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CN-121990071-A - Thermal insulation anti-corrosion type thermal insulation pipe detouring device and method

CN121990071ACN 121990071 ACN121990071 ACN 121990071ACN-121990071-A

Abstract

The invention relates to a heat-preservation anti-corrosion heat-preservation pipe detouring device and a method, which belong to the technical field of adhesion control and detouring path planning of pipeline running devices and comprise the following steps: S1, an encircling type frame, a sensing arm, a first driving gear train, a first clamping mechanism, a three-dimensional perceptron, an inertia measuring unit, a sensing wheel, a high-resolution encoder, a first torque meter, a second torque meter and a controller are arranged, wherein the sensing arm is communicated with the front end of the encircling type frame in the advancing direction through a flexible hinge, the first driving gear train, the first clamping mechanism, the three-dimensional perceptron and the inertia measuring unit are arranged on the encircling type frame, the first torque meter is integrated on an output shaft of the first driving gear train, and the forward-looking adhesive force feedforward control of the invention enables the device to cope with the friction force mutation of the front pipe surface in advance, overcomes the problem of slipping which is difficult to avoid by means of feedback of a hysteresis slip rate in the prior art, and improves the stable adhesive force of the device on the surface of a sudden low-friction pipe.

Inventors

  • GUO BAOZHONG
  • GUO ZHENWEN

Assignees

  • 甘肃远东城市管道有限责任公司

Dates

Publication Date
20260508
Application Date
20260403

Claims (10)

  1. 1. The heat preservation and corrosion prevention type heat preservation pipe detouring method is characterized by comprising the following steps of: S1, arranging an encircling frame (100), a sensing arm (200), a first driving gear train (110), a first clamping mechanism (120), a three-dimensional sensor (310), an inertia measurement unit (320), a sensing wheel (410), a high-resolution encoder (420), a first torque meter (430), a second torque meter (440) and a controller (500), wherein the sensing arm (200) is communicated with the front end of the encircling frame (100) in the advancing direction through a flexible hinge (130), the first driving gear train (110), the first clamping mechanism (120), the three-dimensional sensor (310) and the inertia measurement unit (320) are arranged on the encircling frame (100), the first torque meter (430) is integrated on an output shaft of the first driving gear train (110), the sensing wheel (410) is arranged at the tail end of the sensing arm (200) and is physically advanced relative to the first driving gear train (110), the high-resolution encoder (420) is coaxially connected to the sensing wheel (410), and the sensing wheel (410) is integrated on a wheel axle (440); S2, performing adhesion calibration, wherein the theoretical advancing speed of the first driving gear train (110) is compared with the actual ground speed of the sensing wheel (410) fed back by the high-resolution encoder (420), real-time slip rate is calculated, when the real-time slip rate exceeds a preset safety threshold, the first clamping mechanism (120) is instructed to increase the clamping force until the real-time slip rate returns to be below the safety threshold, and the clamping force at the moment is calibrated to be the minimum safety adhesion; s3, performing detour path planning, wherein according to the three-dimensional topological morphology of the pipeline surface scanned by the three-dimensional perceptron (310), combining rolling angle data provided by the inertial measurement unit (320), converting an obstacle into a movement restricted area on a two-dimensional expansion diagram coordinate, and planning an optimal path for detour the movement restricted area; S4, executing force-position mixed track tracking, wherein the first driving gear train (110) is instructed to execute the optimal path, meanwhile, continuously monitoring the driven rolling resistance moment of the second torque meter (440), and when the rapid decrease of the driven rolling resistance moment is detected, before the real-time slip rate exceeds the standard, feedforward instruction is carried out on the first clamping mechanism (120) through the controller (500) to apply a target clamping force, wherein the target clamping force is equal to the sum of the minimum safe adhesive force and a pre-gain adhesive force buffer value; S5, feeding back and correcting a motion command of the first driving gear train (110) according to the axial displacement provided by the high-resolution encoder (420) and the annular rotation angle provided by the inertia measurement unit (320).
  2. 2. The method for bypassing a heat preservation and corrosion prevention type heat preservation pipe according to claim 1, wherein the step of S2 comprises: instructing the first clamping mechanism (120) to apply an initial clamping force; increasing the output torque of the first drive train (110) by a small amount while continuously monitoring the real-time slip ratio; And when the real-time slip rate exceeds the preset safety threshold, judging that the friction limit is reached, and then commanding the first clamping mechanism (120) to increase the clamping force.
  3. 3. The method for bypassing a thermal insulation and corrosion protection type thermal insulation pipe according to claim 2, wherein the step of S2 further comprises: And according to the relation between the output torque monitored by the first torque meter (430) in the slip critical state and the current clamping force, calculating the dynamic friction coefficient of the pipe surface.
  4. 4. The method according to claim 1, wherein in the step S4, the pre-gain adhesion buffer value is derived from a decrease rate of the driven rolling resistance moment and a current traveling speed fed back by the high-resolution encoder (420).
  5. 5. The method for bypassing a heat preservation and corrosion prevention type heat preservation pipe according to claim 1, wherein in the step S4, an adhesion calibration flow in the step S2 runs continuously in the background, and when the real-time slip rate exceeds the preset threshold value due to non-abrupt friction coefficient change or device steering, the clamping force of the first clamping mechanism (120) is dynamically increased.
  6. 6. The method for bypassing the heat preservation and corrosion prevention type heat preservation pipe according to claim 5, wherein in the step S1, a constant force spring (220) is provided, the constant force spring (220) connects the sensing arm (200) and the encircling frame (100) and is used for applying constant pressure to slightly press the sensing wheel (410) on the surface of the pipe.
  7. 7. A thermal insulation and corrosion prevention type thermal insulation pipe detouring device, which is applied to a thermal insulation and corrosion prevention type thermal insulation pipe detouring method as defined in any one of claims 1 to 6, and is characterized by comprising the following steps: An encircling frame (100); the first driving wheel system (110) is arranged on the encircling type rack (100); A first clamping mechanism (120) arranged on the encircling type rack (100); a first torque meter (430) integrated with an output shaft of the first drive train (110); The three-dimensional sensor (310) is fixedly arranged on the encircling type stand (100); an inertial measurement unit (320) fixedly mounted to the encircling frame (100); A sensor arm (200); A flexible hinge (130) for communicating the sensor arm (200) with the front end of the surrounding type frame (100) in the traveling direction; a sensor wheel (410) disposed at the end of the sensor arm (200) and physically leading the first drive train (110); -a high resolution encoder (420) coaxially connected to the sensor wheel (410); -a second torque meter (440) integrated to the axle of the sensor wheel (410); -a controller (500) for uniformly controlling the first drive train (110), the first clamping mechanism (120), the first torque meter (430), the second torque meter (440), the high resolution encoder (420), the three-dimensional sensor (310) and the inertial measurement unit (320), and performing the method of any of claims 1 to 6.
  8. 8. The insulated and preserved thermal insulation pipe detour apparatus as claimed in claim 7, further comprising: And the constant force spring (220) is connected with the sensing arm (200) and the encircling type rack (100) and is used for applying constant pressure to slightly press the sensing wheel (410) on the surface of the pipeline.
  9. 9. The heat preservation and corrosion prevention type heat preservation pipe detouring device according to claim 7, wherein the first clamping mechanism (120) is a linear screw motor for transversely driving two sides of the encircling type stand (100) to be closed or opened.
  10. 10. The apparatus for bypassing a thermal insulating and corrosion resistant, thermal insulating pipe according to claim 7, wherein said three-dimensional sensor (310) is a structured light camera or a solid state lidar.

Description

Thermal insulation anti-corrosion type thermal insulation pipe detouring device and method Technical Field The invention relates to the field of adhesive force control and detour path planning of pipeline running devices, in particular to a thermal insulation anti-corrosion thermal insulation pipe detour device and a thermal insulation anti-corrosion thermal insulation pipe detour method. Background With the continuous development of modern industrial pipe networks, the inspection and maintenance requirements for special pipelines such as heat preservation pipes are remarkably increased. Such pipe surfaces are often covered with a heat insulating corrosion resistant layer, and the challenges faced by the devices for traveling over the pipe surfaces are also growing in practical applications. At present, when the travelling device travels on the surface of the heat-insulating and corrosion-preventing layer, the adhesive force between the driving wheel and the surface of the pipeline can be changed due to the influence of various factors such as greasy dirt, frosting or uneven surface and the like on the surface of the pipeline. Such a change may cause a slip phenomenon of the driving wheel, thereby causing a movement runaway of the traveling device, or failing to effectively avoid obstacles according to a predetermined path, thereby affecting the efficiency and reliability of inspection and maintenance. The traditional travelling device mainly depends on lagging slip rate feedback to adjust the driving force, but the driving force is difficult to timely react and adjust before the adhesion force is suddenly changed, so that the slipping is difficult to effectively prevent, and the driving force is particularly difficult to effectively prevent on the surface of a complex and changeable heat-insulation pipeline. Therefore, how to ensure that the travelling device has stable adhesive force on the surface of the heat preservation and corrosion prevention layer and can accurately execute the detour obstacle avoidance task becomes a problem to be solved in the field. The above information disclosed in the above background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The invention aims to provide a heat-preservation anti-corrosion heat-preservation pipe bypassing device and a heat-preservation anti-corrosion heat-preservation pipe bypassing method, so as to solve the problems in the background technology. The technical scheme of the invention is that the method comprises the following steps: S1, an encircling type frame, a sensing arm, a first driving gear train, a first clamping mechanism, a three-dimensional sensor, an inertia measuring unit, a sensing wheel, a high-resolution encoder, a first torque meter, a second torque meter and a controller are arranged, wherein the sensing arm is communicated with the front end of the encircling type frame in the advancing direction through a flexible hinge, the first driving gear train, the first clamping mechanism, the three-dimensional sensor and the inertia measuring unit are arranged on the encircling type frame, the first torque meter is integrated on an output shaft of the first driving gear train, the sensing wheel is arranged at the tail end of the sensing arm and is advanced in the first driving gear train in a physical position, the high-resolution encoder is coaxially connected with the sensing wheel, and the second torque meter is integrated on a wheel shaft of the sensing wheel; S2, performing adhesive force calibration, wherein the theoretical advancing speed of the first driving gear train is compared with the actual ground speed of the sensing wheel fed back by the high-resolution encoder, real-time slip rate is calculated, when the real-time slip rate exceeds a preset safety threshold, the first clamping mechanism is instructed to increase the clamping force until the real-time slip rate returns to be below the safety threshold, and the clamping force at the moment is calibrated to be the minimum safety adhesive force; S3, performing detour path planning, wherein according to the three-dimensional topological form of the pipeline surface scanned by the three-dimensional perceptron, combining rolling angle data provided by the inertial measurement unit, converting an obstacle into a movement exclusion zone on a two-dimensional expansion diagram coordinate, and planning an optimal path for detour of the movement exclusion zone; S4, executing force-position mixed track tracking, wherein the first driving gear train is instructed to execute the optimal path, simultaneously, continuously monitoring the driven rolling resistance moment of the second torque meter, and when the rapid decrease of the driven rolling resistance moment is detected, before the real-time sli