CN111424795A - Visual intelligent rotary spraying method for repairing drainage pipeline - Google Patents
Visual intelligent rotary spraying method for repairing drainage pipeline Download PDFInfo
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- CN111424795A CN111424795A CN202010119124.7A CN202010119124A CN111424795A CN 111424795 A CN111424795 A CN 111424795A CN 202010119124 A CN202010119124 A CN 202010119124A CN 111424795 A CN111424795 A CN 111424795A
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
- E03F2003/065—Refurbishing of sewer pipes, e.g. by coating, lining
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Abstract
The invention discloses a visual intelligent rotary spraying method for repairing a drainage pipeline, which comprises the following steps of S1, plugging two ends of the pipeline, and pumping water in the pipeline to be dry; s2, connecting a comprehensive cable, and placing the visual intelligent rotary spraying equipment into a pipeline; s3, starting the visual intelligent rotary spraying equipment and grouting equipment through the operation control panel, controlling the visual intelligent rotary spraying equipment to walk in the pipeline, and shooting image information inside the pipeline through a front-view camera and a rear-view camera; s4, when a disease is found, adjusting the front-view camera and the infrared distance meter to align the position of the disease; s5, analyzing the type and degree of the disease through the signal detected by the infrared distance meter, and controlling the nozzle of the visual intelligent rotary spraying equipment to repair the position of the disease; s6, after repairing, starting the infrared distance meter again to detect and analyze the repaired position until the evaluation is qualified; and S7, repeating the steps S3 to S6 until the repair of the whole pipeline is completed.
Description
Technical Field
The invention belongs to the technical field of underground engineering safety protection, and particularly relates to a visual intelligent rotary spraying method for repairing a drainage pipeline.
Background
Drainage pipeline facilities are important components of urban municipal infrastructure, play an indispensable role in the aspects of urban sewage collection and transportation and flood prevention drainage safety service guarantee, and according to the hidden danger investigation results of the drainage pipeline in some towns, the drainage pipeline in the towns in China has a large number of functional or structural defects exceeding three levels due to the influences of unqualified pipe quality, non-standard construction management, limited environmental conditions, inadequate operation and maintenance and the like. Because pipeline defects are often not repaired in time, the defects are further worsened, the pipeline overflowing capacity is seriously affected, and the road collapse is caused.
The existing common repairing method is to excavate and repair or replace the pipeline, the soil body above the pipeline needs to be excavated when the pipeline is excavated and replaced, although the method can solve the problem of the pipeline, the maintenance cost is high, the construction period is long, and the life and traffic of surrounding residents are seriously influenced in the urban area. And for drainage pipelines with less serious corrosion, excavation maintenance is not needed, and a large amount of economic waste is caused if excavation maintenance is adopted. The trenchless repairing spraying construction technology has high safety factor and high construction speed, can effectively save construction time, improve construction efficiency, ensure the safety of construction environment and improve construction quality. The non-excavation in-situ restoration technology does not need to excavate the road surface, only needs to set up a plurality of temporary block-shaped fences at the inspection well, has almost no influence on peripheral traffic, nearby pipelines and buildings, can better reduce the construction cost, still maintains the original traffic running direction during construction, so the water passing section of the pipeline is hardly reduced, the function of the original pipeline drainage design flow is maintained, and the structural and functional restoration effects are achieved.
Patent document with application number 201810201733.X discloses an engineering robot for environmental monitoring and repairing, the structure of the engineering robot comprises a detection camera, a connecting seat, a dust cover, a light supplementing lamp, a repairing liquid spraying seat, a rotating seat, a fixed iron plate, an obstacle detection device, a machine base, a movable crawler belt, a wireless control console and a repairing liquid conveying pipeline, wherein the dust cover is provided with two parts and is fixed above the detection camera and the light supplementing lamp through screws, and the right end of the detection camera is movably connected to the left side of the connecting seat through a bearing. Although the engineering robot is provided with the camera, the engineering robot is not specially used for detecting and detecting diseases in the pipeline and is different from the scheme of the application.
Disclosure of Invention
The invention mainly aims to provide a visual intelligent rotary spraying method for repairing a drainage pipeline, and aims to solve the problems that the existing pipeline repairing equipment is low in intelligentization degree and inaccurate in repairing quality.
In order to achieve the purpose, the invention provides a visual intelligent rotary spraying method for repairing a drainage pipeline, which comprises the following steps:
s1, plugging two ends of the pipeline to be repaired, draining water in the pipeline, and performing silting cleaning;
s2, connecting one end of the integrated cable with grouting equipment on the ground, connecting the other end of the integrated cable with visual intelligent rotary spraying equipment, placing the visual intelligent rotary spraying equipment into a pipeline, and connecting the grouting equipment and the visual intelligent rotary spraying equipment with an operation control panel;
s3, starting the visual intelligent rotary spraying equipment through the operation control panel, starting grouting equipment, controlling the visual intelligent rotary spraying equipment to walk in the pipeline, and shooting image information inside the pipeline through a front-view camera and a rear-view camera in front of the visual intelligent rotary spraying equipment;
s4, observing the influence information through the display screen on the operation control panel, controlling and adjusting the front-view camera to align to the position of the disease through the operation control panel when the disease is found, and aligning the infrared distance meter on the front-view camera to the position of the disease at the moment;
s5, analyzing the type and degree of the disease through the signal detected by the infrared distance meter by the operation control panel, obtaining the working parameters needed by the visual intelligent rotary spraying equipment and the grouting equipment according to the type and degree of the disease, controlling the grouting equipment to start, and controlling a spray head of the visual intelligent rotary spraying equipment to repair the position of the disease;
s6, after repairing, the infrared distance meter is started again to detect and analyze the repaired position, if the repaired position is qualified, the next position is detected and repaired, and if the repaired position is unqualified, the sprayer is continuously controlled to repair the damaged position until the repaired position is qualified;
and S7, repeating the steps S3 to S6 until the repair of the whole pipeline is completed.
Preferably, in step S2, a guide-rail pulley is provided on an inner wall of the pipe on a side close to the departure wellhead, and the integrated cable is bridged on the guide-rail pulley and moves along the rotation of the guide-rail pulley.
Preferably, in step S3, the visualized intelligent jet grouting device can select and install a moving wheel with a suitable dimension according to the size of the inner diameter of the pipeline.
Preferably, in steps S3 and S4, the front-view camera is provided with an illuminating lamp, and the brightness of the illuminating lamp can be adjusted as required.
Preferably, in step S4, a camera lifting support is arranged on the visual intelligent rotary spraying device, a hydraulic rod is arranged on the camera lifting support, the front-view camera is arranged on the camera lifting support, the hydraulic rod is controlled by the operation panel to act, and the camera lifting support acts, i.e., the position of the front-view camera can be adjusted.
Preferably, in step S5, the operating parameters include grouting pressure and grouting speed.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention relates to a pipeline damage detection and repair method by adopting visual intelligent rotary spraying equipment, wherein a front-view camera and a rear-view camera are respectively arranged at the front side and the rear side of a main machine body of the equipment, the main machine body moves along with a moving wheel, the internal condition of the pipeline is observed by the front-view camera and the rear-view camera, and the shooting directions of the two cameras can be adjusted, so that not only can the ground workers comprehensively observe the quality condition of the internal part of the pipeline in real time, but also the whole operation process in the pipeline is visual and intelligent under the control of an operation control panel when a damage is found, and the whole operation process can be accurately finished by the constructors on the ground.
Secondly, the visual intelligent rotary spraying equipment adopted by the invention comprises a spraying equipment bin and a spray head, wherein the spraying equipment bin can rotate relative to the main machine body to adjust the direction, and the infrared distance measuring instrument and the spray head can be adjusted to proper positions, so that the accuracy of detecting and repairing the positions of diseases can be further improved.
Thirdly, the defects of corrosion and the like in the drainage pipeline are repaired without excavation through the method, the influence on traffic is reduced to the minimum through the construction method of enhancing the pipeline strength and prolonging the service life through spraying, and the whole system is an intelligent operation procedure in the whole process from detection, analysis, repair to analysis and evaluation after repair, so that the economic and social benefits are obvious. The invention is designed according to the requirements of urban operation management and trenchless pipeline repair, can accurately carry out spraying repair on defects in the pipeline, solves traffic jam caused by pipeline excavation repair and reduces the influence on the life of surrounding residents.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of a spraying operation performed by a visual intelligent jet grouting method for repairing a drainage pipeline according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a pipeline spraying device in the intelligent visualized spiral spraying device for repairing the drainage pipeline provided by FIG. 1;
FIG. 3 is a schematic structural diagram of a control panel of the pipeline spraying device in the intelligent visual spiral spraying device for repairing the drainage pipeline in FIG. 1;
fig. 4 is a schematic structural diagram of a P L C control module of the pipeline spraying device in the intelligent visual spiral spraying device for repairing the drainage pipeline, which is proposed in fig. 1.
The invention is illustrated by the reference numerals:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | Main unit body of |
14 | Rotary adjusting knob of rotary |
| 2 | |
15 | Rotary spraying equipment bin rotating speed adjusting |
| 3 | Front- |
16 | Light adjusting knob of front-view camera lamp |
| 4 | Rearview |
17 | Spraying |
| 5 | |
18 | Operating rocker of rotary spraying equipment bin |
| 6 | |
19 | Communication connection button |
| 7 | Screw |
20 | Infrared |
| 8 | Infrared |
21 | |
| 9 | Rotary spraying equipment bin | 22 | Visual intelligent rotary |
| 10 | |
23 | Visual intelligent rotary spraying equipment |
| 11 | Spout equipment storehouse support soon | 24 | Forward-view camera support rise-and- |
| 12 | Guide |
25 | |
| 13 | Display screen |
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a visual intelligent rotary spraying method for repairing a drainage pipeline.
Referring to fig. 1 to 4, firstly, a visual intelligent jet grouting device for repairing a drainage pipeline is described, which includes: the spraying equipment comprises an equipment main body 1, spraying equipment arranged on the equipment main body 1 and an operation control panel.
The equipment main body 1 is provided with a moving wheel 2, a front-view camera 3, a rear-view camera 4 and a comprehensive cable 5. Remove wheel 2 and establish in the bottom of the equipment main body 1 for make this visual intelligence spout equipment soon can remove in the pipeline, remove wheel 2 and remove the wheel for detachable, remove the installing port specification of wheel 2 and be unified standard specification, can change the removal wheel of installing suitable dimensions according to the pipeline diameter. The top of the equipment main body 1 is provided with a camera lifting support 6, one end of the camera lifting support 6 is hinged with the equipment main body 1, the other end of the camera lifting support is connected with the equipment main body 1 through a hydraulic rod, a forward-looking camera 3 is arranged on the camera lifting support 6, the orientation of the forward-looking camera is forward, and the height position of the forward-looking camera 3 can be adjusted and controlled by controlling the extension and retraction of the driving hydraulic rod. The front-view camera 3 is provided with an illuminating lamp, and the brightness of the illuminating lamp can be adjusted. The rear-view camera 4 is provided on the rear side of the apparatus main body 1.
The comprehensive cable 5 is installed at a comprehensive cable connecting port at the rear end of the equipment main body 1 through a screw socket sleeve type connector 7, and a power line, a communication control line, a slurry conduit and an air pressure pipe are integrated in the comprehensive cable 5. The power cord is used for providing power for forward looking camera 3, rear view camera 4, infrared distancer 8 and spraying equipment, and the communication control line is used for the communication connection between forward looking camera 3, rear view camera 4, spraying equipment, infrared distancer 8 and the operation control panel.
The spraying equipment comprises a rotary spraying equipment bin 9 and a spray head 10 arranged on the rotary spraying equipment bin 9, and an infrared distance meter 8 is further arranged on the rotary spraying equipment bin 9. Spout equipment storehouse 9 soon and be rotatable spraying storehouse, spout equipment storehouse 9 soon and install on the equipment main frame body through spouting equipment storehouse support 11 soon, spout equipment storehouse 9 soon and spout equipment storehouse support 11 rotatable relatively, it is rotatory through establishing the electromagnetic module drive in spouting equipment storehouse 9 soon, rotates to spout equipment storehouse 9 soon and can adjust infrared distance meter 8 and shower nozzle 10 to suitable position.
The rotary spraying equipment bin 9 is connected with grouting equipment on the ground through a slurry guide pipe, an air pressure pipe and a communication control line, the grouting equipment is integrated high polymer grouting equipment, the grouting equipment in the prior art can be adopted, for example, the grouting equipment disclosed by the patent document with the patent number Z L201310124851.2 is an integrated high polymer grouting system, the grouting equipment is provided with a generator and an air compressor, slurry is input into the rotary spraying equipment bin through the grouting equipment and sprayed to a damaged part of a pipeline through a spray head, the air pressure pipe is connected with the air compressor and used for providing grouting pressure for spraying equipment, in addition, a repairing material adopted by the grouting equipment is a single-slurry or double-slurry high polymer repairing material, construction water is not required to be provided, construction sewage is not discharged, the repairing material is an environment-friendly material and does not cause pollution to the surrounding environment, the repairing material is a closed-hole impervious material formed by mixing modified isocyanate and polyalcohol in a ratio of 1: 1, water does not need to participate in chemical reaction.
This equipment during operation is spouted soon to visual intelligence, earlier be equipped with out well head A and termination well head B in two places that correspond with underground drainage pipe, and be equipped with guide rail formula pulley 12 at the passageway inner wall that out well head A and pipeline communicate, this equipment is spouted soon to visual intelligence is transferred to the pipeline in via out well head A, and synthesize cable 5 and erect on guide rail formula pulley 12, can protect synthesizing cable 5 not worn and torn by the pipeline inner wall when extending the removal through guide rail formula pulley 12, can improve the moving speed of synthesizing cable 5 simultaneously, and then improve work efficiency.
The operation control panel is internally provided with a P L C control module, the P L C control module is connected with the front-view camera 3, the rear-view camera 4, the spraying equipment and the infrared distance meter, the operation control panel is provided with a display screen 13 and a plurality of switch buttons which are connected with the P L C control module, the display screen 13 is a high-definition touch display screen, images shot by the front-view camera 3 and the rear-view camera 4 are displayed through the display screen 13, and the touch display screen 13 can control and adjust to display a front-side image of the pipeline collected by the front-view camera 3 or a rear-side image of the pipeline collected by the rear-view camera 4 through the program setting of the P L C control module.
The switch buttons on the operation control panel are in a parallel mode, the operation is not influenced mutually, and the operation functions of the switch buttons are introduced as follows:
the rotary spraying equipment bin rotation adjusting knob 14 is used for enabling the rotary spraying equipment bin to rotate relative to the rotary spraying equipment bin support, adjusting the direction of a spray head on the rotary spraying equipment bin and the direction of an infrared distance meter, and adjusting the spray head and the infrared distance meter to proper positions aligned with the disease part in the pipeline;
a rotating speed adjusting button 15 of the rotary spraying equipment bin is used for adjusting the rotating speed of the rotary spraying equipment bin;
the rotary spraying equipment bin control rocker 18 is used for adjusting the height position of the rotary spraying equipment bin relative to the rotary spraying equipment bin support;
a forward-looking camera light adjustment knob 16 for adjusting the brightness of an illumination lamp on the forward-looking camera;
a forward-looking camera support rise-and-fall control button 24 for controlling the extension and retraction of the hydraulic rod so as to control the height position of the forward-looking camera;
a spraying operation control button 17 for controlling the start and stop of the spraying operation of the spray head;
a communication connection button 19 is provided on the housing,
the infrared instrument operates a push button 20 which,
a camera operation rocker 21 for adjusting the angle and position of the forward looking camera;
the visualized intelligent rotary spraying equipment switch 22 is used for controlling the starting and the closing of the whole visualized intelligent rotary spraying equipment;
an emergency reset switch 25 for emergency stop of the equipment in an emergency;
and the movement control rocker 23 of the visual intelligent rotary spraying equipment is used for controlling the movement of the visual intelligent rotary spraying equipment in the pipeline.
The power supply of the operation control panel is generated by the integrated polymer grouting system, the voltage is 220V, and the operation control panel is mainly internally provided with the following components:
the equipment switch S1 is used for controlling the on and off of the whole operation control panel;
display screen S2, which is a L CD display screen, showing the compiled content of the encoder;
a positioner encoder D1 for monitoring the height of the positioner;
the power encoder D2 is used for monitoring the rotation angle and the rotation speed of the rotary spraying equipment bin;
the pressure regulating encoder D3 is used for monitoring the rotary spraying pressure, so that the rotary spraying operation can be kept in a constant pressure state;
the time encoder D4 is used for controlling the rotary spraying operation time;
the equipment bin support ascending switch Q1 and the equipment bin support descending switch Q2 are respectively used for controlling the equipment bin support ascending control valve K3 and the equipment bin support descending control valve Q2, so that the height of the rotary spraying equipment bin is controlled and adjusted;
the equipment bin forward rotation switch C1 and the equipment bin reverse rotation switch C2 are respectively used for controlling the equipment bin forward rotation controller K1 and the equipment bin reverse rotation controller K2 so as to control and adjust the forward rotation and the reverse rotation of the rotary spraying equipment bin;
the equipment bin rotary speed potentiometer J1 controls the flow rate flowing into the equipment bin forward rotation controller K1 and the equipment bin reverse rotation controller K2 through a P L C control module, so that the current flowing into the rotary spraying equipment bin is controlled, and the rotary starting, stopping and speed of the rotary spraying equipment bin are controlled.
The following describes the process of the method for intelligently repairing the drainage pipeline by the visual intelligent jet grouting device for repairing the drainage pipeline:
1. sealing two ends of the pipeline to be repaired by using a sealing plug or an air bag, draining water in the pipeline, and cleaning sludge;
2. connecting two ends of the comprehensive cable 5 with visual intelligent rotary spraying equipment and grouting equipment respectively, wherein the connection comprises pipeline connection, electric connection and communication line connection, placing a guide rail type pulley 12 at the right angle of the pipe well, lowering the comprehensive cable 5 along the pulley, and placing the visual intelligent rotary spraying equipment into the well;
3. opening the visual intelligent rotary spraying equipment, starting an equipment program, operating the equipment main body to run in the pipeline through the operation control panel, transmitting video information in the pipeline to a display screen of the operation control panel by the front-view camera and the rear-view camera in real time, and observing the condition of the pipeline through the display screen;
4. when a disease position is found, simultaneously adjusting a corresponding camera to a proper position, adjusting the light intensity of the camera to enable the camera to stay at a proper observation position, then adjusting the position of a rotary spraying equipment bin to enable an infrared distance meter to align the disease, starting the infrared distance meter to carry out intelligent analysis and evaluation on the diseases such as corrosion, permeation, damage points and the like, wherein the diseases mainly comprise cracking, sinking and the like, carrying out intelligent analysis and evaluation on the types and the degrees of the diseases by combining the infrared distance meter with the analysis of a P L C control module, and adjusting the working parameters of each device in the grouting equipment to standard parameters required for repair according to the evaluation result suggestion;
5. selecting parameters of a proper spraying equipment bin according to the analysis and evaluation result suggestion, pointing a spraying operation control button, and starting spraying operation; after the spraying is finished, clicking the spraying operation control button again to stop the spraying operation;
6. and (4) starting the infrared distance meter again to carry out analysis and evaluation after repairing on the repaired diseases, stopping the equipment if the repaired diseases are qualified, and repeating the steps (4), (5) and (6) if the repaired diseases are unqualified until the repaired diseases are qualified, until all the diseases in the pipeline are qualified.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A visual intelligent rotary spraying method for repairing a drainage pipeline is characterized by comprising the following steps:
s1, plugging two ends of the pipeline to be repaired, draining water in the pipeline, and performing silting cleaning;
s2, connecting one end of the integrated cable with grouting equipment on the ground, connecting the other end of the integrated cable with visual intelligent rotary spraying equipment, placing the visual intelligent rotary spraying equipment into a pipeline, and connecting the grouting equipment and the visual intelligent rotary spraying equipment with an operation control panel;
s3, starting the visual intelligent rotary spraying equipment through the operation control panel, starting grouting equipment, controlling the visual intelligent rotary spraying equipment to walk in the pipeline, and shooting image information inside the pipeline through a front-view camera and a rear-view camera in front of the visual intelligent rotary spraying equipment;
s4, observing the influence information through the display screen on the operation control panel, controlling and adjusting the front-view camera to align to the position of the disease through the operation control panel when the disease is found, and aligning the infrared distance meter on the front-view camera to the position of the disease at the moment;
s5, analyzing the type and degree of the disease through the signal detected by the infrared distance meter by the operation control panel, obtaining the working parameters needed by the visual intelligent rotary spraying equipment and the grouting equipment according to the type and degree of the disease, controlling the grouting equipment to start, and controlling a spray head of the visual intelligent rotary spraying equipment to repair the position of the disease;
s6, after repairing, the infrared distance meter is started again to detect and analyze the repaired position, if the repaired position is qualified, the next position is detected and repaired, and if the repaired position is unqualified, the sprayer is continuously controlled to repair the damaged position until the repaired position is qualified;
and S7, repeating the steps S3 to S6 until the repair of the whole pipeline is completed.
2. The visual intelligent rotary spraying method for repairing the drainage pipeline according to claim 1, wherein in step S2, a guide rail type pulley is disposed on an inner wall of the side of the pipeline close to the well opening, and the integrated cable is mounted on the guide rail type pulley and moves along the rotation of the guide rail type pulley.
3. The visual intelligent rotary spraying method for repairing the drainage pipeline according to claim 1, wherein in step S3, the visual intelligent rotary spraying device can be selectively installed with a moving wheel with a proper dimension according to the inner diameter of the pipeline.
4. The visual intelligent jet grouting method for repairing the drainage pipeline according to claim 1, wherein in steps S3 and S4, the front-looking camera is provided with an illuminating lamp, and the brightness of the illuminating lamp can be adjusted according to requirements.
5. The method for repairing a visual intelligent jet grouting pipe of a drainage pipeline according to claim 1, wherein in step S4, a camera lifting support is provided on the visual intelligent jet grouting equipment, a hydraulic rod is provided on the camera lifting support, the forward-looking camera is provided on the camera lifting support, the hydraulic rod is controlled by the operation panel to act, and the position of the forward-looking camera can be adjusted by the action of the camera lifting support.
6. The visual intelligent rotary spraying method for repairing the drainage pipeline according to claim 1, wherein in step S5, the working parameters comprise grouting pressure and grouting speed.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112392518A (en) * | 2020-11-10 | 2021-02-23 | 山东大学 | Automatic repair mechanism, repair device and method for road tunnel leakage water |
| CN114577405A (en) * | 2022-02-28 | 2022-06-03 | 辽宁石油化工大学 | Urban underground sewage pipeline defect detection device based on infrared imaging technology |
| CN114739995A (en) * | 2021-12-28 | 2022-07-12 | 盱眙国联建设工程质量检测有限公司 | Pipeline dredging and detecting integrated device and dredging method |
| CN115199861A (en) * | 2022-07-06 | 2022-10-18 | 广东粤海水务投资有限公司 | Crawler-type self-adaptation pipeline inner wall spraying prosthetic devices |
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Application publication date: 20200717 |