Intelligent variable frequency pressure balance system for water pipeline cleaning

Abstract

The application relates to a kind of intelligent variable frequency pressure balance systems for water pipeline cleaning, and relates to the technical field of pipeline cleaning, comprising electric telescopic support arm, the electric telescopic support arm is configured to: along the pipeline, and adapt to different pipe diameters to keep contact with the pipe wall;Intelligent variable frequency pressure cleaning unit, the intelligent variable frequency pressure cleaning unit is installed on the electric telescopic support arm, the intelligent variable frequency pressure cleaning unit is configured to: produce pressure continuously adjustable cleaning water flow, remove the deposit on the inner wall of the pipeline;The application, through the annular fiber bragg grating sensing array integrated on the adaptive skin bowl, the cleaning equipment can obtain and quantify the circumferential deformation data of each pipe wall in real time, and on this basis, perform stepwise pressure incremental test, by monitoring the nonlinear deviation characteristics of pressure-strain curve, the critical point of each pipe material from elastic deformation into plastic deformation is detected as the customized safety boundary.

Description

Technical Field

[0001] This application relates to the field of pipeline cleaning technology, and in particular to an intelligent variable frequency pressure balancing system for cleaning water pipelines. Background Technology

[0002] In pipeline maintenance in fields such as water supply and drainage, petroleum, and chemical industry, the removal of deposits and scale on the inner wall of pipelines is a key step in ensuring transportation efficiency and pipeline life. Currently, high-pressure water jet cleaning technology is widely used due to its high efficiency and lack of chemical residues.

[0003] However, for old pipelines with long service life and varying degrees of corrosion or thinning of the wall, the existing high-pressure water jet cleaning technology faces a core contradiction: if the cleaning pressure is set too high, it may exceed the pressure limit of the weak areas of the pipeline, leading to pipe bursts or hidden structural damage and causing safety accidents; if a conservative fixed low-pressure operation is adopted to ensure safety, the removal effect on stubborn deposits is insufficient, the cleaning efficiency is greatly reduced, and it cannot meet the engineering requirements. In current engineering practice, the solution to this contradiction mainly relies on the experience and judgment of operators. For example, a uniform working pressure is roughly set for the entire line based on the pipe age and material. This method lacks the ability to quantitatively perceive the actual structural strength of each section of the pipeline and cannot identify the local strength differences caused by factors such as corrosion, stress, and construction along the pipeline. As a result, the cleaning operation always oscillates between excessive safety and excessive risk, making it difficult to achieve a precise balance between safety and cleaning efficiency. Summary of the Invention

[0004] To address the aforementioned problems, this application provides an intelligent variable frequency pressure balancing system for cleaning water pipelines.

[0005] This application provides an intelligent variable frequency pressure balancing system for cleaning water pipelines, which adopts the following technical solution: A smart variable frequency pressure balancing system for cleaning water pipelines includes: An electrically operated telescopic support arm, the electrically operated telescopic support arm being configured to travel along a pipe and adapt to different pipe diameters to maintain contact with the pipe wall; An intelligent variable frequency pressure cleaning unit is installed on the electric telescopic support arm. The intelligent variable frequency pressure cleaning unit is configured to generate a continuously adjustable pressure cleaning water flow to remove deposits from the inner wall of the pipe. A pipe wall deformation sensing module is integrated at the front end of the electric telescopic support arm. The pipe wall deformation sensing module is configured to collect circumferential deformation data of the inner wall of the pipe under different clean water pressures in real time during the movement of the electric telescopic support arm. A positioning module is installed on the electric telescopic support arm and is configured to acquire the real-time position coordinates of the intelligent variable frequency pressure cleaning unit in the pipeline. The data processing and control unit is communicatively connected to the electric telescopic support arm, the intelligent variable frequency pressure cleaning unit, the pipe wall deformation sensing module, and the positioning module, respectively. The data processing and control unit is configured to: control the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence at the initial stage of the cleaning operation; during the test, receive circumferential deformation data collected by the pipe wall deformation sensing module, and perform real-time correlation analysis between the pressure value and the circumferential deformation data; when a nonlinear deviation is detected in the linear relationship between the two, determine that the corresponding pressure value is the safe pressure boundary value of the current pipeline position; bind the position coordinates obtained by the positioning module with the safe pressure boundary value to construct a spatial pressure safety boundary map; in subsequent cleaning operations, according to the spatial pressure safety boundary map, automatically limit the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safe pressure boundary value of the corresponding position when the electric telescopic support arm moves to each position.

[0006] As a preferred technical solution of this application, the front end of the electric telescopic support arm is equipped with a flexible sealing cup, the pipe wall deformation sensing module is a ring fiber grating sensing array with multiple measuring points set along the circumferential direction, the pipe wall deformation sensing module is installed on the flexible sealing cup, and the pipe wall deformation sensing module is configured to: simultaneously acquire circumferential deformation data of the inner wall of the pipe at different azimuth angles. The data processing and control unit is further configured to analyze the circumferential deformation data of each azimuth angle, and use the pressure value corresponding to the first nonlinear deviation feature to appear in the multiple azimuth angles as the safe pressure boundary value for the pipeline location.

[0007] As a preferred technical solution of this application, when performing the pressure increment test sequence, the intelligent variable frequency pressure cleaning unit is configured to operate in a multi-stage step-by-step pressure increase mode, maintaining a first duration at each pressure platform, so that the pipe wall deformation sensing module can collect circumferential deformation data under that pressure.

[0008] As a preferred technical solution of this application, the determination of nonlinear deviation characteristics is specifically as follows: calculate the slope change rate of the real-time pressure-strain curve, and when the slope change rate of multiple consecutive sampling points exceeds the first threshold and shows a monotonically increasing trend, it is determined that a nonlinear deviation has occurred.

[0009] As a preferred technical solution of this application, an intelligent variable frequency pressure balancing method for cleaning water pipelines includes the following steps: S1 controls the electric telescopic support arm to travel along the inside of the pipe and maintains contact between the electric telescopic support arm and the inner wall of the pipe through adaptive adjustment. S2, in the initial stage of the cleaning operation, controls the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence to generate a continuously adjustable cleaning water flow. S3, during the execution of the pressure increment test sequence, the pipe wall deformation sensing module collects the circumferential deformation data of the inner wall of the pipe in real time under different clean water pressures. S4 performs real-time correlation analysis between pressure value and circumferential deformation data. When a nonlinear deviation is detected in the linear relationship between pressure value and circumferential deformation data, the corresponding pressure value is determined to be the safe pressure boundary value for the current pipeline position. S5, obtain the real-time position coordinates of the current pipeline position through the positioning module, bind the position coordinates with the safety pressure boundary value, and construct a space pressure safety boundary map; S6, in subsequent cleaning operations, according to the spatial pressure safety boundary diagram, when the electric telescopic support arm moves to each position, it automatically limits the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safety pressure boundary value of the corresponding position.

[0010] As a preferred technical solution of this application, in S3, more specifically, the pipe wall deformation sensing module is a ring fiber grating sensing array with multiple measurement points set along the circumferential direction, and the circumferential deformation data of the pipe wall at different azimuth angles are acquired simultaneously through the ring fiber grating sensing array. In S4, more specifically, real-time correlation analysis is performed on the circumferential deformation data of each azimuth angle, and the pressure value corresponding to the first nonlinear deviation feature in the multiple azimuth angles is used as the safe pressure boundary value for the pipeline location.

[0011] As a preferred technical solution of this application, in S3, the execution of the pressure increment test sequence specifically involves controlling the intelligent variable frequency pressure cleaning unit to work in a multi-stage step-by-step pressure increase mode, maintaining a first duration at each pressure platform, and collecting circumferential deformation data under that pressure level through the pipe wall deformation sensing module within the first duration.

[0012] As a preferred technical solution of this application, in S4, the determination of nonlinear deviation characteristics specifically involves calculating the slope change rate of the real-time pressure-strain curve. When the slope change rate of multiple consecutive sampling points exceeds the first threshold and the slope change rate shows a monotonically increasing trend, it is determined that a nonlinear deviation characteristic has occurred.

[0013] In summary, this application includes the following beneficial technical effects: This application utilizes a ring-shaped fiber optic grating sensor array integrated on an adaptive cup to enable cleaning equipment to acquire and quantify the circumferential deformation data of each pipe wall segment in real time. Based on this, a stepped pressure increment test is performed. By monitoring the nonlinear deviation characteristics of the pressure-strain curve, the critical point at which each pipe segment transitions from elastic deformation to plastic deformation is detected as a customized safety boundary. During cleaning operations, the system dynamically applies the maximum safe pressure that the pipe can withstand to different locations based on the spatial pressure safety boundary map constructed therefrom. High pressure is output at structurally intact locations to ensure the stripping effect, while the pressure limit is restricted at weak and risky locations to prevent pipe bursts and hidden damage. Attached Figure Description

[0014] Figure 1 This is a diagram of the pressure balancing system architecture of this application; Figure 2 This is a flowchart of the pressure balancing method in this application. Detailed Implementation

[0015] The following is in conjunction with the appendix Figure 1-2 This application will be described in further detail.

[0016] See Figure 1-2 A smart variable frequency pressure balancing system for cleaning water pipelines, comprising: The electrically operated telescopic support arm is configured to travel along the pipeline and adapt to different pipe diameters to maintain contact with the pipe wall.

[0017] The electric telescopic support arm can adopt a multi-segment sleeve structure, and the extension and retraction are achieved by a motor-driven lead screw. The end of the electric telescopic support arm is equipped with multiple sets of circumferentially distributed drive wheels and an adaptive suspension mechanism. When the electric telescopic support arm travels in the pipeline, if it encounters a change in pipe diameter, such as entering a slightly thinner branch pipe from the main pipe, the pressure sensor integrated on the wheel frame will detect the change in the contact force with the pipe wall. Then the control system will command the electric push rod to shorten or extend, dynamically adjusting the radial dimension of the support arm to ensure that the wheels are always pressed against the pipe wall with constant pressure, thereby providing stable traction and platform support.

[0018] The intelligent variable frequency pressure cleaning unit is installed on the electric telescopic support arm. The intelligent variable frequency pressure cleaning unit is configured to generate a continuously adjustable pressure cleaning water flow to remove deposits from the inner wall of the pipe.

[0019] The intelligent variable frequency pressure cleaning unit consists of a high-pressure pump, a variable frequency motor, a safety overflow valve, and a rotating nozzle array. Upon receiving a pressure limiting command, the system adjusts the output frequency of the inverter to change the motor speed, thereby regulating the output pressure of the water pump. An independent, extremely fast-responding safety overflow valve is assigned the current pressure limit value, acting as a physical safety barrier. It can actively release overpressure within milliseconds, ensuring that even if the nozzle is accidentally blocked, the actual water pressure will never exceed the safety boundary. High-pressure water jets are sprayed from rotating nozzles at multiple angles, forming a controllable and safe three-dimensional water jet that performs full-coverage stripping and cleaning of the pipe wall.

[0020] The pipe wall deformation sensing module is integrated at the front end of the electric telescopic support arm. It is configured to collect real-time circumferential deformation data of the pipe's inner wall under different clean water pressures during the movement of the electric telescopic support arm. A flexible sealing cup is installed at the front end of the electric telescopic support arm. The pipe wall deformation sensing module is a ring-shaped fiber optic grating sensor array with multiple measurement points along the circumference. It is mounted on the flexible sealing cup and is configured to simultaneously acquire circumferential deformation data of the pipe's inner wall at different azimuth angles.

[0021] The pipe wall deformation sensing module is installed on a flexible sealing cup that fits tightly against the pipe wall. Specifically, a fiber Bragg grating sensing array is encapsulated around the circumference of the flexible sealing cup. When the water pressure inside the pipe increases and the pipe wall expands circumferentially, it stretches the grating on the cup, causing the characteristic wavelength of the reflected light to drift. The data processing and control unit analyzes this wavelength change through a demodulator, and can obtain strain data of multiple independent azimuth angles on the circumference of the pipe in real time and synchronously.

[0022] The positioning module is installed on the electric telescopic support arm and is configured to acquire the real-time position coordinates of the intelligent variable frequency pressure cleaning unit in the pipeline.

[0023] The positioning module consists of an inertial measurement unit that measures its own acceleration and angular velocity, working in conjunction with an odometer on the drive wheel of the support arm. Through a data fusion algorithm, it continuously calculates and outputs the mileage traveled by the cleaning unit from the pipe inlet. In order to eliminate the small cumulative errors caused by long-term calculations, the system will automatically calibrate the position at certain known coordinates along the pipeline by detecting preset magnetic markers or specific pipe section features.

[0024] The data processing and control unit is communicatively connected to the electric telescopic support arm, the intelligent variable frequency pressure cleaning unit, the pipe wall deformation sensing module, and the positioning module.

[0025] The data processing and control unit is an industrial-grade embedded industrial computer.

[0026] The data processing and control unit is configured to: control the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence at the initial stage of the cleaning operation; during the test, receive circumferential deformation data collected by the pipe wall deformation sensing module, and perform real-time correlation analysis between the pressure value and the circumferential deformation data; when a nonlinear deviation is detected in the linear relationship between the two, determine the corresponding pressure value as the safe pressure boundary value of the current pipeline position; bind the position coordinates obtained by the positioning module with the safe pressure boundary value to construct a spatial pressure safety boundary map; in subsequent cleaning operations, based on the spatial pressure safety boundary map, automatically limit the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safe pressure boundary value of the corresponding position when the electric telescopic support arm moves to each position; the data processing and control unit is also configured to: analyze the circumferential deformation data of each azimuth angle separately, and use the pressure value corresponding to the first nonlinear deviation feature among multiple azimuth angles as the safe pressure boundary value of that pipeline position; When executing the pressure increment test sequence, the intelligent variable frequency pressure cleaning unit is configured to operate in a multi-stage stepped pressure increase mode, maintaining a first duration at each pressure platform to enable the pipe wall deformation sensing module to collect circumferential deformation data under that pressure. The determination of nonlinear deviation characteristics is specifically as follows: calculate the slope change rate of the real-time pressure-strain curve, and when the slope change rate of multiple consecutive sampling points exceeds the first threshold and shows a monotonically increasing trend, it is determined that a nonlinear deviation has occurred.

[0027] In this application, the execution flow of the pressure increment test sequence is as follows: Set the initial pressure Terminate pressure Pressure level Then the pressure increment for each stage is: ; In this application, the value is set to: , , , First duration Take 5 seconds; No. Level pressure platform ( The pressure value is: Maintain at each pressure plateau During the duration, the pipe wall deformation sensing module operates at a sampling frequency Multiple samplings were conducted, with a total number of sampling points of [number missing]. sampling frequency Then each measuring point collects data during each pressure plateau. One strain data point; For the Azimuth measurement points ( ), under this platform The arithmetic mean of the sampled values ​​is used as the representative strain value of the pressure platform: ;in, For the first The original strain value of the second sampling.

[0028] Each pressure platform and the corresponding strain values ​​of each azimuth angle Store as a dataset: .

[0029] This application specifies the measurement points for each azimuth angle. dataset The following decision-making process will be executed independently: 1. Calculate the secant slope between adjacent pressure platforms. No. Data segments (from) arrive The slope of the secant line is: ;in A total of Each secant slope value.

[0030] 2. Calculate the rate of change of slope No. Analysis windows ( rate of change of slope Defined as the relative change in the slope of two adjacent secant segments: when hour: ; when When using absolute difference: 。

[0031] 3. Nonlinear deviation judgment conditions Set the first threshold (This application uses 0.15) and the number of consecutive decision points (This application takes 3); from Begin by checking each analysis window in turn. When both of the following conditions are met simultaneously, it is determined that the azimuth measuring point is in a certain position. Nonlinear deviation characteristics appear: Condition 1: Continuous The rate of change of the slope in each analysis window exceeds the first threshold, that is: ; Condition 2: This The rate of change of the slope shows a monotonically increasing trend, that is: Take the continuous The pressure platform corresponding to the first window in the window. As azimuth The candidate safety pressure boundary value is denoted as .

[0032] 4. Determine the comprehensive safety pressure boundary For all Candidate values ​​determined by each azimuth measuring point according to the above procedure ( The minimum value is taken as the comprehensive safety pressure boundary value for the current pipeline location. .

[0033] In this application, the positioning module acquires real-time location coordinates at fixed time intervals, and takes the positioning coordinates corresponding to the midpoint of each pressure platform's time period as the platform's location coordinates. ,Will The above determination yielded Binding, forming a spatial security boundary record: ,in Record the boundary sequence number.

[0034] As the system travels along the pipeline, it will stop at predetermined intervals. (This application) (meters) Repeat the pressure increment test sequence once and determine the safety boundary to obtain a series of spatial safety boundary records. For two adjacent boundary records and any position between , The safety pressure boundary value is obtained through linear interpolation: All boundary records and interpolation relationships constitute a spatial pressure safety boundary map, which is stored in the non-volatile memory of the data processing and control unit in the form of a position-pressure mapping table.

[0035] In this application, dynamic pressure limiting control is executed cyclically according to the following steps during subsequent cleaning operations: Step 1, the positioning module uses frequency (This application uses 10 Hz) Real-time acquisition of current cleaning location ; Step 2, the data processing and control unit queries the space pressure safety boundary map, if... With a certain boundary record If it is an exact match, then take ;like lie in and Between these points, the linear interpolation formula described above is used for calculation. ; Step 3: The data processing and control unit sends a control command to the intelligent variable frequency pressure cleaning unit, setting the upper limit of the output pressure to [value missing]. The intelligent variable frequency pressure cleaning unit ensures the actual output pressure during subsequent cleaning spraying. satisfy: ; Step 4, the electric telescopic support arm continues to move forward, when Time (of which) This represents the position when the pressure limit was last updated. (For the preset update step size), return to step 1 for the next voltage limit value update. In this application, the preset update step size is... The distance is set to 0.1 meters, which is smaller than the preset distance D when constructing the boundary map, to ensure that the pressure limit value can be updated multiple times between two adjacent boundary records, thus achieving smoother pressure control.

[0036] First threshold and the number of consecutive decision points The calibration method is as follows: Take a standard pipe section specimen of the same material and wall thickness as the pipe to be cleaned, and conduct a stepwise pressure test in the laboratory, recording pressure and strain data simultaneously. Calculate the rate of change of slope for each pressure range according to steps 1 and 2 above, and observe the range of the rate of change of slope as the pipe wall transitions from the linear elastic stage to the elastoplastic transition stage. Take the lower limit of this range as... The default value, The value is set to 3 to balance the sensitivity and anti-interference ability of the judgment.

[0037] A smart variable frequency pressure balancing method for cleaning water pipelines includes the following steps: S1 controls the electric telescopic support arm to travel along the inside of the pipe and maintains contact between the electric telescopic support arm and the inner wall of the pipe through adaptive adjustment. S2, in the initial stage of the cleaning operation, controls the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence to generate a continuously adjustable cleaning water flow. S3, during the execution of the pressure increment test sequence, the pipe wall deformation sensing module collects the circumferential deformation data of the inner wall of the pipe in real time under different clean water pressures. S4 performs real-time correlation analysis between pressure value and circumferential deformation data. When a nonlinear deviation is detected in the linear relationship between pressure value and circumferential deformation data, the corresponding pressure value is determined to be the safe pressure boundary value for the current pipeline position. S5, obtain the real-time position coordinates of the current pipeline position through the positioning module, bind the position coordinates with the safety pressure boundary value, and construct a space pressure safety boundary map; S6, in subsequent cleaning operations, according to the spatial pressure safety boundary diagram, when the electric telescopic support arm moves to each position, it automatically limits the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safety pressure boundary value of the corresponding position.

[0038] In S3, more specifically, the pipe wall deformation sensing module is a ring fiber grating sensing array with multiple measurement points set along the circumferential direction, which simultaneously acquires circumferential deformation data of the pipe wall at different azimuth angles through the ring fiber grating sensing array. In S4, more specifically, real-time correlation analysis is performed on the circumferential deformation data of each azimuth angle, and the pressure value corresponding to the first nonlinear deviation feature in the multiple azimuth angles is used as the safe pressure boundary value for the pipeline location.

[0039] In S3, the pressure increment test sequence is specifically executed by controlling the intelligent variable frequency pressure cleaning unit to work in a multi-stage stepped pressure increase mode, maintaining a first duration at each pressure platform, and collecting circumferential deformation data under that pressure level through the pipe wall deformation sensing module within the first duration.

[0040] In S4, the determination of nonlinear deviation characteristics is specifically as follows: calculate the slope change rate of the real-time pressure-strain curve. When the slope change rate of multiple consecutive sampling points exceeds the first threshold and the slope change rate shows a monotonically increasing trend, it is determined that a nonlinear deviation characteristic has occurred.

[0041] The specific process for this application is as follows: The S101 will insert an electric telescopic support arm, equipped with an intelligent variable frequency pressure cleaning unit, a pipe wall deformation sensing module, and a positioning module, into the starting end of the pipe to be cleaned.

[0042] S102, activate the electric telescopic support arm to make it move automatically along the inside of the pipe.

[0043] S103, during travel, the electric telescopic support arm adaptively adjusts the telescopic amount according to the change in pipe diameter, ensuring that the flexible sealing cup on the electric telescopic support arm maintains close contact with the inner wall of the pipe, and provides a stable measurement contact surface for the annular fiber optic grating sensor array installed on the flexible sealing cup.

[0044] S201, in the initial stage of cleaning operations, that is, before formal cleaning, pause movement or enter test mode.

[0045] S202 controls the intelligent variable frequency pressure cleaning unit, starting from the set initial pressure. Begin at the set pressure level. and increment Implement multi-stage step-by-step voltage boosting.

[0046] S203, at each pressure platform Maintain stable output for the first duration This is to ensure stable pipe wall response and the integrity of subsequent data acquisition.

[0047] S301, at each pressure platform During the stable period, the circuit is activated by arranging the circuit along the circumference. A ring-shaped fiber grating sensor array with multiple measurement points.

[0048] S302, to set the sampling frequency For all Each measurement point was used Secondary synchronous sampling is used to acquire the original time-domain deformation data of each azimuth angle. .

[0049] S303, for each azimuth measurement point Calculate the platform Arithmetic mean of the sampled values , which serves as the representative strain value under this pressure.

[0050] S304 will apply pressure at each stage. and representative strain values ​​of each azimuth angle Corresponding storage, forming a dataset .

[0051] S4, for each azimuth measurement point dataset Perform the following steps independently: S401, Calculate the secant slope between all adjacent pressure platforms. .

[0052] S402, calculate the rate of change of slope for each analysis window based on the slopes of two adjacent secant segments. .

[0053] S403, starting from the first analysis window, continuously check... Rate of change of slope for each window When the following conditions are met: Condition 1: Continuous indivual All values ​​exceed the first threshold. ; Condition 2: This indivual The value shows a monotonically increasing trend; Then it is determined that the azimuth angle has a nonlinear deviation, and this continuous value is taken. The starting pressure corresponding to the first window in the window. As a candidate safety pressure boundary value for this azimuth angle .

[0054] S404, from all Candidate values ​​for azimuth angle determination The minimum value is taken as the comprehensive safe pressure boundary value for the current pipeline location. .

[0055] S501, the positioning module acquires real-time coordinates at fixed time intervals, and takes the positioning coordinates corresponding to the midpoint of each pressure platform period as the position coordinates of the test point. .

[0056] S502, the comprehensive safety pressure boundary value obtained above with position coordinates Bind and generate a spatial security boundary record.

[0057] S503 controls the electric telescopic support arm to travel along the pipeline at preset distances. Repeat steps S201 to S502 to obtain a series of boundary records.

[0058] S504 uses linear interpolation and other methods to establish the safety pressure boundary relationship on continuous spatial locations from the obtained discrete boundary records, forming a spatial pressure safety boundary map, and stores it in the system's memory.

[0059] S6, after entering the formal cleaning operation, the system executes the following control process in a loop: S601, the positioning module uses frequency Get the current cleaning location in real time .

[0060] S602, Data Processing and Control Unit according to Query the space pressure safety boundary map to obtain the corresponding safety pressure upper limit. If the location is between two record points, then the point is calculated by interpolation. .

[0061] S603 sends a control command to the intelligent variable frequency pressure cleaning unit, setting the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to... The intelligent variable frequency pressure cleaning unit ensures that the actual spray pressure does not exceed this value during operation.

[0062] S604, as the support arm continues to move, when the displacement difference between the current position and the position of the last updated pressure limit value exceeds the preset update step size... When the time comes, return to S601 to perform the next voltage limit value query and update.

[0063] This application utilizes a ring-shaped fiber optic grating sensor array integrated on an adaptive cup to enable cleaning equipment to acquire and quantify the circumferential deformation data of each pipe wall segment in real time. Based on this, a stepped pressure increment test is performed. By monitoring the nonlinear deviation characteristics of the pressure-strain curve, the critical point at which each pipe segment transitions from elastic deformation to plastic deformation is detected as a customized safety boundary. During cleaning operations, the system dynamically applies the maximum safe pressure that the pipe can withstand to different locations based on the spatial pressure safety boundary map constructed therefrom. High pressure is output at structurally intact locations to ensure the stripping effect, while the pressure limit is restricted at weak and risky locations to prevent pipe bursts and hidden damage.

[0064] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent variable frequency pressure balancing system for cleaning water pipelines, characterized in that, include: An electrically operated telescopic support arm, the electrically operated telescopic support arm being configured to travel along a pipe and adapt to different pipe diameters to maintain contact with the pipe wall; An intelligent variable frequency pressure cleaning unit is installed on the electric telescopic support arm. The intelligent variable frequency pressure cleaning unit is configured to generate a continuously adjustable pressure cleaning water flow to remove deposits from the inner wall of the pipe. A pipe wall deformation sensing module is integrated at the front end of the electric telescopic support arm. The pipe wall deformation sensing module is configured to collect circumferential deformation data of the inner wall of the pipe under different clean water pressures in real time during the movement of the electric telescopic support arm. A positioning module is installed on the electric telescopic support arm and is configured to acquire the real-time position coordinates of the intelligent variable frequency pressure cleaning unit in the pipeline. The data processing and control unit is communicatively connected to the electric telescopic support arm, the intelligent variable frequency pressure cleaning unit, the pipe wall deformation sensing module, and the positioning module, respectively. The data processing and control unit is configured to: control the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence at the initial stage of the cleaning operation; during the test, receive circumferential deformation data collected by the pipe wall deformation sensing module, and perform real-time correlation analysis between the pressure value and the circumferential deformation data; when a nonlinear deviation is detected in the linear relationship between the two, determine that the corresponding pressure value is the safe pressure boundary value of the current pipeline position; bind the position coordinates obtained by the positioning module with the safe pressure boundary value to construct a spatial pressure safety boundary map; in subsequent cleaning operations, according to the spatial pressure safety boundary map, automatically limit the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safe pressure boundary value of the corresponding position when the electric telescopic support arm moves to each position.

2. The intelligent variable frequency pressure balancing system for cleaning water pipelines according to claim 1, characterized in that, The front end of the electric telescopic support arm is equipped with a flexible sealing cup. The pipe wall deformation sensing module is a ring fiber optic grating sensing array with multiple measuring points set along the circumferential direction. The pipe wall deformation sensing module is installed on the flexible sealing cup. The pipe wall deformation sensing module is configured to simultaneously acquire circumferential deformation data of the inner wall of the pipe at different azimuth angles. The data processing and control unit is further configured to analyze the circumferential deformation data of each azimuth angle, and use the pressure value corresponding to the first nonlinear deviation feature to appear in the multiple azimuth angles as the safe pressure boundary value for the pipeline location.

3. The intelligent variable frequency pressure balancing system for cleaning water pipelines according to claim 1, characterized in that, When executing the pressure increment test sequence, the intelligent variable frequency pressure cleaning unit is configured to operate in a multi-stage step-by-step pressure increase mode, maintaining a first duration at each pressure platform, so that the pipe wall deformation sensing module can collect circumferential deformation data under that pressure.

4. The intelligent variable frequency pressure balancing system for cleaning water pipelines according to claim 1, characterized in that, The determination of nonlinear deviation characteristics is as follows: calculate the slope change rate of the real-time pressure-strain curve. When the slope change rate of multiple consecutive sampling points exceeds the first threshold and shows a monotonically increasing trend, it is determined that a nonlinear deviation has occurred.

5. A smart variable frequency pressure balancing method for cleaning water pipelines, employing a smart variable frequency pressure balancing system for cleaning water pipelines as described in any one of claims 1-4, characterized in that, Includes the following steps: S1 controls the electric telescopic support arm to travel along the inside of the pipe and maintains contact between the electric telescopic support arm and the inner wall of the pipe through adaptive adjustment. S2, in the initial stage of the cleaning operation, controls the intelligent variable frequency pressure cleaning unit to execute a pressure increment test sequence to generate a continuously adjustable cleaning water flow. S3, during the execution of the pressure increment test sequence, the pipe wall deformation sensing module collects the circumferential deformation data of the inner wall of the pipe under different clean water pressures in real time. S4 performs real-time correlation analysis between pressure value and circumferential deformation data. When a nonlinear deviation is detected in the linear relationship between pressure value and circumferential deformation data, the corresponding pressure value is determined to be the safe pressure boundary value for the current pipeline position. S5, obtain the real-time position coordinates of the current pipeline position through the positioning module, bind the position coordinates with the safety pressure boundary value, and construct a space pressure safety boundary map; S6, in subsequent cleaning operations, according to the spatial pressure safety boundary diagram, when the electric telescopic support arm moves to each position, it automatically limits the upper limit of the output pressure of the intelligent variable frequency pressure cleaning unit to below the safety pressure boundary value of the corresponding position.

6. The intelligent variable frequency pressure balancing method for cleaning water pipelines according to claim 5, characterized in that, In S3, more specifically, the pipe wall deformation sensing module is a ring fiber grating sensing array with multiple measurement points set along the circumferential direction, which simultaneously acquires circumferential deformation data of the pipe wall at different azimuth angles through the ring fiber grating sensing array. In S4, more specifically, real-time correlation analysis is performed on the circumferential deformation data of each azimuth angle, and the pressure value corresponding to the first nonlinear deviation feature in the multiple azimuth angles is used as the safe pressure boundary value for the pipeline location.

7. The intelligent variable frequency pressure balancing method for cleaning water pipelines according to claim 5, characterized in that, In S3, the pressure increment test sequence is specifically executed by controlling the intelligent variable frequency pressure cleaning unit to work in a multi-stage stepped pressure increase mode, maintaining a first duration at each pressure platform, and collecting circumferential deformation data under that pressure level through the pipe wall deformation sensing module within the first duration.

8. The intelligent variable frequency pressure balancing method for cleaning water pipelines according to claim 5, characterized in that, In S4, the determination of nonlinear deviation characteristics is specifically as follows: calculate the slope change rate of the real-time pressure-strain curve. When the slope change rate of multiple consecutive sampling points exceeds the first threshold and the slope change rate shows a monotonically increasing trend, it is determined that a nonlinear deviation characteristic has occurred.

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