High-radioactivity micro-channel unblocking device, control system, and process based on air blowing and suction.

Abstract

This application belongs to the field of pipeline maintenance technology in high-radioactive environments, aiming to solve the problems of extremely high personnel radiation safety risks, limitations of micro-pipeline structure, and the inability of single high-pressure flushing, negative pressure suction, and chemical cleaning to clear blockages. It discloses a device, process, and control system for clearing high-radioactive micro-pipes based on air blowing and suction. The device has a flexible corrugated pipe, internally coaxially and sealedly integrating suction pipelines, blowing pipelines, airbag components, and an endoscope. The control system includes the device, a vision unit, a suction unit, a PLC control unit, and a host computer. The process uses this control system to clear high-radioactive micro-pipes. This application effectively overcomes the shortcomings of single suction mode in removing caking and the tendency of simple blowing to induce secondary dust, significantly enhancing the treatment efficiency for stubborn blockages such as entrapment and caking.

Description

Technical Field

[0001] This application belongs to the field of pipeline maintenance technology in high-radioactive environments, and particularly relates to a device, control system and process for unblocking high-radioactive micro-pipes based on air blowing and suction. Background Technology

[0002] Piping systems transporting highly radioactive media are crucial during the operation and decommissioning of nuclear industrial facilities. Because these media contain suspended particles, crystals, or corrosion products, and the confined space of these tiny pipes makes them highly susceptible to blockages. Blockages directly impact the normal operation or decommissioning process of nuclear facilities, and can even lead to safety accidents. However, clearing these highly radioactive micro-pipes presents significant technical challenges, as follows: (1) The radiation safety risk to personnel is extremely high. Because the residual substances inside the pipes are highly radioactive, operators cannot approach the site for direct contact work and must rely on remote control technology. Traditional methods of clearing blockages that require close manual intervention are completely unsuitable.

[0003] (2) Limitations of micro-pipeline structure Micropipes are small in diameter, have many bends, and thin walls, making it difficult for traditional rigid mechanical cleaning tools (such as pipe cleaners and drill rods) to enter. Furthermore, they are prone to being scratched or perforated due to operational errors, which can lead to serious consequences such as radioactive leakage.

[0004] (3) Limitations of existing micro-pipe dredging technology Single high-pressure flushing: often only pushes the blockage deeper into the pipe, which can easily cause secondary blockage or damage to the end equipment; Single negative pressure suction: For tightly packed or highly adhesive blockages, the suction is insufficient, making it difficult to effectively loosen and remove them; Chemical cleaning: long reaction time, generates a large amount of secondary waste liquid, high treatment cost and great environmental pressure.

[0005] Therefore, there is an urgent need to develop a high-radioactivity micro-pipe unblocking technology based on the principle of blow-suction synergy. This technology can be remotely and precisely controlled to loosen blockages using positive airflow and efficiently remove them using negative airflow, thus achieving safe, efficient, and non-destructive automated unblocking operations. Summary of the Invention

[0006] The purpose of this application is to provide a device, control system and process for clearing highly radioactive micro-channels based on blowing and suction, to solve the problems of extremely high radiation safety risks to personnel, limitations of micro-channel structure, and the inability to clear channels using only high-pressure flushing, negative pressure suction and chemical cleaning.

[0007] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a device for unblocking highly radioactive microchannels based on blowing and suction, comprising: The flexible bellows has a coaxial and sealed integrated encapsulation of aspiration tubing, purge tubing, airbag assembly, and endoscope. The suction inlet of the suction line and the purge outlet of the purge line are staggered in the working area at the front end of the bellows, and the purge outlet is closer to the front end of the bellows than the suction inlet, so as to form a directional airflow action sequence of first purging the loosened parts and then suctioning them out. The endoscope's observation range covers the front-end work area.

[0008] As an feasible approach, the flexible corrugated pipe is a plastic corrugated pipe with a matching gap between its outer diameter and the inner diameter of the pipe to be dredged, and the plastic corrugated pipe has a critical load that increases the compression buckling of the dredging device.

[0009] Secondly, this application provides a high-radioactivity microchannel unblocking control system based on air blowing and suction, comprising: The aforementioned unblocking device; The vision unit includes a first camera unit for real-time monitoring of the morphology of the blockage point and a second camera unit for monitoring the status of the push-pull mechanism; The suction unit includes a suction proportional valve for adjusting the suction air pressure, a purge proportional valve for adjusting the purge air pressure, and a flow sensor and a pressure sensor for monitoring airflow parameters. The PLC control unit is used to drive and control multiple motors of the unblocking device to perform clamping and pushing actions, and to collect push and pull force sensor data during the pushing and pulling process. The host computer is connected to the vision unit, the suction unit, and the PLC control unit to receive video streams and sensor data, and to send control commands to the suction proportional valve, the blowing proportional valve, and the PLC control unit.

[0010] As one feasible approach, the host computer is configured to dynamically adjust the opening degree and push-pull cycle and amplitude of the proportional valve based on the pressure, flow rate and push-pull force data fed back by the sensors.

[0011] Thirdly, this application provides a high-radioactivity microchannel unblocking process based on air blowing and suction, employing the aforementioned control system, including the following steps: S1. System initialization and communication self-test steps: Establish communication links between the host computer and the vision unit, PLC control unit, and suction unit; S2, Visual guidance positioning and clamping fixation steps: The host computer receives and displays the video stream from the camera unit. The operator, guided by vision, controls the PLC to drive the motor to push the unblocking device to the vicinity of the blockage point and clamp it in place. S3. Pneumatic parameter pre-adjustment and motion mode selection steps: The host computer sets the initial opening of the suction proportional valve and the blowing proportional valve according to the process requirements, and selects the coordination mode of the push action and the suction and blowing actions. S4. Automatic execution and multi-source data fusion control steps: The PLC control unit coordinates the drive of the push motor, suction proportional valve and blowing proportional valve to perform the unblocking operation according to the set cooperative mode; at the same time, the host computer collects the force sensor, air pressure sensor and endoscope image data in real time to form a closed-loop control and dynamically adjust the operation parameters. S5. Data archiving steps: The system writes the collected sensor data and actuator status data into the data file in real time.

[0012] As an implementable approach, the motion mode selection step includes at least one of the following five control sub-modes: Independent control is allowed: the linkage between the push-pull mechanism and the pneumatic system is decoupled, allowing the operator to start or stop the push-pull motor or adjust the suction / blowing valve independently; Forward movement during suction: The pusher moves forward only when the suction valve is open; when suction stops, the pusher moves backward. Forward mode when suction stops: The pusher moves forward only when the suction valve is closed; when suction starts, the pusher moves backward. Forward mode during air blowing: The pusher moves forward only when the air blowing valve is open; when air blowing stops, the pusher moves backward. Forward mode when blowing stops: The pusher moves forward only when the blowing valve is closed; when blowing starts, the pusher moves backward.

[0013] As an feasible approach, in the automated execution and multi-source data fusion control steps, dynamic adjustment of operating parameters includes adjusting the pushing and pulling amplitude and pushing and pulling cycle based on the contact force detected by the pushing and pulling force sensor.

[0014] As an feasible approach, when the contact force exceeds 20N, the host computer determines that it is in contact with a hard block and issues a command to increase the pushing and pulling amplitude and shorten the pushing and pulling cycle.

[0015] As an feasible approach, in the automated execution and multi-source data fusion control steps, dynamic adjustment of operating parameters includes adjusting the proportional valve opening based on air pressure data detected by pressure sensors.

[0016] As an feasible approach, when the positive pressure is below 0.02 MPa, the host computer determines that the air film has failed and issues a command to increase the opening of the proportional valve and extend the push-pull cycle.

[0017] As an feasible approach, in the automated execution and multi-source data fusion control steps, the advancing speed and retreating speed are calculated based on the pushing / pulling cycle, pushing / pulling amplitude, total operation time, and cycle advancing distance, as follows: The formula for calculating the advance velocity is: V 推 =(Push-out amplitude + Periodic advance distance) / Push-out period; The formula for calculating backward speed is: V 退 =Pushing amplitude / Pushing cycle.

[0018] As an feasible approach, during the data archiving process, when a program shutdown command, system abnormal interruption, or power failure signal is detected, a forced write mechanism is triggered to immediately write the remaining data in the cache that has not yet been written to the storage medium into the data file.

[0019] As an feasible approach, each piece of collected data is bound to a timestamp accurate to the millisecond level.

[0020] As an feasible approach, the pneumatic parameter pre-adjustment and motion mode selection steps also include parameter configuration steps for setting the push-pull cycle, push-pull amplitude, total operation time, and cycle advance distance.

[0021] Compared with existing technologies, the high-radioactivity micro-channel unblocking device, control system, and process based on air blowing and suction provided in this application have the following beneficial effects: This application innovatively selects a flexible corrugated pipe with specific ring stiffness as the core load-bearing structure for the operation environment of highly radioactive micro-pipes, which are characterized by numerous bends and confined spaces. This design not only gives the device excellent axial compliance to adapt to complex bending paths, but more importantly, its rigid-flexible pipe wall structure can effectively counteract the negative pressure stress generated by internal suction, fundamentally eliminating the risk of airway interruption due to hose collapse under pressure. Through this structural optimization, the device exhibits excellent deformation adaptability and mechanical stability when traversing narrow, winding, and confined spaces, ensuring the continuity and reliability of cleaning operations.

[0022] This application constructs a "purge-purge coupling" system based on a spatially staggered layout. By placing the purge nozzle upstream of the suction port, a directional flow field sequence of "pre-positioned disturbance to dislodge blockages and post-positioned negative pressure to capture" is established. This temporal and spatial coordination effectively overcomes the shortcomings of a single suction mode in removing caking and the tendency of simple purge to induce secondary dust, significantly enhancing the treatment efficiency for stubborn blockages such as embedment and caking.

[0023] Furthermore, this application integrates dual camera units, multi-dimensional sensors, and a control system to achieve multi-source fusion of "vision-sensing-control". Operators can see the blockage point and the push-pull device in real time, eliminating the risk of "blind operation" in a high-radioactive environment; based on the data fed back by the sensors, the opening of the proportional valve and the push-pull action are dynamically adjusted to achieve dynamic adaptation to complex blockage situations.

[0024] Furthermore, this application employs a PLC control module to drive multiple motors and combines them with proportional valves for air path adjustment. Compared to traditional on / off control, this system can precisely control the airflow rate and the speed and amplitude of the pushing and pulling, enabling the device to dynamically adjust for blockages in different situations.

[0025] Furthermore, this application integrates the gas path and camera unit within a slender corrugated pipe and enables remote control via a communication protocol. This reduces the size of the operating equipment, allowing it to enter small pipes, and also achieves separation of personnel and equipment, avoiding direct radiation damage to personnel from a high-radiation environment, thus complying with nuclear industry safety protection standards. Attached Figure Description

[0026] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the technical description will be briefly introduced below.

[0027] Figure 1 A flowchart of the high-radioactivity microchannel unblocking process based on air blowing and suction provided for this application; Figure 2 A schematic diagram of the high-radioactivity microchannel unblocking system based on air blowing and suction provided in this application. Detailed Implementation

[0028] Example 1 This embodiment describes the specific components of the unblocking device.

[0029] This embodiment provides a device for clearing highly radioactive micro-channels based on air blowing and suction. This device is designed to address the characteristics of micro-channels (typically 10mm-50mm in diameter) in highly radioactive environments, which often have numerous bends, narrow spaces, and cannot be cleared manually.

[0030] The core of the unblocking device is a flexible corrugated pipe. This corrugated pipe is made of plastic (such as polytetrafluoroethylene or polyetheretherketone) and has a specific ring stiffness, enabling it to resist pipe wall collapse when subjected to negative pressure stress generated by internal suction, ensuring unobstructed airflow. A fitting gap (usually 2mm-6mm) is reserved between the outer diameter of the corrugated pipe and the inner diameter of the pipe to be unblocked, ensuring smooth passage within curved pipes without excessive swaying.

[0031] Inside the bellows, a coaxial sealing encapsulation process is used to integrate and fix the suction line, purge line, airbag assembly, and endoscope into a single multifunctional composite component. The airbag assembly is used to selectively inflate during the unblocking process to locate or seal the pipe section, preventing backflow of obstructions.

[0032] In the working area at the front end of the bellows, the suction inlet of the suction line and the purge outlet of the purge line are staggered, with the purge outlet located in front of the suction inlet (i.e., closer to the blockage). This arrangement creates a directional airflow sequence of "first purge to loosen, then suction to remove": the high-pressure purge airflow first disperses and peels away the hardened or adhered blockage, followed immediately by the negative-pressure suction airflow that draws in the peeled debris and transports it to a distant collection container. The endoscope's camera is installed at the front end, and its observation range completely covers the working area where the suction inlet and purge outlet are located, enabling visual monitoring of the operation process.

[0033] Example 2 This embodiment describes the hardware architecture of the control system.

[0034] This embodiment, based on the aforementioned unblocking device (Embodiment 1), constructs a high-radioactivity micro-channel unblocking control system based on air blowing and suction. For example... Figure 2 As shown, the system adopts a hierarchical distributed architecture and is mainly composed of four core modules: vision unit, suction unit, PLC control unit and host computer. Each unit works together through industrial Ethernet and communication protocols.

[0035] The vision unit is configured as a dual-channel image acquisition system. The first camera unit (i.e., endoscope) is deployed at the front end of the bellows to monitor the morphological changes of the blockage point in real time, helping operators determine the type of blockage (hard lumps, soft deposits, or sticky attachments) and the progress of unblocking. The second camera unit uses an industrial-grade network camera, deployed to the side of the push-pull device, to monitor the operating status, clamping position, and synchronization of the push-pull mechanism in real time. Both transmit high-definition video streams to the host computer via Ethernet interfaces.

[0036] The suction unit is integrated into a separate protective cabinet, which is encased in a metal shell to shield against electromagnetic interference and protect the internal precision electronic components. The suction unit internally includes: Suction proportional valve and blowing proportional valve are used to precisely adjust the negative pressure suction volume and positive pressure blowing volume of the pipeline; flow sensors measure the vacuum input flow rate and blowing flow rate respectively; Pressure sensors measure vacuum level, vacuum generator inlet pressure, blowing pressure, and total gas source pressure, respectively.

[0037] The host computer sends opening control commands to the proportional valve through a communication protocol, and polls and reads data from all sensors through the communication protocol, thereby realizing closed-loop monitoring and dynamic adjustment of the pneumatic state.

[0038] The PLC control unit consists of two parts: a PLC control cabinet and a push-pull actuator. The PLC control cabinet contains a PLC control module, which acts as the lower-level controller. The push-pull actuator includes three servo motors, which drive the clamping action and the synchronous push-pull action respectively; one motor is responsible for clamping and releasing the bellows, while the other two motors work together to move the push-pull actuator forward and backward. A push-pull force sensor is installed at the connection between the push-pull head and the bellows to collect resistance data in real time during the push-pull process.

[0039] The host computer sends motion control commands (including parameters such as push-pull cycle, push-pull amplitude, total working time, and cycle advance distance) to the PLC via a communication protocol. After parsing the commands, the PLC drives the motor to operate, achieving precise motion control of the push-pull device. At the same time, the host computer reads the push-pull force sensor data connected to the PLC input terminal in real time through the same protocol to determine whether the push-pull process is smooth and whether there is a risk of encountering hard blocks or jamming.

[0040] The host computer is an industrial control computer with dedicated control software installed, serving as the central processing unit. Its functions include: receiving video stream data from the vision unit and displaying it in real-time on the interface; issuing opening commands to the suction and blowing proportional valves via communication protocols; issuing motion control commands to the PLC; polling and reading all sensor data uploaded by the suction unit and the PLC control unit; and writing the collected data to a local text file in hourly increments to achieve full-process data traceability.

[0041] Example 3 This embodiment describes the complete process flow, such as Figure 1 As shown.

[0042] This embodiment describes in detail the process method for unclogging highly radioactive micro-channels using the aforementioned control system. The entire operation process follows a closed-loop control logic of "initialization → status monitoring → parameter setting → command execution → data archiving," and the specific process is as follows: (1) System initialization and communication self-test steps After the system is powered on, the dual-channel camera unit (endoscope processing industry camera) is first deployed and activated. Then, a data link based on the industrial Ethernet communication protocol is established between the host computer, the vision unit, the PLC control unit, and the suction unit. The system automatically initiates data polling and PLC data acquisition tests to verify that each sensor is online and responding normally. If an abnormal device connection or communication timeout is detected, the corresponding communication error message is displayed on the host computer interface, and subsequent processes are paused until the fault is resolved.

[0043] (2) Visual guidance positioning and clamping fixation steps After communication is established, the host computer receives real-time video streams from the two camera units and previews them synchronously in a split-screen format on its preset interface. After visually confirming the initial position of the corrugated pipe and the direction of the pipe to be cleared, the operator sends a jog command to the host computer software. The host computer forwards this command to the PLC, which drives the corresponding motor to clamp and secure the corrugated pipe, preventing displacement and slippage during the pushing and pulling process. Subsequently, based on the image feedback from the first camera unit (blockage point monitoring), the operator sends a jog command to the host computer to manually control the pushing and pulling device to slowly advance the corrugated pipe to the vicinity of the blockage point.

[0044] (3) Steps for pre-adjusting aerodynamic parameters and selecting motion mode After the bellows is positioned, the system enters the pneumatic parameter configuration stage. According to process requirements, the host computer writes initial opening commands to the suction proportional valve and the blowing proportional valve via communication protocol. Simultaneously, it polls and reads real-time data from the pressure sensor and flow sensor to calibrate the air pressure reference value, ensuring stable internal air pressure during subsequent pushing and pulling processes.

[0045] At this stage, operators can choose whether to enable the "synchronization / alternating mode." In this mode, the system adopts a "master-slave control" strategy. The host computer interface will disable the independent enabling of the blowing module, allowing its pneumatic parameters to completely follow the changes in the suction module. Operators only need to configure the suction module, and the blowing module will automatically synchronize with the same parameters. The operating modes are mainly divided into synchronous and alternating modes, both sharing the same set of cycle setting logic and supporting continuous suction and preset or custom cycles. In synchronous mode, suction and blowing actions are performed simultaneously; in alternating mode, they cycle and switch according to the set cycle time slices. If the synchronous / alternating mode is not enabled, the pneumatic parameters of the suction and blowing modules can be freely defined, including selecting different cycles and setting different proportional valve openings, thereby achieving precise adaptation to various complex working conditions.

[0046] (4) Fine motion control strategy To meet the needs of different working conditions, this system, based on the "motion mode selection," further provides a refined parameter configuration function for the push-pull module. Users can independently set the push-pull cycle, push-pull amplitude, total working time, and cycle forward distance. These parameters not only define the motion pattern but also directly determine the operating speed and working efficiency of the push-pull device.

[0047] The system automatically calculates the operating speed based on the set parameters. The formula for calculating the propulsion speed is: Propulsion speed equals the sum of the thrust amplitude and the periodic forward distance divided by the thrust cycle. The formula for calculating the retraction speed is: Retraction speed equals the thrust amplitude divided by the thrust cycle.

[0048] The stroke control logic is as follows: the total propulsion distance is determined by the total duration. The system calculates the number of reciprocating strokes by dividing the total duration by twice the push-pull cycle, and then concludes that the total propulsion distance is equal to the number of reciprocating strokes multiplied by the periodic propulsion distance.

[0049] Operating condition adaptation strategies include: The cornering mode uses a slower push-pull cycle combined with a larger push-pull amplitude to provide greater lateral support and stability during cornering. The impact-arch breaking mode uses a fast pushing and pulling cycle with a small pushing and pulling amplitude to rapidly impact the blockage with high-frequency reciprocating motion, effectively breaking the "arch bridge effect" of material accumulation.

[0050] After setting the above basic parameters, users can select the following five control sub-modes according to the actual working conditions: Independent control mode is allowed: the linkage between the push-pull mechanism and the pneumatic system is decoupled, allowing operators to start and stop the push-pull motor or adjust the suction or blowing valves independently. The advantages of this mode are: the bellows can be manually pushed slowly towards the blockage point before the unblocking operation, and the endoscope can be used for precise positioning to avoid blind pushing; it also allows for individual testing of the impact of different pneumatic parameters on unblocking efficiency, and quickly finding the optimal parameter combination.

[0051] Forward suction mode: The pushing and pulling action is strictly synchronized with the suction cycle, advancing only during the suction valve opening phase and retracting when suction stops. This mode is suitable for blockages caused by non-clumping, loose deposits. Utilizing the powerful suction generated by negative pressure, the blockage is sucked in the instant the pushing head contacts it, achieving active absorption rather than passive impact; simultaneously, continuous suction during the advancement process ensures that broken fine particles are removed immediately, preventing secondary deposition.

[0052] Forward mode when suction stops: The pushing and pulling action is synchronized in the opposite direction to the suction cycle, advancing only during the suction valve closure phase and retracting when suction begins. This mode is suitable for high-density hard lumps or sharp foreign objects. Advancing during the pressure relief gap reduces frictional resistance, preventing the pusher head from being stuck on the hard lump. The hard lump is gradually broken down through an advancing-retreating-advancing pecking motion, while simultaneously protecting the suction head and extending the life of vulnerable parts.

[0053] Forward movement during air blowing: The pushing and pulling action is strictly synchronized with the air blowing cycle, advancing only during the opening phase of the air blowing valve and retracting when air blowing stops. This mode is suitable for sticky deposits. High-pressure airflow forms an air cushion in front of the pusher head, pre-peeling away deposits adhering to the tube wall and lubricating the channel, significantly reducing pushing resistance; the airflow can also form a dynamic air film between the pusher head and the tube wall, reducing the contact friction coefficient and preventing jamming.

[0054] Forward movement when air blowing stops: The pushing and pulling action is synchronized in the opposite direction to the air blowing cycle, advancing only when the air blowing valve is closed and retracting when air blowing begins. This mode is suitable for brittle scale blockages. During air blowing, the high-pressure airflow creates an air cushion between the pusher head and the blockage, preventing the pusher head from fully adhering to the blockage surface. This mode eliminates the air cushion effect by cutting off the air supply, allowing the flexible plastic corrugated head to tightly adhere to the brittle scale surface, causing it to break apart and detach due to stress concentration through compression and cracking. Simultaneously, the strategy of breaking up the scale before cleaning avoids dust generated during simultaneous blowing and pushing obstructing the endoscopic view.

[0055] (5) Startup command waiting and security confirmation steps After all parameters are set, the system enters standby mode, continuously listening for start commands from the host computer. If no command is received, the current state is maintained; if a command is received, the system checks whether the sensor data is within the safety threshold, whether there is an emergency stop signal, and whether the vision unit is unobstructed. Once all conditions are met, the system enters the automatic operation phase.

[0056] (6) Automatic execution and multi-source data fusion control steps After the system completes parameter configuration and mode selection, it enters the automatic execution stage. The core of this stage lies in the precise coordination and synchronous drive of the three major execution units (push-pull motor, suction valve, and air blowing valve) by the PLC control unit, which transforms the preset discrete parameters into a continuous process flow with specific physical effects.

[0057] Building upon this foundation, the system further introduces a multimodal fusion perception and automatic decision-making control mechanism. By integrating end force sensors, air pressure feedback sensors, and endoscopic imaging systems, a closed-loop control system of "perception-analysis-decision-execution" is constructed.

[0058] The multimodal perception and decision-making logic is as follows: In terms of end-effector force sensing, a high-precision force sensor monitors the contact force between the pusher head and the pipe wall or blockage in real time. The system has a preset force value judgment logic: the normal push resistance threshold is 5 to 10 Newtons, the hard block resistance threshold is 20 Newtons, and the jamming threshold is 30 Newtons. When the real-time monitored value exceeds 20 Newtons, it is judged as contact with a hard block; when it exceeds 30 Newtons, it is judged as a risk of jamming.

[0059] Regarding air pressure and flow feedback, the pressure sensor collects negative and positive pressure data in real time, while the flow sensor monitors the airflow rate simultaneously. The system defines: when the negative pressure fluctuation exceeds 20 percent and the flow rate is less than 20 liters per minute, it is determined to be airflow obstruction; when the positive pressure is less than 0.02 MPa and the flow rate is greater than 40 liters per minute, it is determined to be air film failure.

[0060] Regarding endoscopic imaging, the front-end image is transmitted to the host computer, which performs visual recognition to identify the type of blockage, blockage coverage, and location of pipe rupture in real time.

[0061] The adaptive control strategy is as follows: The host computer acts as the decision-making center, collecting force sensor data from the PLC, air pressure data from the suction unit, and endoscopic images in real time through communication protocols. It then uses a multimodal data fusion algorithm to perform comprehensive analysis, forming a working condition feature vector, and generating control commands accordingly.

[0062] Regarding the process strategy, if the air pressure feedback shows that the positive pressure drops below 0.02 MPa, the host computer determines that the air film lubrication is insufficient and immediately issues an instruction to increase the opening of the proportional valve and extend the push-pull cycle to allow the positive pressure to rise back to the stable range. If the end force sensor detects a sudden increase in contact force that exceeds the preset deformation risk threshold, the host computer determines that there is a risk of pipeline deformation and automatically shortens the blowing cycle and extends the suction cycle. By increasing the pressure relief time, the back pressure is reduced to prevent the pipeline ellipticity from exceeding the safe range.

[0063] Regarding the unclogging process strategy, when dealing with hardened lumps, if the end force sensor detects a contact force consistently exceeding 20 Newtons and the endoscopic image shows the lump remains unbroken, the host computer determines the pecking force is insufficient and immediately issues an instruction to increase the pushing amplitude and shorten the pushing cycle, while maintaining the suction cycle at a pressure relief safety value, gradually breaking down the lump through high-frequency, high-amplitude pecking. When dealing with loose deposits in the forward suction mode, if the air pressure feedback shows an abnormal rise in negative pressure and the endoscopic image shows the debris residue coverage exceeds the preset cleaning threshold, the host computer determines the suction efficiency has decreased, automatically increases the proportional valve opening, extends the pushing cycle, and adds a preset duration of reverse blowing during the blowing phase to completely disperse the residual debris.

[0064] Through the aforementioned multimodal fusion perception and automatic decision control, the system has achieved an upgrade from executing preset parameters to real-time adaptive operation, ensuring that the operational goals of pushing forward, smoothing through, and not damaging the pipes can be achieved under different operating conditions.

[0065] (7) Data archiving and full-process traceability steps During automatic operation, the system polls and collects all sensor data and actuator status commands in real time at a preset fixed frequency. The system writes the collected data into a first-format data file at hourly intervals, and saves the file with a timestamp accurate to the hour.

[0066] The system monitors the program's running status in real time. When a program shutdown command, system abnormal interruption, or power failure signal is detected, a forced write mechanism is immediately triggered to write the remaining raw data records in the current cache that have not yet been written to the storage medium into the first-format data file, ensuring data integrity.

[0067] Each data entry is bound to a high-precision timestamp, facilitating subsequent reproduction and analysis of the workflow. The system supports reading data files in a first format, parsing the timestamps and data content, and converting them into a second format table file for display and analysis.

[0068] (8) End and Reset Steps When the preset total running time is reached or the user clicks the stop button, the system executes a safety shutdown procedure: gradually reducing the motor speed to zero, closing all proportional valves, releasing residual pressure in the pipes, saving the final data, and preparing for the next round of operation.

[0069] The system and process of this invention have achieved the clearing of 0.8m of metal debris blockage inside the bottom U-shaped horizontal section of a pipe with an inner diameter of 37mm, a vertical height of 7m, and multiple bends, in less than 5 minutes.

[0070] In summary, this application proposes an intelligent unblocking process and control device for highly radioactive micro-channels based on "blowing-suction coordination-push-pull coupling," integrating a collapse-resistant flexible carrier, dual-field-of-view perception, and a multi-source fusion closed-loop control system. The main body uses a high-ring stiffness corrugated pipe to encapsulate the air path and vision unit, achieving adaptive clearing of complex blockages through a dynamic "vision-sensing-control" strategy.

[0071] This application uses a bellows with multiple bending angles as the outer shell, utilizing its ring rigidity to resist deformation, and integrates the suction tube, blowing tube, airbag and endoscope into the bellows, achieving a compact integration of micro air passages, vision and mechanical structure.

[0072] This application innovatively proposes a dredging process that combines suction and blowing with pushing and pulling, and establishes a dynamic response strategy based on the fusion of multi-source information such as "vision-sensing-control". The system intelligently decides the timing of suction and blowing and the pushing stroke based on real-time monitoring of pipeline internal pressure, airflow and pushing resistance feedback, forming a continuous operation cycle of "pneumatic loosening-mechanical stripping-negative pressure transport".

[0073] This application utilizes a communication protocol to collaboratively control a proportional valve and a multi-axis motor, ensuring precise spatiotemporal matching of airflow and mechanical force within a slightly curved duct, significantly improving the success rate and safety of unblocking operations in highly radioactive environments.

[0074] This application proposes a variety of motion modes that combine suction, blowing, pushing and pulling, which can quickly test optimal parameters and adapt to complex working conditions such as soft blockage, high-hardness agglomerated blockage, sticky deposit blockage and brittle scale blockage.

[0075] This application overcomes three core technical challenges in the unblocking of highly radioactive micro-pipes through integrated "vision-sensing-control" system: the risk of "blind operation" caused by inaccessible environments, the difficulty in adaptive matching of complex blockage patterns, and the low efficiency and easy jamming of single operation modes. It provides an efficient and safe solution for pipeline maintenance in highly radioactive environments.

[0076] This application uses a flexible corrugated tube as an integrated carrier to coaxially encapsulate a multifunctional composite component consisting of a suction tube, an air blowing tube, an airbag, and an endoscope.

[0077] This application innovatively introduces a combined suction and blowing mechanism of "pulse airflow loosening" and "negative pressure suction removal", and combines real-time feedback from multiple sensors and real-time visual feedback from the endoscope to realize an adaptive control strategy, which dynamically optimizes the dredging process.

[0078] This application can unclog complex pipe blockages without destructive mechanical intervention, greatly improving the safety, success rate and overall efficiency of unclogging operations in highly radioactive micro-pipes.

[0079] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A device for unblocking highly radioactive micro-channels based on air blowing and suction, characterized in that, It features a flexible bellows, which is coaxially integrated with a suction line, a purge line, an airbag assembly, and an endoscope. The suction inlet of the suction line and the purge outlet of the purge line are staggered in the working area at the front end of the bellows, with the purge outlet being closer to the front end of the bellows than the suction inlet, to form a directional airflow sequence of first purging the loosened material and then suctioning it out. The endoscope's observation range covers the working area at the front end.

2. The high-radioactivity micro-channel unblocking device based on air blowing and suction according to claim 1, characterized in that, Flexible corrugated pipes are plastic corrugated pipes, with an appropriate gap between their outer diameter and the inner diameter of the pipe to be dredged.

3. A control system for unblocking highly radioactive micro-channels based on air blowing and suction, characterized in that, include: The unblocking device as described in claim 1 or 2; The vision unit has a first camera unit for real-time monitoring of the morphology of the blockage point and a second camera unit for monitoring the status of the push-pull mechanism; The suction unit includes a suction proportional valve for adjusting the suction airflow pressure, a purge proportional valve for adjusting the purge airflow pressure, and a flow sensor and a pressure sensor for monitoring airflow parameters. The PLC control unit is used to drive and control multiple motors of the unblocking device to perform clamping and pushing actions, and to collect push and pull force sensor data during the pushing and pulling process. The host computer is connected to the vision unit, the suction unit, and the PLC control unit to receive video streams and sensor data, and to send control commands to the suction proportional valve, the blowing proportional valve, and the PLC control unit.

4. The high-radioactivity micro-channel unblocking control system based on air blowing and suction according to claim 1, characterized in that, The host computer is configured to dynamically adjust the opening degree, pushing and pulling cycle and amplitude of the proportional valve based on the pressure, flow and pushing and pulling force data fed back by the sensor.

5. A process for unclogging highly radioactive micro-channels based on air blowing and suction, characterized in that, The control system described in claim 3 or 4 includes the following steps: S1: Establish communication links between the host computer and the vision unit, PLC control unit, and suction unit; S2: The host computer receives and displays the video stream from the camera unit, and uses visual guidance to control the PLC to drive the motor to push the unblocking device to the vicinity of the blockage point and clamp it in place. S3: The host computer sets the initial opening of the suction proportional valve and the blowing proportional valve according to the process requirements, and selects the coordination mode of the push-pull action with the suction and blowing actions. S4: The PLC control unit coordinates the drive of the push motor, suction proportional valve and blowing proportional valve to perform the unblocking operation according to the set cooperative mode; at the same time, the host computer collects the force sensor, air pressure sensor and endoscope image data in real time to form a closed-loop control and dynamically adjust the operation parameters. S5: Writes the collected sensor data and actuator status data to the data file in real time.

6. The high-radioactivity micro-channel unblocking process based on air blowing and suction according to claim 5, characterized in that, In S3, the cooperative mode includes at least one of the following five control sub-modes: Independent control is allowed: the linkage between the push-pull mechanism and the pneumatic system is decoupled, allowing the operator to start or stop the push-pull motor or adjust the suction / blowing valve independently; Forward movement during suction: The pusher moves forward only when the suction valve is open; when suction stops, the pusher moves backward. Forward mode when suction stops: The pusher moves forward only when the suction valve is closed; when suction starts, the pusher moves backward. Forward mode during air blowing: The pusher moves forward only when the air blowing valve is open; when air blowing stops, the pusher moves backward. Forward mode when blowing stops: The pusher moves forward only when the blowing valve is closed; when blowing starts, the pusher moves backward.

7. The high-radioactivity micro-channel unblocking process based on air blowing and suction according to claim 5, characterized in that, In S4, the dynamic adjustment of operating parameters includes adjusting the pushing and pulling amplitude and pushing and pulling cycle based on the contact force detected by the pushing and pulling force sensor.

8. The high-radioactivity micro-channel unblocking process based on air blowing and suction according to claim 5, characterized in that, In S4, the dynamic adjustment of operating parameters includes adjusting the opening of the proportional valve based on the air pressure data detected by the pressure sensor.

9. The high-radioactivity micro-channel unblocking process based on air blowing and suction according to claim 5, characterized in that, In S4, the advancing speed and retreating speed are calculated based on the pushing and pulling cycle, pushing and pulling amplitude, total operation time, and cycle forward distance, as follows: The formula for calculating propulsion speed is: V 推 =(Push-out amplitude + Periodic advance distance) ÷ Push-out period; The formula for calculating backward speed is: V 退 =Pushing amplitude ÷ Pushing cycle 10. The high-radioactivity micro-channel unblocking process based on air blowing and suction according to claim 5, characterized in that, In S5, when a program shutdown command, system abnormal interruption, or power failure signal is detected, a forced write mechanism is triggered to immediately write the remaining data in the cache that has not yet been written to the storage medium into the data file.

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