An alarm device for in-pipe detector monitoring

Abstract

The utility model provides a kind of alarm device for pipeline inside detector monitoring, it is related to pipeline inside detection technical field, specifically includes: odometer module, and knock module, wherein odometer module is odometer, knock module includes installation base, sound hammer, connecting rod, spring and knock mechanism;Connecting rod one end is welded with pipeline robot, connecting rod other end is welded with spring one end, spring other end connects small piece, sound hammer is connected with the knock mechanism, and knock mechanism starts sound hammer and knocks small piece.Knock mechanism uses the compact mechanism based on five rotary pairs and three connecting rods.The rotation state of odometer is monitored in real time by the main control chip inside pipeline inside detection robot;Once the movement of odometer is identified to stop, main control chip immediately determines that pipe is stuck, and directly starts knocking device, and drives knock module to work continuously, and sound wave signal is generated by sound hammer knocking pipeline inner wall;It is explained that pipeline robot pipe is stuck alarm by receiving sound signal at pipeline departure.

Description

Technical Field

[0001] This utility model relates to the field of pipeline internal detection technology, and in particular to an alarm device for monitoring pipeline internal detectors. Background Technology

[0002] Pipeline cracks and other defects pose a serious threat to safe operation, and internal inspection is an internationally recognized key technology for ensuring pipeline integrity.

[0003] For the unique application scenario of pipelines, the accurate positioning of internal detectors has become a key technical challenge. Currently, a device and method for locating internal detectors in subsea pipelines have emerged. This device typically integrates acoustic alarm devices and odometer wheels, achieving detector positioning and trajectory display within the subsea pipeline through information fusion. This method not only improves the accuracy of the correspondence between internal detection data and geographical location but also provides crucial technical support for maintenance decisions and emergency response in subsea pipelines.

[0004] Although the pipe jamming alarm technology of the pipeline inspection robot has significant advantages such as mature technology, stable operation and wide applicability, it still has some shortcomings: 1. The system has a complex structure and large size, resulting in poor maneuverability in complex working conditions such as pipe diameter changes and bends, making it prone to jamming accidents and limiting its applicability. Furthermore, once jammed, the detector itself lacks a positioning function.

[0005] 2. Methods using external low-frequency electromagnetic waves require extremely close-range identification, resulting in low practicality. In extreme weather conditions, devices equipped with marine identification systems may fail to identify normally and stably. Furthermore, the complex underwater environment can easily lead to positioning failures, and identification devices located outside pipelines are prone to capsizing or loss.

[0006] 3. The solution of pre-burying a large number of beacons or setting up multiple receiving base stations along the pipeline has high infrastructure deployment and maintenance costs. Especially in long-distance oil pipelines, this solution is almost uneconomical and impractical. Utility Model Content

[0007] To address the shortcomings of existing technologies, this invention provides an alarm device for monitoring detectors inside pipelines. This device reduces reliance on electromagnetic technology, instead utilizing the characteristics of mechanical waves—low attenuation and high speed—propagating through the solid medium of the pipeline after the pipe is jammed, thus achieving long-distance, highly reliable alarm operation. This invention aims to solve problems such as the inability of existing detectors to alarm after jamming, the significant interference from marine environments and weather conditions with external electromagnetic positioning, and short effective range, while avoiding reliance on expensive external infrastructure. The device is compact, easy to integrate, and can significantly improve the efficiency and success rate of pipeline emergency search and rescue.

[0008] This utility model provides an alarm device for monitoring detectors inside pipelines, including: a mileage wheel module and a knocking module, which are independently installed on the outside of the detector; The mileage wheel module is a mileage wheel; the striking module includes a mounting base, a sound-emitting hammer, a connecting rod, a spring, and a striking mechanism; one end of the connecting rod is welded to the pipeline robot, and the other end of the connecting rod is welded to one end of the spring, and the other end of the spring is connected to a small block, which is made of anti-friction material; there are three mounting bases, which are fixed to the main body of the detector section inside the pipeline; the sound-emitting hammer is connected to the striking mechanism, and the striking mechanism activates the sound-emitting hammer to strike the small block; The striking mechanism adopts a compact mechanism based on five rotating joints and three linkages, including a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, and a fifth rotating joint. Specifically, the first rotating joint is welded to the pipeline robot, and a motor is installed inside the first rotating joint. The motor is connected to the main control chip inside the pipeline inspection robot. The first rotating joint and the second rotating joint are connected by a connecting rod. The second rotating joint is connected to the third rotating joint by a fixed connecting rod. The third rotating joint and the fourth rotating joint are connected by a connecting rod. The fourth rotating joint is connected to the fifth rotating joint by a fixed connecting rod. The fifth rotating joint is fixed to the pipeline inspection robot by a base frame and connected to the sound-generating hammer. The striking function of the hammer is realized by the power of the first rotating joint.

[0009] The alarm device for locating detectors inside pipelines also includes a housing made of aluminum alloy and titanium alloy. The beneficial effects of adopting the above technical solution are as follows: This invention provides an alarm device for monitoring detectors inside pipelines. Through a modular collaborative design of the odometer wheel and the alarm device, the overall structural layout and volume are optimized without significantly increasing system complexity. Utilizing a highly efficient five-rotation linkage transmission and spring energy storage and reset mechanism, timely and reliable alarm triggering, concentrated acoustic signal energy, and long propagation distance are ensured. Relying on a non-magnetic lightweight alloy shell and a bottom elastic adaptive support structure, interference with the detector's magnetic circuit is completely avoided, while significantly improving passability and operational stability under complex conditions such as variable diameter and uneven pipe walls. Based on the main control chip's intelligent judgment of pipe jamming status and acoustic wave arrival time difference positioning method, a rapid and autonomous response from pipe jamming identification to precise positioning is achieved, greatly enhancing the reliability of pipeline inspection operations and emergency response capabilities. Specifically, it includes the following beneficial effects: 1. Functional Collaboration and Modular Separate Design: The odometer wheel module and the knock alarm module are innovatively installed as independent units on the outside of the detector. Through structural optimization and space sharing, the overall volume is effectively reduced while ensuring functionality, avoiding further complexity of the system structure.

[0010] 2. Highly efficient and reliable mechanical wave generating mechanism: The striking module adopts a compact transmission structure based on six rotating joints and three linkages. Driven by the power wheel, the linkage mechanism enables the sound-generating hammer to obtain the maximum linear velocity at the moment of impact. Through spring compression energy storage and elastic reset, a continuous and stable high-intensity sound wave signal is generated, effectively utilizing the characteristics of weak attenuation and fast propagation of mechanical waves in the pipe wall for long-distance transmission.

[0011] 3. Intelligent Cooperative Triggering Mechanism Based on Existing Main Control Chip: This invention does not require an additional dedicated control chip. Instead, it cleverly utilizes the existing main control chip within the detector to monitor the odometer wheel encoder signal in real time. Once the chip detects an abnormal movement of the odometer wheel and confirms a stuck encoder, it immediately outputs a control command to directly activate the independent alarm device. This achieves deep utilization of existing hardware resources, reducing cost and power consumption. Attached Figure Description

[0012] Figure 1 Front view of the striking module in this embodiment of the utility model; 1-First revolute joint, 2-Second revolute joint, 3-Third revolute joint, 4-Fourth revolute joint, 5-Fifth revolute joint; Figure 2 Side view of the striking module in this embodiment of the utility model; Figure 3 Front view of the alarm device in this embodiment of the utility model; Figure 4 Side view of the alarm device in this embodiment of the utility model. Detailed Implementation

[0013] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0014] Example 1: This utility model provides an alarm device for monitoring by detectors inside pipelines, such as... Figure 3 , Figure 4 As shown, it includes: a mileage wheel module and a tapping module, which are independently installed on the outside of the detector; The odometer wheel module is an odometer wheel; the tapping module is as follows: Figure 1 , Figure 2 As shown, the system includes a mounting base, a sound-generating hammer, a connecting rod, a spring, and a striking mechanism. One end of the connecting rod is welded to the pipe robot, and the other end is welded to one end of the spring. The other end of the spring is connected to a small block made of anti-friction material to ensure a tight fit with the pipe wall. Three mounting bases are fixed to the main body of the detector section inside the pipe. The sound-generating hammer is connected to the striking mechanism, which activates the hammer to strike the small block. Through the connecting rod transmission, the hammer reaches its maximum linear velocity at the moment of impact. After impact, the spring compresses and stores energy, and the hammer body achieves continuous striking through elastic reset.

[0015] The striking mechanism adopts a compact mechanism based on five rotating joints and three linkages, including a first rotating joint 1, a second rotating joint 2, a third rotating joint 3, a fourth rotating joint 4, and a fifth rotating joint 5. Specifically, the first rotating joint 1 is welded to the pipeline robot, and a motor is installed inside the first rotating joint 1. The motor is connected to the main control chip inside the pipeline inspection robot, and the motor provides power to ensure the continuous rotation of the drive wheel shaft. The first rotating joint 1 and the second rotating joint 2 are connected by a connecting rod. The second rotating joint 2 is connected to the third rotating joint 3 by a fixed connecting rod. The third rotating joint 3 and the fourth rotating joint 4 are connected by a connecting rod. The fourth rotating joint 4 is connected to the fifth rotating joint 5 by a fixed connecting rod. The fifth rotating joint 5 is fixed to the pipeline inspection robot by a base frame and connected to the sound-generating hammer. The hammer's striking function is realized by the power of the first rotating joint.

[0016] The alarm device for locating detectors inside pipelines also includes a housing made of aluminum and titanium alloys, which combines structural strength with non-magnetic properties to avoid interfering with the detector's excitation system. A bottom elastic support structure ensures passability and operational stability under uneven pipe wall conditions.

[0017] Because the side view of this embodiment is relatively complex, A1 and A2 perspectives are used here to partially show the side view, so as to better understand the front and rear settings of the rotating joint.

[0018] Example 2: In this embodiment, the alarm device has an intelligent triggering mechanism, specifically: the main control chip inside the pipeline detection robot monitors the rotation status of the mileage wheel in real time; once the mileage wheel stops moving, the main control chip immediately determines that the pipeline is stuck and directly starts the striking device, and drives the striking module to work continuously, generating sound wave signals by striking the inner wall of the pipeline with a sound hammer; when the sound signal is received at the starting point of the pipeline, it indicates that the pipeline robot is stuck and an alarm is triggered. Example 3: The main control chip is an FPGA chip, and the code and pipeline inspection robot use CN110762339A (patent number). It can be used by directly connecting a tapping module to an existing robot. The plan is to mount both the device and the odometer wheel at the rear of the pipeline robot to enable rapid detection of pipe jams and a quick audible response. (See diagram below.) Figure 3 , Figure 4 As shown; This embodiment provides an alarm device for monitoring by an in-pipe detector, which implements the following steps: The chip inside the pipe inspection robot continuously monitors the movement of the odometer wheel. When the odometer wheel stops rotating for a period of time, it is identified as a pipe jam. This triggers the first rotary joint to rotate, which in turn drives the second to fifth rotary joints and the sound-generating hammer to rotate. The sound-generating hammer reaches its maximum speed upon contact with the spring, thus achieving the maximum sound output. Example 4: An FPGA chip is used to monitor the mileage wheel and control the drive wheel. The sensor uses an AH3144 to measure whether the mileage wheel is moving. Later, a measuring device may be added based on the sound-emitting device, that is, the time difference between the sound signals received at the pipe inlet and outlet can be used to calculate the position of the pipe robot stuck in the pipe, and then rescue it.

[0019] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0020] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of this solution and its equivalents, then the intent of this disclosure also includes these modifications and variations.

Claims

1. An alarm device for monitoring detectors inside pipelines, characterized in that, include: The odometer wheel module and the tapping module are each independently installed on the outside of the detector inside the pipeline; The mileage wheel module is a mileage wheel; the striking module includes a mounting base, a sound-generating hammer, a connecting rod, a spring, and a striking mechanism; one end of the connecting rod is welded to the pipeline robot, and the other end of the connecting rod is welded to one end of the spring, and the other end of the spring is connected to a small block, which is made of anti-friction material; the sound-generating hammer is connected to the striking mechanism, and the striking mechanism activates the sound-generating hammer to strike the small block.

2. The alarm device for monitoring detectors inside pipelines according to claim 1, characterized in that, There are three mounting bases, which are fixed to the main body of the detector section inside the pipeline.

3. The alarm device for monitoring pipeline detectors according to claim 1, characterized in that, The striking mechanism employs a compact mechanism based on five revolute joints and three linkages.

4. An alarm device for monitoring detectors inside pipelines according to claim 3, characterized in that, The striking mechanism includes a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, and a fifth rotating joint. Specifically, the first rotating joint is welded to the pipe robot, the first rotating joint and the second rotating joint are connected by a connecting rod, the second rotating joint is connected to the third rotating joint by a fixed connecting rod, the third rotating joint and the fourth rotating joint are connected by a connecting rod, and the fourth rotating joint is connected to the fifth rotating joint by a fixed connecting rod.

5. An alarm device for monitoring detectors inside pipelines according to claim 4, characterized in that, A motor is installed inside the first rotating joint, and the motor is connected to the main control chip inside the detector in the pipeline.

6. An alarm device for monitoring detectors inside pipelines according to claim 4, characterized in that, The fifth rotating joint is fixed to the detector inside the pipe via a base frame and connected to the sound-generating hammer. The hammer's striking function is achieved through the power of the first rotating joint.

7. An alarm device for monitoring pipeline detectors according to claim 1, characterized in that, The alarm device also includes a housing made of aluminum alloy and titanium alloy.

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