A method for detecting and ablating hydrates in a natural gas pipeline, the method comprises a controller applied to a device for detecting and ablating hydrates in a natural gas pipeline, wherein, the device for detecting and ablating hydrates in the natural gas pipeline comprises:
- a plurality of transmission mechanisms movable along an inner natural gas pipeline, a detection mechanism configured to detect the hydrates in the natural gas pipeline, an ablation mechanism configured to ablate the hydrates, and a controller, wherein the transmission mechanism comprises a transmission frame, a plurality of universal wheel components that generate static friction with an outer wall of the inner natural gas pipeline, a drive component, and an elastic connector;
- the detection mechanism comprises a detection frame and a detection component;
- the ablation mechanism comprises an ablation frame, an ablation component, and an ablation claw component, and wherein the universal wheel component is arranged on an inner wall of the transmission frame in a circumferential direction, the drive component is connected to the universal wheel component, the detection frame and the ablation frame are both connected to the transmission frame through the elastic connector, the detection component is arranged on the detection frame, the ablation component and the ablation claw component are both arranged on the ablation frame, and the universal wheel component, the drive component, the detection component, the ablation component, and the ablation claw component are all connected to the controller;
- the universal wheel component comprises a hydraulic rod arranged on the transmission frame in the circumferential direction and a universal roller connected to the hydraulic rod, and wherein the universal roller is connected to an output of the drive component, and the hydraulic rod is connected to the controller;
- the transmission frame comprises an upper frame, a lower frame, and a hydraulic connector, and wherein the upper frame is connected to the lower frame through the hydraulic connector, and the hydraulic connector is connected to the controller;
- the detection component comprises a temperature detector, a mounting frame, a rotating motor, a rotating gear set, and a rotating gear ring, and wherein an inner wall of the detection frame extends inward in the circumferential direction to form a cam fixedly connected to the rotating gear ring, both sides of the cam are recessed inward to form a guide groove, the temperature detector and the rotating motor are both arranged at one end of the mounting frame, the other end of the mounting frame is slidably connected to the guide groove, the rotating motor is meshed and connected to the rotating gear ring through the rotating gear set, and the temperature detector and the rotating motor are both connected to the controller;
- the device for detecting and ablating hydrates in the natural gas pipeline further comprising a centralizing component, wherein the centralizing component comprises a plurality of cylinders and support rods arranged on the detection frame in the circumferential direction, and wherein the support rods are connected to the detection frame through the cylinders;
- the ablation claw component comprises an upper mechanical arm, a lower mechanical arm, an upper push claw, and a lower push claw, and wherein the upper push claw is connected to an outer wall of the ablation frame through the upper mechanical arm, the lower push claw passes is connected to the outer wall of the ablation frame through the lower mechanical arm, and the upper mechanical arm and the lower mechanical arm are both connected to the controller;
- the ablation component comprises a plurality of heaters and locators, and wherein the locators are fixedly connected to the ablation frame, the heaters are arranged on an inner wall of the ablation frame in the circumferential direction, and the heaters and the locators are all connected to the controller;
- the controller comprises a memory and a processor, and wherein
- the memory is configured to store program instructions;
- and
- the processor is configured to run the program instructions to perform the following steps:
- S1:
- adjusting a gap between the upper frame and the lower frame through the hydraulic connector, and generating static friction between the universal roller driven by the hydraulic rod and an outer surface of the inner natural gas pipeline;
- S2:
- driving the universal roller by the drive component to drive the device for detecting and ablating hydrates in the natural gas pipeline to move along the natural gas pipeline;
- S3:
- acquiring a first signal sent by the temperature detector, and determining whether the temperature is below a preset range, if yes, stopping moving the device for detecting and ablating hydrates in the natural gas pipeline, and performing S4, and if not, continuing moving the device for detecting and ablating hydrates in the natural gas pipeline along the natural gas pipeline, and performing S3;
- S4:
- driving the support rods by the cylinders of the centralizing component to project outward such that the center of the inner natural gas pipeline coincides with the center of the detection frame, and then driving the rotating gear set by the rotating motor to drive the temperature detector on the mounting frame to rotate around the inner natural gas pipeline;
- S5:
- acquiring a second signal sent by the temperature detector, and driving the upper mechanical arm to drive the upper push claw to be fixedly connected to one end of an inner wall of an outer natural gas pipeline, and the lower mechanical arm to drive the lower push claw to be fixedly connected to the other end of the inner wall of the outer natural gas pipeline such that the ablation frame is fixed at a designated location;
- S6:
- driving the heaters to heat the inner natural gas pipeline and at the same time acquiring a signal sent by the locator;
- and
- S7:
- acquiring a third signal sent by the temperature detector, and determining whether the temperature is below the preset range, if yes, performing S6;
- and if not, performing S2.