber on the pipeline repair equipment. The pressure chamber is used to provide and maintain the required air pressure during the inversion of the fabric-lined tube.

[0033] The pressure chamber is a sealed pressure vessel whose main function is to store the fabric liner tube and provide a continuous and stable pneumatic force for its rotation. Compressed air is injected into the pressure chamber through an external air source to bring it to a preset pressure, which can be set to 4 bar. This pressure is the force that propels the fabric liner tube to rotate and enter the old pipeline.

[0034] The pressure chamber provides continuous air pressure, pushing the flexible fabric-lined tube from the port into the pipe. During this process, the fabric-lined tube adheres its resin-impregnated side to the inner wall of the old pipe. An internal winding shaft holds the fabric-lined tubes to be flipped.

[0035] High-pressure gas inside the pressure chamber applies pressure to the folded end of the fabric lining tube, creating thrust and initiating the flipping process. Simultaneously, the lining unfolding control unit receives a third control command from the main control module. The function of the lining unfolding control unit is to control the unfolding process of the fabric lining tube. In the fabric lining repair process, the unfolding process is achieved by rotating a winding mechanism, which flips the fabric lining tube from the pressure chamber and feeds it into the pipe to be repaired. Therefore, the lining unfolding control unit primarily controls the movement of the winding mechanism. After receiving the third control command, the lining unfolding control unit controls the winding mechanism to smoothly release or unfold the fabric lining tube at a set speed.

[0036] Optionally, once the fabric liner has been completely flipped over and covers the entire section of pipe to be repaired, the pressure chamber will continue to maintain internal pressure. This pressure ensures that the fabric liner adheres tightly to the inner wall of the original pipe, creating optimal conditions for subsequent heating or UV curing, ultimately forming a pipe-within-a-pipe structure.

[0037] Throughout the repair process, multiple execution units work collaboratively under the scheduling of the main control module. First, after the operator issues an instruction, the main control module sends a first control command to the mobile control unit. The mobile control unit responds to this command, driving the pipeline repair equipment to the inlet position of the pipeline to be repaired. Once the equipment is in place, the main control module sends a second control command to the pressure control unit, which then begins inflating the pressure chamber until the pressure reaches a preset threshold. After the pressure stabilizes, the main control module sends a third control command to the lining deployment control unit. This unit then drives the winding mechanism, causing the fabric lining tube to smoothly flip and unfold inside the pipeline under pressure, thus achieving an automated repair process.

[0038] Optionally, in addition to automatic execution, the control device of the pipeline repair equipment may also include a control panel for manual assistance in scenarios where automatic execution is unsuitable, thus achieving compatibility with different scenarios. The specific structure of the repair control device, which includes both automatic and manual execution, can be as follows: Figure 2 The connection structure diagram of the repair control device provided by the present invention is shown, which specifically includes a microcontroller control board, a remote control component, an interface module, an execution unit, an air source component, an input element, a control cabinet, and a touch screen.

[0039] The microcontroller control board serves as the main control module. The remote control component includes a remote control device and a remote control transmitter. The remote control device and the remote control transmitter communicate via LoRa. The remote control device is connected to a microcontroller control board to receive signals from the remote control transmitter. The remote control transmitter is a handheld terminal. The interface module includes an analog output interface module, an analog input interface module, a digital input interface module, and a digital output interface module; The actuator includes a movement control unit, a pressure control unit, and an inner liner deployment control unit; The air supply assembly includes an air inlet pipe, a pressure regulating filter, a solenoid valve, a bypass pipe, and a pressure regulating valve; Input components include switches, potentiometers, pressure sensors, and temperature sensors; The microcontroller control board connects to the touchscreen and interface module via an RS485 bus. The touchscreen is used to display pressure, temperature, and system faults. The analog output interface signal is converted into a 4~20mA signal to control the proportional servo valve. The proportional servo valve controls the hydraulic motor and cylinder to control the actuator. The analog input interface is used to acquire signals from potentiometers, temperature sensors, and pressure sensors. The digital input interface is used to acquire signals from knobs and switches, while the digital output interface controls lighting and solenoid valves used to regulate the pressure inside the chamber via solid-state relays. The touch screen, potentiometer, and switch knob are installed on the outer panel of the control cabinet, while the microcontroller control board, remote control device, and interface module are installed inside the control cabinet.

[0040] Specifically, the microcontroller control board connects to the touchscreen control panel via an RS485 bus. The microcontroller control board expands its analog output (AO) interface, digital input (DI) interface, and digital output (DO) interface via the RS485 bus. The AO signal is converted into a 4-20mA signal to control the proportional servo valve. The proportional servo valve controls the hydraulic motor and cylinder. One hydraulic motor drives the winding shaft to achieve rotation and winding, two hydraulic motors drive the tracks of the self-propelled chassis, and the cylinder drives the pressure chamber to swing. The ADAM-4019+ serves as the analog input interface for acquiring signals from the winding shaft speed adjustment potentiometer, the pressure chamber air pressure adjustment potentiometer, temperature sensors, and pressure sensors. The ADAM-4019+ is an 8-channel general-purpose analog input module. The DI interface is used to connect signals from the rotary switch. The digital output signals control the lighting and the solenoid valve used to adjust the pressure inside the chamber via solid-state relays.

[0041] The control unit includes a control cabinet, and a touchscreen is installed in the center of the control panel. Parameters such as pressure, temperature, and system faults are displayed on the touchscreen. A schematic diagram of the touchscreen control panel is shown below. Figure 3The schematic diagram of the touchscreen control panel provided by this invention is shown. The control panel has seven function buttons or knobs: a two-position main power control knob, a three-position pressure chamber lifting knob, a potentiometer for adjusting the winding mechanism's winding shaft speed, a potentiometer for adjusting the pressure chamber's air pressure, a three-position winding shaft unwinding knob, a two-position lighting switch, and a USB flash drive insertion position. During the construction of the fabric-lined pipe repair equipment, the operator can adjust the working status of the equipment by adjusting the buttons on the control panel based on the parameters displayed on the touchscreen and the specific conditions inside the pressure chamber. This operating platform is easy for operators to understand, convenient to control, and simple to operate, thereby ensuring construction quality, improving construction speed, and facilitating the completion of pipe repair tasks.

[0042] The control device for pipeline repair equipment provided by this invention decomposes the complex control logic of pipeline repair into a control process involving three units: a main control module, a movement control unit, a pressure control unit, and an inner lining deployment control unit. The main control module controls the repair equipment by sequentially sending first, second, and third control commands. Each execution unit, based on these commands, automatically completes the pipeline repair process, thereby automating the entire pipeline repair process and improving construction efficiency and the reliability of the repair operation.

[0043] In one embodiment, the main control module is specifically used for: Based on the inlet location information of the pipeline to be repaired, the first control command is generated and sent to the mobile control unit; After determining that the pipeline repair equipment has moved to the inlet position of the pipeline to be repaired, the second control command is generated and sent to the pressure control unit; During the process of the pressure chamber reaching the preset pressure threshold and starting to flip, the third control command is generated and sent to the liner unfolding control unit.

[0044] The main control module can generate and send the first control command based on the inlet location information of the pipeline to be repaired input by the operator through a human-machine interface (such as a touch screen or remote control), or based on the operator's real-time remote control commands. The inlet location information can be precise coordinate data, or it can be location information of the operator controlling the equipment to move to the target location.

[0045] After the pipeline repair equipment is moved to the inlet position, the main control module needs to confirm that the equipment is in place. Upon receiving this confirmation signal, the main control module considers the equipment to be in place, and then generates and sends the second control command to the pressure control unit to start the pressurization procedure.

[0046] During the process of the pressure chamber reaching a preset pressure threshold and initiating the flipping process, the main control module generates the third control command and sends it to the lining deployment control unit. The main control module can be configured to issue the third control command either immediately upon reaching the pressure threshold or after the pressure has stabilized near the threshold for a period of time. This timing control ensures that the deployment of the fabric lining tube takes place in a sufficiently high and stable pressure environment, avoiding deployment failure due to insufficient pressure.

[0047] The control device for pipeline repair equipment provided by this invention, by clearly defining the triggering conditions and timing logic for command generation, makes the automation process of the control device clearer and more reliable, ensuring that the three key stages of equipment movement, pressure establishment and lining deployment can be executed in an orderly manner, further improving the level of automation and reliability of the operation.

[0048] In one embodiment, the main control module is further configured to: After the fabric liner of the pipeline repair device is fully deployed, the second control command is sent to the pressure control unit, so that the pressure control unit maintains pressure in the pressure chamber based on the second control command.

[0049] After the main control module has fully deployed the fabric lining tube, it can be configured to continue sending the second control command to the pressure control unit. At this time, the second control command causes the pressure control unit to enter a pressure-holding mode.

[0050] In pressure-holding mode, the pressure control unit continuously monitors the air pressure in the pressure chamber and automatically replenishes air as needed to ensure that the air pressure is always maintained near the preset pressure threshold. This process continues until the inner liner tube has cured.

[0051] The control device of the pipeline repair equipment provided by the present invention ensures that the repair lining maintains a stable and sufficient contact pressure with the original pipeline inner wall throughout the entire curing cycle by adding an automatic pressure holding function after the lining is unfolded. This provides a foundation for forming a tightly structured and firmly bonded pipe-in-pipe composite structure, thereby effectively guaranteeing the final repair quality.

[0052] In one embodiment, the pressure control unit includes at least one pressure sensor, a solenoid valve, and a pressure regulating device; At least one of the pressure sensors is used to determine the real-time pressure data of the pressure chamber and send the real-time pressure data to the pressure adjustment device; A solenoid valve is installed on the inflation line of the pressure chamber to control the opening and closing of the inflation line; A pressure adjustment device is used to compare the real-time pressure data with the preset pressure threshold, and based on the comparison result, control the inflation process of the pressure chamber by the solenoid valve.

[0053] At least one pressure sensor is installed on the pressure chamber to detect the gas pressure inside the chamber in real time and convert the measured real-time pressure data into an electrical signal, which is then sent to the pressure regulating device. Optionally, two pressure sensors can be installed. The redundancy design of the two pressure sensors can improve the reliability of pressure detection. When one sensor fails or has an abnormal reading, the system can switch to the data from the other sensor, or the data from the two sensors can be compared and verified, thereby ensuring the stability and safety of pressure control.

[0054] The solenoid valve is installed on the inflation line of the pressure chamber and functions as an electronic switch. When the solenoid valve is open, compressed air from an external air source, such as an air compressor, can enter the pressure chamber; when the solenoid valve is closed, the inflation line is cut off. The on / off state of the solenoid valve is controlled by a pressure regulating device.

[0055] Optional, a pressure regulating device for controlling the pressure inside the chamber, such as... Figure 4 The structural schematic diagram of the pressure adjustment device provided by this invention is shown. Gas enters through the inlet pipe 101, passes through the pressure regulating filter 102 for impurity filtration and preliminary pressure adjustment, and then the gas on / off state is controlled by the solenoid valve 103 to control the pressure inside the chamber. The pressure regulating valve 105 further precisely adjusts the gas pressure, and the outlet of the pressure regulating valve is connected to the pressure chamber. The chamber pressure control target is set by the pressure chamber body gas pressure regulating potentiometer, and both the set pressure and the actual pressure inside the chamber are displayed on the operation panel. When the control system detects that the pressure inside the chamber is lower than the set pressure, it will open the solenoid valve to automatically start replenishing gas into the chamber. When the pressure inside the chamber reaches the set pressure, the gas replenishment stops. If the solenoid valve malfunctions during construction and the pressure inside the chamber cannot be controlled by the solenoid valve switch, a compressed air pipeline can be connected to the bypass pipe 104, using the bypass pipe as the gas inlet. The operator can control the pressure inside the chamber by manually switching the valve. When it is necessary to release the pressure inside the chamber, the gas can also be vented through the bypass pipe.

[0056] The pressure regulating device is the core of automatic pressure control. It receives real-time pressure data from the pressure sensor and compares it with a preset pressure threshold. The preset pressure threshold can be set by the operator via a pressure regulating potentiometer or touchscreen on the control panel. Based on the comparison result, the pressure regulating device generates and sends a control signal to the solenoid valve, thereby controlling the inflation process of the pressure chamber.

[0057] The control device for pipeline repair equipment provided by this invention constructs a closed-loop automatic pressure control system through a combination of pressure sensors, solenoid valves, and pressure adjustment devices. It can replace manual operation, automatically and accurately regulating and stabilizing the pressure in the pressure chamber at the target value, reducing the burden on operators while improving the accuracy and response speed of pressure control.

[0058] In one embodiment, the pressure regulating device is specifically used for: Compare the real-time pressure data with the preset pressure threshold; If the real-time pressure data is less than the preset pressure threshold, the solenoid valve is opened to inflate the pressure chamber. If the real-time pressure data is greater than or equal to the preset pressure threshold, the solenoid valve is controlled to close.

[0059] When the pressure regulating device is in operation, it will perform the following logical judgments and controls: Comparison: Continuously compare the real-time pressure data fed back by the pressure sensor with the set preset pressure threshold.

[0060] Inflation: When the real-time pressure data is detected to be less than the preset pressure threshold, the pressure adjustment device determines that the pressure inside the chamber is insufficient, and then controls the solenoid valve to open, starting or continuing to inflate the pressure chamber.

[0061] Stop: When the real-time pressure data is detected to be greater than or equal to the preset pressure threshold, the pressure adjustment device determines that the pressure inside the chamber has reached or exceeded the target value, and then controls the solenoid valve to close, stopping the inflation.

[0062] In one embodiment, the pressure control unit further includes a bypass valve arranged in parallel with the solenoid valve; The bypass valve is used to inflate or depressurize the pressure chamber in the event of failure of the solenoid valve.

[0063] A bypass valve is typically a manually operated valve installed on a bypass pipe that bypasses the solenoid valve. Its main function is to provide the operator with a manual backup control route in case the solenoid valve malfunctions (e.g., fails to open or close). When the solenoid valve fails, the operator can close the isolation valves before and after the solenoid valve and then manually pressurize or depressurize the pressure chamber by operating the bypass valve.

[0064] The control device for pipeline repair equipment provided by this invention significantly improves the robustness and safety of the control system in the event of critical component failure by adding a bypass valve as a redundancy measure. It ensures that even in the event of an unexpected solenoid valve malfunction, operators can still reliably control the pressure in the pressure chamber, thereby preventing construction interruptions or safety accidents.

[0065] In one embodiment, it also includes: A remote control device, wherein a first end of the remote control device is connected to the main control module, and a second end of the remote control device is wirelessly connected to a remote control transmitting device for receiving control signals from the remote control transmitting device; The control signals are used to control each execution unit.

[0066] The remote control assembly consists of two main parts: a remote control device installed in the equipment control cabinet and a remote control transmitter held by the operator.

[0067] The first end of the remote control device is electrically connected to the main control module, used to transmit received signals to the main control module. Its second end is connected to the remote control transmitter via wireless communication. This wireless communication can employ various technologies, such as Bluetooth, Wi-Fi, or LoRa communication technology for achieving longer control distances and better anti-interference capabilities.

[0068] Remote control transmitter panel such as Figure 5 The schematic diagram of the remote control transmitter panel provided by this invention is shown. Operators can input control signals to various execution units of the equipment via joysticks, buttons, knobs, etc., on the remote control transmitter. For example, controlling the movement of the equipment or the raising and lowering of the pressure chamber. These control signals are transmitted by the remote control transmitter, received by the remote control unit, and then transmitted to the main control module for parsing and execution. Optionally, a backup wired control interface can be provided between the remote control transmitter and the main control module. When the wireless signal is interfered with or the remote control transmitter's power is depleted, wired control can be performed via cable connection to ensure control reliability.

[0069] In one embodiment, the mobile control unit includes a communication module, a remote control transmitter, and a hydraulic drive device; The communication module is used to receive the first control command from the main control module; A remote control transmitting device is used to generate a movement control command containing direction information and speed information based on the first control command, and to send the movement control command to the hydraulic drive device; A hydraulic drive unit is used to receive the movement control command and drive the hydraulic motor in the tracked chassis of the pipeline repair equipment to move.

[0070] After receiving the initial control command to initiate movement, the main control module puts the movement control-related systems into standby mode. The operator manipulates the direction control joystick and travel speed potentiometer on the remote control transmitter to generate movement control commands containing direction and speed information. These commands are transmitted wirelessly to the communication module, which then forwards them to the main control module. The main control module parses the commands and sends the specific control parameters to the hydraulic drive unit. Upon receiving the movement control commands, the hydraulic drive unit drives the hydraulic motors mounted on the tracked chassis, thereby moving the pipeline repair equipment. Specifically, two hydraulic motors can be used to drive the tracks on both sides respectively.

[0071] In one embodiment, the hydraulic drive device further includes a proportional servo valve; The proportional servo valve is used to control the hydraulic motor to adjust the moving speed of the tracked chassis.

[0072] A proportional servo valve is a control element in a hydraulic system. It receives continuously changing analog electrical signals from the main control module, specifically a 4-20mA current signal, and proportionally adjusts the flow rate of hydraulic oil supplied to the hydraulic motor based on the signal strength. The greater the flow rate, the higher the speed of the hydraulic motor, and the faster the tracked chassis moves.

[0073] The main control module generates an analog signal of corresponding magnitude based on the speed setpoint acquired from the speed potentiometer of the remote control transmitter and sends it to the proportional servo valve, thereby achieving stepless speed control of the vehicle. In addition, the remote control transmitter can be equipped with a high / low speed selection switch. This switch controls a high / low speed control solenoid valve on the proportional servo valve via the main control module to quickly switch the range of travel speed, adapting to different working conditions, such as the need for slow fine-tuning during long-distance rapid movement or precise positioning.

[0074] The control device for the pipeline repair equipment provided by this invention achieves continuous and smooth adjustment of the equipment's travel speed by employing a proportional servo valve. This precise speed control capability is crucial for applications requiring delicate operations, such as accurately aligning heavy equipment with pipeline inlets, significantly improving the equipment's operability.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control device for pipeline repair equipment, characterized in that, The device includes: The main control module is connected to each execution unit and is used to control each execution unit. Each execution unit includes a motion control unit, a pressure control unit, and an inner lining deployment control unit. The mobile control unit is used to respond to the first control command of the main control module and control the pipeline repair equipment to move to the inlet position of the pipeline to be repaired; The pressure control unit is used to respond to the second control command of the main control module to inflate the pressure chamber of the pipeline repair equipment and reach a preset pressure threshold. The lining deployment control unit is used to respond to the third control command of the main control module and control the fabric lining tube of the pipeline repair equipment to deploy after the gas pressure in the pressure chamber reaches a preset pressure threshold.

2. The control device for the pipeline repair equipment according to claim 1, characterized in that, The main control module is specifically used for: Based on the inlet location information of the pipeline to be repaired, the first control command is generated and sent to the mobile control unit; After determining that the pipeline repair equipment has moved to the inlet position of the pipeline to be repaired, the second control command is generated and sent to the pressure control unit; During the process of the pressure chamber reaching the preset pressure threshold and starting to flip, the third control command is generated and sent to the liner unfolding control unit.

3. The control device for the pipeline repair equipment according to claim 1, characterized in that, The main control module is also used for: After the fabric liner of the pipeline repair device is fully deployed, the second control command is sent to the pressure control unit, so that the pressure control unit maintains pressure in the pressure chamber based on the second control command.

4. The control device for the pipeline repair equipment according to claim 1, characterized in that, The pressure control unit includes at least one pressure sensor, a solenoid valve, and a pressure adjustment device. At least one of the pressure sensors is used to determine the real-time pressure data of the pressure chamber and send the real-time pressure data to the pressure adjustment device; A solenoid valve is installed on the inflation line of the pressure chamber to control the opening and closing of the inflation line; A pressure adjustment device is used to compare the real-time pressure data with the preset pressure threshold, and based on the comparison result, control the inflation process of the pressure chamber by the solenoid valve.

5. The control device for the pipeline repair equipment according to claim 4, characterized in that, The pressure regulating device is specifically used for: Compare the real-time pressure data with the preset pressure threshold; If the real-time pressure data is less than the preset pressure threshold, the solenoid valve is opened to inflate the pressure chamber. If the real-time pressure data is greater than or equal to the preset pressure threshold, the solenoid valve is controlled to close.

6. The control device for the pipeline repair equipment according to claim 4, characterized in that, The pressure control unit also includes a bypass valve connected in parallel with the solenoid valve; The bypass valve is used to inflate or depressurize the pressure chamber in the event of failure of the solenoid valve.

7. The control device for the pipeline repair equipment according to claim 1, characterized in that, Also includes: A remote control device, wherein a first end of the remote control device is connected to the main control module, and a second end of the remote control device is wirelessly connected to a remote control transmitting device for receiving control signals from the remote control transmitting device; The control signals are used to control each execution unit.

8. The control device for the pipeline repair equipment according to claim 1, characterized in that, The mobile control unit includes a communication module, a remote control transmitting device, and a hydraulic drive device; The communication module is used to receive the first control command from the main control module; A remote control transmitting device is used to generate a movement control command containing direction information and speed information based on the first control command, and to send the movement control command to the hydraulic drive device; A hydraulic drive unit is used to receive the movement control command and drive the hydraulic motor in the tracked chassis of the pipeline repair equipment to move.

9. The control device for the pipeline repair equipment according to claim 8, characterized in that, The hydraulic drive device also includes a proportional servo valve. The proportional servo valve is used to control the hydraulic motor to adjust the moving speed of the tracked chassis.

10. A fabric-lined pipe repair device, characterized in that, Includes the control device for the pipeline repair equipment as described in any one of claims 1-9.

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