CN113483150B - Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof - Google Patents

Abstract

The invention belongs to the field of energy chemical industry, and relates to submarine pipeline external detection equipment based on shape memory alloy and a detection method thereof. The remote controller sends a control signal to the external Bluetooth on the water surface, the external Bluetooth transmits control information to the control chip on the circuit board through the data line, the control chip controls the corresponding memory alloy paddle to be electrified to generate bending deformation, and then the power is cut off to enable the whole robot to move through the restoring force of the paddle; and the camera transmits the underwater image to the Bluetooth module on the water surface, and the underwater image is checked through a video device connected with the Bluetooth module, such as a mobile phone or a computer, so that the purpose of detection is realized. Its main mechanism contains the platform main part, memory alloy oar, spoiler, battery, bluetooth module, circuit board, camera. Simple structure, low cost, easy operation, easy maintenance, noise are low, propulsion efficiency is high, have alleviateed the manpower, have released the labour, help reducing the detection cost, practice thrift the cost of enterprises.

Description

A kind of external detection equipment and detection method of submarine pipeline based on shape memory alloy

technical field

The invention belongs to the field of energy and chemical industry, and in particular relates to an underwater detection device based on shape memory alloy and a detection method thereof.

Background technique

The offshore oil industry has made significant contributions to the development of the national economy. With the increasing attention paid to offshore oil and gas resources by major marine countries, the exploration and development technology of offshore oil and gas resources has continued to develop and progress. As an important part of offshore oil and gas development, submarine pipelines are very necessary for the internal and external inspection of submarine pipelines in order to eliminate hidden dangers in the operation of submarine pipelines, ensure the safe and stable operation of submarine pipelines, and prolong the service life of submarine pipelines. It continues to undertake the important mission of protecting the safety of the "lifeline" of offshore oil and gas development.

Subsea pipelines have been subjected to working loads for a long time, and they work in complex marine environments. Ocean currents, shallow seas with salinity, and human activities will affect them, easily causing pipeline damage. If pipeline damage is not detected and repaired in time, it will cause an accident. The qualitative change will not only bring great difficulties to emergency repairs, but also bring immeasurable damage to the marine ecological environment and bring huge direct economic losses. The literature shows that from the design to construction of submarine pipelines, human errors, human activities, and natural environment factors will bring hidden dangers to the safety of submarine pipelines. Compared with onshore oil and gas pipeline leakage, pipeline leakage has greater hidden dangers and is more difficult to detect. Once leakage occurs, the degree of harm caused will be higher, the treatment will be more difficult, and the economic loss will be more serious. Therefore, the detection of submarine pipelines is of great significance for eliminating hidden dangers of pipeline safety and ensuring pipeline safety.

SUMMARY OF THE INVENTION

In order to solve the problem that the underwater pipeline inspection equipment on the market is noisy and difficult to maintain, and traditional equipment using propellers is prone to entanglement problems such as cables, kelp and discarded fishing nets, and manual inspection is affected by factors such as weather and geographical location, we pass The shape memory alloy is driven by jet flow, which can solve the problem of current pipeline inspection to a large extent.

The invention simplifies the traditional complex mechanical structure device, and uses the shape memory alloy to generate deformation under the condition of electric heating, and uses its restoring force to make the platform complete basic movements such as advancing, turning and floating. The invention provides an external detection equipment for submarine pipelines based on shape memory alloys, and the technical scheme is as follows:

Including the platform body, memory alloy paddles, choke, battery, Bluetooth module, circuit board, camera, there are four pairs of memory alloy paddles in total, of which memory alloy paddle A and memory alloy paddle B are a pair, and two memory alloy paddles The paddle C and the memory alloy paddle D are a pair, the two memory alloy paddles E are a pair, the memory alloy paddle F is a pair, eight memory alloy paddles are installed on both sides of the platform main body, and the memory alloy paddles E, The memory alloy paddle F and the memory alloy paddle A, memory alloy paddle B, memory alloy paddle C, and memory alloy paddle D arranged at the front and rear are staggered and installed up and down.

Further, the eight memory alloy paddles A-F have the same shape, and are rectangular parallelepipeds with a length of 100 mm, a height of 40 mm, and a thickness of 25 mm.

Further, the shape of the choke is a regular triangular prism with a bottom edge of 40mm and a height of 70mm. The choke is installed on the front end of each piece of memory alloy paddle, and the bottom edge of the choke and the memory alloy paddle are far from the platform main body. The sides are aligned and the sides are fitted with memory alloy paddles.

Further, the battery is installed on the circuit board, and charges the memory alloy paddle through the charging socket.

Further, the bluetooth module is externally suspended on the water surface through a buoyancy plate, and a data cable is used to connect the bluetooth module to the circuit board.

Further, the camera is directly installed on the main body of the platform, and the camera can receive the picture in real time through the mobile phone.

The invention provides an external detection method for a submarine pipeline based on a shape memory alloy, and the technical scheme is as follows:

Send a control signal to the external bluetooth on the water surface through the remote control, and the external bluetooth transmits the control information to the control chip on the circuit board through the data cable. The restoring force acts on the water, and the reaction force of the water makes the entire testing equipment move; after the power supply of memory alloy paddle A, memory alloy paddle B, memory alloy paddle C, and memory alloy paddle D is turned on, the platform main body passes through the recovery after deformation The force moves forward. When turning left, only the power of memory alloy paddle C and memory alloy paddle D is connected. When turning right, only the power supply of memory alloy paddle A and memory alloy paddle B is connected. When it is necessary to float, only the memory alloy paddle is turned on. The power supply of the paddle E and the memory alloy paddle F can be done only by its own weight; and the underwater image is transmitted to the bluetooth module on the water surface through the camera, and the purpose of detection is achieved through the video device connected with the bluetooth module.

Further, the memory alloy paddle is energized to produce 150° bending deformation.

Further, the power supply of the memory alloy paddle is connected to control the sequence of the current through the external bluetooth and the remote control.

The beneficial effects of the present invention compared with the prior art are:

Abandoning the traditional mechanical design and realizing rapid movement through memory alloy, it is helpful for pipeline inspection in the pipeline transportation industry. It has simple structure, low cost, easy operation, easy maintenance, low noise and high propulsion efficiency, which reduces the manpower and releases the labor force, which helps to reduce the detection cost and save the cost of the enterprise.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the top view of the present invention;

Fig. 2 is the A-A sectional view of the platform main body of Fig. 1;

Fig. 3 is an overall front view of the device.

In the picture: 1. Memory alloy paddle A, 2. Choke, 3. Platform body, 4. Camera, 5. Circuit board, 6. Charging socket, 7. Memory alloy paddle B, 8. Memory alloy paddle C, 9 . Memory alloy paddle D, 10. Memory alloy paddle E, 11. Memory alloy paddle F.

Detailed ways

The present invention is described in detail below through specific embodiments, but the protection scope of the present invention is not limited. Unless otherwise specified, the experimental methods used in the present invention are all conventional methods, and the experimental equipment, materials, reagents, etc. used can be obtained from commercial sources.

Example 1

The device is mainly powered by a battery to make the memory alloy sheet deform and provide power, so as to achieve the design purpose: the main mechanism of the device includes a platform body 3, a memory alloy paddle, a choke 2, a battery, a Bluetooth module, a circuit board 5, and a camera 4 .

There are four pairs of the memory alloy paddles in total, wherein the memory alloy paddle A1 and the memory alloy paddle B9 are a pair, the memory alloy paddle C8 and the memory alloy paddle D7 are a pair, the memory alloy paddle E10 is a pair, and the memory alloy paddle F11 is a pair. One pair, eight memory alloy paddles are installed on both sides of the platform main body, memory alloy paddle E10, memory alloy paddle F11 set in the middle, memory alloy paddle A1, memory alloy paddle B9, memory alloy paddle C8, memory alloy paddle set in the front and rear D7 is staggered up and down to eliminate the mutual interference caused by its deformation.

The platform main body 3 is a carrier for connecting all main devices. In order to meet different detection requirements, other devices can be installed and carried in addition to the above-mentioned devices.

The spoiler 2 is installed at the front end of each memory alloy paddle, in order to eliminate the influence of water flow resistance during active deformation.

The storage battery is installed on the circuit board 5 , charges the memory alloy paddle through the charging socket 6 , and controls the deformation of the memory alloy paddle by controlling the circuit board 5 .

The bluetooth module is externally suspended on the water surface through the buoyancy plate, and the bluetooth module is connected with the circuit board 5 by a data cable, so as to carry out bluetooth control and data transmission.

The camera 4 is directly installed on the platform main body 3, and the camera 4 can receive the picture in real time through the mobile phone, so as to monitor and detect.

Example 2

After the power supply of memory alloy paddle A1, memory alloy paddle B7, memory alloy paddle C8, and memory alloy paddle D9 is turned on, the platform main body 3 moves forward by the restoring force after deformation. When turning left, only the memory alloy paddle C8 and the memory alloy paddle are turned on. The power of memory alloy propeller D9 is only connected to the power of memory alloy propeller A1 and memory alloy propeller B7 when turning right, and only the power of memory alloy propeller E10 and memory alloy propeller F11 is connected to the power supply of memory alloy propeller when it needs to float up. can do. The connection sequence of the current is controlled by the external Bluetooth and the remote control, so as to achieve the purpose of the above current connection.

Example 3

The eight memory alloy propellers A1-F11 have the same shape, which is a cuboid with a length of 100mm, a height of 40mm and a thickness of 25mm. The front of the memory alloy propellers A1-F11 is equipped with a regular triangular prism blocker 2 with a bottom edge of 40mm and a height of 70mm. The bottom edge of the flow blocker 2 is aligned with the edge of the memory alloy paddle away from the platform main body, and the side surface of the flow blocker 2 is fitted with the memory alloy paddle. Memory alloy propeller E10, memory alloy propeller F11 two pairs of propellers and other memory alloy propellers are placed vertically and staggered to avoid mutual interference when the propellers are energized to produce 150° bending deformation. Memory alloy paddles A1-D9 are responsible for plane movement, memory alloy paddles E10 and memory alloy paddles F11 are responsible for floating movement.

The remote control sends a control signal to the external Bluetooth on the water surface, and the external Bluetooth transmits the control information to the control chip on the circuit board 5 through the data cable, and the control chip controls the corresponding memory alloy paddle to be energized to generate a 150° bend in the forward direction. Deformation, the effect of the force generated by the power-on deformation is reduced by the choke to prevent the robot from retreating, and then the power is turned off and the force generated by the paddle is restored to a straight state to make the whole robot move, and the underwater image is transmitted to the camera 4. The bluetooth module on the water surface can be viewed through the video equipment connected with the bluetooth module, such as a mobile computer, etc., to achieve the purpose of detection.

The above descriptions are only preferred embodiments of the present invention, rather than all possible embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims (7)

1. The shape memory alloy-based submarine pipeline external detection equipment is characterized by comprising a platform main body (3), a memory alloy paddle, a flow plug (2), a storage battery, a Bluetooth module, a circuit board (5) and a camera (4); the memory alloy paddles are four pairs in total, wherein the memory alloy paddle A (1) and the memory alloy paddle B (7) are a pair and are positioned at the same side of the platform main body (3), the memory alloy paddle C (8) and the memory alloy paddle D (9) are a pair and are positioned at the other side of the platform main body (3), the two memory alloy paddles E (10) are a pair and are positioned at the same side of the platform main body (3) as the memory alloy paddle C (8) and the memory alloy paddle D (9), the two memory alloy paddles F (11) are a pair and are positioned at the same side of the platform main body (3) as the memory alloy paddle A (1) and the memory alloy paddle B (7), the memory alloy paddles E (10) and F (11) arranged in the middle are vertically and vertically staggered with the memory alloy paddles A (1), B (7), C (8) and D (9) arranged in the front and back;

the eight memory alloy paddles A (1) -F (11) are identical in shape and are cuboids with the length of 100mm, the height of 40mm and the thickness of 25 mm;

the shape of the flow plug (2) is a regular triangular prism with the bottom side length of 40mm and the height of 70mm, the flow plug (2) is installed at the front end part of each memory alloy paddle, the bottom side of the flow plug (2) is aligned with the edge of the memory alloy paddle far away from the platform main body (3), and the side face of the flow plug is attached to the memory alloy paddle.

2. The external submarine pipeline inspection device based on shape memory alloy according to claim 1, wherein the storage battery is mounted on the circuit board (5) and charges the memory alloy paddle through the charging socket (6).

3. The shape memory alloy-based submarine pipeline external detection device according to claim 1, wherein the bluetooth module is suspended above the water surface by the external buoyancy plate, and is connected with the circuit board (5) by a data line.

4. The external submarine pipeline inspection device based on shape memory alloy according to claim 1, wherein the camera (4) is directly mounted on the platform body (3), and the camera (4) receives images in real time through a mobile phone.

5. The method for detecting the external detection equipment of the submarine pipeline based on the shape memory alloy according to any one of claims 1-4, characterized in that a remote controller sends a control signal to external Bluetooth on the water surface, the external Bluetooth transmits control information to a control chip on a circuit board (5) through a data line, the control chip controls corresponding memory alloy paddles to be electrified to generate bending deformation, then the power is cut off, the memory alloy paddles act on the water through the restoring force of the paddles, and the reacting force of the water enables the whole detection equipment to move; after the power supplies of the memory alloy paddle A (1), the memory alloy paddle B (7), the memory alloy paddle C (8) and the memory alloy paddle D (9) are switched on, the platform main body (3) moves forwards through restoring force after deformation, only the power supplies of the memory alloy paddle C (8) and the memory alloy paddle D (9) are switched on during left rotation, only the power supplies of the memory alloy paddle A (1) and the memory alloy paddle B (7) are switched on during right rotation, only the power supplies of the memory alloy paddle E (10) and the memory alloy paddle F (11) are switched on when upward floating is needed, and the downward sinking can be achieved only by self weight; and the camera (4) transmits the underwater image to the Bluetooth module on the water surface, and the aim of detection is fulfilled through the video equipment connected with the Bluetooth module.

6. The method as claimed in claim 5, wherein the shape memory alloy paddle is energized to generate a bending deformation of 150 °.

7. The method as claimed in claim 5, wherein the power supply of the marmem paddle is connected to control the connection sequence of the current by external Bluetooth and a remote controller.

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