CN114484144A - Underground pipeline detection trolley based on ultrasonic principle and control method thereof - Google Patents
Underground pipeline detection trolley based on ultrasonic principle and control method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/24—Preventing accumulation of dirt or other matter in the pipes, e.g. by traps, by strainers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention is suitable for the technical field of pipeline detection, and particularly relates to an underground pipeline detection trolley based on an ultrasonic principle and a control method thereof, wherein the underground pipeline detection trolley comprises the following components: a pipeline measurement system; the pipeline measuring system is arranged on the pipeline central positioning system; the pipeline detection trolley driving system is characterized in that a pipeline center positioning system is arranged on the pipeline detection trolley driving system; the running system of the pipeline detection trolley is also provided with a pipeline searchlighting system and a pipeline descaling system. The invention comprises a pipeline measuring system developed based on the acoustic echo ranging principle and the acoustic reflection and refraction principle, a pipeline center positioning system developed based on the acoustic echo ranging principle and a pipeline detection trolley driving system, can realize pipeline flaw detection and accurate positioning, and is convenient for the regular preventive maintenance of the pipeline. Meanwhile, a pipeline descaling system and a pipeline searchlighting system developed based on the ultrasonic descaling principle are additionally arranged, so that the versatility of the underground pipeline detection trolley is realized.
Description
Technical Field
The invention belongs to the technical field of pipeline detection, and particularly relates to an underground pipeline detection trolley based on an ultrasonic principle and a control method thereof.
Background
With the rapid development of economy in China, the requirements of industries on transportation equipment in all aspects are higher and higher. In the fields of general industry, nuclear facilities, petroleum and natural gas, military equipment, urban drainage, water supply and the like, pipelines are widely applied as an effective material conveying means. For oil and gas pipelines, various problems often occur in the pipelines due to various reasons such as extrusion, acid rain corrosion and the like, and the working efficiency is seriously influenced. In some places with concentrated population, the pipeline can bring threat to the safety of people if leakage occurs. As for the drainage pipeline, the leakage of the pipeline can also have certain influence on the urban environment and the life of people. Therefore, effective detection and maintenance of the pipeline are performed, and the guarantee of the safety of the pipeline is important.
At present, research results of domestic and foreign pipeline robots are many, but detection and maintenance of micro pipelines and special pipelines (such as variable diameter pipelines and pipelines with U-shaped pipes) are just started. Since the pipeline is widely applied in various fields, the research and development of the robot are very attractive.
The pipeline operation that the domestic and foreign pipeline robot can accomplish includes: and detecting the quality of the inside and the outside of the pipe in the production and installation processes of people. And diagnosing faults such as welding line condition, surface corrosion, crack damage and the like in the using process. And (4) maintaining pipeline cleaning, spraying, welding, internal polishing and the like in severe environment. And (5) repairing the old buried pipeline. Conveying and rescuing equipment inside and outside the pipeline. However, the traditional pipeline robot has some defects, such as lower capability of automatically adapting to the change of the pipe diameter, poorer obstacle crossing performance and the like.
Disclosure of Invention
The invention provides an underground pipeline detection trolley based on an ultrasonic principle, which is innovated in structure and method. The utility model provides an underground pipeline surveys dolly based on ultrasonic wave principle, its includes the pipeline measurement system based on development of sound wave echo range finding principle and sound wave reflection and refraction principle, the pipeline central positioning system based on development of sound wave echo range finding principle, pipeline survey dolly system of traveling, can realize that the pipeline is detected a flaw and accurate location, the regular prevention of the pipeline of being convenient for is maintained. Meanwhile, a pipeline descaling system and a pipeline searchlighting system developed based on the ultrasonic descaling principle are additionally arranged, so that the versatility of the underground pipeline detection trolley is realized.
The invention also provides a control method of the underground pipeline detection trolley based on the ultrasonic principle. The method comprises the steps of feeding back data through a pipeline measuring system, firstly judging whether an underground pipeline detection trolley can pass through a pipeline of a measuring point, then judging whether the pipeline of the measuring point is damaged, if so, feeding back position information of the measuring point, and simultaneously feeding back image information by using a pipeline searchlighting system. If corrosive dirt exists, the pipeline descaling system is used for cleaning. The underground pipeline detection trolley is controlled to run in the underground pipeline, so that information collection and pipeline dirt cleaning are completed, and the underground pipeline detection trolley is a preposed research on a working robot in the underground pipeline and has important significance.
The embodiment of the invention is an underground pipeline detection trolley based on the ultrasonic principle, which comprises:
the pipeline measuring system is used for measuring and autonomously positioning a pipeline and a lining thereof;
the pipeline measuring system is arranged on the pipeline central positioning system and used for driving the pipeline measuring system to lift and move;
the pipeline detection trolley driving system is used for driving the pipeline center positioning system to move in the pipeline;
the pipeline detection trolley running system is also provided with a pipeline searchlighting system and a pipeline descaling system.
Preferably, the pipeline detection trolley traveling system comprises a control arm, a frame, wheels, a first driving motor and a first speed reducing mechanism, wherein the first driving motor and the first speed reducing mechanism are installed on the frame, the wheels are rotatably installed on the frame, the wheels are connected with the frame through the control arm, and the first driving motor is in transmission connection with the first speed reducing mechanism.
Preferably, the pipe centering system comprises: the pipeline detection trolley comprises a lifting device and a central positioning base assembly, wherein the lifting device and the central positioning base assembly are both arranged on a pipeline detection trolley traveling system.
Preferably, the lifting device comprises a second driving motor, a second speed reducing mechanism and a sliding block, the second driving motor and the second speed reducing mechanism are both installed on the pipeline detection trolley traveling system, one end of the sliding block is connected with the second speed reducing mechanism, and the other end of the sliding block is connected with the central positioning base assembly.
Preferably, the center positioning base assembly comprises a first center positioning base and a second center positioning base, and the second center positioning base and the first center positioning base are coaxial and connected through threads.
Preferably, the pipeline measuring system comprises a host, a battery, a cable, a pipeline inner diameter measuring device, a pipeline lining thickness measuring device, a pipeline thickness measuring device and a pipeline detection trolley positioning device, wherein the host and the battery are both installed on a pipeline detection trolley traveling system, and the host, the battery, the pipeline inner diameter measuring device, the pipeline lining thickness measuring device, the pipeline thickness measuring device and the pipeline detection trolley positioning device are connected through cables.
Preferably, the pipe inner diameter measuring device includes: the first measuring base is arranged on the pipeline center positioning system; the first ultrasonic probe is arranged on the first measuring base;
the pipe lining thickness measuring device includes: the second measuring base is arranged on the pipeline center positioning system; the second ultrasonic probe is arranged on the second measuring base;
the pipe thickness measuring device includes: the third measuring base is arranged on the pipeline center positioning system; the third ultrasonic probe is arranged on the third measuring base;
pipeline detection dolly positioner includes: the fourth measuring base is arranged on the pipeline center positioning system; the fourth ultrasonic probe is mounted on the fourth measurement base.
Another object of the embodiments of the present invention is to provide a method for controlling an underground pipeline detecting trolley based on an ultrasonic principle, in which the underground pipeline detecting trolley based on an ultrasonic principle is used, and the method includes the following steps:
firstly, measuring the inner diameter of a pipeline by adopting an accurate measurement method through a pipeline inner diameter measuring device when reaching a measurement point, transmitting measurement data to a host computer, and judging whether the size of a trolley can pass through the pipeline or not;
step two, if the size of the trolley is judged to pass through the pipeline, the central positioning base assembly is centrally positioned through the lifting device, and meanwhile, the transverse position of the trolley is adjusted, so that the axis of the central positioning base assembly is superposed with the axis of the pipeline;
measuring the coating in the pipeline by adopting an accurate measurement method by using a pipeline lining thickness measuring device, transmitting measurement data to a host, and judging whether the coating is damaged;
measuring the thickness of the pipeline by adopting an accurate measurement method by using a pipeline thickness measuring device, transmitting the measurement data to a host computer, and judging whether the pipeline is damaged;
if the pipeline is damaged in the third step or the fourth step, performing longitudinal, vertical positioning and transverse inspection on the damaged position of the pipeline through a pipeline detection trolley positioning device, acquiring damaged image information of the pipeline through a pipeline searchlight system, and transmitting information data to a host; if corrosive dirt exists, cleaning the corrosive dirt through a pipeline descaling device;
and step six, the underground pipeline detection trolley runs to reach the next measuring point.
Preferably, the step of adjusting the lateral position of the cart specifically includes: the first ultrasonic probe transversely installed measures the distance between the axis of the trolley and the inner wall of the pipeline, and the axis of the trolley is positioned on the bisection plane of the pipeline through trolley adjustment.
Preferably, the step of performing longitudinal, vertical positioning and transverse inspection on the damaged position of the pipeline through the pipeline detection trolley positioning device specifically comprises: a fourth ultrasonic probe which is longitudinally arranged measures the longitudinal position of the trolley; a fourth ultrasonic probe which is vertically arranged measures the vertical position of the trolley; a fourth ultrasonic probe mounted transversely is used to check whether the axis of the trolley is on the pipe bisecting plane.
The invention provides an underground pipeline detection trolley based on an ultrasonic principle. The ultrasonic wave can be propagated in different media, the directivity is good, the energy is easy to concentrate, and meanwhile, the information propagated in the media can be fed back. Ultrasonic wave is used for feedback positioning and is applied to anti-mistaken excavation of underground cables. Therefore, by combining the advantages of the two, the underground pipeline detection trolley based on ultrasonic feedback positioning is designed, and comprises a pipeline measurement system developed based on the sound wave echo ranging principle and the sound wave reflection and refraction principle, a pipeline center positioning system developed based on the sound wave echo ranging principle and a pipeline detection trolley running system, so that pipeline flaw detection and accurate positioning can be realized, and the pipeline can be prevented and maintained regularly. Meanwhile, a pipeline descaling system and a pipeline searchlighting system developed based on the ultrasonic descaling principle are additionally arranged, so that the versatility of the underground pipeline detection trolley is realized.
Drawings
FIG. 1 is a three-dimensional schematic diagram of a first view angle of an underground pipeline detecting trolley based on the ultrasonic principle according to an embodiment of the invention;
FIG. 2 is a three-dimensional schematic diagram of a second view angle of an underground pipeline detecting trolley based on the ultrasonic principle according to an embodiment of the present invention;
FIG. 3 is a three-dimensional schematic diagram of a third view angle of an underground pipeline detecting trolley based on the ultrasonic principle according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a first centering pedestal according to an embodiment of the present invention;
FIG. 5 is an end elevational view provided by an embodiment of the present invention;
FIG. 6 is a partial cross-sectional view of an underground pipeline detection trolley based on the ultrasonic principle according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for controlling an underground pipeline detecting trolley based on the ultrasonic principle according to an embodiment of the present invention.
In the drawings: 1. a first ultrasonic probe; 2. a first measurement base; 3. a searchlight; 4. a camera; 5. a first centrally located base; 6. a second ultrasonic probe; 7. a third ultrasonic probe; 8. a third measurement base; 9. a second centrally located base; 10. a fourth measurement base; 11. a fourth ultrasonic probe; 12. a fifth ultrasonic probe; 13. a mechanical upper arm; 14. a cross-pin type universal joint; 15. a lower mechanical arm; 16. a second measurement base; 17. a host; 18. a second drive motor; 19. a battery; 20. a second reduction mechanism; 21. a wheel; 22. a first speed reduction mechanism; 23. a control arm; 24. a first drive motor; 25. a frame; 26. a slider; 27. a ball screw output end; 28. a ball screw; 29. a worm shaft; 30. a worm gear; 31. a worm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, 2 and 3, a three-dimensional schematic diagram of a first view angle of an underground pipeline detecting trolley based on an ultrasonic principle provided by an embodiment of the invention comprises five systems: the system comprises a pipeline detection trolley traveling system, a pipeline center positioning system, a pipeline measuring system, a pipeline searchlighting system and a pipeline descaling system;
the pipeline detection trolley traveling system comprises: the trolley comprises wheels 21, a frame 25 and a first driving motor 24, wherein the first driving motor 24 is arranged on the frame 25 and is used for driving the trolley to move forwards, backwards or stop, and the steering function of the trolley is realized through differential motion of the wheels 21 on two sides; a first speed reducing mechanism 22 connected to an output end of the first driving motor 24, for reducing speed and increasing torque, and transmitting power of the first driving motor 24 to the wheels 21; the control arm 23 is connected with the frame 25 and the wheel 21 and ensures that the wheel 21 moves according to a certain track;
as shown in fig. 1, 4, 5 and 6, the pipe centering system comprises: two sets of lifting devices are arranged on the front part and the rear part of the frame 25 respectively; a centrally located base assembly; wherein central positioning base assembly includes: the first central positioning base 5 is arranged at the front half section of the frame 25 and internally provided with a slide block groove; the second central positioning base 9 is coaxial with the first central positioning base 5, is connected with the first central positioning base 5 through threads, is arranged at the rear half section of the frame 25 and is internally provided with a sliding block groove; wherein elevating gear includes: a second driving motor 18 for providing power for the lifting device and installed on the frame 25 through a threaded connection; a second speed reduction mechanism 20 connected to an output end of the second drive motor 18 and mounted on the frame 25 by a screw connection; wherein the second reduction mechanism 20 includes: the worm 31 is arranged on the worm shaft 29 and is connected with the output end of the second driving motor 18; a worm wheel 30 connected to the worm 31; the ball screw 28 is connected with the worm gear 30, converts the rotary motion of the worm gear 30 into linear motion, and realizes the lifting motion of the central positioning base assembly; a slide block 26, which is mounted on the output end of the second speed reducing mechanism 20, i.e. on the output end 27 of the ball screw, and can be matched with the slide block 26 groove in the first center positioning base 5 or the second center positioning base 9; the central positioning base assembly axis can be adjusted to coincide with the pipeline axis through the lifting device.
The pipe measurement system includes: the host 17 receives and processes information data transmitted by each system of the pipeline; a battery 19 for supplying power to each system of the pipeline; a cable connected to an output terminal (not shown) of the host 17 for transmitting information data; a pipeline inner diameter measuring device; a pipe lining thickness measuring device; a pipe thickness measuring device; a pipeline detection trolley positioning device; the pipe inner diameter measuring device includes: a first measuring base 2 mounted on the front half section of the first centering base 5 by means of threaded connection; the first ultrasonic probe 1 is installed on the first measuring base 2 through threaded connection, measures the inner diameter of the pipeline based on the acoustic echo ranging principle, transmits data to the host 17, and can judge the transverse position of the pipeline detection trolley in the pipeline; the pipe lining thickness measuring device includes: the second measuring base 16 is provided with a sliding block 26 which can be matched with the sliding block groove of the first center positioning base 5 and is arranged at the rear half section of the first center positioning base 5 through threaded connection; the second ultrasonic probe 6 is installed on the second measuring base 16 through threaded connection, measures the thickness of the lining of the pipeline based on an ultrasonic pipe wall lining thickness measuring technology, and transmits data to the host 17; the pipe thickness measuring device includes: the third measuring base 8 is provided with a sliding block 26 which can be matched with a sliding block groove of the second central positioning base 9 and is arranged at the front half section of the second central positioning base 9 through threaded connection; the third ultrasonic probe 7 is installed on the third measuring base 8 through threaded connection, measures the thickness of the pipeline based on the acoustic wave reflection and refraction principle, and transmits data to the host 17; pipeline detection dolly positioner includes: a fourth measuring base 10 mounted on the rear half of the second centering base 9 by means of a threaded connection; the fourth ultrasonic probe 11 is installed on the fourth measuring base 10 through threaded connection, and is used for measuring the longitudinal position and the vertical position of the pipeline detection trolley based on the acoustic echo ranging principle, detecting the transverse position and transmitting data to the host 17;
the pipeline searchlighting system comprises: searchlights 3 distributed around the frame 25; the camera 4 is arranged on the frame 25, can rotate and lift, shoots image information and transmits the image information to the host 17;
the pipe descaling system comprises: a lower mechanical arm 15 mounted on the frame 25 for rotational movement about an axis; a universal joint cross 14 having one end connected to the lower mechanical arm 15; a mechanical upper arm 13 connected to the other end of the universal joint cross 14; a fifth ultrasonic probe 12 which is installed on the upper part of the mechanical upper arm 13 through threaded connection and is used for cleaning dirt in the pipeline;
the invention provides an underground pipeline detection trolley based on an ultrasonic principle and a control method thereof, which are innovated from the structure and the method. The existing pipeline robot can detect the quality of the inside and the outside of a pipeline, but the positioning technology of the pipeline detection robot only has a plurality of theoretical methods and is not applied to practice. The ultrasonic wave can be propagated in different media, the directivity is good, the energy is easy to concentrate, and meanwhile, the information propagated in the media can be fed back. Ultrasonic wave is used for feedback positioning and is applied to anti-mistaken excavation of underground cables. Therefore, by combining the advantages of the two, the underground pipeline detection trolley based on ultrasonic feedback positioning is designed, and comprises a pipeline measurement system developed based on the sound wave echo ranging principle and the sound wave reflection and refraction principle, a pipeline center positioning system developed based on the sound wave echo ranging principle and a pipeline detection trolley running system, so that pipeline flaw detection and accurate positioning can be realized, and the pipeline can be prevented and maintained regularly. Meanwhile, a pipeline descaling system and a pipeline searchlighting system developed based on the ultrasonic descaling principle are additionally arranged, so that the versatility of the underground pipeline detection trolley is realized.
As shown in fig. 7, the present invention further provides a method for controlling an underground pipeline detecting cart based on the ultrasonic principle, wherein the method for controlling an underground pipeline detecting cart based on the ultrasonic principle comprises the following steps:
firstly, reaching a measuring point, measuring the inner diameter of the pipeline by adopting an accurate measuring method (the measuring number is increased around the specified measuring point, the thickness change is represented by an equal thickness line) through a pipeline inner diameter measuring device, transmitting the measuring data to a host 17, and judging whether the size of the trolley can pass through the pipeline or not;
step two, if the size of the trolley is judged to pass through the pipeline, the central positioning base assembly is centrally positioned through the lifting device, and meanwhile, the transverse position of the trolley is adjusted, so that the axis of the central positioning base assembly is superposed with the axis of the pipeline;
thirdly, the pipeline lining thickness measuring device measures the coating in the pipeline by adopting an accurate measuring method, transmits the measured data to the host 17 and judges whether the coating is damaged or not;
measuring the thickness of the pipeline by adopting an accurate measurement method by the pipeline thickness measuring device, transmitting the measurement data to the host 17, and judging whether the pipeline is damaged;
step five, if the pipeline is damaged in the step three or the step four, the damaged position of the pipeline is longitudinally, vertically and transversely checked through a pipeline detection trolley positioning device, and meanwhile, the damaged image information of the pipeline is acquired through a pipeline searchlight system, and the information data is all transmitted to a host 17; if corrosive dirt exists, cleaning the corrosive dirt through a pipeline descaling device;
sixthly, the underground pipeline detection trolley runs to reach the next measuring point;
the second step is to adjust the transverse position of the trolley, and more specifically comprises the following steps: the first ultrasonic probe transversely installed measures the distance between the axis of the trolley and the inner wall of the pipeline, and the axis of the trolley is positioned on the bisection plane of the pipeline through trolley adjustment.
In the second step, the lifting device carries out center positioning on the center positioning base assembly, and more specifically: the second driving motor 18 drives the second speed reducing mechanism 20, and finally, power is transmitted to the central positioning base assembly to realize the lifting motion of the central positioning base assembly; a power transmission route: the second driving motor 18, the worm 31, the worm wheel 30, the ball screw 28, the sliding block 26 and the center positioning base assembly.
In the fifth step, the damaged position of the pipeline is longitudinally and vertically positioned and transversely checked through the pipeline detection trolley positioning device, and more specifically, the method comprises the following steps: a fourth ultrasonic probe 11 which is longitudinally arranged measures the longitudinal position of the trolley; a fourth ultrasonic probe 11 which is vertically arranged measures the vertical position of the trolley; a fourth ultrasonic probe 11 mounted transversely is used to check whether the axis of the trolley lies on the pipe bisecting plane.
The invention provides a control method of an underground pipeline detection trolley based on an ultrasonic principle. The method comprises the steps of feeding back data through a pipeline measuring system, firstly judging whether an underground pipeline detecting trolley can pass through a pipeline of a measuring point, then judging whether the pipeline of the measuring point is damaged, feeding back position information of the measuring point if the pipeline of the measuring point is damaged, and feeding back image information by using a pipeline searchlighting system. And if corrosive dirt exists, cleaning by using a pipeline descaling system.
The underground pipeline detection trolley has the following functions:
function 1, measuring pipe inner wall diameter and pipe wall thickness
And 5, knowing the overall damaged condition of the pipeline.
The underground pipeline detection trolley is controlled to run in the underground pipeline, so that information collection and pipeline dirt cleaning are completed, and the underground pipeline detection trolley is a preposed research on a working robot in the underground pipeline and has important significance. The collection of information includes measuring the inside diameter of the pipe measurement point, the pipe lining thickness, the pipe thickness, the location of pipe damage, and image collection thereof.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an underground pipeline surveys dolly based on ultrasonic wave principle which characterized in that, underground pipeline surveys dolly based on ultrasonic wave principle includes:
the pipeline measuring system is used for measuring and autonomously positioning a pipeline and a lining thereof;
the pipeline measuring system is arranged on the pipeline central positioning system and used for driving the pipeline measuring system to lift and move;
the pipeline detection trolley driving system is used for driving the pipeline center positioning system to move in the pipeline;
the pipeline detection trolley running system is also provided with a pipeline searchlighting system and a pipeline descaling system.
2. The underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 1, wherein the running system of the pipeline detecting trolley comprises a control arm, a trolley frame, wheels, a first driving motor and a first speed reducing mechanism, the first driving motor and the first speed reducing mechanism are mounted on the trolley frame, the wheels are rotatably mounted on the trolley frame, the wheels are connected with the trolley frame through the control arm, and the first driving motor is in transmission connection with the first speed reducing mechanism.
3. An underground pipe inspection trolley based on the ultrasonic principle as claimed in claim 1 wherein the pipe centering system comprises: the pipeline detection trolley comprises a lifting device and a central positioning base assembly, wherein the lifting device and the central positioning base assembly are both arranged on a pipeline detection trolley traveling system.
4. An underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 3, wherein the lifting device comprises a second driving motor, a second speed reducing mechanism and a sliding block, the second driving motor and the second speed reducing mechanism are both mounted on the running system of the pipeline detecting trolley, one end of the sliding block is connected with the second speed reducing mechanism, and the other end of the sliding block is connected with the central positioning base assembly.
5. An underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 3, wherein the centering base assembly comprises a first centering base and a second centering base, and the second centering base is coaxial with the first centering base and connected with the first centering base through threads.
6. An underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 1, wherein the pipeline measuring system comprises a main machine, a battery, a cable, a pipeline inner diameter measuring device, a pipeline lining thickness measuring device, a pipeline thickness measuring device and a pipeline detecting trolley positioning device, the main machine and the battery are both arranged on the pipeline detecting trolley traveling system, and the main machine, the battery, the pipeline inner diameter measuring device, the pipeline lining thickness measuring device, the pipeline thickness measuring device and the pipeline detecting trolley positioning device are connected through the cable.
7. An underground pipe detecting trolley based on the ultrasonic principle as claimed in claim 6, wherein the pipe inner diameter measuring device comprises: the first measuring base is arranged on the pipeline center positioning system; the first ultrasonic probe is arranged on the first measuring base;
the pipe lining thickness measuring device includes: the second measuring base is arranged on the pipeline center positioning system; the second ultrasonic probe is arranged on the second measuring base;
the pipe thickness measuring device includes: the third measuring base is arranged on the pipeline center positioning system; the third ultrasonic probe is arranged on the third measuring base;
pipeline detection dolly positioner includes: the fourth measuring base is arranged on the pipeline center positioning system; the fourth ultrasonic probe is mounted on the fourth measurement base.
8. A method for controlling an underground pipeline detecting trolley based on the ultrasonic principle, which is characterized in that the underground pipeline detecting trolley based on the ultrasonic principle as claimed in any one of claims 1 to 7 is used, and comprises the following steps:
firstly, measuring the inner diameter of a pipeline by adopting an accurate measurement method through a pipeline inner diameter measuring device when reaching a measurement point, transmitting measurement data to a host computer, and judging whether the size of a trolley can pass through the pipeline or not;
step two, if the size of the trolley is judged to pass through the pipeline, the central positioning base assembly is centrally positioned through the lifting device, and meanwhile, the transverse position of the trolley is adjusted, so that the axis of the central positioning base assembly is superposed with the axis of the pipeline;
measuring the coating in the pipeline by adopting an accurate measurement method by using a pipeline lining thickness measuring device, transmitting measurement data to a host, and judging whether the coating is damaged;
measuring the thickness of the pipeline by adopting an accurate measurement method by using a pipeline thickness measuring device, transmitting the measurement data to a host computer, and judging whether the pipeline is damaged;
if the pipeline is damaged in the third step or the fourth step, performing longitudinal, vertical positioning and transverse inspection on the damaged position of the pipeline through a pipeline detection trolley positioning device, acquiring damaged image information of the pipeline through a pipeline searchlight system, and transmitting information data to a host; if corrosive dirt exists, cleaning the corrosive dirt through a pipeline descaling device;
and step six, the underground pipeline detection trolley runs to reach the next measuring point.
9. An underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 8, wherein the step of adjusting the transverse position of the trolley specifically comprises: the first ultrasonic probe transversely installed measures the distance between the axis of the trolley and the inner wall of the pipeline, and the axis of the trolley is positioned on the bisection plane of the pipeline through trolley adjustment.
10. An underground pipeline detecting trolley based on the ultrasonic principle as claimed in claim 8, wherein the steps of longitudinally, vertically positioning and transversely checking the damaged position of the pipeline by the pipeline detecting trolley positioning device specifically comprise: a fourth ultrasonic probe which is longitudinally arranged measures the longitudinal position of the trolley; a fourth ultrasonic probe which is vertically arranged measures the vertical position of the trolley; a fourth ultrasonic probe mounted transversely is used to check whether the axis of the trolley is on the pipe bisecting plane.
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