Pipe-traveling device and operation method thereof

Abstract

An operation method of a pipe-traveling device, according to an embodiment of the present application, is provided. The method comprises the steps of: obtaining the moving speed of a moving body part; determining, on the basis of the speed, whether the braking of the moving body part is necessary; and setting, according to the result of the determination, the output state of a motor rotating in conjunction with a guide wheel of the moving body part, wherein the output state can include one from among a load state in which a load is electrically connected to the motor and a no-load state in which the load is electrically disconnected from the motor.

Description

Pipe moving device and method of operation thereof

[0001] The present application relates to a pipe moving device and an operating method thereof.

[0002] The pipe moving device, a device used for ILI (in-line inspection), moves by the gas supply pressure inside the pipe and measures and analyzes the geometric deformation and loss of the pipe.

[0003] When moving under gas supply pressure and entering a curved or straight section of pipe with a large step, the pipe moving device may temporarily stop due to high frictional resistance against the pipe surface. If the pipe moving device then resumes operation due to a higher pressure differential and proceeds through a section with low frictional resistance, a sudden speed excursion may occur. This phenomenon is particularly frequent in low-pressure sections, increasing the risk of accidents and potentially causing problems with pipe data collection.

[0004] In particular, for pipe moving devices equipped with sensors such as calipers (e.g., geometry pigs), measurement quality improves at lower moving speeds. This is because the caliper must take into account the time it takes to return to its initial state when overcoming welds or steps. Furthermore, for pipe moving devices that measure the leakage flux of permanent magnets (e.g., magnetic flux leakage pigs), maintaining a moving speed of 4 m / s or less is crucial to ensuring measurement quality.

[0005] The purpose of this application is to provide a pipe moving device and an operating method thereof.

[0006] According to an embodiment of the present application, a method of operating a pipe moving device is provided. The method comprises the steps of: acquiring a speed; determining whether braking is necessary based on the moving speed; and setting an output state of a motor that rotates in conjunction with a guide wheel based on a result of the determination. The output state may include one of a load state in which a load is electrically connected to the motor and a no-load state in which the load is electrically disconnected from the motor.

[0007] Additionally, when the above braking is required, the output state of the above motor can be set to the above load state to perform regenerative braking.

[0008] Additionally, when the braking is unnecessary, the output state of the motor can be set to the no-load state.

[0009] Additionally, the load may include at least one of a battery and a consumption resistor.

[0010] In addition, if the braking is required, the method may further include a step of calculating the required braking force to change the moving speed to a reference speed; and a step of setting a braking condition based on the required braking force.

[0011] Additionally, the required braking force can be determined by PID (Proportional-Integral-Differential) control that inputs a differential value of the difference between the moving speed and the reference speed.

[0012] Additionally, the braking conditions may include at least one of the number of motors required to generate the required braking force, the duty cycle, the gear ratio, and the rotational speed of the motors.

[0013] Additionally, the above braking conditions can be determined by Equation 1.

[0014] [Formula 1]

[0015]

[0016] F in Equation 1 rb represents the required braking force, and T m represents the maximum torque of the motor, and G m represents the gear ratio between the motor and the guide wheel, and r w represents the radius of the guide wheel, and v m represents the rotational speed of the motor, and v rated represents the rated speed of the motor, and N m represents the number of motors used for braking, and D cycle can represent the duty cycle of the motor.

[0017] In addition, the method may further include a step of calculating an expected power generation amount during braking; and a step of determining whether to charge the battery based on the expected power generation amount and the charge amount of the battery.

[0018] Additionally, the output of the motor can be connected to the consumption resistor to discharge the power generated from the motor.

[0019] A computer program is provided according to an embodiment of the present application. The computer program can be stored on a recording medium to execute a method according to an embodiment of the present application.

[0020] According to an embodiment of the present application, a pipe moving device is provided. The device may include a body part that moves within a pipe by a pressure difference of a fluid between a front end and a rear end; at least one guide wheel provided in the body part and capable of contacting the pipe; a motor that rotates in conjunction with the guide wheel; a switching circuit that sets an output state of the motor to one of a load state in which a load is electrically connected to the motor and a no-load state in which the load is electrically disconnected from the motor; and a processor that obtains a moving speed, determines whether braking is necessary based on the moving speed, and sets the output state of the motor based on a result of the determination.

[0021] Additionally, the switching circuit may further include at least one of a battery and a consumption resistor that are selectively connected to the motor.

[0022] Additionally, a driving information measuring unit for obtaining driving information may be further included.

[0023] According to embodiments of the present application, the driving speed of the pipe moving device can be maintained constant or below a predetermined speed in response to the purpose, inspection method, surrounding environment, etc.

[0024] Additionally, according to embodiments of the present application, the traveling speed of the pipe moving device can be controlled without controlling the differential pressure within the pipe.

[0025] In addition, according to embodiments of the present application, the driving speed can be controlled while actively responding to the frictional resistance that changes due to the internal state of the pipe, particularly wear of the pipe moving device (particularly, drive cup, etc.).

[0026] In addition, according to the embodiment of the present application, the motor is rotated in conjunction with the guide wheel, and when deceleration of the fuselage is required, the output state of the motor can be changed to a load state to generate braking force.

[0027] In addition, according to an embodiment of the present application, braking force can be generated by controlling the electric circuit of the output terminal of the motor while eliminating or minimizing the mechanical connection between the guide wheel and the motor.

[0028] In addition, according to the embodiment of the present application, by adjusting the number of motors participating in regenerative braking, duty cycle, etc., braking force can be easily adjusted to enable smooth and safe driving of the pipe moving device.

[0029] In addition, according to an embodiment of the present application, regenerative braking is performed for speed control, and the battery of the pipe moving device can be charged with the power generated during the braking process, thereby being environmentally friendly and increasing the driving distance of the pipe moving device.

[0030] The effects that can be obtained from the embodiments of the present application are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by a person having ordinary skill in the technical field to which the present application belongs from the description below.

[0031] To facilitate a more thorough understanding of the drawings cited in this application, a brief description of each drawing is provided.

[0032] Figure 1 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0033] Figure 2 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0034] Figure 3 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0035] Fig. 4 is a block diagram of a pipe movement device according to an embodiment of the present application.

[0036] FIG. 5 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0037] FIG. 6 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0038] Fig. 7 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0039] The technical concept of this application is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the technical concept of this application to specific embodiments, and it should be understood that all modifications, equivalents, and alternatives fall within the scope of the technical concept of this application.

[0040] In explaining the technical idea of ​​this application, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of this application, the detailed description is omitted.

[0041] The terminology used in this specification is for the purpose of describing embodiments and is not intended to limit or restrict the present application. Singular expressions include plural expressions unless the context clearly dictates otherwise. Furthermore, numbers (e.g., "first," "second," etc.) used throughout the description of this application are merely identifiers used to distinguish one component from another.

[0042] When a part in this specification is said to be connected to another part, this includes not only direct connections but also indirect connections with other components intervening. Furthermore, when a part is said to include a component, unless otherwise specifically stated, this does not exclude other components but rather implies the inclusion of additional components.

[0043] Furthermore, the term "or" in this application is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless otherwise specified or clear from context, "X utilizes A or B" is intended to mean either of the natural inclusive permutations. That is, if X utilizes A; X utilizes B; or X utilizes both A and B, "X utilizes A or B" can apply to any of the above cases. Furthermore, the term "and / or" as used herein should be understood to refer to and encompass all possible combinations of one or more of the associated configurations listed.

[0044] In addition, terms such as “~bu”, “~gi”, “~ja”, and “~module” described in this application mean a unit that processes at least one function or operation, and can be implemented by hardware, software, or a combination of hardware and software.

[0045] It should be noted that the distinction between components in this application is merely a distinction based on the primary function of each component. In other words, two or more components described below may be combined into a single component, or a single component may be further subdivided into two or more components with more detailed functions. Furthermore, each component described below may, in addition to its own primary function, additionally perform some or all of the functions of other components. It should also be noted that some of the primary functions of each component may be exclusively performed by other components.

[0046]

[0047] Hereinafter, embodiments of the present application will be described in detail one by one.

[0048]

[0049] Figure 1 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0050] In step S110, driving information of the pipe moving device can be acquired. Here, the driving information can include at least one of moving speed, moving acceleration, and position information of the pipe moving device.

[0051] For example, in step S110, the moving speed of the pipe moving device can be acquired from at least one odometer (e.g., an odometer, etc.). For example, in step S110, the moving acceleration can be acquired from an accelerometer (e.g., an IMU accelerometer, etc.). For example, in step S110, the corrected moving speed can be acquired using an extended Kalman filter from the moving speed and the moving acceleration. In addition, for example, in step S110, the speed, acceleration, and moving distance can be calculated (e.g., by differentiating or integrating) from the speed, acceleration, and moving distance that are initially acquired. In addition, for example, in step S110, the position information can be acquired (e.g., by integrating) from the speed, acceleration, and moving distance. However, the present invention is not limited thereto.

[0052] At step S120, it can be determined whether braking is necessary based on driving information. For example, if the speed of the pipe moving device exceeds a reference speed, braking may be determined to be necessary for deceleration. For example, if the acceleration of the pipe moving device exceeds or falls below a reference acceleration, braking may be determined to be necessary. For example, if the pipe moving device is located in a pre-determined risk zone within the pipe, braking may be determined to be necessary. Here, the risk zone may refer to a section where rapid speed fluctuations are expected, such as the entrance to a valley or a descending pipe, but is not limited thereto.

[0053] Based on the judgment result of step S120, the motor output state can be set in step S130. Here, the motor output state can be either a loaded state or an unloaded state. If braking is determined to be necessary, the motor output can be set to a loaded state in step S130. Conversely, if braking is determined to be unnecessary, the motor output can be measured in an unloaded state in step S130.

[0054] Specifically, the motor (specifically, a BLDC motor) can be rotatably coupled with the guide wheel of the pipe moving device. Therefore, when the guide wheel rotates, the motor also rotates, and when the motor brakes, the guide wheel also brakes. Specifically, when the guide wheel rotates, the motor rotates in conjunction with the guide wheel, generating a counter electromotive force that opposes the rotation.

[0055] When the counter electromotive force output from the motor is electrically connected to a load (e.g., a battery, a power supply resistor, etc.), a load condition occurs, and a corresponding torque (or rotational resistance) may be generated in the motor. Consequently, the rotation of the motor is braked, and the rotation of the connected guide wheel is also braked, which may reduce the movement speed of the pipe moving device.

[0056] When the counter electromotive force output from the motor is electrically disconnected from the load, the motor can operate in a no-load state. In other words, the motor can function as a generator under no-load conditions. Consequently, no actual braking force is generated, allowing the guide wheel to rotate without being subject to braking from counter electromotive force or other factors.

[0057] For example, if the load is a battery, the electrical energy generated by the motor under load can be supplied to the battery and used for charging. Conversely, if the load is a component such as a sensor installed in a pipe moving device, the electrical energy can be used to operate the component. For example, if the load is a resistor, the electrical energy can be discharged through the resistor. However, this is not a limitation.

[0058] Step S130 can be performed by changing the electrical connection relationship or circuit configuration between the output of the motor and the load by switching an electrical circuit located at the output terminal of the motor.

[0059] In an embodiment, the method (100) may further include a step of adjusting the output voltage of the motor supplied by the battery. That is, in this step, the output voltage may be increased or decreased so that the voltage of the counter electromotive force generated by the motor is suitable for the battery. To this end, various inverters, converters, etc. may be provided between the motor output terminal and the battery. However, the present invention is not limited thereto.

[0060] The method (100) illustrated in FIG. 1 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0061]

[0062] Figure 2 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0063] Method (200) may be performed when it is determined that regenerative braking is necessary for speed control. For example, it may be performed after step S120 of method (100). However, the present invention is not limited thereto.

[0064] The required braking force can be calculated at step S210. The required braking force can refer to the degree of braking that must be applied to the pipe moving device to ensure that the movement of the pipe moving device falls within the reference range.

[0065] Various control techniques can be applied to step S210. For example, step S210 can be performed using Proportional-Integral-Differential (PID) control. In this case, the required braking force can be determined using Equation 1.

[0066] [Formula 1]

[0067]

[0068] F in Equation 1 rb means the required braking force, and V e is the differential value between the speed of the pipe moving device and the reference speed, and K p stands for proportional control gain, and K i stands for the error integral gain, and K d stands for the error differential gain, and t stands for time.

[0069] Braking conditions can be set in step S220. Step S220 may mean configuring a braking environment to generate the required braking force calculated in step S210.

[0070] In an embodiment, the braking condition can be determined by Equation 2.

[0071] [Formula 2]

[0072]

[0073] F in Equation 2 rb is the required braking force, which can be calculated by, for example, Equation 1. In addition, T m means the maximum torque of the motor, and G m refers to the gear ratio between the motor and the guide wheel, and r w is the radius of the guide wheel, v m means the rotation speed of the motor, and v rated means the rated speed of the motor, and N m refers to the number of motors used for braking. Also, Dcycle may refer to the duty cycle during which the output of the motor is supplied to the load. In some embodiments, if there is no gear for changing the rotational ratio between the motor and the guide wheel, G m can be excluded from [Formula 2] or the value of “1” can be applied.

[0074] For example, in step S220, the braking condition can be set by changing at least one of the number of motors and the duty cycle. For example, in step S220, the braking condition can be set by changing at least one of the number of motors, the duty cycle, the gear ratio, and the rotation speed of the motor. However, the present invention is not limited thereto.

[0075] When the braking condition is set at step S220, the motor can generate the required braking force at step S130 of the method (100). At this time, the acceleration generated according to the required braking force can be determined by Equation 3.

[0076] [Formula 3]

[0077]

[0078] In Equation 3, a represents the acceleration acting on the pipe moving device when the required braking force is applied, and F rb means the required braking force, and F pcd refers to the driving force applied to the pipe moving device by the differential pressure at the front and rear ends of the pipe moving device, and F bfr represents the frictional resistance acting on the pipe moving device. In addition, m represents the mass of the pipe moving device, θ represents the attitude angle of the pipe moving device, and mgsin(θ) represents the reaction force acting on the pipe moving device due to gravity.

[0079] The method (200) illustrated in FIG. 2 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0080]

[0081] Figure 3 is a flowchart of an operating method of a pipe movement device according to an embodiment of the present application.

[0082] Method (300) may be performed when regenerative braking is determined to be necessary for speed control. For example, it may be performed after step S120 of method (100). Additionally, it may be performed before or after step S220 of method (200), for example. However, the present invention is not limited thereto.

[0083] At step S310, the expected power generation can be calculated. The expected power generation can refer to the counter electromotive force expected to be generated by regenerative braking under load conditions when a load is connected to the motor.

[0084] In an embodiment, step S310 may be determined by Equation 4.

[0085] [Formula 4]

[0086]

[0087] P in Equation 4 R stands for the expected power generation, and V m refers to the output voltage of the motor, and I o means the final current at the output end of the motor, and E f can mean the power generation efficiency of the motor's counter electromotive force. E f It is a comprehensive measure of the motor's output efficiency, battery charging efficiency, etc., and can be measured, for example, by experiment.

[0088] Also, V m can be calculated by Equation 5.

[0089] [Formula 5]

[0090]

[0091] v in equation 5 m means the rotation speed of the motor, and K e can mean the speed constant (or back electromotive force constant) of the motor.

[0092] At step S320, a decision can be made as to whether or not to charge the battery. Specifically, step S320 can be made by comparing the expected power generation from step S310 with the battery's charge level. If the comparison indicates that charging the battery is necessary or possible, the counter electromotive force generated by the motor can be supplied to the battery. Depending on the embodiment, this may involve adjusting the motor's output voltage.

[0093] Conversely, if the comparison results indicate that charging the battery is unnecessary or difficult, the motor output can be connected to a discharging resistor to discharge it.

[0094] The method (300) illustrated in FIG. 3 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0095]

[0096] Fig. 4 is a block diagram of a pipe movement device according to an embodiment of the present application.

[0097] The pipe moving device (400) is implemented to move inside the pipe and / or inspect for defects in the pipe, and can perform the method (100) of FIG. 1, the method (200) of FIG. 2, the method (300) of FIG. 3, etc. to control the speed when moving the pipe. However, the present invention is not limited thereto.

[0098] Referring to FIG. 4, the pipe moving device (400) may include a body part (410); a guide part (420); a braking part (430); a driving information measuring part (440); and a processor (450).

[0099] The body part (410) is a part that forms the body of the pipe movement device (400), and may have a size and shape that can be inserted and moved inside the pipe. The body part (410) can move inside the pipe according to the pressure difference of the fluid inside the pipe that occurs between the front and rear ends of the body part (410). In addition, the body part (410) can accommodate various components (guide part (420), motor, battery, etc.) inside and outside.

[0100] In an embodiment, the fuselage section (410) may be comprised of one or more fuselage sections. If comprised of multiple fuselage sections, the fuselage sections (410) may be connected to each other via link members such as universal joints. For example, a first fuselage section at the front end may be responsible for traveling within a pipe, while a second fuselage section at the rear end may be responsible for inspecting the pipe. However, this is not a limitation.

[0101] In an embodiment, a drive cup may be provided on the outer surface of the body portion (410). The drive cup may be in close contact with the inner wall of the pipe, thereby blocking the flow of fluid around the drive cup. This may generate a pressure difference, thereby allowing the body portion (410) to move along the inside of the pipe. For example, the drive cup may be configured as one or more. When there are multiple drive cups, the drive cups may be spaced apart along the length direction on the outer surface of the body portion (410). However, the present invention is not limited thereto.

[0102] In an embodiment, at least a portion of the drive cup may be formed of an elastic material. Accordingly, when the pipe moving device (400) travels inside the pipe, the drive cup may be elastically deformed and come into contact with the inner wall of the pipe even when the inner diameter of the pipe changes or the shape of the pipe, such as a curved pipe, changes. For example, the drive cup may be formed of a urethane material that is elastic and has sufficient durability and wear resistance to withstand damage caused by contact with the inner wall of the pipe. However, the present invention is not limited thereto, and various materials such as silicone, neoprene, polyurethane, and TPE (Thermo Plastic Elastomer) may be applied.

[0103] The guide part (420) is provided on the body part (410) and may include a guide wheel that is in contact with the pipe and rotates by the movement of the pipe moving device (400) while in contact with the pipe. Specifically, the guide wheel may reduce friction between the body part and the pipe, prevent impact between the body part and the pipe, and / or prevent sudden changes in the posture of the body part within the pipe.

[0104] In one embodiment, the guide wheel may be rotatably linked to the motor. Therefore, the rotation of the guide wheel may be transmitted to the motor, thereby rotating the motor. Furthermore, the braking force generated by the motor may be transmitted to the guide wheel, thereby impeding its rotation. If the rotation of the guide wheel is impeded, the friction between the guide wheel and the pipe increases, causing the body to decelerate or stop.

[0105] In particular, the motor can be constantly in rotational linkage with the guide wheel. That is, when the guide wheel rotates, that rotation can always be transmitted to the motor. Furthermore, when the motor generates braking force, that braking force can be transmitted to the guide wheel. To achieve this, the motor and guide wheel can maintain a continuous physical connection.

[0106] In an embodiment, the guide portion (420) may further include a guide support portion. The guide support portion may have one end connected to the body portion (410) and the other end connected to a guide wheel, wherein the guide wheel may be rotatably connected to the other end of the guide support portion. The guide support portion may be fixedly connected to the body portion (410) or rotatably connected.

[0107] In an embodiment, the guide portion (420) may further include an elastic portion that generates an elastic force toward the support portion between the support portion and the body portion (410). The elastic portion may allow the guide wheel to adhere more closely to the inner wall of the pipe.

[0108] The braking unit (430) can selectively generate braking force to the guide unit (420). Specifically, the braking unit (430) can include a motor and a switching circuit.

[0109] The motor may have a rotational axis connected to a guide member (420) (particularly, a guide wheel) and may receive rotation from the guide member (420). When the guide wheel rotates, the rotational axis of the motor may rotate in conjunction with it. For example, the motor may be a DC motor. For example, the motor may be a BLDC motor. However, the present invention is not limited thereto.

[0110] In an embodiment, at least one gear connection may be provided between the motor and the guide member (420). The gear connection may connect the wheel and the generator motor according to a predetermined gear ratio. Here, the gear ratio may be a fixed value or a changeable value. For example, the processor (450) may determine the gear ratio and cause the gear connection to connect the motor and the wheel according to the gear ratio. By adjusting the gear ratio in this way, the voltage, current, braking force, etc. of the motor can be adjusted.

[0111] A switching circuit may be located at the motor output terminal. The switching circuit can change the motor output state between a loaded state and an unloaded state. This state change can be accomplished by electrically connecting the motor output to the load or electrically disconnecting the motor output from the load through switching. When the motor is in a loaded state, braking force is generated, which can impede the rotation of the guide wheel. Conversely, when the motor is in an unloaded state, braking force is not generated.

[0112] In an embodiment, the switching circuit may select a load to be connected to the motor output under load conditions. For example, the switching circuit may connect the motor output to a battery. For example, the switching circuit may connect the motor output to a dissipative resistor. For example, the switching circuit may connect the motor output to various components (e.g., sensors), each of which may be for charging, discharging, and operating, but is not limited thereto.

[0113] In embodiments, the switching circuit may include various electrical components for changing the electrical connection of the motor output. For example, the switching circuit may include a transistor, a diode, or the like.

[0114] In an embodiment, the switching circuit can control the magnitude, cycle, etc. of the output voltage of the motor. To this end, the switching circuit can include at least one of an inverter that changes the flow of current generated from the motor; and a converter that increases or decreases the voltage generated from the motor.

[0115] The driving information measuring unit (440) is for obtaining driving information, and the driving information may include, for example, at least one of the moving speed, moving acceleration, and position information of the pipe moving device (400). Specifically, the driving information measuring unit (440) may include at least one of an odometer and an inertial measurement unit.

[0116] In an embodiment, an odometer is provided in the body (410) and can be attached to the inner wall of the pipe to measure the movement distance of the pipe moving device (400). The odometer may be a contact odometer and / or an optical odometer. In addition, the odometer may be composed of one or more odometers. For example, the odometer may include three or four contact odometers. However, the present invention is not limited thereto.

[0117] In an embodiment, the odometer may include an extension portion extending outwardly from the body portion (410) as a contact-type odometer and an odometer formed at an end of the extension portion. The extension portion may be rotatably coupled to the body portion (410), and the odometer may be rotatably coupled to the extension portion. The odometer may be in close contact with the inner wall of the pipe and may rotate along the inner wall when the pipe moving device (400) moves. At this time, the odometer may include a wheel portion in close contact with the inner wall of the pipe and a rotation measuring portion that measures the rotation amount of the wheel portion. For example, the rotation measuring portion may include a magnetic sensor that rotates together with the wheel portion and measures the rotation amount of the wheel portion. For example, the rotation measuring portion may include an incremental encoder. However, the present invention is not limited thereto, and various technologies capable of measuring the movement distance of the pipe moving device (400) may be applied to the odometer, particularly the contact-type odometer.

[0118] In an embodiment, an inertial measurement unit may be provided in the body (410) to measure and record changes in inertia according to the movement of the pipe movement device (400) when the pipe movement device (400) runs along the inner wall of the pipe. For example, the inertial measurement unit may include an acceleration sensor that detects movement in three axes of forward, backward, left, right, and up and down within the pipe, a gyroscope sensor that detects three-axis rotational angular velocities of pitch, roll, and yaw, etc. The moving speed, acceleration, etc. of the pipe movement device (400) may be calculated from the acceleration, rotational angular velocity, etc. measured by the inertial measurement unit.

[0119] The processor (450) can control the overall operation of the pipe movement device (400). The processor (450) can execute one or more programs stored in memory. The processor (450) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated or general-purpose processor (450) on which methods according to the technical concepts of the present disclosure are performed.

[0120] In an embodiment, the processor (450) may obtain a moving speed of the pipe moving device (400), determine whether braking is required for the pipe moving device (400) based on the speed, and set an output state based on the result of the determination.

[0121] In an embodiment, the processor (450) may perform regenerative braking by setting the output state of the motor to a load state when braking is required.

[0122] In an embodiment, the processor (450) may set the output state of the motor to a no-load state when braking is unnecessary.

[0123] In an embodiment, the processor (450) may calculate the necessary braking force to change the moving speed of the pipe moving device (400) to a reference speed when braking is required, and set a braking condition based on the necessary braking force.

[0124] In an embodiment, the processor (450) may calculate the required braking force through a PID (Proportional-Integral-Differential) control that inputs a differential value of the difference between the moving speed and the reference speed. Here, the braking condition may include at least one of the number of motors required to generate the required braking force, the duty cycle, the gear ratio, and the rotational speed of the motor.

[0125] In an embodiment, the processor (450) can calculate the required braking force by Equation 1.

[0126] [Formula 1]

[0127]

[0128] F in Equation 1 rb means the required braking force, and V e is the differential value between the speed of the pipe moving device and the reference speed, and K p stands for proportional control gain, and K i stands for the error integral gain, and K d stands for the error differential gain, and t stands for time.

[0129] In an embodiment, the processor (450) may determine the braking condition by Equation 2.

[0130] [Formula 2]

[0131]

[0132] F in Equation 2 rb is the required braking force, which can be calculated by, for example, Equation 1. In addition, T m means the maximum torque of the motor, and G m refers to the gear ratio between the motor and the guide wheel, and r w is the radius of the guide wheel, v m means the rotation speed of the motor, and v rated means the rated speed of the motor, and N m refers to the number of motors used for braking. Also, D cycle may refer to the duty cycle during which the output of the motor is supplied to the load. In some embodiments, if there is no gear for changing the rotational ratio between the motor and the guide wheel, G m can be excluded from [Formula 2] or the value of “1” can be applied.

[0133] Once the braking conditions are determined, an acceleration according to Equation 3 can be applied to the pipe moving device.

[0134] [Formula 3]

[0135]

[0136] In Equation 3, a represents the acceleration acting on the pipe moving device when the required braking force is applied, and F rb means the required braking force, and F pcd refers to the driving force applied to the pipe moving device by the differential pressure at the front and rear ends of the pipe moving device, and F bfr represents the frictional resistance acting on the pipe moving device. In addition, m represents the mass of the pipe moving device, θ represents the attitude angle of the pipe moving device, and mgsin(θ) represents the reaction force acting on the pipe moving device due to gravity.

[0137] In an embodiment, the processor (450) may calculate the expected power generation during braking and determine whether to charge the battery based on the expected power generation and the battery charge level.

[0138] In an embodiment, the processor (450) can calculate the expected power generation amount by Equation 4.

[0139] [Formula 4]

[0140]

[0141] P in Equation 4 R is the expected power generation, and V m is the output voltage of the motor, and I o is the final current at the output of the motor, and E f can mean the power generation efficiency of the motor's counter electromotive force. E f It is a comprehensive measure of the motor's output efficiency, battery charging efficiency, etc., and can be measured through experiments.

[0142] Also, V m can be calculated by Equation 5.

[0143] [Formula 5]

[0144]

[0145] v in equation 5m means the rotation speed of the motor, and K e can mean the speed constant (or back electromotive force constant) of the motor.

[0146] In an embodiment, the processor (450) may connect the output of the motor to a dissipative resistor to discharge power generated by the motor.

[0147] Although not shown, the device (400) may further include a battery. The battery may be connected to a switching circuit to receive counter electromotive force generated by the motor. The power charged in the battery may be used to drive the pipe movement device (400) and operate various components and sensors provided in the pipe movement device (400). However, the present invention is not limited thereto.

[0148] Although not shown, the device (400) may further include a dissipative resistor. The dissipative resistor may be electrically connected to the motor to cause the motor's output state to be in a loaded state. The dissipative resistor may also discharge power supplied from the motor. When braking is performed through the motor under a loaded state, but battery charging is unnecessary or not permitted, power may be discharged through the dissipative resistor. For example, the dissipative resistor may include a cement resistor, etc.

[0149] Although not shown, the device (400) may further include a communication unit according to an embodiment. The communication unit is provided for direct connection to the inside and / or the outside or connection via a network, and may be a wired and / or wireless communication unit. Specifically, the communication unit may transmit data from a memory, a control unit, etc., via a wire or wirelessly, or receive data from the outside via a wire or wirelessly and transfer it to the control unit or store it in the memory. For example, the communication unit may include a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an IrDA (Infrared Data Association) communication unit, a WFD (Wi-Fi Direct) communication unit, an UWB (Ultra Wideband) communication unit, etc., but is not limited thereto. The communication unit may be implemented as at least one module or chip.

[0150] Although not shown in FIG. 4, the device (400) may further include memory according to an embodiment. The memory may store a program for performing an operation of the device (400), data according to the performance of the operation, etc. For example, the memory may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk.

[0151] The device (400) illustrated in FIG. 4 is exemplary, and various configurations may be applied according to embodiments of the present application. For example, not all components illustrated in FIG. 4 are essential components of the pipe movement device (400), and depending on the embodiment, the pipe movement device (400) may be implemented with more components than the components illustrated in FIG. 4, or the pipe movement device (400) may be implemented with fewer components than the components illustrated in FIG. 4.

[0152]

[0153] FIG. 5 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0154] Referring to Fig. 5, a pipe moving device (520) located in a pipe (510) is provided with a force F that moves the pipe moving device (520) by the differential pressure between the front and rear ends. pcdcan act. For example, F pcd is π*r 2 *It can be calculated by ρ, where r is the cross-sectional area of ​​the pipe (510) and ρ is the differential pressure.

[0155] In addition, when the pipe moving device (520) moves along the pipe (510), the frictional resistance F is applied by the inner wall of the pipe (510). bfr This happens. F bfr Silver (N c +N fdc )*μ can be calculated by N c is the vertical resistance against the inner wall of the pipe (510) by the pipe moving device (520) (particularly, the driving cup (530)), and N fdc The pipe moving device (520) is F pcd is the vertical force pushing the inner wall of the pipe (510), and μ is the friction coefficient between the inner wall of the pipe (510) and the pipe moving device (520).

[0156] Additionally, a resistance force due to gravity may occur in the pipe moving device (520), which can be calculated by m*g*sin(θ), where m is the mass of the pipe moving device (520), g is the acceleration of gravity, and θ is the pitch angle of the pipe moving device (520).

[0157] The pipe moving device (520) combines the above-mentioned forces to form a kinetic force F pb It comes into effect, F pb is F pcd -F bfr -It can be calculated by m*g*sin(θ)=m*a1.

[0158] Here, when braking according to the embodiment of the present application is applied to the pipe moving device (520), the braking force F is applied by the rotation of the guide wheel (540). rb As the kinetic force F of the pipe moving device occurs pb is F pcd -F bfr -m*g*sin(θ)-F rb=m*a2 can be converted to output. That is, the braking force F rb The size of the positive acceleration may decrease or change to negative acceleration, thereby causing the pipe moving device (520) to decelerate.

[0159] FIG. 5 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0160]

[0161] FIG. 6 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0162] Referring to Fig. 6, the driving information measuring unit of the pipe moving device can obtain driving information, particularly the moving speed, of the pipe. Specifically, the moving speed of the pipe moving device can be obtained from multiple odometers (odometers), and similarly, the moving speed of the pipe moving device can be obtained using an inertial measurement unit. By synthesizing these moving speeds (e.g., through an Extended Kalman Filter), the moving speed of the pipe moving device can be obtained.

[0163] By comparing the moving speed with the reference speed, if the moving speed is slower than the reference speed, the input of the PID controller is set to 0. Conversely, if the moving speed is greater than the reference speed, the differential value of the difference between the moving speed and the reference speed is input to the PID controller. When the PID controller outputs the required braking force, the braking conditions for providing the required braking force can be set so that the motor generates braking force under load.

[0164] Fig. 6 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0165]

[0166] Fig. 7 is a drawing for explaining an operation method of a pipe movement device according to an embodiment of the present application.

[0167] Referring to Figure 7, a switching circuit for controlling the output state of a motor is illustrated. The input of the switching circuit is connected to the output of the motor, and the output of the switching circuit can be connected to a load. The load may be a battery, but is not limited thereto.

[0168] In the switching circuit, the main switches Q1 and Q4 can be controlled by D (duty cycle), and the synchronization switches Q2 and Q3 can be controlled by 1-D (duty cycle). In addition, at least one switch can be controlled to the ON or OFF state regardless of the duty cycle.

[0169] For example, a no-load state can be established by switching Q1 and Q2 ON, which breaks the electrical connection between Vin and Vout. Furthermore, for example, switching can be used to charge the voltage input from Vin in the reactor, which is then transferred to the load located at Vout.

[0170] Fig. 7 is exemplary, and various configurations may be applied according to embodiments of the present application.

[0171]

[0172] Although the embodiments have been described in detail above, the scope of the present application is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present application defined in the following claims also fall within the scope of the present application.

Claims

1. As an operating method of a pipe moving device, Step to acquire movement speed; A step of determining whether braking is necessary based on the above movement speed; and A step of setting the output state of a motor that rotates in conjunction with a guide wheel according to the result of the above judgment is included. A method wherein the output state includes one of a load state in which a load is electrically connected to the motor and a no-load state in which the load is electrically disconnected from the motor.

2. In paragraph 1, A method for performing regenerative braking by setting the output state of the motor to the load state when the above braking is required.

3. In paragraph 1, A method in which, when the braking is unnecessary, the output state of the motor is set to the no-load state.

4. In paragraph 1, A method wherein the load comprises at least one of a battery and a consumption resistor.

5. In paragraph 1, When the above braking is required, a step of calculating the required braking force to change the moving speed to a reference speed; and A method further comprising the step of setting a braking condition based on the required braking force.

6. In paragraph 5, A method in which the above required braking force is determined by a PID (Proportional-Integral-Differential) control that inputs a differential value of the difference between the moving speed and the reference speed.

7. In paragraph 5, A method wherein the braking conditions include at least one of the number of motors required to generate the required braking force, the duty cycle, the gear ratio, and the rotational speed of the motors.

8. In paragraph 5, The above braking conditions are determined by Equation 1. [Formula 1] F in Equation 1 rb represents the required braking force, and T m represents the maximum torque of the motor, and G m represents the gear ratio between the motor and the guide wheel, and r w represents the radius of the guide wheel, and v m represents the rotational speed of the motor, and v rated represents the rated speed of the motor, and N m represents the number of motors used for braking, and D cycle represents the duty cycle of the motor.

9. In paragraph 4, A step for calculating the expected power generation during braking; and A method further comprising the step of determining whether to charge the battery based on the expected power generation amount and the charge amount of the battery.

10. In paragraph 4, A method for discharging power generated from the motor by connecting the output of the motor to the consumption resistor.

11. A computer program stored in a recording medium for executing any one of the methods of paragraphs 1 to 10.

12. As a pipe moving device, A body part that travels inside a pipe due to the pressure difference between the front and rear ends of the fluid; At least one guide wheel provided on the above body part and capable of contacting the pipe; A motor that rotates in conjunction with the above guide wheel; A switching circuit that sets the output state of the motor to one of a load state in which the load is electrically connected to the motor and a no-load state in which the load is electrically disconnected from the motor; and A device comprising a processor that obtains a moving speed, determines whether braking is necessary based on the moving speed, and sets the output state of the motor according to the result of the determination.

13. In paragraph 12, A device further comprising at least one of a battery and a consumption resistor selectively connected to the motor by the switching circuit.

14. In paragraph 12, A device further comprising a driving information measuring unit for obtaining driving information.

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