Unmanned inspection device for in-service pipeline

Abstract

The utility model belongs to the technical field of pipeline detection, and discloses an in-service pipeline unmanned inspection device which comprises a wheel type odometer, an energy supply battery, an acquisition box, a display, a vertical vibration signal acquisition system and a vibration signal excitation system, the two groups of vertical vibration signal acquisition systems have the same structure and are symmetrically arranged front and back, and each vertical vibration signal acquisition system comprises an acquisition rod fixing hinge, an acquisition rod, a supporting spring, a vertical rod, an acceleration sensor and a balancing weight; the vibration signal excitation system comprises an excitation hammer fixing hinge, an excitation hammer and an electromagnet. The device can adapt to pipeline section measurement of different diameters and lengths, and the device does not need to be replaced within a pipeline diameter range; standardized, normalized and unmanned inspection can be realized, and personal injury of the pipeline environment to inspection personnel is avoided. And meanwhile, the misdiagnosis rate of pipeline defects is reduced by adopting vibration wave transmission, and the inspection efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection, and specifically relates to a patrol inspection device for in-service pipelines. Background Art

[0002] Pipeline engineering is an important part of municipal infrastructure construction. It is a channel for urban water supply, drainage, heating, and gas transportation, which directly affects the development of the entire city. From the perspective of mechanical properties, urban pipelines can be divided into flexible pipelines and rigid pipelines, represented by steel pipelines and reinforced concrete pipelines respectively. With the development of cities and the increase in the service life of infrastructure, urban pipeline damage continues to accumulate. The damage of steel pipelines is mainly manifested in local rust and deformation, while the damage of reinforced concrete pipelines is mainly through cracks and peeling of protective layers.

[0003] Since most urban pipelines are buried under the ground, pipeline damage is usually difficult to detect and requires daily inspections by professionals to prevent damage before it happens. Currently, pipeline inspections mainly rely on manpower, and inspectors need to wear professional protective clothing, gas masks and other equipment, and use air supply devices to ensure air circulation in the pipeline during the inspection. However, the currently used manual inspection method has the risk of missed inspections and false inspections, and may even affect the personal health of inspectors, such as poisoning, suffocation, and mechanical injuries.

[0004] In this context, standardized, process-based, and routine pipeline unmanned inspection technologies and devices have begun to be favored by maintenance agencies. Common pipeline unmanned inspection technologies include machine vision recognition, but they are often affected by the structure inside the pipeline and have a certain "misdiagnosis" rate. Utility Model Content

[0005] The technical problem to be solved by the utility model is that the existing pipeline stability detection cost is high and there is a hidden danger of destroying the stability of the soil around the pipeline. An unmanned inspection device for in-service pipelines is provided, which uses vibration wave transmission to detect pipeline structure damage, and significantly improves the accuracy of damage judgment.

[0006] In order to solve the above technical problems, the utility model is implemented through the following technical solutions:

[0007] The utility model provides an unmanned inspection device for in-service pipelines, including a wheel odometer, an energy supply battery, a collection box, a display, a vertical vibration signal collection system and a vibration signal excitation system;

[0008] The four wheel odometers are symmetrically installed at the four corners of the bottom of the energy supply battery to provide walking and distance measurement functions; the collection box is arranged on the functional battery to collect and store the data of the vertical vibration signal collection system; the display is installed in front of the collection box to display the data of the vertical vibration signal collection system and the vibration signal excitation system in real time;

[0009] The two groups of vertical vibration signal acquisition systems are located on the top of the acquisition box and are arranged symmetrically front to back; each group of vertical vibration signal acquisition systems includes a collection rod fixed hinge, a collection rod, a support spring, a vertical rod, an acceleration sensor and a counterweight; the collection rod fixed hinge is fixed to the top surface of the collection box, one end of the collection rod is connected to the collection rod fixed hinge by a single hinge, and the other end is connected to the vertical rod; the collection rod can rotate around the collection rod fixed hinge, and the rotation direction is consistent with the walking direction of the wheel odometer; the upper end of the support spring is fixedly connected The middle and lower ends of the collection rod are fixedly connected to the top edge of the collection box; the support spring is in a compressed state when the device is working, and is used to provide an upward elastic force for the collection rod, so that the acceleration sensor is pressed against the inner surface of the in-service pipeline; the vertical rod is hinged to the end of the collection rod at its middle and can rotate around the hinge point; at the same time, the vertical rod is in a plumb state by hanging a counterweight block, so as to ensure that the measuring point of the acceleration sensor is perpendicular to the inner surface of the in-service pipeline; the acceleration sensor is installed on the top of the vertical rod, and is used to collect vibration signals of the in-service pipeline;

[0010] The vibration signal excitation system is located at the bottom of the energy supply battery, and includes an excitation hammer fixed hinge, an excitation hammer and an electromagnet; the excitation hammer fixed hinge is fixed at the middle position of the bottom surface of the energy supply battery; the handle end of the excitation hammer is connected to the excitation hammer fixed hinge by a single hinge, and the hammer end is free and unconstrained; the excitation hammer can rotate around the excitation hammer fixed hinge, and the rotation direction is consistent with the walking direction of the wheel odometer; the electromagnet is located directly above the hammer end of the excitation hammer, and can realize the lifting and falling of the excitation hammer by turning on and off the power, thereby completing the excitation of the vibration signal.

[0011] Furthermore, the energy supply battery and the collection box are both provided with a waterproof and corrosion-resistant external protective shell.

[0012] Furthermore, the collection box is connected to the vertical vibration signal collection system via a plurality of D-sub interfaces.

[0013] Furthermore, the acquisition rod is a rod body with a cavity, and the cavity is used to embed the signal line of the acceleration sensor.

[0014] Furthermore, the collection rod is a multi-stage telescopic component, which can be telescoped in the axial direction, thereby adjusting the detection range.

[0015] Furthermore, the counterweight block has various specifications and qualities, and is used for selection according to the diameter of the in-service pipeline to be inspected.

[0016] Furthermore, the collection rod of the vertical vibration signal collection system located at the front of the collection box extends forward so that its acceleration sensor is located in front of the fixed hinge of the collection rod; the collection rod of the vertical vibration signal collection system located at the front of the collection box extends backward so that its acceleration sensor is located behind the fixed hinge of the collection rod; the comparison of the vibration spectra of the acceleration sensors of the two vertical vibration signal collection systems can identify defects in the in-service pipeline.

[0017] The beneficial effects of the utility model are:

[0018] (1) The utility model can realize standardized, normalized and unmanned inspection, avoiding personal injury to inspectors caused by pipeline environment; the use of vibration wave transmission reduces the "misdiagnosis" rate of pipeline defects and improves inspection efficiency.

[0019] (ii) The utility model uses an electromagnet to control the generation of vibration excitation, and standardizes the excitation energy by controlling the drop height of the excitation hammer, which is helpful for data comparison and improves the accuracy of pipeline defect "diagnosis".

[0020] (III) The utility model can adapt to pipeline measuring sections of different diameters and lengths through the collection rod of the vertical vibration signal collection system, and there is no need to replace the device within a range of pipeline diameters.

[0021] (IV) The vertical vibration signal acquisition system of the utility model realizes passive fitting with the pipeline to be inspected through the support spring, and there is no need to actively raise or lower the acquisition rod, so that the energy consumption of a single acquisition is minimized and the endurance time is maximized. The single pipe section inspection length can be extended and the replacement of the power supply battery in the middle can be avoided.

[0022] (V) The wheel odometer design of the utility model helps the device to accurately locate pipeline defects during unmanned inspections. There is no need to deploy satellite positioning base stations, which can greatly reduce the cost of inspections and is a key design for achieving unmanned inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the unmanned inspection device for in-service pipelines provided by the utility model;

[0024] Figure 2 It is a side view of the unmanned inspection device for in-service pipelines provided by the utility model.

[0025] In the figure: 1. Wheel odometer 2. Power supply battery 3. Display 4. Collection box 41. D-sub interface 5. Vertical vibration signal collection system 51. Collection rod fixed hinge 52. Collection rod 53. Support spring 54. Vertical rod 55. Acceleration sensor 56. Counterweight 6. Vibration signal excitation system 61. Excitation hammer fixed hinge 62. Excitation hammer 63. Electromagnet 7. In-service pipeline. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clearly understood, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0027] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] For the convenience of description, if the words "up", "down", "left" and "right" appear in the following description, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the utility model.

[0030] like Figure 1 to Figure 2 As shown, the utility model is an unmanned inspection device for in-service pipelines, including a wheel odometer 1, a power supply battery 2, a display 3, a collection box 4, a vertical vibration signal collection system 5 and a vibration signal excitation system 6, which can be used for regular inspection of in-service pipelines 7.

[0031] There are four wheel odometers 1, which are symmetrically distributed at the four corners of the bottom of the energy supply battery 2. The wheel odometer 1 has both walking function and distance measurement function.

[0032] The energy supply battery 2 is used to provide energy and power for the entire device, and its outer protective shell has waterproof and corrosion-resistant properties. As a preferred embodiment, the energy supply battery 2 is composed of 6 12V / 20AH commercial batteries connected in series.

[0033] The display 3 is embedded in the front end of the collection box 4 and can display the relevant data of the vertical vibration signal collection system 5 and the vibration signal excitation system 6 in real time.

[0034] The collection box 4 is arranged on the power supply battery 2, and is used to collect and store the data of the vertical vibration signal collection system 5, and can collect multiple vibration signals at the same time. The signal is sent through the wheel odometer 1, and the collection box 4 records the travel distance of the device in the in-service pipeline 7 in real time. After the in-service pipeline 7 is inspected, the staff can retrieve the storage records of the collection box 4 to accurately locate the location of the defects of the in-service pipeline 7. The collection box 4 is provided with a plurality of D-sub interfaces 41, and the D-sub interfaces 41 are connected to the vertical vibration signal collection system 5 and obtain voltage signals. In addition, the outer shell of the collection box 4 has a waterproof and corrosion-resistant structure.

[0035] The vertical vibration signal acquisition system 5 is located above the acquisition box 4, and mainly collects the vibration signal of the in-service pipeline 7 and transmits the signal to the acquisition box 4. The two sets of vertical vibration signal acquisition systems 5 have exactly the same structure and are arranged symmetrically in front and back, so that the defects of the in-service pipeline 7 can be identified by comparing the vibration spectrum of the vertical vibration signal acquisition system 5. In addition, the two sets of vertical vibration signal acquisition systems 5 can also balance the force of the entire device, avoid the forward or backward eccentric force, and ensure the accuracy of the measurement; and are used to increase the pipeline length range of each measurement to improve efficiency.

[0036] Each set of vertical vibration signal acquisition system 5 includes a collection rod fixed hinge 51, a collection rod 52, a support spring 53, a vertical rod 54, an acceleration sensor 55 and a counterweight 56. Among them, the collection rod fixed hinge 51 is fixed to the top surface of the collection box 4, and is connected to one end of the collection rod 52 through a single hinge, so that the collection rod 52 can rotate around the collection rod fixed hinge 51. The rotation direction of the collection rod fixed hinge 51 is consistent with the walking direction of the wheel odometer 1, so that the measuring point can be always at the top of the pipeline, avoiding the deviation of the collection point and the inability to accurately locate the damage point. The collection rod 52 is a linear component, one end of which is connected to the collection rod fixed hinge 51, the other end is connected to the vertical rod 54, and the middle part is connected to the support spring 53. The collection rod 52 is generally designed as a rod body with a cavity and is made of aluminum alloy. The collection rod 52 is preferably a multi-stage telescopic component, which can realize telescopic expansion in the axial direction to adapt to the measuring sections of the in-service pipeline 7 with different diameters and lengths. One end of the support spring 53 is fixedly connected to the bottom surface of the middle part of the collection rod 52, and the other end is fixedly connected to the edge of the top surface of the collection box 4. The support spring 53 is in a compressed state when the device is working, mainly providing an upward elastic force for the collection rod 52, so that the acceleration sensor 55 at the end of the vertical vibration signal collection system 5 is pressed against the inner surface of the in-service pipeline 7. The vertical rod 54 is hinged to the end of the collection rod 52 at its middle part and can rotate around the hinge point; at the same time, the vertical rod 54 obtains a plumb state by hanging a counterweight 56, thereby ensuring that the measuring point of the acceleration sensor 55 is perpendicular to the inner surface of the in-service pipeline 7, so as to ensure the standardization of the vibration signal of the in-service pipeline 7 collected by the device. The counterweight 56 ​​is a metal block with a certain mass, and its main function is to keep the vertical rod 54 vertical. The counterweight 56 ​​has a variety of specifications and qualities, which are specifically selected according to the diameter of the in-service pipeline 7 to be inspected. The acceleration sensor 55 is installed on the top of the vertical rod 54, mainly collecting the vibration signal of the in-service pipeline 7. The signal line of the acceleration sensor 55 can be built into the inner cavity of the collection rod 52 .

[0037] The collection rod 52 of the vertical vibration signal collection system 5 located at the front of the collection box 4 extends forward, so that the acceleration sensor 55 of the vertical vibration signal collection system 5 is located in front of the collection rod fixed hinge 51. The collection rod 52 of the vertical vibration signal collection system 5 located at the rear of the collection box 5 extends backward, so that the acceleration sensor 55 of the vertical vibration signal collection system 5 is located behind the collection rod fixed hinge 51. By comparing the vibration spectra collected by the two acceleration sensors 55 of the vertical vibration signal collection system 5, the defects of the in-service pipeline 7 are identified. If the spectra in the same group are similar, it indicates that the in-service pipeline 7 is in good condition and the probability of defects is small; if the spectra in the same group differ greatly, it indicates that the probability of defects at the data source with a small spectrum peak is high; at this time, the detection range of the in-service pipeline 7 can be reduced by shortening the collection rod 52 to accurately locate the defects.

[0038] The vibration signal excitation system 6 is located in the central part of the bottom of the energy supply battery 2. Its main function is to generate vibration excitation, including an excitation hammer fixed hinge 61, an excitation hammer 62 and an electromagnet 63. Among them, the excitation hammer fixed hinge 61 is fixed in the middle of the bottom surface of the energy supply battery 2, and is connected to the excitation hammer 62 by a single hinge, so that the excitation hammer 62 can rotate around the excitation hammer fixed hinge 61. The handle end of the excitation hammer 62 is hinged to the excitation hammer fixed hinge 61, and the hammer end is free and unconstrained. The electromagnet 63 is located directly above the hammer end of the excitation hammer 62, and can lift and drop the excitation hammer 62 by turning on and off the power, thereby completing the excitation of the vibration signal. The rotation direction of the excitation hammer fixed hinge 61 of the vibration signal excitation system 6 is consistent with the walking direction of the wheel odometer 1, so as to ensure that the hammering point (i.e., the excitation point) is located directly below the pipeline, so that the vibration signal received by the receiving point is theoretically symmetrical. If it is seriously asymmetric, it is suspected that the pipeline structure is damaged. The hammer end of the excitation hammer 62 is generally made of metal.

[0039] Before using this device, the relative position and distance between the vibration source and the receiving point should be determined according to the detection requirements, that is, the arrangement of the two sets of vertical vibration signal acquisition systems 5. The distance between the receiving point and the vibration source is the interval for single vibration signal detection. The selection standard is that the interval length decreases with the decrease of working environment conditions, the increase of service life, and the increase of geological conditions. When the in-service pipeline 7 is in good condition, the detection interval can be appropriately enlarged to improve the detection efficiency. The adjustment of the detection interval range is achieved by the telescopic acquisition rod 52.

[0040] After the relative position and distance between the device vibration source and the receiving point are determined, the device can be transported into the in-service pipeline 7. After the device is transported in, a preliminary test is carried out, followed by a formal test. The methods of the preliminary test and the formal test are the same, and the main purpose of the preliminary test is to ensure that the device can operate normally.

[0041] The testing process is generally as follows:

[0042] 1. Turn on the power supply battery 2 to power the device;

[0043] 2. Turn on the electromagnet 63 to lift the excitation hammer 62;

[0044] 3. The wheeled odometer 1 moves forward and transports the device to the in-service pipeline 7 to be inspected;

[0045] 4. Turn off the electromagnet 63, and the excitation hammer 62 falls to generate excitation;

[0046] 5. The acceleration sensor 55 collects the vibration signal of the in-service pipeline 7 and transmits it to the collection box 4 for storage, and displays it on the display 3 at the same time;

[0047] 6. Repeat process 2-5 to complete the inspection of the remaining pipe sections;

[0048] 7. Recover the device and retrieve the collected data records, and locate the defect location based on the collected vibration spectrum and mileage data;

[0049] 8. Complete the test.

[0050] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An unmanned inspection device for in-service pipelines, characterized in that: It includes a wheel odometer, a power supply battery, a collection box, a display, a vertical vibration signal collection system and a vibration signal excitation system; The four wheel odometers are symmetrically installed at the four corners of the bottom of the energy supply battery to provide walking and distance measurement functions; the collection box is arranged on the functional battery to collect and store the data of the vertical vibration signal collection system; the display is installed in front of the collection box to display the data of the vertical vibration signal collection system and the vibration signal excitation system in real time; The two groups of vertical vibration signal acquisition systems are located on the top of the acquisition box and are arranged symmetrically front to back; each group of vertical vibration signal acquisition systems includes a collection rod fixed hinge, a collection rod, a support spring, a vertical rod, an acceleration sensor and a counterweight; the collection rod fixed hinge is fixed to the top surface of the collection box, one end of the collection rod is connected to the collection rod fixed hinge by a single hinge, and the other end is connected to the vertical rod; the collection rod can rotate around the collection rod fixed hinge, and the rotation direction is consistent with the walking direction of the wheel odometer; the upper end of the support spring is fixedly connected The middle and lower ends of the collection rod are fixedly connected to the top edge of the collection box; the support spring is in a compressed state when the device is working, and is used to provide an upward elastic force for the collection rod, so that the acceleration sensor is pressed against the inner surface of the in-service pipeline; the vertical rod is hinged to the end of the collection rod at its middle and can rotate around the hinge point; at the same time, the vertical rod is in a plumb state by hanging a counterweight block, so as to ensure that the measuring point of the acceleration sensor is perpendicular to the inner surface of the in-service pipeline; the acceleration sensor is installed on the top of the vertical rod, and is used to collect vibration signals of the in-service pipeline; The vibration signal excitation system is located at the bottom of the energy supply battery, and includes an excitation hammer fixed hinge, an excitation hammer and an electromagnet; the excitation hammer fixed hinge is fixed to the middle position of the bottom surface of the energy supply battery; the handle end of the excitation hammer is connected to the excitation hammer fixed hinge through a single hinge, and the hammer end is free and unconstrained; the excitation hammer can rotate around the excitation hammer fixed hinge, and the rotation direction is consistent with the walking direction of the wheel odometer; The electromagnet is located just above the hammer end of the excitation hammer, and can realize the lifting and lowering of the excitation hammer by turning on and off the power, thereby completing the excitation of the vibration signal.

2. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The energy supply battery and the collection box are both provided with a waterproof and corrosion-resistant outer protective shell.

3. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The collection box is connected to the vertical vibration signal collection system via a plurality of D-sub interfaces.

4. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The acquisition rod is a rod body with a cavity, and the cavity is used to house the signal line of the acceleration sensor.

5. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The collection rod is a multi-stage telescopic component, which can be telescoped in the axial direction, thereby adjusting the detection range.

6. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The counterweight block has various specifications and qualities, and is used for selection according to the diameter of the in-service pipeline to be inspected.

7. The unmanned inspection device for in-service pipelines according to claim 1 is characterized in that: The collection rod of the vertical vibration signal collection system located at the front of the collection box extends forward so that its acceleration sensor is located in front of the fixed hinge of the collection rod; the collection rod of the vertical vibration signal collection system located at the front of the collection box extends backward so that its acceleration sensor is located behind the fixed hinge of the collection rod; the comparison of the vibration spectra of the acceleration sensors of the two vertical vibration signal collection systems can identify defects in the in-service pipeline.

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