阅读说明：本技术 一种管道智能封堵机器人双向通信系统 (Two-way communication system of intelligent pipeline plugging robot ) 是由 唐洋 孙鹏 敬鑫 黄顺潇 刘祥 刘清友 王国荣 于 2019-11-14 设计创作，主要内容包括：本发明公开一种管道智能封堵机器人双向通信系统,包括管内信号收发装置(1)、地面管外信号收发装置(2)、远程信号收发装置(3)和工控机(4),其中地面管外信号收发装置(2)以管壁为传输介质与管内信号收发装置(1)实现信息交互,再以电磁波信号实现与远程信号收发装置(3)的交互,最后以数字信号模式实现与工控机(4)间的信息交互,从而控制封堵装置实现管内定位封堵。本发明通过双向通讯系统实现管内外信号的快速稳定双向传输,增大封堵器工作的响应速度与控制的准确性。(The invention discloses a bidirectional communication system of an intelligent pipeline plugging robot, which comprises an in-pipe signal transceiver (1), a ground-outside-pipe signal transceiver (2), a remote signal transceiver (3) and an industrial personal computer (4), wherein the ground-outside-pipe signal transceiver (2) realizes information interaction with the in-pipe signal transceiver (1) by taking a pipe wall as a transmission medium, then realizes interaction with the remote signal transceiver (3) by an electromagnetic wave signal, and finally realizes information interaction with the industrial personal computer (4) in a digital signal mode, so that the plugging device is controlled to realize positioning plugging in a pipe. The invention realizes the rapid and stable bidirectional transmission of signals inside and outside the pipe through the bidirectional communication system, and increases the response speed of the work of the plugging device and the accuracy of control.)

1. The utility model provides a two-way communication system of pipeline intelligence shutoff robot which characterized in that: the system comprises an in-pipe signal transceiver (1), a ground out-of-pipe signal transceiver (2), a remote signal transceiver (3) and an industrial personal computer (4);

the in-pipe signal transceiver (1) keeps in contact with the inner pipe wall and continuously transmits signals, the signals reach the ground out-pipe signal transceiver (2) along the pipe wall of the pipeline, the electric signals are amplified, converted and transmitted to the remote signal transceiver (3) in an electromagnetic wave signal mode, the electromagnetic wave signals are converted into digital signals and finally transmitted to the industrial personal computer (4) through wires, the industrial personal computer (4) determines the position of the plugging device according to data transmitted back in real time, when the plugging device reaches a designated position, the industrial personal computer (4) gives an instruction, the instruction is wirelessly transmitted to the ground external signal transceiver (2) through the remote signal transceiver (3), the ground external signal transceiver (2) transmits an instruction signal to the internal signal transceiver (1) through the pipe wall of the pipeline, the signal receiving and transmitting device (1) is subjected to signal amplification processing to form a digital signal and then transmits the digital signal to the plugging device.

2. The two-way communication system of the intelligent pipeline plugging robot of claim 1, wherein: the middle part of the signal transceiver device (1) in the pipe is of a cylindrical structure (101), a cable channel (102) is arranged in the signal transceiver device, four cylindrical tentacles (103) are arranged on the periphery of the signal transceiver device, the top of each tentacle (103) is provided with a conductive contact piece (104), a spring (105) and a telescopic rod (106) are arranged in each tentacle (103) under the conductive contact piece (104), the conductive contact pieces (104) are communicated with an A/D signal converter (107) through cables (108), and the A/D signal converter (107) is connected into the plugging device through the cables (108).

Technical Field

The invention relates to a communication system, in particular to a bidirectional communication system of an intelligent pipeline plugging robot.

Background

The oil and gas energy is huge in reserves in the world at present, is one of necessary energy sources for strategic energy reserves of the country, and the importance of the oil and gas energy is self-evident. The transportation of oil and gas is an essential step in oil and gas exploitation, and the maintenance of pipelines is very important in the face of failure problems caused by long-time environment or other uncertain factors of the pipelines. In the maintenance operation of the pipeline, the damaged section needs to be replaced when the pipeline is partially damaged and destroyed, so that the normal transportation of oil and gas on the seabed is ensured, and the pipeline is a life line of oil and gas energy.

In the process of pipeline maintenance, for a damaged pipeline section needing to be replaced, firstly lowering a plugging device to reach a target position in a pipe needing to be plugged, wherein two ends of a target pipe section are respectively provided with one plugging device, firstly fixing the first plugging device to the front end of the target pipe section through an oil pipe pipeline, and then completing the plugging step after the second plugging device reaches the rear end of the target pipe section and completes the fixing. And then cutting the damaged pipeline section, replacing a new pipeline by welding, and finally deblocking the plugging device and recovering the plugging device to the ground under the action of oil gas transmission until the repair work of the submarine transportation pipeline is completed satisfactorily.

However, currently, the number of bidirectional communication systems for in-pipeline devices and external control consoles that can be used in practical applications is very small, most studies stay in the theoretical stage, and the effects and functions are not ideal, such as the ultra-low frequency electromagnetic wave technology, which can realize bidirectional communication, but the equipment and the system are complex, expensive, and the signal transmission speed is slow.

In order to solve the problems of the existing pipeline plugging tool in the aspect of bidirectional communication, the pipeline plugging speed is increased, so that the pipeline repairing efficiency and the oil gas conveying efficiency are improved, the economic loss and the environmental pollution caused by oil gas leakage are reduced, and the operation cost is reduced, a pipeline intelligent plugging robot bidirectional communication system is needed, the functions of stability, controllability, rapid command response and the like in the pipeline plugging process are realized in a simpler, more convenient and faster mode, the deviation between an action point and a target point is reduced, and the pipeline repairing working time is shortened.

Disclosure of Invention

The invention aims to: aiming at the problems and requirements of the existing oil and gas conveying pipeline plugging tool in the aspect of bidirectional communication, the intelligent pipeline plugging robot bidirectional communication system is provided, the problems of low command response speed, instability, complex method and high equipment price in a plugging device in a ground remote control pipe are solved, and more accurate positioning of a plugging device in a pipeline is realized.

The invention adopts the following technical scheme:

a bidirectional communication system of an intelligent pipeline plugging robot comprises an in-pipe signal transceiver, a ground out-of-pipe signal transceiver, a remote signal transceiver and an industrial personal computer,

specifically, the in-pipe signal transceiver keeps in contact with the inner pipe wall and continuously transmits signals, the signals reach the ground out-pipe signal transceiver along the pipe wall of the pipeline, the electric signals are amplified, converted and transmitted to the remote signal transceiver in an electromagnetic wave signal mode, then the electromagnetic wave signals are converted into digital signals and finally transmitted to the industrial personal computer through wired transmission, the position of the plugging device is determined according to the data returned in real time, and when the plugging device reaches the designated position, the industrial personal computer issues an instruction, the instruction is wirelessly transmitted to the ground external signal transceiver through the remote signal transceiver, the ground external signal transceiver transmits an instruction signal to the internal signal transceiver through the pipe wall of the pipeline, the instruction signal is amplified and processed into a digital signal and then transmitted to the plugging device, and the instruction reaches the plugging device and controls the plugging device to work through the control system.

Specifically, the middle part of the signal transceiver in the pipe is of a cylindrical structure, a cable channel is arranged in the signal transceiver, four cylindrical tentacles are arranged around the signal transceiver, the top of each tentacle is provided with a conductive contact piece, a spring and a telescopic rod are arranged in the interior of each tentacle under the conductive contact piece, the conductive contact pieces are communicated with the A/D signal converter through cables, and the A/D signal converter is connected into the plugging device through the cables.

Has the advantages that:

the invention adopts the principle of pipeline conductive transmission signals, realizes the information interaction between an external industrial personal computer and the plugging device in the metal pipeline, has faster and more stable signal transmission speed, simpler and more convenient transmission process and lower equipment cost price, and ensures that the plugging device is positioned in the pipeline more accurately.

Description of the drawings:

fig. 1 is a schematic diagram of a bidirectional communication system and signal transmission of an intelligent pipeline plugging robot;

fig. 2 is a working flow chart of the bidirectional communication system of the intelligent pipeline plugging robot.

Fig. 3 is a partial inside view of the in-line signal transceiving apparatus.

1-signal transceiver in the tube, 101-cylindrical structure in the middle of the signal transceiver in the tube, 102-cable through in the signal transceiver in the tube, 103-cylindrical tentacle, 104-conductive contact piece, 105-spring, 106-telescopic rod, 107-A/D signal converter, 108-cable, 2-signal transceiver outside the ground tube, 3-remote signal transceiver, 4-industrial personal computer.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that directions or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are directions or positional relationships described based on the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.