RU2211785C1 - Aircraft for diagnosis of gas mains - Google Patents

Abstract

FIELD: aviation. SUBSTANCE: proposed aircraft includes power plant, airframe with fuselage, control system with auto-pilot and diagnosis equipment with recorder. Aircraft is also provided with unit for estimation of abnormal conditions of diagnosis and sound and light indicators. Said unit is made on base of digital computer of auto-pilot with program units which form signals of abnormal conditions of diagnosis and its output is connected with power amplifier through digital-to-analog converter. Output of unit is connected with inputs of sound and light indicators and recorder. EFFECT: enhanced efficiency and reliability of diagnosis. 2 cl, 4 dwg

Description

 The invention relates to aviation. to on-board equipment, namely, equipment for research or analysis using optical instruments, and can be used for remote monitoring of the state of main gas pipelines and gas storages by systematically diagnosing leakages, damage and leaks in order to increase productivity, efficiency and reliability of control.

 Known remotely piloted aircraft (UAVs) of the Expert, Albatros models used for environmental monitoring (Wings of the Motherland magazine, 1998, 8, Moscow).

 However, the use of UAVs for monitoring gas pipelines does not have sufficient reliability due to insufficiently reliable flight over the pipeline route and insufficiently reliable adherence to the required diagnostic conditions from the point of view of equipment. In addition, UAV losses are possible due to unforeseen circumstances.

 Known "Aviation device for detecting gas leaks from pipelines" (see RF patent 2091759, class IPC 7 G 01 N 21/39, 1995). The device comprises a helicopter carrier and diagnostic equipment, including a gas analyzer with two lasers, a thermal imager, processing and recording equipment.

 A disadvantage of the known device is the need for an operator on board, which leads to an increase in the cost of diagnosis. In addition, the use of a helicopter on routes with a large length of pipelines leads to significant costs of flight time, which reduces responsiveness and leads to a high cost of control.

SUMMARY OF THE INVENTION
The objective of the invention is the creation of such an aircraft diagnostic tool for gas pipelines, which would allow for operational and reliable control over significant routes along the exact route of maintaining the flight path and flight conditions of the diagnostic modes.

 In addition, the tool should provide a low cost of diagnosis.

 In accordance with the invention, the task is achieved in that the plane for diagnosing the state of trunk pipelines, including a power plant, a glider with a fuselage equipped with a cockpit and luggage compartment, a landing gear, a control system with an autopilot equipped with a digital computer, and diagnostic equipment, with a recorder, equipped with a device for determining violations of the conditions of diagnosis, sound and light alarms, while the device for determining violations of the conditions of diagnosis the output is connected to the inputs of the sound and light signaling devices and the recorder.

 Moreover, the device for determining a violation of the diagnostic conditions is made on the basis of a digital autopilot calculator made with a program unit that generates diagnostic mode violation signals, connected in series with a digital-to-analog converter and a power amplifier forming the device output.

 Aircraft made in accordance with the invention allows real-time reliable diagnostics of gas pipelines with a large length, with high productivity and low cost.

The list of figures in the drawings
The invention is illustrated by drawings, in which:
FIG. 1 shows a block diagram of a device for determining a violation of a diagnostic condition.

 FIG. 2 shows a block diagram of a software unit generating diagnostic mode violation signals.

 FIG. 3 shows the allowable areas of change in flight speed and altitude, providing a high-quality image.

 FIG. 4 shows the allowable areas of change in the total angular velocity, flight altitude, providing a high-quality image.

Information confirming the possibility of carrying out the invention
The aircraft is a monoplane with an upper wing with struts. The engine is located on a frame attached to the wing center section. Screw - pulling, three-blade.

 The power frame of the aircraft is a beam of complex shape, to which the wing center section, cockpit, tail boom and landing gear are attached.

 The modular type cab mounted on the power frame under the wing has two side doors and good glazing. The pilot's seat is located in the right half of the cockpit, diagnostic equipment and autopilot blocks are located in the left half. At the rear of the cab is a small luggage compartment. The aircraft is equipped with a dual control system. If necessary, the diagnostic equipment can be removed, and a second seat for a passenger or co-pilot can be installed in its place. Cabin - heated.

 On the tail boom of circular cross section installed tail. The vertical tail is equipped with a rudder, horizontal - elevator. Flaps, ailerons, are installed on the squared wing.

 Chassis - tricycle, front wheel - steered.

 Instrumentation equipment includes indicators of altitude, instrument speed, vertical speed, horizon, combined instrument, indicating engine operation parameters.

 The autopilot is three-channel, stabilizes the set course, roll, pitch and flight altitude, is equipped with a digital computer. The aircraft is equipped with diagnostic equipment with a recorder, which includes a thermal imager and a television camera. Information on the light (television equipment) and thermal (thermal imaging equipment) contrasts on the ground allows one to determine deviations in the state of gas pipelines — the destruction of its elements — by light contrasts and gas leakage — by thermal contrasts. On the plane installed a device for determining violations of the conditions of diagnosis with sound and light signaling devices, Fig.1.

В блок 8 из блока 1 поступает сигнал высоты полета и суммарной угловой скорости из блока 7. В блоке 8 в соответствии с алгоритмами
Н≥Нmin,
Н≤Нmax,
ω_Σ ≤ C-DH
производится сравнение параметров режима полета с заданными. Результаты сравнения: в виде сигналов типа "ДА-НЕТ" поступает в блок 9.The device is made on the basis of a digital autopilot calculator with a program unit 1, connected by its output in series with a digital-to-analog converter 2 and a power amplifier 3, which forms the output of the device. The output of the device is connected to the inputs of the recording device of the diagnostic equipment 4, sound and light signaling devices 5 and 6. The sound signaling device is made in the form of headphones in a radio communication system, and the light signaling device is made in the form of signal lights and is installed on the instrument panel. The digital computer autopilot 1 is made with a program unit for generating signals of violation of the mode (figure 2), which operates as follows. In the standard unit of the digital autopilot calculator 1, signals of altitude (N), speed (V), angular velocities ω _x and ω _{z are} generated. In block 7, a signal of the total angular velocity is generated in accordance with the algorithm

Block 8 from block 1 receives a signal of flight altitude and total angular velocity from block 7. In block 8, in accordance with the algorithms
H≥Hmin,
H≤Nmax,
ω _Σ ≤ C-DH
the flight mode parameters are compared with the set ones. Comparison results: in the form of signals of the type "YES-NO" enters block 9.

In block 10, according to the speed and altitude signals coming from block 1, in accordance with the algorithms
V≥Vmin,
V≤Vmax,
V≤A + BH,
N≤Nmax
the flight mode parameters are compared with the given ones. The comparison results in the form of signals of the type "YES-NO" are received in block 9.

 The values of Hmin, Hmax, Vmin, Vmax and the coefficients A, B, C, D are set from the conditions for diagnosing specific objects.

с различными постоянными времени Тф₁ и Тф₂.In block 9, if there is at least one “NO” signal, a mismatch signal is generated, which arrives at the inputs of aperiodic filters 11 and 12, generating an output signal in accordance with the algorithms

with different time constants TF ₁ and TF ₂ .

 The signals from the output of blocks 11 and 12 are fed to the relay elements with a dead zone 13 and 14. The signal from the output of the relay element 13 connected to the output of the block 11, which has a smaller time constant, is fed to the input of the block 15, which converts it into pulses, then fed to the pulses a switch 16 and further to the input of the digital-to-analog converter 2, light 6, sound 5 signaling devices and a recording device for diagnostic equipment 4.

 The signal from the output of block 12, which has a large time constant, is supplied to the relay element 14, the output signal of which controls the switch 16, disabling the signal from the autopilot.

 The reliability of estimates of the state parameters of gas pipelines is determined by both the characteristics of the diagnostic equipment and the parameters of the aircraft. Rigid restrictions on altitude and rate of change of angular position are imposed on the motion parameters of the aircraft. The nature of the change in these values has a significant impact on the quality of the image (smear) obtained when the aircraft is moving.

To obtain an allowable image shift of low-contrast details, it should be no more than 0.6 of the resolution in the image obtained in the absence of mutual movements of the equipment and objects of shooting. Figure 3, 4 shows the types of permissible areas of change in flight speed and the total angular velocity ω _Σ from the height of the flight, the angular roll velocity, the angular pitch velocity, which provide a high-quality image of the object. In figures 3 and 4, the abscissa axis represents the value of the flight altitude, and the ordinate axis represents the flight speed and the value of the total angular velocity of the aircraft, respectively. The first and second lines in FIGS. 3, 4 show the minimum, maximum flight speeds and minimum, maximum flight altitudes, respectively, and the third line shows the border that provides an acceptable image blur. In the diagnostic modes, the flight should take place at a low altitude (from 50 to 250 m). Maintaining the set flight parameters for several hours, especially in a turbulent atmosphere, is almost impossible with manual piloting. Thus, an automatic control system is used on the aircraft, and in certain sections of the flight, for a limited time, the pilot takes control to ensure compliance with the specified flight parameters.

 It is quite difficult for a pilot to determine the specified flight conditions, therefore, a device for determining a violation of the diagnostic conditions was installed on board the aircraft.

The device operates as follows
To diagnose the state of main gas pipelines, the pilot, according to the indications of the satellite navigation system and landmarks (if any), takes the plane to the starting point of the route, sets the necessary flight parameters (speed, altitude, course angle), includes autopilot and diagnostic equipment.

 In the case of a short-term violation of the diagnostic conditions, the signal in the program unit 1 is converted into pulses arriving at the switch and then to the input of a series-connected digital-to-analog converter and power amplifier 2 and 3, and then fed to the light signal lamps on the instrument panel 6, sound devices - headphones of the radio communication system 5 and to the recording device of the diagnostic equipment 4. The pilot is given pulsed sound and light signals warning of violation of the diagnostic conditions . In case of continued violation of the diagnostic conditions, a signal having a large time constant disables the pulse element 9 and enters the signaling devices 5, 6 and the recording device 4.

 The pilot receives continuous sound and light signals, according to which he makes a decision to switch to manual control, if after that the signals do not stop, he makes a decision to stop the flight. During post-flight processing of recordings from the diagnostic system, the areas where the conditions for conducting it were violated (marked by signals generated by a computer) are analyzed especially carefully and a decision is made on the need for flights in this area.

The use of a light-engine aircraft as a carrier of diagnostic equipment significantly increases the efficiency of diagnosing the state of gas pipelines due to:
- low cost of the aircraft (about 1.2 million rubles);
- low operating costs (low cost of maintenance due to its simplicity, low fuel costs).

 Using a device for determining the conditions of diagnosis allows you to increase the reliability of the information received, quickly resolve the issue of re-diagnosing sections of gas pipelines where the conditions of diagnosis were violated (by decision of the pilot in flight or the results of post-flight analysis).

Claims (2)

 1. Aircraft for diagnosing the state of main gas pipelines, including a power plant, a glider with a fuselage equipped with a cockpit and a luggage compartment, a landing gear, a control system with an autopilot equipped with a digital computer, and diagnostic equipment with a recorder, characterized in that it is equipped with a device for detecting violations conditions of diagnosis, sound and light signaling devices, while the device for determining violations of the conditions of diagnosis by its output is connected to the inputs of sound and lights of alarms and recorder.  2. Aircraft for diagnosing the state of main gas pipelines according to claim 1, characterized in that the device for determining a violation of the diagnostic conditions is made on the basis of a digital autopilot calculator made with a program unit that generates diagnostic mode violation signals, connected in series with a digital-to-analog converter and a power amplifier, forming the output of the device.

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