An ultrasonic cleaning and ultrasonic testing integrated pig

Abstract

The application provides an ultrasonic cleaning and ultrasonic detection integrated pig, and relates to the technical field of pipeline cleaning. The pig comprises an ultrasonic function module. The ultrasonic function module is configured to perform ultrasonic detection on a pipeline to be cleaned, and generate a detection result. The detection result is used to represent whether dirt appears on the obliquely front pipe wall of the pipeline to be cleaned. The ultrasonic function module is also configured to perform cleaning on the pipe wall of the pipe section with dirt in the form of ultrasonic cleaning when dirt appears on the pipeline to be cleaned. A control and adjustment module is connected to the ultrasonic function module through a universal joint. The control and adjustment module is configured to reduce the running speed of the pig by increasing the flow of the conveying medium through the pig when the detection result represents that dirt appears on the pipeline to be cleaned, and to stop at a position corresponding to the pipe section with dirt. The application solves the problem that the existing pig cannot perform integrated ultrasonic detection and ultrasonic cleaning.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, and in particular to an integrated ultrasonic cleaning and ultrasonic testing pipeline cleaning device. Background Technology

[0002] In existing pipeline cleaning and maintenance, ultrasonic cleaning pigs and ultrasonic inspection pigs are usually configured separately or operated in shifts, leading to repeated equipment deployment, frequent pig launching / retrieving and switching of operating conditions, resulting in high maintenance costs and long cycles. Simultaneously, there is a coupling contradiction between cleaning and inspection operations in terms of structure and operating conditions—the strong vibrations / noise and product disturbances generated by cleaning interfere with the stability of inspection, while inspection requires low interference, stable posture, and repeatable coupling conditions. Therefore, existing technologies face the following key technical problems, making it difficult to achieve organic integration and on-site closed-loop verification on the same pig: The difficulty in integrating cleaning and inspection results in high costs, delayed status verification, and challenges in promptly cleaning abnormal areas. Existing solutions often employ a sequential process of "cleaning before testing" or "re-testing / cleaning after detecting anomalies," which requires multiple pipe runs. Furthermore, the cleaning effect and test results are difficult to correspond and verify in real time during the same pipe run. When anomalies occur, there is a lack of on-site handling and retesting methods, making it impossible to achieve a closed-loop operation of "detection and handling, handling and verification."

[0003] The integrated cleaning and testing process presents multi-dimensional engineering challenges, making it difficult for existing technologies to organically integrate them. When deploying cleaning and detection units simultaneously within the same carrier, the following issues must be addressed: Interference detection during cleaning: Strong vibrations and noise during cleaning can significantly affect echo acquisition, leading to unstable detection. Power consumption and battery life under stationary / deceleration conditions: Anomalies require stationary cleaning and retesting, which increases power consumption and the duration is uncertain, making it difficult to guarantee power supply using traditional methods. Risk of blockage after pigging product stripping: Targeted intensive cleaning can easily lead to the accumulation of stripped material, which may result in reduced throughput or even blockage.

[0004] Without a systematic design for structural isolation, control interlocks, and coordinated energy supply and contaminant transport, the integrated cleaning and testing system will be difficult to implement in engineering.

[0005] In complex operating conditions such as sediment cover and poor coupling conditions, ultrasonic testing is prone to missed or false detections, highlighting the urgent need to improve its detection capabilities. Pipe wall deposits, wax / scale buildup, and other structural defects can cause coupling instability, echo attenuation, and increased noise, leading to misjudgments or missed detections in wall thickness / defect identification. Current technologies lack integrated detection quality assurance and retesting mechanisms linked to cleaning processes, making it impossible to distinguish between "false anomalies caused by deposits" and "real defects" on-site. Therefore, targeted enhancements to the detection chain (acquisition stability, anti-interference capabilities, detection quality criteria, and retesting strategies, etc.) at the device level are needed to reduce the probability of missed or false detections. Summary of the Invention

[0006] This application provides an integrated ultrasonic cleaning and ultrasonic testing pig to solve the problem that existing pigs cannot perform integrated ultrasonic testing and ultrasonic cleaning.

[0007] The pipeline pig moves inside the pipeline to be cleaned under the impetus of the medium transported inside the pipeline. The pipeline pig includes: An ultrasonic function module is configured to perform ultrasonic testing on the pipe to be cleaned and generate test results; the test results are used to characterize whether there is dirt on the oblique front wall of the pipe to be cleaned; and is also configured to clean the pipe wall of the dirty section by ultrasonic cleaning when dirt is found in the pipe to be cleaned. A control and adjustment module is connected to the ultrasonic function module via a first universal joint. The control and adjustment module is located in front of the pipeline pig. The control and adjustment module is configured to reduce the travel speed of the pipeline pig by increasing the flow rate of the conveying medium through the pipeline pig when the detection result indicates that there is dirt in the pipeline to be cleaned, and stop at the position corresponding to the section of pipeline with dirt.

[0008] Preferably, the ultrasound function module is further configured as follows: Ultrasonic testing is performed on the pipe to be cleaned in the oblique forward direction, and the test results are generated; After a pipe wall cleaning is completed, at least one ultrasonic test is performed on the vertical direction of the pipe to be cleaned. After the newly generated test result indicates that the dirt on the pipe wall of the corresponding pipe segment has been completely cleaned, a travel command is generated.

[0009] Preferably, the control and adjustment module is further configured to: The travel command is used to disable the stop function and gradually reduce the flow rate of the transport medium through the pig to increase the travel speed of the pig.

[0010] Preferably, the ultrasound functional module includes: The detection and acquisition unit is configured to detect dirt on the pipe wall of the pipe to be cleaned by means of high-frequency ultrasonic detection along the oblique forward direction and the direction perpendicular to the pipe wall, and generate the detection result or the travel command. A cleaning drive unit is configured to clean the pipe wall of a fouled pipe section using low-frequency ultrasonic cleaning; the detection and acquisition unit and the cleaning drive unit operate intermittently.

[0011] Preferably, the ultrasound functional module further includes: The first equipment placement chamber is a structure with an internal cavity and open at both ends. The detection and acquisition unit and the cleaning drive unit are arranged around the first equipment placement chamber. A first support cup and a second support cup are respectively and detachably arranged around both ends of the first equipment mounting compartment.

[0012] Preferably, the control and adjustment module includes: An internal vent valve unit is configured to adjust the flow rate of the conveying medium through the pig according to the detection result and the travel command, thereby adjusting the travel speed of the pig. A braking unit is configured to enable or disable the parking function based on the detection result and the travel command.

[0013] Preferably, the control and adjustment module further includes: The second equipment placement chamber is a structure with an internal cavity and open at both ends. The internal drain valve unit is located inside the second equipment placement chamber. The braking unit extends outward from the inside of the second equipment placement chamber in a direction perpendicular to the pipe wall to be cleaned. A turbine control motor is installed inside the second equipment placement chamber. The turbine control motor is used to control the internal drain valve unit and the braking unit. A first drive cup and a second drive cup are respectively and detachably disposed around both ends of the second device mounting chamber.

[0014] Preferably, the pig further includes: An energy data module is connected to the ultrasonic function module via a second universal joint. The energy data module is located on the side of the ultrasonic function module away from the control and adjustment module. The energy data module is configured to provide energy to the ultrasonic function module and the control and adjustment module and to store relevant data generated during the operation of the pig.

[0015] Preferably, the pig further includes: The mileage wheel is located at the rear end of the pipeline pig and is configured to acquire mileage data of the pipeline pig traveling in the pipeline to be cleaned. The mileage data includes travel data and speed data. The ultrasound function module is configured as follows: The pipeline to be cleaned is subjected to ultrasonic testing based on the mileage data to generate the test results containing information on the location of dirt.

[0016] Preferably, the energy data module includes: The third equipment placement compartment is a structure with an internal cavity and openings at both ends; An energy management unit is disposed inside the third equipment placement chamber. The energy management unit is configured to provide energy supply to the ultrasonic function module and the control and regulation module, and to manage the turbine power generation of the turbine control motor based on the flow of the conveying medium. A data storage unit is located inside the third equipment placement compartment and is configured to store relevant data generated during the operation of the pig. The third and fourth support cups are respectively arranged around and detachably at both ends of the third equipment placement chamber.

[0017] As described above, this application provides an integrated ultrasonic cleaning and ultrasonic inspection pig. The pig moves inside the pipeline under the impetus of the transport medium. The pig includes an ultrasonic function module configured to perform ultrasonic inspection on the pipeline and generate inspection results. These results indicate whether fouling has occurred on the obliquely forward section of the pipeline. The module is also configured to clean the fouled section of the pipeline using ultrasonic cleaning when fouling is present. A control and adjustment module is connected to the ultrasonic function module via a first universal joint and is located in front of the pig. This control and adjustment module is configured to reduce the pig's travel speed by increasing the flow rate of the transport medium when the inspection results indicate fouling in the pipeline, and to stop at the position corresponding to the fouled section. This application solves the problem that existing pigs cannot perform integrated ultrasonic inspection and ultrasonic cleaning through the above solution. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an integrated ultrasonic cleaning and ultrasonic testing pipeline pig according to this application; Figure 2 This is a flowchart illustrating the workflow of an integrated ultrasonic cleaning and ultrasonic testing pipeline cleaning pig of this application. Figure 3 This is a timing diagram of the operation of an integrated ultrasonic cleaning and ultrasonic testing pig according to this application. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0022] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0023] In the existing field of pipeline cleaning and inspection, the implementation ideas most similar to the technical solution of this invention can be mainly summarized into the following three categories: one is the speed-regulating pig technology based on bypass valve / throttling structure; another is the ultrasonic cleaning device technology for descaling the inner wall of pipelines; and the third is the ultrasonic or electromagnetic ultrasonic thickness measuring device technology for measuring the wall thickness of steel pipes. The above three types of technologies provide referable individual capabilities in terms of "pipeline flow and speed control", "ultrasonic cleaning structure", and "wall thickness detection principle / device structure", but they usually do not form a closed-loop integrated implementation of cleaning and inspection on the same pig platform.

[0024] (1) Bypass valve type speed regulating pig scheme This type of solution typically includes a bypass channel and an adjustable bypass valve (or equivalent throttling mechanism), and can be combined with a speed acquisition / hydraulic control link to adjust the bypass valve opening according to changes in operating conditions, thereby stabilizing the pig's operating speed. Simultaneously, this type of pig can serve as a carrier for corresponding testing equipment to complete in-pipe operations. The technical focus of this solution is on speed control, throughput, and operational stability; however, it generally does not involve an ultrasonic cleaning structure for pipe wall deposits, and usually does not provide a process for targeted cleaning and retesting verification in case of abnormal detection. Therefore, it is difficult to directly address the issue of deposits affecting detection quality and the closed-loop maintenance of the "cleaning-detection-verification" process.

[0025] (2) Scheme for ultrasonic cleaning device for pipelines This type of solution typically arranges multiple ultrasonic transducers (oscillators) on a support frame / ring structure, along with cleaning mechanisms such as brushing seats and grinding seats that contact the pipe wall. The ultrasonic vibration, combined with mechanical brushing, enhances the removal of wax, scale, or deposits. The mechanism can be adjusted to accommodate different pipe diameters. While this solution improves cleaning capabilities, its technical focus is primarily on cleaning the structure and the cleaning effect. It typically lacks online detection capabilities for pipe wall thickness / defects and does not establish a data closed-loop mechanism for time-separated interlocking of cleaning and detection, or for immediate retesting and verification of the cleaning effect after cleaning.

[0026] (3) Scheme for electromagnetic ultrasonic measurement device for steel pipe wall thickness This type of solution typically uses a magnetized coil and a magnetically conductive / magnetically focused structure to create a local magnetic field, and then uses an electromagnetic ultrasonic detection coil to excite and receive ultrasonic signals on the steel pipe surface to achieve wall thickness measurement. While this type of device is representative in terms of its thickness measurement principle and sensing structure, it usually appears as an external or dedicated measuring device, rather than an integrated system of "pipeline carrier + cleaning mechanism + detection mechanism" designed for pipeline cleaning machines. Furthermore, this type of solution generally does not provide corresponding cleaning and removal and on-site retesting verification measures to address the issue of decreased detection signal quality caused by deposits covering the pipe. Therefore, it is difficult to directly meet the integrated cleaning and detection requirements of pipelines during the same pipeline cleaning process.

[0027] In summary, while existing technologies have developed relatively mature individual solutions for speed-controlled pipe cleaning, ultrasonic cleaning, and wall thickness detection, cleaning and detection are not independently combinable and cannot be integrated through simple "modular assembly." The strong vibration and noise during cleaning, along with product disturbance, directly disrupt the stable coupling and low-interference acquisition conditions required for detection. Abnormal point dwell / deceleration-enhanced cleaning introduces risks such as increased power consumption, limited battery life, and product accumulation and blockage. Furthermore, the degradation in detection quality caused by deposits lacks on-site removal and immediate post-cleaning retesting verification mechanisms. Therefore, existing technologies still cannot achieve integrated and closed-loop operation of cleaning and detection on the same pigging platform.

[0028] See Figure 1 , Figure 2 as well as Figure 3 As can be seen, this embodiment provides an integrated ultrasonic cleaning and ultrasonic detection pipeline pig. The pipeline pig moves inside the pipeline to be cleaned under the impetus of the medium transported inside the pipeline. The pipeline pig includes: An ultrasonic function module 100 is configured to perform ultrasonic testing on the pipe to be cleaned and generate test results; the test results are used to characterize whether dirt appears on the oblique front wall of the pipe to be cleaned; and is also configured to clean the pipe wall of the dirty section of the pipe by ultrasonic cleaning when dirt appears on the pipe to be cleaned.

[0029] Specifically, in this embodiment, the detection and cleaning of dirt on the inner wall of the pipe to be cleaned are achieved through the integrated detection and cleaning structure of the ultrasonic functional module 100.

[0030] Furthermore, in some embodiments, the ultrasound function module 100 is also configured to: Ultrasonic testing is performed on the pipe to be cleaned in the oblique forward direction, and the test results are generated; After a pipe wall cleaning is completed, at least one ultrasonic test is performed on the vertical direction of the pipe to be cleaned. After the newly generated test result indicates that the dirt on the pipe wall of the corresponding pipe segment has been completely cleaned, a travel command is generated.

[0031] Specifically, in this embodiment, the ultrasonic function module 100 can detect the inner wall of the pipe to be tested along the oblique forward direction and the direction perpendicular to the pipe wall. After completing one cleaning, it continuously detects dirt on the cleaned area to ensure that the dirt is completely cleaned. Furthermore, the "repeated detection" can also avoid noise interference caused by ultrasonic cleaning.

[0032] Furthermore, in some embodiments, the ultrasound functional module 100 includes: The detection and acquisition unit 110 is configured to detect dirt on the pipe wall of the pipe to be cleaned by means of high-frequency ultrasonic detection along the oblique forward direction and the direction perpendicular to the pipe wall, and generate the detection result or the travel command.

[0033] Specifically, in this embodiment, the detection and acquisition unit 110 further includes a pre-detection unit with an angled probe that scans obliquely forward along the direction of the pig's advance and a re-detection unit with a straight probe that detects in the direction normal or near normal to the pipe wall.

[0034] The angled probe pre-detection unit is used to scan the pipe wall area in advance before the pig runs to the target area to identify dirt, scale, deposits or abnormal detection areas caused by deposition; the straight probe re-detection unit is used to re-detect the target area after the cleaning process to determine whether the dirt has been removed and whether the detection quality has been restored.

[0035] The ultrasound functional module 100 also includes: The cleaning drive unit 120 is configured to clean the pipe wall of the fouled pipe section by means of low-frequency ultrasonic cleaning; the detection and acquisition unit 110 and the cleaning drive unit 120 operate at intervals.

[0036] Specifically, in this embodiment, the cleaning drive unit 120, the angled probe pre-detection unit, and the straight probe re-detection unit are integrated into the same ultrasonic functional module 100 and can be installed on the same probe seat, the same floating bracket, or the same wall-mounted assembly. The detection area of ​​the angled probe pre-detection unit is located in front of the cleaning area of ​​the low-frequency ultrasonic cleaning unit, and the detection area of ​​the straight probe re-detection unit corresponds to or basically overlaps with the cleaning area, thereby realizing advance identification in front and in-situ re-detection after cleaning, respectively.

[0037] It should be noted that each unit is interlocked and time-sharing controlled by the control unit to avoid interference from the cleaning excitation on the acquisition of detection signals.

[0038] Furthermore, in some embodiments, the ultrasound functional module 100 further includes: The first equipment placement chamber 130 has an internal cavity and is open at both ends. The detection and acquisition unit 110 and the cleaning drive unit 120 are arranged around the first equipment placement chamber 130. The first support cup 140 and the second support cup 150 are respectively and detachably arranged around both ends of the first equipment mounting compartment 130.

[0039] Specifically, in this embodiment, the first device placement chamber 130 provides a device placement position for the remaining components in the ultrasonic functional module 100 and provides structural support for the flow of the transport medium. The first support cup 140 and the second support cup 150 support the pig, thereby improving the stability of the pig's movement in the pipeline to be inspected.

[0040] A drain hole is provided on the support cup, and the drain hole extends through the front and rear sides of the support cup to allow the medium to pass through the support cup.

[0041] The pipeline pig also includes: A control and adjustment module 200 is connected to the ultrasonic function module 100 via a first universal joint 300. The control and adjustment module 200 is located in front of the pipeline pig. The control and adjustment module 200 is configured to reduce the traveling speed of the pipeline pig by increasing the flow rate of the conveying medium through the pipeline pig when the detection result indicates that there is dirt in the pipeline to be cleaned, and stop at the position corresponding to the section of pipeline with dirt.

[0042] Specifically, in this embodiment, the control and adjustment module 200 adjusts the flow rate of the conveying medium through the pig to regulate the travel speed of the pig, thereby controlling the travel of the pig and stopping the pig at the designated location where dirt appears.

[0043] Furthermore, in some embodiments, the control adjustment module 200 is further configured to: The travel command is used to disable the stop function and gradually reduce the flow rate of the transport medium through the pig to increase the travel speed of the pig.

[0044] Specifically, in this embodiment, after receiving the corresponding travel command, the control and adjustment module 200 gradually reduces the flow rate of the transport medium through the pig to increase the travel speed of the pig, thereby restoring the travel of the pig.

[0045] Therefore, it can be seen that the movement of the pipeline pig is mainly driven by the transport medium. That is, the greater the flow rate of the transport medium through the pipeline pig, the smaller the thrust on the pipeline pig, and vice versa.

[0046] Furthermore, in some embodiments, the control adjustment module 200 includes: An internal vent valve unit 210 is configured to adjust the flow rate of the conveying medium through the pig according to the detection result and the travel command, thereby adjusting the travel speed of the pig.

[0047] Specifically, in this embodiment, the control and adjustment module 200 integrates an internal vent valve unit 210, which includes a vent valve and a venting path. When speed adjustment or stationary operation is required, the internal vent valve unit 210 is controlled to open or increase its opening degree, allowing the medium to bypass part of the pressure difference and form a venting flow inside the pig. This reduces the effective driving pressure difference on the pig, decreases its speed, and may even enable stationary operation under suitable pressure difference and venting conditions. The vent valve can be an on / off type or an adjustable opening type.

[0048] The control and adjustment module 200 further includes: Braking unit 220 is configured to enable or disable the parking function based on the detection result and the travel command.

[0049] Specifically, in this embodiment, the control and adjustment module 200 is equipped with a braking unit 220, which includes a radially retractable support component and its driving mechanism. The braking unit 220 is in a retracted state during normal pig movement. When it is determined that deceleration or stopping in the target area is required, the braking unit 220 extends while the internal relief valve unit 210 is opened or its opening is increased. This allows the support component to abut against the inner wall of the pipeline and provide radial support and axial resistance, thereby achieving stable stopping of the pig. After stopping, the braking unit 220 retracts, and the opening of the internal relief valve unit 210 is adjusted to allow the device to resume movement.

[0050] Furthermore, in some embodiments, the control adjustment module 200 further includes: The second equipment placement chamber 230 has an internal cavity structure with openings at both ends. The internal drain valve unit 210 is located inside the second equipment placement chamber 230. The braking unit 220 extends outward from the inside of the second equipment placement chamber 230 in a direction perpendicular to the wall of the pipe to be cleaned. A turbine control motor is installed inside the second equipment placement chamber 230. The turbine control motor is used to control the internal drain valve unit 210 and the braking unit 220.

[0051] Specifically, in this embodiment, the second device placement chamber 230 provides a placement position for the remaining components in the control and adjustment module 200, and provides structural support for the flow of the conveying medium.

[0052] The control and regulation module 200 can be equipped with a turbine control motor in the leakage path. When the internal leakage valve unit 210 is open and leakage flow exists, the medium drives the turbine control motor; the leakage path can be stably guided to the turbine impeller area through a flow guiding structure to improve power generation efficiency and flow stability. This structure is used to provide power supply / replenishment capabilities for the device during high-power consumption phases such as dwell / deceleration.

[0053] The control and adjustment module 200 further includes: The first drive cup 240 and the second drive cup 250 are respectively and detachably disposed around both ends of the second device mounting chamber 230.

[0054] Specifically, in this embodiment, the first driving cup 240 and the second driving cup 250 are used to stabilize the device and suppress swaying, thereby improving the posture consistency of ultrasonic operation. The driving cup is a sealed structure, and its outer edge forms a circumferential seal with the inner wall of the pipe to prevent the medium from flowing directly before and after the driving cup.

[0055] The above structures work together to achieve the following action chain: normal travel valve closed or slightly open → deceleration / residence valve opening increased → during residence, discharge generator valve opens and discharge occurs.

[0056] Furthermore, in some embodiments, the pig further includes: An energy data module 400 is connected to the ultrasonic function module 100 via a second universal joint 500. The energy data module 400 is located on the side of the ultrasonic function module 100 away from the control and adjustment module 200. The energy data module 400 is configured to provide energy to the ultrasonic function module 100 and the control and adjustment module 200 and to store relevant data generated during the operation of the pig.

[0057] Specifically, in this embodiment, the energy data module 400 includes a third equipment placement chamber 410, which is a hollow structure with openings at both ends; an energy management unit 420, which is disposed inside the third equipment placement chamber 410 and configured to provide energy to the ultrasonic function module 100 and the control and adjustment module 200, and to manage the turbine power generation of the turbine control motor based on the flow of the conveying medium; a data storage unit 430, which is disposed inside the third equipment placement chamber 410 and configured to store relevant data generated during the operation of the pig; a third support cup 440 and a fourth support cup 450, which are respectively arranged around and detachably disposed at both ends of the third equipment placement chamber 410.

[0058] The output of the turbine generator and the battery output are both connected to the energy management unit 420. The energy management unit 420 aggregates and manages the power supply and generation output, and distributes electrical energy to the ultrasonic function module 100, the control and regulation module 200, etc. When there is leakage power generation, the energy management unit 420 can provide additional electrical energy support and / or replenish the battery during the high power consumption stage, especially the residence cleaning stage.

[0059] The data storage unit 430 stores all data generated during the pigging operation, thus providing a basis for subsequent data traceability.

[0060] The third equipment placement compartment 410, the third support cup 440, and the fourth support cup 450 have the same function as the aforementioned support cup and equipment placement compartment, and will not be described in detail here.

[0061] Furthermore, in some embodiments, the pig further includes: Mileage wheel 600 is disposed at the rear end of the pipeline cleaning machine and is configured to acquire mileage data of the pipeline cleaning machine traveling in the pipeline to be cleaned. The mileage data includes travel data and speed data. The ultrasound function module 100 is configured as follows: The pipeline to be cleaned is subjected to ultrasonic testing based on the mileage data to generate the test results containing information on the location of dirt.

[0062] Specifically, in this embodiment, in order to obtain the accurate location of the dirt and to control the movement of the pipeline cleaner more precisely, the mileage data of the pipeline cleaner in the pipeline to be cleaned is obtained by the mileage wheel 600, and the ultrasonic function module 100 performs ultrasonic testing on the pipeline to be cleaned based on the mileage data, thereby adding the mileage data to the test results.

[0063] It should be noted that the detection and acquisition unit 110 and the cleaning drive unit 120 are interlocked, so that the two do not work at the same time.

[0064] The specific action relationship of interlocking logic can be expressed as follows: When entering the cleaning-related window, the cleaning drive unit 120 is active, while the forced detection and acquisition unit 110 is inactive. When entering the detection-related window, the detection acquisition unit 110 is active, while the forced cleaning drive unit 120 is inactive. When entering the dwell / deceleration window due to an abnormal trigger, the opening of the bleed valve is first adjusted through the internal bleed valve unit 210 to achieve deceleration or dwell. Then, fixed-point cleaning is started when the interlock conditions are met, and the detection window is switched back for retesting and verification after cleaning.

[0065] The working sequence and window definition in this embodiment are as follows: 1. Cleaning window T1 cleaning time period: Cleaning is enabled and the cleaning drive unit 120 is working; the detection and acquisition unit 110 is interlocked and disabled or remains inactive; the drain valve is usually closed or slightly open, so that the device maintains normal operation or slight speed adjustment.

[0066] 2. Detection window T2 detection acquisition time period: Detection is enabled, and the detection acquisition unit 110 collects and processes the detection data; the cleaning drive unit 120 is interlocked and prohibited; the vent valve is usually closed or slightly open, allowing the device to continue moving to complete the inspection and acquisition.

[0067] During normal inspections, it is preferable to use the angled probe pre-detection unit to scan the pipe wall area ahead along the direction of the pig's movement to identify abnormal areas in advance. After the cleaning is completed, it is preferable to use the straight probe re-detection unit to re-detect the cleaned target area to determine the cleaning effect and the recovery of detection quality.

[0068] 3. Dwell / Deceleration Window Ts: Dwell or deceleration time period: When the angled probe pre-detection unit identifies an abnormal area ahead and meets the abnormal triggering conditions, it controls the vent valve to open or increase its opening to reduce the effective pressure difference, and controls the braking unit 220 to extend out of the support pipe wall, thereby slowing down the pig and allowing it to remain stably stationary or nearly stop in the target area. Since the detection area of ​​the angled probe pre-detection unit is located in front of the cleaning area of ​​the low-frequency ultrasonic cleaning unit, the pig can allow the previously identified abnormal area to enter the cleaning area during deceleration and displacement. At the same time, under interlocking conditions, the cleaning drive unit 120 is activated to perform targeted cleaning of the target area. After cleaning is completed, the system switches to the straight probe re-detection unit for re-detection and verification.

[0069] The workflow of this embodiment is as follows: Normal progress and pre-detection of the pipeline pig: The pipeline pig moves forward under the pressure difference. The control unit periodically enters the detection window T2. The detection and acquisition unit 110 collects high-frequency ultrasonic echo data of the pipe wall area in front through the angled probe pre-detection unit to obtain information on dirt, scale, deposits or abnormal detection areas.

[0070] Abnormal area determination: The unit determines whether there are abnormal areas based on the detection results and / or detection quality indicators; abnormalities may include: suspected sediment coverage causing insufficient echo quality, abnormal wall thickness / defects requiring verification, or insufficient detection stability, etc.

[0071] If no abnormality is found: continue moving forward and alternate between cleaning / inspection: if no abnormality is found, the drain valve remains closed or slightly open, the device continues to move forward at normal speed, and alternates between cleaning window T1 and inspection window T2 according to the established strategy to achieve continuous maintenance.

[0072] If an anomaly is detected: Deceleration / Dwelling begins. If the angled probe pre-detection unit identifies an abnormal area ahead and meets the preset trigger conditions, the internal vent valve unit 210 controls the vent valve to increase its opening, allowing the pig to effectively reduce the pressure difference and enter a deceleration state. Simultaneously, the braking unit 220 is switched from a retracted state to an extended state, supporting the pipe wall and providing resistance. Since the detection area of ​​the angled probe pre-detection unit is located in front of the cleaning area of ​​the low-frequency ultrasonic cleaning unit, the displacement of the pig during deceleration allows the detection acquisition unit 110 to correspond to the previously identified abnormal area, thus allowing it to remain stably in the target area.

[0073] Stationary fixed-point cleaning power supply / replenishment + flushing of contaminants. In stationary or low-speed states, the braking unit 220 extends out of the support pipe wall, and under interlocked conditions, the cleaning drive unit 120 is activated to perform targeted enhanced cleaning on the target area previously identified by the angled probe pre-detection unit; simultaneously, the detection and acquisition unit 110 remains inactive to avoid interference with detection during cleaning. During this process, the effluent flow drives the turbine to control the motor to generate electricity, which is then supplied and / or replenished by the energy management unit 420 for the cleaning phase. The flushing and contaminant-carrying action of the effluent flow also carries the detached material away from the vicinity of the pig.

[0074] Post-cleaning retest verification: After the cleaning is completed, the control unit switches to the detection window T2, and the straight probe retest unit retests the cleaned target area to obtain the detection data after cleaning; based on this, it is determined whether the dirt has been removed and whether the detection quality has been restored, forming a closed loop of "pre-detection - fixed-point cleaning - in-situ retest".

[0075] Exit conditions and follow-up processing. If the retest result meets the preset threshold, the brake unit 220 is retracted and the opening of the relief valve is reduced to restore the device to normal inspection process; if the retest is still abnormal, the dwell cleaning can be performed again or the dwell time can be extended, and the brake unit 220 can be kept extended to maintain dwell stability when necessary.

[0076] This embodiment has the following advantages: This invention provides an integrated ultrasonic cleaning and ultrasonic testing pipeline cleaning tool, which enables cleaning and testing to be completed in the same pipeline cleaning cycle, reducing the number of pipeline cleaning cycles and working condition switching, significantly reducing organizational costs and improving operational efficiency.

[0077] By implementing time-sharing interlocking between cleaning and detection, and coordinating with structure / control, the interference of cleaning vibration noise on the acquisition of detection echoes is suppressed while ensuring cleaning capability, thereby improving detection stability and reliability.

[0078] Establish the capability for real-time response and closed-loop verification of "cleaning and testing simultaneously": support on-site retesting after cleaning, so that the test results before and after cleaning can correspond, and quickly determine whether the anomaly has been eliminated and whether the data is reliable.

[0079] When the test results or test quality are insufficient, the system enables controllable deceleration / suspension of the target area, targeted enhanced cleaning, and retesting and verification, so that abnormal areas can be cleaned and handled on-site as soon as they are detected.

[0080] It provides a power supply / recharge and contaminant discharge design that matches the stay / intensive cleaning process, alleviates the pressure on endurance during high power consumption phases, reduces the risk of decreased passability and blockage caused by the accumulation of stripped material, and improves the stability of operation under complex working conditions.

[0081] Targeted enhancements to the ultrasonic testing link (such as anti-interference, quality criteria, and retesting strategies) can reduce the probability of missed or false detections under complex conditions such as deposition coverage, thereby improving the reliability of testing data.

[0082] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the discussion in some embodiments is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the contents of this disclosure, thereby enabling those skilled in the art to better utilize the embodiments.

Claims

1. An integrated ultrasonic cleaning and ultrasonic detection pipeline cleaning pig, wherein the pig moves inside the pipeline to be cleaned under the impetus of the medium transported inside the pipeline, characterized in that, The pipeline pig includes: An ultrasonic function module (100) is configured to perform ultrasonic testing on the pipe to be cleaned and generate a test result; the test result is used to characterize whether dirt appears on the oblique front wall of the pipe to be cleaned; and is also configured to clean the pipe wall of the dirty section by ultrasonic cleaning when dirt appears on the pipe to be cleaned. A control and adjustment module (200) is connected to the ultrasonic function module (100) via a first universal joint (300). The control and adjustment module (200) is located in front of the pipeline pig. The control and adjustment module (200) is configured to reduce the travel speed of the pipeline pig by increasing the flow rate of the conveying medium through the pipeline pig when the detection result indicates that there is dirt in the pipeline to be cleaned, and stop at the position corresponding to the section of the pipeline with dirt. The ultrasound function module (100) is also configured to: Ultrasonic testing is performed on the pipe to be cleaned in the oblique forward direction, and the test results are generated; After a pipe wall cleaning is completed, at least one ultrasonic test is performed on the vertical direction of the pipe wall to be cleaned, and after the newly generated test result indicates that the dirt on the pipe wall of the corresponding pipe segment has been completely cleaned, a travel command is generated. The ultrasound functional module (100) includes: The detection and acquisition unit (110) is configured to detect dirt on the pipe wall of the pipe to be cleaned by means of high-frequency ultrasonic detection along the oblique forward direction and the direction perpendicular to the pipe wall, and generate the detection result or the travel command. The cleaning drive unit (120) is configured to clean the pipe wall of the fouled pipe section by means of low-frequency ultrasonic cleaning; the detection and acquisition unit (110) and the cleaning drive unit (120) work at intervals.

2. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 1, characterized in that, The control and adjustment module (200) is also configured to: The travel command is used to disable the stop function and gradually reduce the flow rate of the transport medium through the pig to increase the travel speed of the pig.

3. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 1, characterized in that, The ultrasound functional module (100) also includes: The first equipment placement chamber (130) is a structure with an internal cavity and open at both ends. The detection and acquisition unit (110) and the cleaning drive unit (120) are arranged around the first equipment placement chamber (130). The first support cup (140) and the second support cup (150) are respectively arranged around and detachably at both ends of the first equipment placement chamber (130).

4. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 2, characterized in that, The control and adjustment module (200) includes: An internal vent valve unit (210) is configured to adjust the flow rate of the conveying medium through the pig according to the detection result and the travel command to adjust the travel speed of the pig; A braking unit (220) is configured to enable or disable the parking function based on the detection result and the travel command.

5. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 4, characterized in that, The control and adjustment module (200) further includes: The second equipment placement chamber (230) has an internal cavity and is open at both ends. The internal drain valve unit (210) is located inside the second equipment placement chamber (230). The braking unit (220) extends outward from the inside of the second equipment placement chamber (230) in a direction perpendicular to the wall of the pipe to be cleaned. A turbine control motor is installed inside the second equipment placement chamber (230). The turbine control motor is used to control the internal drain valve unit (210) and the braking unit (220). The first drive cup (240) and the second drive cup (250) are respectively arranged around and detachably at both ends of the second device housing (230).

6. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 5, characterized in that, The pipeline pig also includes: An energy data module (400) is connected to the ultrasonic function module (100) via a second universal joint (500). The energy data module (400) is located on the side of the ultrasonic function module (100) away from the control and regulation module (200). The energy data module (400) is configured to provide energy supply to the ultrasonic function module (100) and the control and regulation module (200) and to store relevant data generated during the operation of the pig.

7. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 1, characterized in that, The pipeline pig also includes: Mileage wheel (600), the mileage wheel (600) is disposed at the rear end of the pipeline pig, the mileage wheel (600) is configured to acquire mileage data of the pipeline pig traveling in the pipeline to be cleaned, the mileage data including travel data and speed data; The ultrasound functional module (100) is configured as follows: The pipeline to be cleaned is subjected to ultrasonic testing based on the mileage data to generate the test results containing information on the location of dirt.

8. The integrated ultrasonic cleaning and ultrasonic detection pig according to claim 6, characterized in that, The energy data module (400) includes: The third equipment placement compartment (410) is a structure with an internal cavity and openings at both ends; An energy management unit (420) is disposed inside the third equipment placement compartment (410). The energy management unit (420) is configured to provide energy supply to the ultrasonic function module (100) and the control and regulation module (200), and to manage the turbine power generation of the turbine control motor based on the flow of the conveying medium. A data storage unit (430) is located inside the third equipment placement compartment (410) and is configured to store relevant data generated during the operation of the pig. The third support cup (440) and the fourth support cup (450) are respectively arranged around and detachably at both ends of the third equipment placement compartment (410).

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