An intrinsic safety type cleaning system and method with large-span pipe diameter adaptation

Abstract

The application relates to the technical field of high-risk pipeline cleaning, in particular to an intrinsic safety type cleaning system and method suitable for large-span pipe diameters, which comprises a movable high-pressure pump station used for outputting a generated high-pressure power source; a high-pressure water cleaning module connected with the movable high-pressure pump station and configured with a self-adaptive driving subunit, a supporting and positioning subunit and a self-driving spray cleaning subunit; the self-adaptive driving subunit is connected with the supporting and positioning subunit and is used for providing a supporting driving force to drive the supporting and positioning subunit to form rolling abutment with the inner wall of the pipeline; the self-driving spray cleaning subunit is used for uniformly spraying high-pressure water flow on the inner wall of the pipeline and driving the high-pressure cleaning module to move along the axial direction of the pipeline; a work control cabinet module is connected with the high-pressure water cleaning module and the movable high-pressure pump station to form control signal interaction and control the movable high-pressure pump station to dynamically adjust the output of the high-pressure power source. The application has the effect of improving the cleaning adaptability range of energy-containing pipelines with different pipe diameter spans.

Description

Technical Field

[0001] This application relates to the field of high-risk pipeline cleaning technology, and in particular to an intrinsically safe cleaning system and method adapted to large-span pipe diameters. Background Technology

[0002] In the production and transportation of highly reactive chemical materials, pipelines are important carriers. The cleanliness of the inner wall has a crucial impact on safety, quality and equipment life. During the storage and transportation of highly reactive chemical materials, pipelines are prone to generating energetic dirt residues, which require the use of specialized equipment for cleaning.

[0003] In related technologies, existing high-activity chemical material pipeline cleaning devices are mostly specialized equipment designed for fixed pipe diameters. They mainly remove dirt from the inner wall of the pipe by high-pressure water jet. Some devices are equipped with basic support structures to assist the cleaning operation. These devices have been used to some extent in short-term cleaning scenarios for small-scale, single-diameter pipelines, which has alleviated the problem of pipe dirt deposition to a certain extent.

[0004] Regarding the aforementioned technologies, traditional cleaning devices are mainly designed for cleaning single-type small-diameter pipelines. For large-scale cleaning operations involving energetic pipelines, they are difficult to adapt to cleaning operations with inconsistent pipe diameters, especially for energetic pipelines with large differences in pipe diameter. They have poor adaptability and require multiple sets of cleaning devices with compatible specifications, which is not conducive to reducing the design and production costs of cleaning devices. Summary of the Invention

[0005] In order to improve the adaptability of cleaning energetic pipelines with different pipe diameters and spans and reduce the various costs of cleaning equipment, this application provides an intrinsically safe cleaning system and method adapted to large-span pipe diameters.

[0006] Firstly, this application provides an intrinsically safe cleaning system adapted to large-span pipe diameters: An intrinsically safe cleaning system adapted to large-span pipe diameters includes: A portable high-pressure pump station is used to output the generated high-pressure power source; The high-pressure water cleaning module is connected to the mobile high-pressure pump station via a hose reel to receive a high-pressure power source, and is equipped with an adaptive drive subunit, a support and positioning subunit, and a self-driven spraying subunit. The adaptive drive subunit is connected to the support positioning subunit and is used to provide support driving force to drive the support positioning subunit to adjust the support tension and form a rolling contact with the inner wall of the pipeline. The self-driven spraying subunit is used to uniformly spray high-pressure water onto the inner wall of the pipeline and generate thrust to drive the high-pressure cleaning module to move along the pipeline axis. The operation control cabinet module is connected to the high-pressure water cleaning module and the mobile high-pressure pump station to form a control signal interaction, which is used to control the mobile high-pressure pump station to dynamically adjust the high-pressure power source output to the high-pressure water cleaning module.

[0007] By adopting the above technical solution, the mobile high-pressure pump station, high-pressure water cleaning module, and operation control cabinet module form a collaborative working system. The multiple sub-units of the high-pressure water cleaning module cooperate with each other. The adaptive drive sub-unit and the support positioning sub-unit work together to achieve support tension adjustment. The self-driven spraying sub-unit ensures full-circumferential cleaning and autonomous movement. The operation control cabinet module dynamically regulates the high-pressure power source. The whole system achieves flexible adaptation, stable support positioning, and intrinsically safe explosion-proof cleaning for large-span pipe diameters. It effectively solves the problems of poor pipe diameter adaptability, unstable support, and insufficient explosion-proof safety of traditional cleaning devices, and improves the efficiency, safety, and reliability of pipeline cleaning in high-risk places such as high-activity chemical materials.

[0008] Optionally, the high-pressure water cleaning module further includes a sealed water inlet connector subunit, which is connected to a high-pressure power source to stabilize the input water flow pressure and deliver the high-pressure water flow to the adaptive drive subunit. The high-pressure sealed water inlet connector subunit is equipped with a pressure stabilization strategy, which analyzes the water flow pressure of the external water supply pipeline to determine the real-time water flow pressure value and match the corresponding water flow output pipeline in the preset water flow pipeline database. The water flow from the external water supply pipe is input and transmitted to the adaptive drive subunit via the water flow output pipe to maintain the output water flow pressure within the set standard pressure threshold.

[0009] By adopting the above technical solution, the pressure stabilization strategy of the sealed water inlet connector subunit can continuously maintain the output water pressure within the standard threshold by collecting water flow pressure in real time, matching preset database parameters, and providing feedback adjustment. This avoids the impact of water pressure fluctuations on the driving force output of the adaptive drive subunit and the cleaning effect of the self-driven spray washing subunit, providing a reliable water pressure foundation for the stable operation of the entire system, reducing cleaning interruptions or equipment failures caused by unstable pressure, and improving the stability and continuity of system operation.

[0010] Optionally, the support positioning subunit includes a flexible hinge and a support guide wheel. The support guide wheel is disposed at the end of the flexible hinge. The flexible hinge is an X-shaped folding link. The flexible hinge has an unfolded state and a retracted state. When the flexible hinge is unfolded, the support guide wheel abuts against the inner wall of the pipeline. The self-driven spray washing subunit is concentrically arranged with the pipeline.

[0011] By adopting the above technical solution, the positioning adaptation strategy of the support positioning subunit utilizes the flexible hinge of the X-shaped folding link and the structural design of the end support guide wheel. When unfolded, the support guide wheel reliably abuts against the inner wall of the pipeline. Furthermore, the symmetrical distribution ensures that the self-driven spraying subunit is concentrically set with the center of the pipeline, effectively eliminating the cleaning blind spots caused by positioning offset in traditional cleaning devices. At the same time, the unfolded and retracted states of the flexible hinge adapt to pipelines of different diameters, improving the stability of the support positioning and the pipe diameter adaptation range, ensuring uniform cleaning of the inner wall of the pipeline in the entire circumference, and improving the cleaning effect.

[0012] Optionally, the adaptive drive subunit includes an adjusting rod and a telescopic drive source. The output end of the telescopic drive source is connected to one end of the adjusting rod via a guide rod, and the other end of the adjusting rod is connected to the flexible hinge. When the telescopic drive source extends or retracts its output end, it drives the flexible hinge to contract or expand.

[0013] By adopting the above technical solution, the adaptive drive subunit, through the connection structure of the telescopic drive source, guide rod and adjusting rod, directly drives the flexible hinge to contract or expand by the telescopic drive source. The transmission path is simple and the response is fast. It can accurately control the support tension of the support positioning subunit, ensuring that the support guide wheel forms a reliable rolling contact with the inner wall of pipes of different diameters. This avoids the cleaning device from shifting or the pipe from being too loose or too tight, thus improving the flexibility of pipe diameter adaptation and positioning accuracy.

[0014] Optionally, the adaptive drive subunit is configured with a dynamic drive adjustment strategy to adjust the tension of the support positioning subunit to adapt to different pipe inner diameters, including: Collect and analyze task information to determine the pipeline cleaning sequence and pipeline inner wall diameter, and match the driving thrust corresponding to different pipeline inner wall diameters in the pipeline cleaning database; The drive thrust adjustment is associated with the pipeline cleaning sequence. When the pipeline target to be cleaned is changed, the corresponding drive thrust is matched and adjusted. When the cleaning of the current pipeline target is completed, the support positioning subunit is adjusted with a preset reset drive thrust.

[0015] By adopting the above technical solution, the dynamic drive adjustment strategy of the adaptive drive subunit analyzes pipeline parameters based on the task information, matches the corresponding drive thrust and associates it with the cleaning sequence, and realizes automatic thrust adjustment when switching between different pipeline targets without manual intervention. This solves the cumbersome operation of changing specifications required by traditional devices and improves the operation efficiency of continuous cleaning of multi-diameter pipelines. At the same time, after cleaning, the preset reset thrust is used to adjust the retraction, ensuring the convenience and safety of equipment removal and further optimizing the operation process.

[0016] Optionally, the adaptive driving subunit is further configured with an output optimization sub-strategy, including: When the collection pipeline stops cleaning, the driving thrust is synchronously output to the adaptive drive subunit, and the contraction coefficient of the support positioning subunit is calculated using a preset dynamic optimization analysis model. When the contraction coefficient is within the preset maximum contraction coefficient threshold, the drive thrust feedback adjustment command is triggered. The high-pressure power source output is allocated based on the drive thrust feedback adjustment command, and the water flow input of the high-pressure water cleaning module is closed.

[0017] By adopting the above technical solution, the output optimization sub-strategy can accurately determine the contraction state of the support and positioning sub-unit by collecting the actual driving thrust and calculating the contraction coefficient in combination with the dynamic optimization analysis model. When the contraction coefficient is within the safe threshold, feedback adjustment is triggered to reasonably allocate the output of the high-pressure power source and close the water flow input channel, so as to avoid structural damage or power waste caused by excessive contraction of the support and positioning sub-unit. At the same time, it ensures the structural stability when the system is shut down, and improves the service life of the equipment and energy utilization efficiency.

[0018] Optionally, the preset dynamic optimization analysis model is calculated using the following formula: ; in, The shrinkage coefficient, which supports the positioning subunit, characterizes the ratio of the actual shrinkage of the flexible hinge to the maximum designed shrinkage. The actual driving thrust output by the adaptive drive subunit when cleaning of the pipeline inner wall stops. This is the inner diameter of the current cleaning pipeline. The elastic coefficient of the flexible hinge is an inherent structural parameter of the X-type folding linkage, pre-stored in the system database. The maximum retraction stroke of a flexible hinge, that is, the amount of displacement from the fully extended state to the fully retracted state. The rated drive thrust of the adaptive drive subunit is the preset standard output thrust value.

[0019] By adopting the above technical solution, the dynamic optimization analysis model quantifies the contraction coefficient through formulas, comprehensively considers key parameters such as actual driving thrust, pipeline diameter, flexible hinge elastic coefficient, maximum contraction stroke, and rated driving thrust, avoids errors caused by subjective judgment, and can accurately and objectively reflect the matching relationship between the actual contraction degree of the support positioning sub-unit and the design limit, providing scientific and reliable data basis for driving thrust feedback adjustment, and improving the accuracy and operability of the output optimization sub-strategy.

[0020] Optionally, the operation control cabinet module is configured with a flow anomaly adjustment strategy. The operation control cabinet module analyzes the control valve water pressure of the input flow regulation control valve using a preset water pressure matching model. When the control valve water pressure is greater than the preset safe water pressure threshold, the control valve regulation command is triggered. Based on the control valve adjustment command, the preset control valve opening analysis model is used to calculate and determine the control valve opening adjustment parameters, and then adjust the opening of the flow control valve.

[0021] By adopting the above technical solution, the flow abnormality regulation strategy of the operation control cabinet module uses a water pressure matching model to analyze the actual water pressure of the flow regulation control valve in real time. When the water pressure exceeds the safety threshold, the regulation command is triggered in time, and the water pressure is regulated by controlling the valve opening. This effectively avoids safety accidents such as pipeline rupture, dirt splashing or explosion caused by overpressure, meets the intrinsically safe explosion-proof requirements of the F0 zone high-risk environment, and ensures the safe continuity of cleaning operations, reducing the risk of pipeline cleaning in high-risk locations.

[0022] Optionally, the control valve opening analysis model is calculated using the following formula: ; ; in, The target opening degree of the flow regulating control valve. The preset maximum opening, This refers to the maximum opening of the flow regulating control valve. This is the water pressure deviation value. This is the preset safe water pressure threshold.

[0023] By adopting the above technical solution, the water pressure matching model and the control valve opening adjustment model quantify the water pressure deviation value and the target opening through formulas, accurately correlate the actual water pressure with the valve adjustment range, realize dynamic and precise control of water pressure, and avoid the problem of excessive water pressure fluctuation caused by manual adjustment; it ensures that the water pressure quickly drops back to the safe threshold, and also guarantees the water flow pressure parameters required for cleaning, taking into account both operational safety and cleaning effect, and improving the system's response speed and adjustment accuracy to water pressure anomalies.

[0024] Secondly, this application provides an intrinsically safe cleaning method adapted to large-span pipe diameters, employing the following technical solution: An intrinsically safe cleaning method adapted to large-span pipe diameters includes: The pipeline adaptation and positioning steps are equipped with a positioning adaptation strategy and a dynamic drive adjustment strategy. The cleaning actuator of the high-pressure water cleaning module is sent into the pipeline to be cleaned. The mobile high-pressure pump station is connected through the sealed water inlet connector subunit. The high-pressure water flow pushes the guide rod of the adaptive drive subunit to extend and tightens the flexible hinge mechanism to open it, so that the support guide wheel of the support positioning subunit fits against the inner wall of the pipeline, completing the adaptive positioning of different pipe diameters. The water pressure adaptive adjustment step is equipped with a dynamic water pressure control strategy. The operation control cabinet module collects and analyzes the pipe diameter signal based on the preset pipe diameter-water pressure matching model algorithm, and adjusts the opening of the flow control valve according to the pipe diameter specification. When it is a large-diameter pipe, the valve opening is increased to improve the water flow parameters and ensure the cleaning effect; when it is a small-diameter pipe, the valve opening is decreased to reduce the water pressure and avoid pipe damage. The cleaning operation is configured with a self-driven full-circumference cleaning strategy. The self-driven spray washing sub-unit obtains the propulsion force by the backflow of water, which drives the cleaning actuator to move along the pipeline axis and simultaneously completes the full-circumference cleaning operation of the pipeline inner wall. The overpressure safety protection procedure includes a flow anomaly regulation sub-strategy with dynamic water pressure control. During the cleaning process, the water pressure data in the pipeline is monitored in real time, and the deviation between the actual water pressure and the safe water pressure threshold is analyzed through a water pressure matching model. When the actual water pressure exceeds the preset safe water pressure threshold, the operation control cabinet module immediately triggers the control valve adjustment command, closes the flow regulation control valve, and issues an overpressure warning signal. After the water pressure returns to the safe range, the target opening is calculated through the control valve opening adjustment model, the cleaning parameters are automatically reset, and normal cleaning operation is resumed. After the operation is completed and reset, the output optimization sub-strategy configured with dynamic drive adjustment strategy shuts down the water supply system of the mobile high-pressure pump station, the adaptive drive sub-unit depressurizes, the guide rod and flexible hinge mechanism synchronously reset and contract, the contraction coefficient is calculated based on the dynamic optimization analysis model, and after confirming that the contraction state meets the threshold, the cleaning actuator is removed to complete the cleaning operation.

[0025] By adopting the above technical solutions, the cleaning method and system structure are adapted, and each step forms a closed-loop control of the entire process based on corresponding strategies. The pipeline adaptation and positioning step achieves precise positioning, the water pressure adaptive adjustment step matches the cleaning needs of different pipe diameters, the cleaning operation execution step ensures efficient cleaning in all directions, the overpressure safety protection step avoids high risks, and the operation completion reset step ensures safe recovery of equipment. This effectively achieves safe, efficient, and blind-spot-free cleaning of large-span pipe diameters, adapts to the cleaning operation needs of high-risk places such as highly active chemical materials, and solves the problems of poor adaptability, low safety, and non-standard processes of traditional cleaning methods.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The mobile high-pressure pump station, high-pressure water cleaning module, and operation control cabinet module form a collaborative working system. The multiple sub-units of the high-pressure water cleaning module cooperate with each other. The adaptive drive sub-unit and the support positioning sub-unit work together to achieve support tension adjustment. The self-driven spraying sub-unit ensures full-circumferential cleaning and autonomous movement. The operation control cabinet module dynamically regulates the high-pressure power source. The whole system achieves flexible adaptation, stable support positioning, and intrinsically safe explosion-proof cleaning for large-span pipe diameters. It effectively solves the problems of poor pipe diameter adaptability, unstable support, and insufficient explosion-proof safety of traditional cleaning devices, and improves the efficiency, safety, and reliability of pipeline cleaning in high-risk places such as high-activity chemical materials. 2. The positioning adaptation strategy of the support positioning subunit utilizes the flexible hinge of the X-shaped folding link and the structural design of the end support guide wheel. When unfolded, the support guide wheel reliably abuts against the inner wall of the pipeline. Furthermore, the symmetrical distribution ensures that the self-driven spraying subunit is concentrically set with the center of the pipeline, effectively eliminating the cleaning blind spots caused by positioning offset in traditional cleaning devices. At the same time, the unfolded and retracted states of the flexible hinge adapt to pipelines of different diameters, improving the stability of the support positioning and the pipe diameter adaptation range, ensuring uniform cleaning of the inner wall of the pipeline in the entire circumference, and improving the cleaning effect. 3. The adaptive drive subunit, through the connection structure of the telescopic drive source, guide rod and adjusting rod, directly drives the flexible hinge to retract or expand by the telescopic drive source. The transmission path is simple and the response is fast. It can accurately control the support tension of the support positioning subunit, ensuring that the support guide wheel forms a reliable rolling contact with the inner wall of pipes of different diameters. This avoids the cleaning device from shifting or the pipe from being too loose or too tight, thus improving the flexibility of pipe diameter adaptation and positioning accuracy. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the module connection of the intrinsically safe cleaning system adapted to large-span pipe diameters in this application.

[0028] Figure 2 This is a schematic diagram of the high-pressure water cleaning module in the intrinsically safe cleaning system of this application.

[0029] Figure 3 This is a flowchart of steps S100 to S101 in this application.

[0030] Figure 4 This is a flowchart of steps S200 to S202 in this application.

[0031] Figure 5 This is a flowchart of steps S300 to S301 in this application. Detailed Implementation

[0032] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-5The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0033] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0034] This application discloses an intrinsically safe cleaning system adaptable to large-span pipe diameters. It forms a collaborative working system through a mobile high-pressure pump station, a high-pressure water cleaning module, and a work control cabinet module. Multiple sub-units of the high-pressure water cleaning module cooperate with each other. An adaptive drive sub-unit and a support positioning sub-unit work together to adjust support tension. A self-driven spraying sub-unit ensures circumferential cleaning and autonomous movement. The work control cabinet module dynamically regulates the high-pressure power source. Overall, it achieves flexible adaptation to large-span pipe diameters, stable support positioning, and intrinsically safe explosion-proof cleaning. This effectively solves the problems of poor pipe diameter adaptability, unstable support, and insufficient explosion-proof safety in traditional cleaning devices, improving the efficiency, safety, and reliability of pipeline cleaning in high-risk locations such as those containing highly reactive chemical materials.

[0035] Reference Figure 1 An intrinsically safe cleaning system adapted to large-span pipe diameters includes: A portable high-pressure pump station is used to output the generated high-pressure power source; The high-pressure water cleaning module is connected to a mobile high-pressure pump station via a hose reel to receive a high-pressure power source. It is equipped with an adaptive drive subunit, a support and positioning subunit, and a self-driven spraying subunit. The mobile high-pressure pump station is equipped with a high-pressure power output strategy. By receiving the power demand command from the operation control cabinet module, it matches the corresponding pressure and flow parameters in the preset high-pressure power parameter library, drives the integrated components to work together, and generates and outputs a stable high-pressure water flow power source. The high-pressure power output strategy integrates command parsing, parameter matching, and coordinated control logic with integrated components. This allows for precise adaptation to the cleaning power requirements of pipelines with different diameters, while simultaneously meeting F0 zone explosion-proof safety standards. The preset high-pressure power parameter library is a built-in benchmark database that stores standard pressure and flow parameter ranges for different pipe diameters (DN100-DN300) and cleaning conditions. It has been calibrated and verified through multiple sets of high-activity chemical material pipeline cleaning experiments. The high-pressure power source refers to the high-pressure water flow that meets the cleaning operation requirements after pressurization. Its pressure and flow rate need to be dynamically adjusted according to the pipe diameter to avoid damage to the pipeline due to excessive pressure or impact on the cleaning effect due to insufficient pressure. Integrated components include a transition water tank, inlet booster pump, high-pressure plunger pump, filter, lubrication and cooling system, and hose reel. All components are integrated into a wheeled metal chassis, balancing portability and stability.

[0036] During execution, the system first receives a high-pressure power start command from the operation control cabinet module and extracts key parameters such as the target pipe diameter and cleaning duration through a command parsing algorithm. Subsequently, based on these parameters, it matches a preset high-pressure power parameter library to determine the corresponding standard pressure and flow range under the current operating conditions, and clarifies the operating parameters of the inlet booster pump and the high-pressure plunger pump.

[0037] At the same time, the mobile high-pressure pump station starts the water inlet pretreatment process: the external water supply pipeline is connected to the transition water tank, the water tank buffers and initially settles the inlet water to remove large particulate impurities; the water inlet booster pump is started to pressurize the water in the water tank to a head of 50m and deliver it to the filter for fine filtration to remove impurities with a particle size of less than 0.1mm in the water to avoid clogging the high-pressure water pipe and nozzle.

[0038] The filtered water flows into the high-pressure plunger pump in the water circuit. The plunger pump pressurizes the water to the target pressure according to the matched parameters. For large pipe diameters DN200-DN300, the pressure is 80-100MPa, and for small pipe diameters DN100-DN200, the pressure is 15-80MPa. The flow rate is then adjusted to the target value by the pneumatic control valve group. Finally, the high-pressure water flow is delivered to the high-pressure water cleaning module in the F0 zone by the high-pressure water hose reel.

[0039] During operation, the lubrication and cooling system continuously monitors the temperature of the high-pressure plunger pump and drive motor. When the temperature exceeds 60°C, the cooling cycle is automatically started to ensure stable operation of the equipment. At the same time, the pressure sensor collects the output water pressure in real time and feeds the data back to the operation control cabinet module to realize closed-loop pressure regulation.

[0040] Reference Figure 2 The specific structure of the high-pressure water cleaning module is shown in the figure. In this embodiment, the self-driven spraying subunit is a self-driven nozzle, which is used to synchronously tilt and spray high-pressure water as the nozzle rotates, providing driving thrust. The support and positioning subunit is a flexible hinge mechanism, with a support guide wheel on the outside of the hinge mechanism and rolling contact between the guide wheel and the inner wall of the cylindrical component. The adaptive drive subunit is an adaptive drive mechanism, which can automatically adjust the tension of the flexible hinge mechanism according to the input water pressure, thereby keeping the flexible hinge mechanism in an open support state and keeping the self-driven nozzle and the cylindrical component coaxial.

[0041] Furthermore, it should be noted that the adaptive drive subunit is equipped with a dynamic drive adjustment strategy. By analyzing the pipe diameter data in the task information, matching the corresponding drive thrust parameters in the preset pipeline cleaning database, the drive adjustment rod drives the flexible hinge of the support positioning subunit to expand or contract, thereby achieving dynamic adjustment of the support tension.

[0042] The dynamic drive adjustment strategy integrates task analysis, parameter matching, and mechanical drive into a coordinated control logic. It can accurately adapt to the support and positioning requirements of pipelines with different diameters and achieve large-span pipeline adaptation without manual device replacement. The preset pipeline cleaning database is a built-in benchmark database that stores the target drive thrust and reset drive thrust parameters corresponding to each pipeline diameter from DN100 to DN300. It has been calibrated and verified through multiple sets of pipeline diameter adaptation experiments.

[0043] The driving thrust refers to the output force provided by the adaptive drive subunit to push the flexible hinge to unfold. Its magnitude must match the pipe diameter to ensure that the support guide wheel can reliably abut against the inner wall of the pipe without damaging the pipe wall. The flexible hinge is a telescopic structure composed of 4 sets of X-shaped folding links, with a telescopic stroke of 0-250mm. The surface of the link is treated with anti-static treatment to meet the explosion-proof requirements of the F0 zone. The adjusting rod is a transmission component that connects the telescopic drive source and the flexible hinge, used to transmit the driving force and ensure the synchronization of movement.

[0044] In practice, the subunit first receives the task information pushed by the operation control cabinet module and extracts key parameters such as the pipeline cleaning sequence and the inner diameter of each pipeline through a task parsing algorithm. Then, based on these parameters, it matches a preset pipeline cleaning database to determine the target driving thrust corresponding to the pipeline to be cleaned. Simultaneously, the subunit activates the telescopic drive source, whose guide rod has a diameter of 10mm, a working stroke of 250mm, and a maximum clamping force of 500N. The guide rod pushes the adjusting rod, which is fixedly connected to the linkage node of the flexible hinge, causing the hinge to gradually unfold from a retracted state, thereby pushing the support guide wheel towards the inner wall of the pipeline.

[0045] During the contact process between the support guide wheel and the inner wall of the pipeline, the pressure sensor collects the bonding pressure data in real time and feeds the data back to the control chip of the sub-unit. The output force of the telescopic drive source is dynamically fine-tuned through the thrust adjustment algorithm to stabilize the bonding pressure within the preset range of 50-100N.

[0046] When the target of the cleaning pipeline is changed, the subunit rematches the driving thrust corresponding to the new pipeline diameter and quickly adjusts the degree of expansion of the flexible hinge; when the cleaning of the current pipeline ends, the subunit switches to the preset reset driving thrust and controls the flexible hinge to initially retract, in preparation for the subsequent removal of the cleaning module.

[0047] The support positioning subunit is equipped with a positioning adaptation strategy. The extension and retraction of the flexible hinge drives the support guide wheel to form a rolling contact with the inner wall of the pipeline. Combined with the symmetrical distribution design, the self-driven spray washing subunit is centered. The positioning and adaptation strategy integrates flexible telescopic and rolling contact into a collaborative positioning logic. It can adapt to large-span pipe diameters through adaptive adjustment of the mechanical structure, while ensuring that the cleaning head is centered and eliminating cleaning blind spots. The support guide wheel is a rolling component made of electrostatic conductive and wear-resistant polyurethane material with a diameter of 80mm. The wheel rim is designed with a chamfered angle, which can adaptively adjust the contact angle with the inner wall of pipes of different diameters. The guide wheel shaft is embedded in the shaft hole at the end of the flexible hinge link, which can rotate freely and extend and retract synchronously with the link.

[0048] Centered positioning refers to using four sets of symmetrically distributed support and positioning structures to ensure that the center of the self-driven spray washing sub-unit coincides with the center of the pipeline, thus ensuring that the sprayed water flow evenly covers the inner wall of the pipeline; rolling contact refers to reducing travel resistance by rolling when the guide wheel contacts the inner wall of the pipeline, thus avoiding scratching the pipe wall; the connecting rod nodes of the flexible hinge are made of stainless steel to ensure structural strength and corrosion resistance.

[0049] In practice, the sub-unit receives the driving force from the adaptive drive sub-unit, and the flexible hinge gradually unfolds from its retracted state, driving the end support guide wheel towards the inner wall of the pipeline. When the support guide wheel contacts the inner wall of the pipeline, due to the inclined chamfer design of the wheel rim, the guide wheel automatically adjusts the contact angle, making the wheel surface fit tightly against the pipeline wall. At the same time, four sets of symmetrically distributed guide wheels apply abutment force synchronously, forming a uniform support force within the pipeline cross-section, precisely aligning the center of the self-driven spray washing sub-unit with the center of the pipeline, achieving centered positioning.

[0050] During the cleaning operation, the self-driven spraying subunit generates propulsion to move the entire cleaning module along the pipeline axis. The support guide wheel rolls synchronously with the movement, converting sliding friction into rolling friction and significantly reducing travel resistance. At the same time, the pressure sensor continuously monitors the contact pressure. If pressure fluctuations occur due to unevenness of the pipeline inner wall, the adaptive drive subunit adjusts the thrust in real time to maintain reliable contact between the support guide wheel and the pipeline wall, ensuring stable centering positioning.

[0051] The self-driven spray cleaning subunit is used to evenly spray high-pressure water onto the inner wall of the pipeline and generate thrust to drive the high-pressure cleaning module to move along the pipeline axis. The self-driven spray cleaning subunit is equipped with a self-driven full-circumference cleaning strategy. It sprays high-pressure water evenly onto the inner wall of the pipeline through circumferentially arranged spray nozzles, and at the same time uses the water flow back force to obtain the propulsion to drive the high-pressure water cleaning module to move along the pipeline axis. The self-driven full-circumference cleaning strategy integrates full-circumference spraying and self-driven movement into a collaborative cleaning logic. It can achieve full-area coverage cleaning of the inner wall of the pipeline without additional drive components, simplifying the structure and reducing the risk of explosion. Self-driven movement refers to using the recoil force generated by high-pressure water jet as the driving force. The spiral structure design of the nozzle converts the recoil force into driving force along the pipeline axis, eliminating the need for electrical drive components such as motors.

[0052] Full-circumference cleaning refers to the use of circumferentially arranged spray nozzles, with a spray angle covering 360°, ensuring that high-pressure water flow can evenly flush all areas of the inner wall of the pipeline, eliminating cleaning blind spots; the nozzle housing is made of electrostatic conductive material, forming a full-process electrostatic conductive path with the electrostatic conductive connecting rod and guide wheel of the supporting positioning subunit, meeting the explosion-proof requirements of F0 zone; the spray nozzle pressure range is 15-100MPa, which can be dynamically adjusted according to the pipe diameter to ensure cleaning effect.

[0053] In practice, the subunit first receives the high-pressure water flow from the sealed water inlet subunit. The water flow is then distributed to the circumferentially arranged spray nozzles through the internal distribution channel of the nozzle. The spray nozzles are designed with a 15° spiral angle, and the high-pressure water flow is ejected at high speed from the spray nozzles, forming a full-circumferential flush on the inner wall of the pipeline, stripping away the deposited flammable and explosive energetic dirt. At the same time, the recoil force generated by the water jet is decomposed along the spiral angle direction, forming a driving force along the pipeline axis, driving the entire high-pressure water cleaning module to move at a constant speed of 0.5-1m / min.

[0054] During operation, the support and positioning subunit maintains the nozzle's centered position, ensuring a uniform distance between the sprayed water and the inner wall of the pipe, resulting in consistent flushing intensity. The pressure at the spray nozzle is dynamically adjusted according to the pipe diameter: 80-100 MPa for large diameter pipes to ensure sufficient flushing force, and 15-80 MPa for small diameter pipes to prevent excessive pressure from damaging the pipe's inner wall. During cleaning, the nozzle's purely mechanical design eliminates the need for electrical components, and the use of anti-static materials effectively mitigates the explosion risks associated with F0 zones, ensuring operational safety.

[0055] The operation control cabinet module connects with the high-pressure water cleaning module and the mobile high-pressure pump station to form a control signal interaction, which is used to control the dynamic adjustment of the high-pressure power source output to the high-pressure water cleaning module by the mobile high-pressure pump station.

[0056] The operation control cabinet module is equipped with a dynamic water pressure regulation strategy. By analyzing the pipe diameter signal and real-time water pressure data transmitted by the high-pressure water cleaning module, and based on the preset water pressure matching model and control valve opening adjustment model, it dynamically adjusts the output pressure and flow of the mobile high-pressure pump station, while realizing overpressure safety protection. The dynamic water pressure control strategy is a collaborative control logic that integrates signal analysis, model calculation and feedback adjustment. It can accurately match the correspondence between pipe diameter and water pressure, taking into account both cleaning effect and pipeline safety, while responding quickly to overpressure conditions. The preset water pressure matching model is a quantitative model used to calculate the deviation between actual water pressure and safe water pressure.

[0057] The preset safe water pressure threshold is an upper limit of water pressure set based on the F0 zone explosion-proof requirements and the pipe material tolerance, and has been verified by multiple sets of pressure resistance tests; the overpressure safety protection refers to the system quickly activating the valve adjustment and early warning mechanism when the actual water pressure exceeds the safe threshold to avoid the risk of pipe rupture or explosion; the water circuit alarm module is a component used to issue audible and visual warnings under overpressure conditions to ensure that operators can respond in a timely manner.

[0058] In practice, the module first receives the pipe diameter signal transmitted by the high-pressure water cleaning module, determines the specifications of the current cleaning pipeline through a signal analysis algorithm, and calculates the corresponding target water pressure value based on a preset pipe diameter-water pressure matching algorithm. Subsequently, the module sends a pressure adjustment command to the mobile high-pressure pump station, controlling the high-pressure plunger pump to adjust the output pressure to the target value.

[0059] At the same time, the real-time water pressure monitoring process is initiated, and the actual water pressure data is collected by the pressure sensor deployed at the end of the high-pressure water pipe. The data is updated every 100ms and transmitted to the module.

[0060] The module inputs the actual water pressure data into the preset water pressure matching model and calculates the water pressure deviation value ΔP: when ΔP≤0, it is determined that the water pressure is in the safe range and the current pump station output parameters are maintained; when ΔP>0, it is determined that an overpressure condition has occurred, and the control valve adjustment command is immediately triggered. The water pressure deviation value is input into the control valve opening adjustment model to calculate the target opening. The flow regulation control valve is then closed to the target opening, and the water circuit alarm module is activated to issue an audible and visual warning signal.

[0061] Once the pressure sensor detects that the actual water pressure has returned to the safe range (ΔP≤0), the module recalculates the reset opening using the model, controls the valve to return to the corresponding position, stops the warning, and restores normal cleaning parameters. Throughout the process, the module uses closed-loop regulation logic to ensure that the water pressure remains stable within the preset range, balancing cleaning effectiveness and operational safety.

[0062] The high-pressure water cleaning module also includes a sealed water inlet connector subunit, which is connected to a high-pressure power source to stabilize the input water pressure and deliver the high-pressure water flow to the adaptive drive subunit; The high-pressure sealed water inlet connector subunit is equipped with a pressure stabilization strategy. It analyzes the water flow pressure of the external water supply pipeline to determine the real-time water flow pressure value and matches it with the corresponding water flow output pipeline in the preset water flow pipeline database. The water flow from the external water supply pipe is input and transmitted to the adaptive drive subunit through the water flow output pipe to keep the output water pressure within the set standard pressure threshold.

[0063] The support positioning subunit includes a flexible hinge and a support guide wheel. The support guide wheel is located at the end of the flexible hinge. The flexible hinge is an X-shaped folding link. The flexible hinge has an extended state and a retracted state. When the flexible hinge is extended, the support guide wheel abuts against the inner wall of the pipeline. The self-driven spray washing subunit is concentrically positioned with the pipeline.

[0064] The adaptive drive subunit includes an adjusting rod and a telescopic drive source. The output end of the telescopic drive source is connected to one end of the adjusting rod via a guide rod, and the other end of the adjusting rod is connected to a flexible hinge. When the telescopic drive source extends or retracts its output end, it drives the flexible hinge to contract or expand.

[0065] Reference Figure 2 The adaptive drive subunit is configured with a dynamic drive adjustment strategy to adjust the tension of the support positioning subunit to adapt to different pipe inner diameters, including: Step S100: Collect and analyze the task information to determine the pipeline cleaning sequence and the inner diameter of the pipeline, and match the driving thrust corresponding to different inner diameters of the pipeline in the pipeline cleaning database; Step S101: Based on the drive thrust adjustment, the pipeline cleaning sequence is associated. When the pipeline target to be cleaned is changed, the corresponding drive thrust is matched and adjusted. When the cleaning of the current pipeline target ends, the preset reset drive thrust adjustment supports the positioning subunit.

[0066] The dynamic drive adjustment strategy is a closed-loop control logic that integrates task analysis, pipe diameter-thrust matching, and cleaning process linkage. It can achieve automated positioning and adaptation of pipelines with different diameters without manual intervention to replace devices, thus improving work efficiency. The task information is instruction data containing key parameters such as the pipe diameter, cleaning sequence, and working length of the pipeline to be cleaned. It is uniformly issued by the operation control cabinet module and verified under multiple working conditions. The pipeline cleaning database is a built-in benchmark parameter library that stores the target drive thrust (50-500N) corresponding to each pipe diameter from DN100 to DN300. The parameters are calibrated through a large number of pipe diameter adaptation experiments to ensure accurate matching between the support tension and the pipe diameter. The drive thrust is the output force provided by the adaptive drive subunit to push the flexible hinge to unfold. Its magnitude directly determines the tightness of the fit between the support guide wheel and the inner wall of the pipeline. The reset drive thrust is a preset standardized retraction thrust (100N) used to control the initial retraction of the flexible hinge after cleaning to ensure the safe removal of the cleaning module.

[0067] In practice, the following steps should be followed: Step S100: The adaptive drive subunit first receives the task information sent by the task control cabinet module, and extracts key parameters through the task parsing algorithm, including the pipeline cleaning order, the inner wall diameter of each pipeline and the corresponding cleaning priority, such as cleaning DN150 pipeline first and then DN250 pipeline.

[0068] Subsequently, based on the obtained pipe inner wall diameter obtained through analysis, the subunit calls the preset pipe cleaning database and uses a parameter matching algorithm to find the target driving thrust for the corresponding pipe diameter. For example, small pipe diameters of DN100-DN200 correspond to a driving thrust of 50-300N, and large pipe diameters of DN200-DN300 correspond to a driving thrust of 300-500N, ensuring that the thrust is matched with the pipe diameter and avoiding support that is too loose or too tight.

[0069] Step S101: The subunit establishes a correlation between the matched target driving thrust and the pipeline cleaning sequence, generating a thrust adjustment sequence. When the system switches the target pipeline to be cleaned, the subunit quickly matches the driving thrust corresponding to the new pipe diameter according to the adjustment sequence, starts the telescopic drive source to adjust the output force, and drives the flexible hinge to change the degree of extension synchronously, so that the support guide wheel always reliably abuts against the inner wall of the new pipeline.

[0070] During the adjustment process, the pressure sensor collects the contact pressure data in real time and feeds it back to the subunit for dynamic fine-tuning, maintaining the pressure within the preset range of 50-100N. When the current pipeline target cleaning is completed, the subunit automatically switches to the preset reset drive thrust, controlling the flexible hinge to initially retract from the unfolded state, reducing the contact pressure between the cleaning module and the inner wall of the pipeline, laying the foundation for the complete retraction and removal process after the subsequent operation is completed.

[0071] Reference Figure 3 The adaptive driver subunit is also configured with output optimization sub-strategies, including: Step S200: When the collection pipeline stops cleaning, the driving thrust is synchronously output to the adaptive drive subunit, and the contraction coefficient of the support positioning subunit is calculated using a preset dynamic optimization analysis model; Step S201: When the contraction coefficient is within the preset maximum contraction coefficient threshold, trigger the drive thrust feedback adjustment command; Step S202: Allocate the output of the high-pressure power source based on the drive thrust feedback adjustment command, and close the water flow input of the high-pressure water cleaning module.

[0072] The output optimization sub-strategy integrates contraction state detection, threshold determination, and power regulation into a collaborative optimization logic. It can quantitatively evaluate the contraction state of the mechanism to avoid component damage caused by excessive contraction, while optimizing the output distribution of the high-pressure power source. The driving thrust when cleaning stops refers to the actual support thrust output by the adaptive drive sub-unit after the pipeline cleaning operation is completed. It is collected in real time by the pressure sensor and processed by data filtering to ensure accuracy.

[0073] The contraction coefficient is a quantitative indicator characterizing the actual contraction degree of the flexible hinge compared to its maximum designed contraction degree. It is calculated through a preset dynamic optimization analysis model and directly reflects the contraction state of the mechanism. The maximum contraction coefficient threshold is a preset safe contraction boundary, usually set to 0.95. It has been calibrated through multiple sets of mechanism durability tests to ensure that the contraction action does not exceed the safe operating range of the component. The drive thrust feedback adjustment command is a control signal generated after the contraction state reaches the standard. It is used to regulate the output priority of the high-pressure power source and the opening and closing of the water flow channel.

[0074] In practice, the following steps should be followed: Step S200: After the pipeline cleaning operation stops, the adaptive drive subunit immediately starts the data acquisition process, collects the actual output driving thrust through the pressure sensor, and calls the parameters such as the current pipeline inner wall diameter, flexible hinge elastic coefficient, and maximum contraction stroke recorded in the operation task information. The preset dynamic optimization analysis model is input to calculate the contraction coefficient of the support positioning subunit and quantitatively evaluate the current contraction state of the hinge.

[0075] Step S201: The subunit compares the calculated shrinkage coefficient with the preset maximum shrinkage coefficient threshold. If the shrinkage coefficient is within the threshold range, it indicates that the flexible hinge is in a safe shrinkage state and has not exceeded the design limit. The drive thrust feedback adjustment command is immediately triggered. If the shrinkage coefficient exceeds the threshold range, it is determined to be an over-shrinkage risk. The feedback adjustment command is not triggered, and instead, the emergency depressurization process is started to quickly reduce the drive thrust and avoid damage to the components.

[0076] Step S202: When the drive thrust feedback adjustment command is triggered, the subunit sends a power allocation request to the operation control cabinet module, allocates the output priority of the high-voltage power source based on the current operation status, and switches the output focus of the high-voltage power source from cleaning power supply to mechanism reset protection.

[0077] At the same time, the subunit sends a control signal to the sealed water inlet connector subunit to close the water flow input channel of the high-pressure water cleaning module, stop supplying high-pressure water flow to the adaptive drive subunit and the self-driven spray washing subunit, avoid pressure accumulation caused by water residue, and ensure the safety and stability of the mechanism reset process.

[0078] The preset dynamic optimization analysis model is calculated using the following formula: ; in, The shrinkage coefficient, which supports the positioning subunit, characterizes the ratio of the actual shrinkage of the flexible hinge to the maximum designed shrinkage. The actual driving thrust output by the adaptive drive subunit when cleaning of the pipeline inner wall stops. This is the inner diameter of the current cleaning pipeline. The elastic coefficient of the flexible hinge is an inherent structural parameter of the X-type folding linkage, pre-stored in the system database. The maximum retraction stroke of a flexible hinge, that is, the amount of displacement from the fully extended state to the fully retracted state. The rated drive thrust of the adaptive drive subunit is the preset standard output thrust value.

[0079] Reference Figure 4 The operation control cabinet module is equipped with a flow anomaly adjustment strategy, including... Step S300: The operation control cabinet module analyzes the control valve water pressure of the input flow regulating control valve using a preset water pressure matching model. When the control valve water pressure is greater than the preset safe water pressure threshold, the control valve regulation command is triggered. Step S301: Based on the control valve adjustment command, calculate using the preset control valve opening analysis model to determine the control valve opening adjustment parameters and adjust the opening of the flow control valve.

[0080] The abnormal flow regulation strategy is a closed-loop safety protection logic that integrates water pressure monitoring, threshold judgment and opening control. It can quickly respond to overpressure conditions and control the water pressure within a safe range through mechanical adjustment and signal linkage, so as to avoid pipeline rupture, dirt splashing or explosion accidents caused by overpressure.

[0081] The flow regulating control valve is a key control component installed at the outlet of a mobile high-pressure pump station. It has the function of precisely adjusting the opening degree according to the command, with a maximum water pressure resistance of 140MPa, a maximum opening degree of 100%, and a minimum safe opening degree of 30%, ensuring that the valve will not be completely closed and cause pipeline pressure buildup.

[0082] The control valve water pressure refers to the actual water pressure flowing through the flow regulation control valve, which is collected in real time by a pressure sensor and is a core indicator for judging whether the flow rate is abnormal. The preset safe water pressure threshold is an upper limit of water pressure set based on the F0 zone explosion-proof requirements, the pipe material tolerance, and the cleaning operation requirements, and has been calibrated and verified through multiple sets of overpressure simulation experiments.

[0083] The control valve adjustment command is a control signal generated when the water pressure exceeds the safety threshold, which is used to trigger the valve opening adjustment action; the opening adjustment parameter refers to the target opening value that the valve needs to be adjusted to, which is calculated based on a preset model to ensure that the water pressure quickly returns to the safe range after adjustment.

[0084] In practice, the following steps should be followed: Step S300: The operation control cabinet module first starts the real-time water pressure monitoring process. It collects water pressure data of the control valve through the pressure sensor deployed at the inlet of the flow regulation control valve. The collection frequency is 50ms / time to ensure timely capture of water pressure fluctuations.

[0085] The module transmits the collected real-time water pressure data to the control chip. A data preprocessing algorithm removes extreme data caused by momentary sensor malfunctions, retaining only the valid water pressure value. Subsequently, the module calls a preset water pressure matching model to compare the valid water pressure value with a preset safe water pressure threshold. If the real-time control valve water pressure is less than or equal to the safe water pressure threshold, the flow rate is considered normal, and the current valve opening is maintained while continuously monitoring the water pressure data. If the real-time control valve water pressure exceeds the safe water pressure threshold, an abnormal flow rate and overpressure condition are identified. A control valve adjustment command is immediately generated, containing an overpressure warning indicator and an adjustment trigger signal, which are simultaneously sent to the flow regulation control valve and the water circuit alarm module. The water circuit alarm module activates an audible and visual warning to alert the operator to the overpressure condition.

[0086] Step S301: After receiving the control valve adjustment command, the flow regulating control valve immediately sends a response signal to the operation control cabinet module to confirm successful command reception. Based on the preset control valve opening analysis model, the module calculates the corresponding valve opening adjustment parameters by combining the current overpressure amplitude, the current valve opening, and the pipeline diameter parameters. The target opening is always controlled within the safe range of 30%-100% to avoid excessive valve closure leading to pipeline pressure buildup.

[0087] Subsequently, the module converts the opening adjustment parameters into electrical signals and sends them to the actuator of the flow regulating control valve. The actuator drives the valve core to move, precisely adjusting the valve opening according to the target opening. The greater the overpressure, the greater the reduction in valve opening, but not less than 30% of the minimum safe opening. During the adjustment process, the pressure sensor continuously collects water pressure data from the control valve and feeds it back to the operation control cabinet module in real time. The module monitors water pressure changes through closed-loop adjustment logic: if the water pressure quickly drops back to the safe range, the current target opening is maintained; if the water pressure is still higher than the safe threshold, the adjustment parameters are recalculated based on the latest water pressure data, and the valve opening is finely adjusted until the water pressure of the control valve stabilizes within the safe water pressure threshold, completing the abnormal flow regulation.

[0088] The control valve opening analysis model uses the following formula for calculation: ; ; in, The target opening degree of the flow regulating control valve. The preset maximum opening, This refers to the maximum opening of the flow regulating control valve. This is the water pressure deviation value. This is the preset safe water pressure threshold.

[0089] Based on the same inventive concept, embodiments of the present invention provide an intrinsically safe cleaning method adapted to large-span pipe diameters, comprising the following steps: The pipeline adaptation and positioning steps are equipped with a positioning adaptation strategy and a dynamic drive adjustment strategy. The cleaning actuator of the high-pressure water cleaning module is sent into the pipeline to be cleaned. The mobile high-pressure pump station is connected through the sealed water inlet connector subunit. The high-pressure water flow pushes the guide rod of the adaptive drive subunit to extend and tightens the flexible hinge mechanism to open it, so that the support guide wheel of the support positioning subunit fits against the inner wall of the pipeline, completing the adaptive positioning of different pipe diameters. The water pressure adaptive adjustment step is equipped with a dynamic water pressure control strategy. The operation control cabinet module collects and analyzes the pipe diameter signal based on the preset pipe diameter-water pressure matching model algorithm, and adjusts the opening of the flow control valve according to the pipe diameter specification. When it is a large-diameter pipe, the valve opening is increased to improve the water flow parameters and ensure the cleaning effect; when it is a small-diameter pipe, the valve opening is decreased to reduce the water pressure and avoid pipe damage. The cleaning operation is configured with a self-driven full-circumference cleaning strategy. The self-driven spray washing sub-unit obtains the propulsion force by the backflow of water, which drives the cleaning actuator to move along the pipeline axis and simultaneously completes the full-circumference cleaning operation of the pipeline inner wall. The overpressure safety protection procedure includes a flow anomaly regulation sub-strategy with dynamic water pressure control. During the cleaning process, the water pressure data in the pipeline is monitored in real time, and the deviation between the actual water pressure and the safe water pressure threshold is analyzed through a water pressure matching model. When the actual water pressure exceeds the preset safe water pressure threshold, the operation control cabinet module immediately triggers the control valve adjustment command, closes the flow regulation control valve, and issues an overpressure warning signal. After the water pressure returns to the safe range, the target opening is calculated through the control valve opening adjustment model, the cleaning parameters are automatically reset, and normal cleaning operation is resumed. After the operation is completed and reset, the output optimization sub-strategy configured with dynamic drive adjustment strategy shuts down the water supply system of the mobile high-pressure pump station, the adaptive drive sub-unit depressurizes, the guide rod and flexible hinge mechanism synchronously reset and contract, the contraction coefficient is calculated based on the dynamic optimization analysis model, and after confirming that the contraction state meets the threshold, the cleaning actuator is removed to complete the cleaning operation.

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0091] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. An intrinsically safe cleaning system adapted to large-span pipe diameters, characterized in that, include: A portable high-pressure pump station is used to output the generated high-pressure power source; The high-pressure water cleaning module is connected to the mobile high-pressure pump station via a hose reel to receive a high-pressure power source, and is equipped with an adaptive drive subunit, a support and positioning subunit, and a self-driven spraying subunit. The adaptive drive subunit is connected to the support positioning subunit and is used to provide support driving force to drive the support positioning subunit to adjust the support tension and form a rolling contact with the inner wall of the pipeline. The self-driven spraying subunit is used to uniformly spray high-pressure water onto the inner wall of the pipeline and generate thrust to drive the high-pressure cleaning module to move along the pipeline axis. The operation control cabinet module is connected to the high-pressure water cleaning module and the mobile high-pressure pump station to form a control signal interaction, which is used to control the mobile high-pressure pump station to dynamically adjust the high-pressure power source output to the high-pressure water cleaning module.

2. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 1, characterized in that, The high-pressure water cleaning module also includes a sealed water inlet connector subunit, which is connected to a high-pressure power source to stabilize the input water pressure and deliver the high-pressure water flow to the adaptive drive subunit. The high-pressure sealed water inlet connector subunit is equipped with a pressure stabilization strategy, which analyzes the water flow pressure of the external water supply pipeline to determine the real-time water flow pressure value and match the corresponding water flow output pipeline in the preset water flow pipeline database. The water flow from the external water supply pipe is input and transmitted to the adaptive drive subunit via the water flow output pipe to maintain the output water flow pressure within the set standard pressure threshold.

3. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 2, characterized in that, The support positioning subunit includes a flexible hinge and a support guide wheel. The support guide wheel is located at the end of the flexible hinge. The flexible hinge is an X-shaped folding link. The flexible hinge has an unfolded state and a retracted state. When the flexible hinge is unfolded, the support guide wheel abuts against the inner wall of the pipeline. The self-driven spray washing subunit is concentrically arranged with the circular shape of the pipeline.

4. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 2, characterized in that, The adaptive drive subunit includes an adjusting rod and a telescopic drive source. The output end of the telescopic drive source is connected to one end of the adjusting rod via a guide rod, and the other end of the adjusting rod is connected to the flexible hinge. When the telescopic drive source extends or retracts its output end, it drives the flexible hinge to contract or expand.

5. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 2, characterized in that, The adaptive drive subunit is configured with a dynamic drive adjustment strategy to adjust the tension of the support positioning subunit to adapt to different pipe inner diameters, including: Collect and analyze task information to determine the pipeline cleaning sequence and pipeline inner wall diameter, and match the driving thrust corresponding to different pipeline inner wall diameters in the pipeline cleaning database; The drive thrust adjustment is associated with the pipeline cleaning sequence. When the pipeline target to be cleaned is changed, the corresponding drive thrust is matched and adjusted. When the cleaning of the current pipeline target is completed, the support positioning subunit is adjusted with a preset reset drive thrust.

6. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 5, characterized in that, The adaptive driving subunit is also configured with an output optimization sub-strategy, including: When the collection pipeline stops cleaning, the driving thrust is synchronously output to the adaptive drive subunit, and the contraction coefficient of the support positioning subunit is calculated using a preset dynamic optimization analysis model. When the contraction coefficient is within the preset maximum contraction coefficient threshold, the drive thrust feedback adjustment command is triggered. The high-pressure power source output is allocated based on the drive thrust feedback adjustment command, and the water flow input of the high-pressure water cleaning module is closed.

7. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 6, characterized in that, The preset dynamic optimization analysis model is calculated using the following formula: ； in, The shrinkage coefficient, which supports the positioning subunit, characterizes the ratio of the actual shrinkage of the flexible hinge to the maximum designed shrinkage. The actual driving thrust output by the adaptive drive subunit when cleaning of the pipeline inner wall stops. This is the inner diameter of the current cleaning pipeline. The elastic coefficient of the flexible hinge is an inherent structural parameter of the X-type folding linkage, pre-stored in the system database. The maximum retraction stroke of a flexible hinge, that is, the amount of displacement from the fully extended state to the fully retracted state. The rated drive thrust of the adaptive drive subunit is the preset standard output thrust value.

8. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 1, characterized in that, The operation control cabinet module is configured with a flow anomaly adjustment strategy, including: The operation control cabinet module analyzes the control valve water pressure of the input flow regulation control valve using a preset water pressure matching model. When the control valve water pressure is greater than the preset safe water pressure threshold, the control valve regulation command is triggered. Based on the control valve adjustment command, the preset control valve opening analysis model is used to calculate and determine the control valve opening adjustment parameters, and then adjust the opening of the flow control valve.

9. The intrinsically safe cleaning system adapted to large-span pipe diameters according to claim 8, characterized in that, The control valve opening analysis model is calculated using the following formula: ； ； in, The target opening degree of the flow regulating control valve. This is the preset maximum opening. This refers to the maximum opening of the flow regulating control valve. This is the water pressure deviation value. This is the preset safe water pressure threshold.

10. An intrinsically safe cleaning method adapted to large-span pipe diameters, employing the method described in any one of claims 1-9, characterized in that, include: The pipeline adaptation and positioning steps are equipped with a positioning adaptation strategy and a dynamic drive adjustment strategy. The cleaning actuator of the high-pressure water cleaning module is sent into the pipeline to be cleaned. The mobile high-pressure pump station is connected through the sealed water inlet connector subunit. The high-pressure water flow pushes the guide rod of the adaptive drive subunit to extend and tightens the flexible hinge mechanism to open it, so that the support guide wheel of the support positioning subunit fits against the inner wall of the pipeline, completing the adaptive positioning of different pipe diameters. The water pressure adaptive adjustment step is equipped with a dynamic water pressure control strategy. The operation control cabinet module collects and analyzes the pipe diameter signal based on the preset pipe diameter-water pressure matching model algorithm, and adjusts the opening of the flow control valve according to the pipe diameter specification. When it is a large-diameter pipe, the valve opening is increased to improve the water flow parameters and ensure the cleaning effect; when it is a small-diameter pipe, the valve opening is decreased to reduce the water pressure and avoid pipe damage. The cleaning operation is configured with a self-driven full-circumference cleaning strategy. The self-driven spray washing sub-unit obtains the propulsion power by the backflow of water, which drives the cleaning actuator to move along the pipeline axis and simultaneously completes the full-circumference cleaning operation of the pipeline inner wall. The overpressure safety protection procedure includes a flow anomaly regulation sub-strategy with dynamic water pressure control. During the cleaning process, the water pressure data in the pipeline is monitored in real time, and the deviation between the actual water pressure and the safe water pressure threshold is analyzed through a water pressure matching model. When the actual water pressure exceeds the preset safe water pressure threshold, the operation control cabinet module immediately triggers the control valve adjustment command, closes the flow regulation control valve, and issues an overpressure warning signal. After the water pressure returns to the safe range, the target opening is calculated through the control valve opening adjustment model, the cleaning parameters are automatically reset, and normal cleaning operation is resumed. After the operation is completed and reset, the output optimization sub-strategy configured with dynamic drive adjustment strategy shuts down the water supply system of the mobile high-pressure pump station, the adaptive drive sub-unit depressurizes, the guide rod and flexible hinge mechanism synchronously reset and contract, the contraction coefficient is calculated based on the dynamic optimization analysis model, and after confirming that the contraction state meets the threshold, the cleaning actuator is removed to complete the cleaning operation.

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