CN113802561B

CN113802561B - Grouting removal method for sewage pipeline

Info

Publication number: CN113802561B
Application number: CN202111096299.1A
Authority: CN
Inventors: 许淼鑫; 李亚伟; 李铮; 祁鹏
Original assignee: Beijing Urban and Rural Construction Group Co Ltd
Current assignee: Beijing Urban and Rural Construction Group Co Ltd
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2023-01-03
Anticipated expiration: 2041-09-17
Also published as: CN113802561A

Abstract

The invention relates to a method for removing grouting of a sewage pipeline, which at least comprises two steps: (A) Manufacturing a dynamic simulation image of slurry in the sewage pipeline in the grouting removal process of the sewage pipeline, wherein the dynamic simulation image is manufactured by a simulation module based on data transmitted by a first monitoring unit; (B) A stirring module capable of moving under the control of the operation device based on the dynamic simulation image is disposed in the sewer line. The operating device can judge the mud flow condition based on the dynamic simulation image of mud in the sewer line, further controls the stirring module and stirs the position that the flow is insufficient or mud is piled up.

Description

Grouting removal method for sewage pipeline

Technical Field

The invention relates to the field of underground waste pipeline treatment, in particular to a grouting removal method for a sewage pipeline.

Background

In recent years, with the rapid advance of the urbanization process of China, cast-in-situ bored piles are widely applied to various engineering fields due to the characteristics of strong adaptability, moderate cost, simple and convenient construction and the like. In engineering construction such as reconstruction and extension of subways and old cities, a waste sewage pipeline buried underground is inevitable to bring great difficulty to construction of the cast-in-situ bored pile, and if the waste sewage pipeline is not treated, a large amount of concrete is lost, the pile is difficult to form, and the quality and the cost of the cast-in-situ bored pile are seriously influenced.

At present, two common treatment methods are generally adopted when underground waste sewage pipelines are encountered in cast-in-situ bored pile construction, wherein one treatment method is to remove the underground waste sewage pipelines by adopting a grouting method, firstly, a rotary drilling rig is adopted to penetrate the underground sewage pipelines, and fillers such as slurry and the like are directly poured into the sewage pipelines from a drill hole to be flush with the ground; the other method is to adopt a method for avoiding concrete loss, namely a rotary drilling rig is adopted to penetrate through an underground sewage pipeline, a reinforcement cage is placed into a drilled hole with the rotary drilling rig, and an outer mold for preventing cast concrete from losing is coated at the joint of the reinforcement cage and the underground deep buried sewage pipeline, so that the construction of the cast-in-place pile is not influenced by the sewage pipeline.

CN110792441B provides a construction method for treating a deep-buried cross-foundation pit waste pipeline, which comprises the following steps: s1) surveying the buried position of a waste pipeline in a construction area, and lofting the construction profile of a preset enclosure structure of a foundation pit; s2) marking the pipeline projection of the waste pipeline on the construction surface; s3) determining the crossed position of the preset enclosure side wall and the pipeline projection and marking; s4) respectively performing rotary drilling construction in the pipeline projection to remove the waste pipelines, forming rotary drilling holes at the same time, and backfilling the rotary drilling holes to be flush with the construction surface; and S5) performing rotary drilling construction at the crossing position to remove the waste pipeline, forming a crossing rotary drilling hole at the same time, and backfilling the crossing rotary drilling hole until the hole is flush with the construction surface. The method can efficiently remove the waste pipeline with larger buried depth without excavating and extracting the waste pipeline, avoids the inconvenience brought to the treatment of the waste pipeline crossing the subway station foundation pit due to the too deep buried depth of the waste pipeline, the narrow construction site and the like, and improves the construction efficiency of the subway station.

CN110820728A discloses a bored pile construction method penetrating through an underground deep-buried waste pipeline, which comprises the following specific steps: step 1: carrying out pipeline detection and field investigation on the underground deep-buried waste pipeline; step 2: pile position lofting is carried out, a pile casing is embedded, and a rotary drilling rig is adopted for drilling; and step 3: manufacturing a reinforcement cage; and 4, step 4: and (4) cleaning the hole of the cast-in-situ bored pile, putting down a reinforcement cage, and pouring concrete. According to the construction method of the cast-in-situ bored pile, the external mold is arranged on the periphery of the reinforcement cage, so that the underground deep-buried waste pipeline is blocked, and the cast-in-situ bored pile hole is not influenced.

However, the prior art treatment process for the sewer pipes has the following problems: because the sewage pipeline is deep in the ground surface, the internal space of the sewage pipeline cannot be completely filled only by the natural flow capacity of slurry during grouting operation, and the left unfilled part can be corroded and collapsed finally over time to cause settlement, particularly at rivers or railway crossing of roads, so that roads can be damaged; and the operating personnel can not master the grouting condition of the pipeline, can only judge whether the sewage pipeline is fully filled by depending on whether the pipeline is fully filled to the passage port, can not know the underground sewage pipeline state in the grouting process, and is lack of supervision and regulation measures. The prior art still has at least one or several aspects that need improvement.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a grouting removal method for a sewage pipeline, which realizes full grouting of the underground deeply buried sewage pipeline and avoids settlement or influence on construction caused by the existence of an internal unfilled space of the sewage pipeline by visually detecting and processing the flowing state of slurry in the grouting process.

In order to achieve the purpose, the invention provides a sewage pipeline grouting removal method which at least comprises two steps of (A) making a dynamic simulation image of the slurry in the sewage pipeline in the grouting removal process of the sewage pipeline, wherein the dynamic simulation image is made by a simulation module based on data transmitted by a first monitoring unit, and (B) arranging a stirring module capable of moving under the control of an operating device based on the slurry flow condition in the dynamic simulation image in the sewage pipeline.

Preferably, the simulation module is at least capable of driving the two-dimensional simulation server to display a two-dimensional image containing at least a two-dimensional graph of the mud flow condition and attribute data corresponding thereto on the operation device based on detection or acquisition data of the first monitoring unit disposed inside the sewage pipe, and/or driving the three-dimensional simulation server to display a three-dimensional image related to a real-time operation state of the removal of grout from the sewage pipe, which is formed in such a manner that the mud flow condition is associated with the two-dimensional image shown by the two-dimensional simulation server, on the operation device.

Preferably, the stirring module is provided with a positioning assembly having the function of a positioning marker, so that data relating to the real-time position of the sewage pipe can be transmitted to the operating device via the positioning assembly and displayed in the operating device in the form of an image when the stirring module moves inside the sewage pipe space.

Preferably, the stirring module further comprises a vibration assembly and a moving assembly, the vibration assembly can transmit centrifugal force generated by high-speed rotation of the eccentric mass rotating shaft arranged inside to the stirring module shell through the bearing when the sewage pipeline is grouted, so that the stirring module can fully stir the slurry poured in the sewage pipeline and uniformly lay the slurry, and the vibration assembly can adjust the vibration frequency of the vibration assembly by changing the rotation speed of the eccentric mass rotating shaft based on the flowing condition of the slurry at the position on the two-dimensional and/or three-dimensional image displayed on the operating device by the simulation module.

Preferably, the moving assembly comprises a propelling unit and a direction adjusting unit, the propelling unit can push the stirring module to move forwards based on an internally arranged motor, the direction adjusting unit comprises a horizontal direction adjusting unit and a vertical direction adjusting unit, the direction adjusting device can adjust the horizontal and/or vertical movement direction of the moving assembly based on the horizontal direction adjusting device and/or the vertical direction adjusting device, and the moving assembly can drive the stirring module to move to a place where the slurry flow is not uniform by changing the output speed of the motor and adjusting the direction adjusting unit based on the slurry flow condition displayed on a two-dimensional and/or three-dimensional image on the operating device by the simulation module.

Preferably, the stirring module and the first monitoring unit are able to be pulled out from the pre-excavated channel of the rotary drilling rig after completion of the grout removal process of the sewer line based on the vibrating wire and the monitoring wire. Furthermore, in order to prevent the influence of slurry flow on the vibration conducting wire and the monitoring conducting wire in the grouting process, the vibration conducting wire and the monitoring conducting wire penetrate through a metal pipeline of a through channel far smaller than the diameter of the channel, the diameter of the metal pipeline is required to be selected according to the mode that the large influence cannot be generated on slurry grouting and the influence cannot be caused on the retraction and the release of the vibration conducting wire.

Preferably, the two-dimensional image output by the two-dimensional simulation server and the three-dimensional image output by the three-dimensional simulation server are associated with each other such that when a sewage pipe section or a stirring module inside a sewage pipe comprised by one of the two-dimensional and/or three-dimensional images is selected, the corresponding sewage pipe section or stirring module inside a sewage pipe in the other one will be positioned and/or marked synchronously.

Preferably, the pipe sections of the sewage pipeline are given with uniform codes set according to preset definition rules, and the uniform codes correspond to the device numbers of the first monitoring units arranged on the corresponding pipe sections, wherein when the two-dimensional simulation server and the three-dimensional simulation server perform real-time dynamic simulation on the grouting removal process of the sewage pipeline, the codes corresponding to the pipe sections of the sewage pipeline and/or the device numbers of the first monitoring units corresponding to the pipe sections of the sewage pipeline can be called to obtain a two-dimensional/three-dimensional graph at least containing the flow condition of mud of the pipe sections of the sewage pipeline, so as to complete simulation imaging of the pipe sections in the grouting removal process of the sewage pipeline.

Preferably, the two-dimensional simulation server and/or the three-dimensional simulation server is capable of synchronously updating an image thereof and attribute information corresponding to the image in response to a change in the attribute information of the grout removal process of the sewage line, so that the two-dimensional simulation server and/or the three-dimensional simulation server can display a dynamic simulation image of the grout removal process of the sewage line in a manner of maintaining the image and the attribute information in agreement.

Preferably, a second monitoring unit for monitoring the flow rate of the slurry during grouting operation is arranged at the ground end of the channel, the second monitoring unit is connected to an operating device, and the operating device can control the slurry discharging rate of the grouting vehicle based on the flow rate data transmitted by the second monitoring unit.

Preferably, the unnecessary part of vibration wire ground coil twines on the subassembly is restrainted to the coil, and the subassembly is restrainted to the coil can be based on the distance that stirring module needs to remove on the two dimension/three-dimensional image, is restrainted and is emitted the vibration wire for the stirring module can not lead to knoing or influence stirring effect owing to drag a large amount of vibration wires because of bringing into a large amount of vibration wires in the displacement.

Preferably, the simulation module is capable of dividing the time dimension of the slurry flow for describing the grout removal process of the sewage pipeline into a first virtual unit and a second virtual unit based on the difference, and is configured to process the real database and the past database, respectively, and to determine the slurry flow state by comparing the real database and the past database.

Preferably, after the grouting removal operation of the sewage line is completed, the stirring module 50 in the sewage pipe is pulled out from the channel 11 by the coil retracting assembly 55 retracting the vibrating wire 54, the first monitoring unit 30 is pulled out from the joint of the sewage pipe 10 and the channel 11 by the monitoring wire 301 after monitoring the temperature change of the slurry in the sewage pipe 10, at this time, the sufficient flowing treatment and the monitoring of the solidification degree of the slurry are completed, the sewage line is supported by the solidified slurry filled in the inside, no cavity or collapse occurs, the grouting process of the sewage line is completed, and after the steel plates for plugging at both sides are removed and the channel is closed, the influence of the sewage line on the construction process can be eliminated.

Preferably, the first monitoring unit 30 can transmit temperature data of the slurry at different positions in the grouting removal process of the slurry to the simulation module 31, and the simulation module 31 establishes an isothermal diagram based on the temperature data transmitted by the first monitoring unit 30 and outputs the isothermal diagram to the operating device 20, so that the operating device 20 can judge the solidification condition of the slurry in the real process based on the isothermal diagram compared with the past database.

Drawings

FIG. 1 is a side view, in elevation, of a preferred embodiment of a method for grout removal from a sewer line according to the present invention;

FIG. 2 is a control schematic diagram illustrating a preferred method of grout removal from a sewer line according to the present invention;

fig. 3 is a schematic diagram of a preferred stirring module structure.

List of reference numerals

10: sewage pipeline	20: operating device	30: first monitoring unit
			40: second monitoring unit	50: stirring module	31: analog module
51: positioning assembly	52: vibration assembly	53: moving assembly
			54: vibration wire	55: coil bundling assembly	11: channel
301: monitoring lead	111: steel pipe	112: protective sleeve
			60: steel plate

Detailed Description

The following detailed description is made with reference to fig. 1-3.

In the description of the present invention, it is to be understood that, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are used for indicating the orientation or positional relationship indicated based on the drawings, they are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that "first direction" refers to a direction parallel to the axis X, "second direction" refers to a direction parallel to the axis Y, and "third direction" refers to a direction parallel to the axis Z.

The invention provides a sewage pipeline grouting removal method which at least comprises two steps of (A) making a dynamic simulation image of the slurry flowing condition in a sewage pipeline 10 in the sewage pipeline grouting removal process, wherein the dynamic simulation image is made by a simulation module 31 based on data transmitted by a first monitoring unit 30, and (B) arranging a stirring module 50 capable of moving under the control of an operation device 20 based on the slurry flowing condition in the dynamic simulation image in the sewage pipeline.

Before the grout removal of the sewer line is started, the following preparation work should be performed:

s1, detecting an underground deep buried sewage pipeline on site, and determining the relation between the sewage pipeline and the ground;

s2, inserting a sewage pipeline in a direction vertical to the ground surface by using a steel plate, and blocking the two ends of the sewage pipeline needing grouting and removing in a closed manner.

The method for removing grout from a sewer line may be divided into the following steps:

(a) The sewer pipe 10 is positioned closest to the ground in the vertical direction, from where it is drilled through above the sewer pipe in a direction perpendicular to the surface using a rotary drilling rig.

(b) The channel walls are fixed using steel tubes 111 of the same diameter as the drilled channels 11.

(c) A second monitoring unit 40 is provided at the ground end of the tunnel 11.

(d) The first monitoring unit 30 and the stirring module 50 are put into the sewage pipe 10 from the tunnel 11 in advance.

(e) The sewage conduit 10 is filled with slurry from the channel 11.

(f) Based on a dynamic simulation image created by the simulation module 31 displayed on the operation device 20 based on the data transmitted in real time by the first monitoring unit 30, the operation device 20 analyzes and judges the slurry flow condition in comparison with the conventional data, and then controls the moving means 53 and the vibrating means 52 of the stirring module 50 to stir the portion where the slurry flow is insufficient.

(g) And adjusting the slurry discharging speed of the grouting car in time according to the slurry filling speed detected by the second monitoring unit 40 displayed on the operating device 20.

According to a preferred embodiment, a drill bit of a suitable size is selected to vertically and downwardly rotatably excavate a channel 11 communicating with the inner space of the underground sewage pipe from the ground, the diameter and length of the channel 11 are measured, a steel pipe 111 of a diameter and length selected to fit the channel 11 is inserted against the inner wall of the channel 11, the channel 11 is reinforced to prevent channel blockage during slurry pouring, and a fixing device capable of limiting the steel pipe 111 from sliding up and down is provided on the ground, preferably, the fixing device may be a protruding limit fixing block integrally formed with the steel pipe 111.

According to a preferred embodiment, a second monitoring unit 40 for monitoring the flow rate of the slurry during grouting is arranged at the ground end of the channel 11, the second monitoring unit 40 is used to measure the maximum flow rate of the slurry in the channel 11 before grouting removal of the sewer line in advance, the second monitoring unit 40 is connected to the operating device 20, the operating device 20 can record and store the maximum flow rate data transmitted by the second monitoring unit, the second monitoring unit 40 can transmit the flow rate of the slurry in the channel 11 to the operating device 20 in real time when grouting removal of the sewer line is performed, and the operating device 20 can control the slurry discharging rate of the grouting vehicle based on the pre-measured maximum flow rate of the slurry poured into the grouting vehicle.

According to a preferred embodiment, before formally starting the grouting removal operation of the sewage pipeline, the first monitoring unit 30 and the stirring module 50 are placed into the sewage pipeline from the channel 11, the first monitoring unit 30 is connected to the simulation module 31 through the monitoring lead 301, the stirring module 50 is connected to the operating device 20 through the vibration lead 54, in order to prevent the influence of the slurry on the washing of the monitoring lead 301 and the vibration lead 54 during the grouting process, the monitoring lead 301 and the vibration lead 54 are led through the protection sleeve 112 in advance, and the diameter of the protection sleeve 112 is selected according to the requirements that the slurry filling rate is not influenced and the vibration lead 54 is not influenced to freely retract and retract up and down in the protection sleeve.

According to a preferred embodiment, the first monitoring unit 30 is placeable in connection with the vibrating wire 54 at the junction of the sewer pipe 10 and the tunnel 11, so that the first monitoring unit 30 can monitor the slurry flow during the grout removal process of the sewer line over the whole course, alternatively, the first monitoring unit 30 can be one or a combination of a plurality of distance sensors such as an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, etc. Specifically, the sound wave or the light beam emitted by the first monitoring unit 30 returns to the signal receiving unit in the first monitoring unit 30 after contacting a certain mud surface, and the mud flow condition and the distance from the mud to the inner wall of the sewage conduit are obtained by calculating the time of the sound wave or the light beam from the emission to the return. Further, based on the monitoring of the flow of the slurry by the first monitoring unit 30, a two-dimensional and/or three-dimensional image relating to the distance of the slurry from the inner wall of the sewer pipe during the grout removal of the sewer line may be established. Preferably, in most cases, two-dimensional and/or three-dimensional images of the location of the sewage pipe and the axial direction of the pipe may be known, for example, for a sewage pipe known to be determined to be removed by grouting, a two-dimensional layout drawing and a three-dimensional perspective drawing corresponding to the sewage pipe should be provided.

According to a preferred embodiment, the stirring module 50 comprises a positioning component 51, and the positioning component 51 may be a GPS positioning, a Wifi positioning, a Glonass positioning, or the like. When the stirring module 50 is moved in the interior space of the sewage conduit, the real-time movement position data thereof can be transmitted wirelessly by the positioning assembly 51 to the operating device 20 and presented to the operator by means of the operating device 20 in the form of a two-dimensional and/or three-dimensional image.

According to a preferred embodiment, the stirring module 50 further comprises a vibration component 52 and a moving component 53, the vibration component 52 can transmit the centrifugal force generated by the high-speed rotation of the eccentric mass rotating shaft arranged inside to the shell of the stirring module 50 through a bearing when the sewage pipeline is grouted, and the stirring module 50 is driven to generate continuous fine displacement along different directions which are changed rapidly, so that the slurry at the position where the stirring module 50 can be located is fully stirred and laid uniformly. Preferably, the operation device 20 is capable of determining the mud flow condition of the position where the stirring module 50 is located based on the mud flow condition of the two-dimensional and/or three-dimensional image displayed on the operation device 20 by the simulation module 31, and further adjusting the rotation speed of the eccentric mass rotating shaft of the vibration assembly 52, so as to change the vibration frequency of the vibration assembly 52 to cope with different mud flow conditions of the position where the stirring module 50 is located. For example, the stirring module 50 is located at a position where the slurry accumulation flow is insufficient, the first monitoring unit 30 can acquire relevant data and transmit the relevant data to the simulation module 31 in real time, the simulation module 31 outputs a two-dimensional graph and/or a three-dimensional image of the slurry flow condition by driving a two-dimensional and/or three-dimensional server, the operation device 20 can judge that the slurry accumulation phenomenon exists at the position according to the difference between the distance from the slurry accumulation position where the stirring module 50 is located to the sewage pipeline and the distance from the periphery of the slurry accumulation to the sewage pipeline, and further, the rotating speed of the eccentric mass rotating shaft of the vibration assembly 52 is increased, so that the stirring module 50 can accelerate stirring of the slurry accumulation position.

According to a preferred embodiment, the moving assembly 53 comprises a propelling unit and a direction-adjusting unit, the propelling unit can push the stirring module 50 to move forward based on a motor arranged inside the stirring module 50, for example, the propelling unit can be a propeller, a push rod or a crawler arranged on the peripheral side of the stirring module 50. The direction adjusting unit comprises a horizontal direction adjusting unit and a vertical direction adjusting unit, the direction adjusting device can adjust the horizontal and/or vertical movement direction of the moving component based on the horizontal direction adjusting device and/or the vertical direction adjusting device, and the moving component 53 can drive the stirring module 50 to move to a place where the slurry flow is not uniform through changing the output speed of the motor and adjusting the direction adjusting device based on the slurry flow condition output to the two-dimensional and/or three-dimensional image on the operating device 20 by the simulation module. For example, the horizontal direction-adjusting unit is two paddles capable of swinging along the second direction, the vertical direction-adjusting unit is two paddles capable of rotating along the first direction, and the moving direction of the stirring module 50 is changed by adjusting the acting area of the paddles and the slurry, as can be seen in CN103434642a.

According to a preferred embodiment, the vibrating wire 54 is connected to the operating device 20 after being wound around the coil pinching assembly 55, the length of the slurry during the grout removal process of the vibrating wire 54 into the sewer line can be selected by the coil pinching assembly 55 to wind excess wire to the coil pinching assembly 55 or to release the required wire from the coil pinching assembly based on the distance that the stirring module 50 needs to move on the two-dimensional and/or three-dimensional image on the operating device 20, so that the stirring module 50 does not bring too long vibrating wire 54 into the slurry during moving the stirring, causing the coils to kink or affecting the stirring effect.

According to a preferred embodiment, the coil pinching assembly 55 is comprised of a rotating shaft and a motor for controlling the rotation of the rotating shaft, the motor being connected to the operating device, the motor being capable of controlling the direction and rate of rotation of the rotating shaft based on the calculation of the displacement distance of the agitation module 50 by the operating device 20 to thereby control the length of the vibrating wire 54 into the slurry. For example, when the operation device 20 drives the stirring unit to the target position farther from the channel 11, the operation device 20 may calculate the distance between the stirring module 50 and the target according to the three-dimensional coordinates of the stirring module 50 and the target position on the two-dimensional/three-dimensional image, further control the loop bundling assembly 55 to release the vibration wire 54 with the corresponding length, and when the corresponding operation device 20 drives the stirring unit to the target position closer to the channel, the operation device 20 may calculate the distance between the stirring module 50 and the target according to the three-dimensional coordinates of the stirring module 50 and the target position on the two-dimensional/three-dimensional image, further control the loop bundling assembly 55 to shrink the vibration wire 54 with the corresponding length, thereby avoiding the excessive vibration wire 54 from being dragged by the stirring module 50 to be knotted or affecting the stirring effect.

According to a preferred embodiment, the simulation module 31 can be divided into a first virtual module and a second virtual module based on different time dimensions of the flowing of the slurry for describing the grouting removal process of the sewage pipeline, and the first virtual module and the second virtual module are used for respectively processing the real database and the past database, and the simulation module 31 judges the flowing condition of the slurry in the grouting removal process of the sewage pipeline by transferring the flowing condition of the slurry in the real database and the past database. For example, the method determines whether the slurry in the actual sewage pipeline grouting removal process is not timely grouted or is gathered due to insufficient slurry flow according to physical parameters (such as slurry flow speed, slurry surface flatness and the like) of the previous database in a fully-grouted slurry state.

According to a preferred real-time mode, the grouting time is preset in the operating device, the simulation module 31 can calculate the actual grouting time required for the grouting removal of the sewage line based on the two-dimensional and/or three-dimensional image based on the slurry flow speed in the grouting removal process of the sewage line monitored by the first monitoring unit 30, compare the preset grouting time, and if the time grouting time is greater than the preset grouting time, the operating device 20 accelerates the grout discharging rate of the grouting truck based on the maximum flow rate not exceeding the maximum flow rate measured in advance by the second monitoring unit 40, and the actual grouting time is made as short as possible by accelerating the vibration frequency of the vibration assembly and accelerating the moving rate of the propulsion unit to achieve the effect of improving the efficiency of the stirring module 50.

According to a preferred embodiment, the operating device 20 is capable of two-dimensionally simulating the real-time operation state of the grout removal process of the sewer line through the two-dimensional simulation server based on the real-time monitoring and data acquisition of the grout removal process of the sewer line by each monitoring unit. For example, based on the result of the positioning mark of the stirring module 50 by the positioning component 51, the real-time movement position of the stirring module 50 in the two-dimensional plane map created based on the detection result of the first detection unit 102 on the surrounding environment. Preferably, the mud flow and agitation module 50 can be shown in a perspective view inside when the grout removal process image of the sewage line is clicked and further viewed in an enlarged scale. Further, the operating device 20 drives the three-dimensional simulation server to perform a synchronized three-dimensional simulation of the real-time operation state of the grout removal process of the sewage line in a manner correlated with the two-dimensional image output by the two-dimensional simulation server. Preferably, the two-dimensional simulation server and the three-dimensional simulation server may be mounted in an application. Further, the simulation images respectively output by the two-dimensional simulation server and the three-dimensional simulation server can be output through the operation device 20, so that the user can know the current slurry flow state of the grouting removal process of the sewage pipeline in time.

According to a preferred embodiment, the components of the grout removal process of the sewer line, including the stirring module and other structural components, are given a uniform code set according to preset definition rules. Preferably, each code corresponds to a unique component, and the uniform code of the moving component may correspond to the device number provided on the corresponding moving component. When the grouting removal process of the sewage pipeline is dynamically simulated in real time through the two-dimensional simulation server and the three-dimensional simulation server, the codes corresponding to the parts can be called to at least obtain the two-dimensional/three-dimensional graphic assembly of the corresponding moving part for further simulation imaging. On the other hand, the device number corresponding to the moving component can also be called through a lookup table to acquire the graphic component of the corresponding moving component for further analog imaging in the grouting removal process of the sewer pipeline. Preferably, the codes invoked by the two-dimensional simulation server and the three-dimensional simulation server are unique and identical.

Preferably, when the two-dimensional simulation server and the three-dimensional simulation server are used for performing real-time dynamic simulation on the grouting removal process of the sewage pipeline, the coding related to the component of the grouting removal process of the sewage pipeline and/or the equipment number corresponding to the internal moving component of the sewage pipeline are/is called, and data searching, analysis screening and matching are not needed, so that a large amount of operation time is saved. Secondly, if the real-time running state information of the device is acquired by checking the real-time dynamic images simulated by the two-dimensional simulation server and the three-dimensional simulation server, besides directly clicking the grouting removal process of the sewage pipeline displayed in the two-dimensional image and/or the three-dimensional image, the code of the component or the equipment number corresponding to the moving component can be called in the form of a lookup table to be positioned to the related component, so as to further check the real-time running state of the slurry flow in the sewage pipeline 10.

According to a preferred embodiment, the two-dimensional simulation server is capable of performing real-time state simulation on the grouting removal process of the sewage pipeline in a two-dimensional simulation manner, i.e., capable of displaying the graphic assembly and the attribute data corresponding to the device in a combined manner. For example, the operating device 20 can, based on the positioning mark data of the grouting removal process of the sewer line by the first monitoring unit 30, actuate the two-dimensional simulation server to display the real-time operation state of the grouting removal process of the sewer line in the space of the sewer pipe 10, such as in a plan top view, and simultaneously output the device-related property data, such as in a list, the simulation results can be shown by the operating device 20. When the grouting removal process image of the sewage pipeline in the two-dimensional image is clicked, various operating parameters of the sewage pipeline in the current state of the grouting removal process are displayed, including but not limited to the current mud flow speed, the mud flow gathering condition, the distance between the mud and the inner wall of the sewage pipeline, the distance between the mud and the channel opening and the like. Further, the two-dimensional simulation server is pre-stored with graphic or digital information related to the structural composition, component number, design parameters, functions and the like of the grouting removal process of the sewage pipeline. Preferably, the two-dimensional simulation server is capable of outputting parameters of all variables related to the operation state of the grout removal process of the sewage line and attribute information thereof through the operating device 20, and informing the user of an unexpected risk situation that may exist in the current state in an acoustic/optical manner when the operating device 20 detects that the device-related parameters are higher or lower than a standard threshold.

According to a preferred embodiment, the operating device 20 is able to actuate the three-dimensional simulation server to display a simulation and to synchronously update the real-time movement state change of the slurry flow inside the grout removal process of the sewer line, based on the data detected and collected by the sensors corresponding to the respective moving parts provided inside the grout removal process of the sewer line. Preferably, the change in the mud flow conditions may include an accumulation condition and a flow rate condition of the mud flow. And the gathering condition and the flow speed condition of the mud flow can be at least shown through a three-dimensional image about the mud flow state output by the three-dimensional simulation server. Preferably, the three-dimensional image may be displayed by means such as picture streaming. For example, when the output power of the motor of the agitation module 50 is adjusted by the manipulation device 20, the manipulation device 20 can synchronously drive the three-dimensional simulation server to be adapted to the output power variation of the motor of the agitation module 50.

According to a preferred embodiment, the stirring module 50 and the first monitoring unit 30 are pulled out from the protective sleeve 112 by the vibration wire 54 connected to the stirring module 50 and the monitoring wire 301 connected to the first monitoring unit 30 after the grout removal process of the sewage line is completed.

According to a preferred embodiment, a watering facility (not shown) for performing a watering maintenance of the sewage pipe 10 is arranged in the channel 11, the watering facility consisting of a spray terminal, a valve and a water supply pipe. The spraying terminal is composed of a rotating shaft and a spray head which can control the spraying direction. Wherein, operating means 20 is based on the real-time mud solidification state and past database of first monitoring unit 30 transmission after, judges whether the mud solidification process breaks, and the pivot is further controlled to the mud department that just breaks apart sprays maintenance water, prevents that mud from taking place more serious fracture. For example, when the mud solidification in-process breaks open, the real-time status of fracture department can be monitored and transmitted to analog module 31 by first monitoring unit 30, analog module 31 exports the fracture result to operating means 20 with visual mode after to data analysis, operating means judges the severity of fracture and then assesses whether need the maintenance of watering through comparing past database, to the serious condition of fracture, operating means 20 control valve opens immediately, the rotation of adjustment pivot, make the shower nozzle aim at the fracture department, carry out the water spray maintenance to the position that takes place the fracture in order to prevent that the fracture from further expanding.

According to a preferred embodiment, the first monitoring unit 30 can transmit temperature data of the slurry at different positions in the slurry grouting removal process to the simulation module 31, and the simulation module 31 establishes an isothermal diagram based on the temperature data transmitted by the first monitoring unit 30 and outputs the isothermal diagram to the operating device 20, so that the operating device 20 can judge the solidification condition of the slurry in the real process based on the isothermal diagram compared with a past database. Specifically, the method comprises the following steps: the simulation module 31 transmits the temperature variation of the slurry at the same position to the operation device 20 based on the temperature data periodically transmitted by the first monitoring unit 30, and further, the operation device 20 can judge the solidification condition of the slurry according to the temperature variation. For example, the mud at different positions is often solidified differently due to the different positions and the different time of entering the sewer pipe 10, the heat generated by the mud during the solidification process is different, the mud at the part with the temperature being increased represents that the mud is being solidified, the mud at the part with the temperature being decreased represents that the mud is being solidified and cooled, and the mud at the part with the constant temperature represents that the mud is solidified and cooled completely.

According to a preferred embodiment, after the grouting removal operation of the sewage pipeline is completed, the stirring module 50 in the sewage pipeline can be pulled out of the channel 11 by the mode that the coil restraining assembly 55 restrains the vibration wire 54, the first monitoring unit 30 is pulled out of the joint of the sewage pipeline 10 and the channel 11 by the monitoring wire 301 after monitoring the temperature change of the slurry in the sewage pipeline 10, the full flowing treatment and the monitoring of the solidification degree of the slurry are completed, the sewage pipeline is supported by the solidified slurry filled in the sewage pipeline, no cavity or collapse occurs, the grouting process of the sewage pipeline is completed, and the steel plates for plugging at two sides are detached and the channel is sealed, so that the influence of the sewage pipeline on the construction process can be eliminated.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for removing grouting of a sewage pipeline is characterized by comprising the following two steps of (A) making a dynamic simulation image of slurry in the sewage pipeline (10) in the grouting removal process of the sewage pipeline, wherein the dynamic simulation image is made by a simulation module (31) based on data transmitted by a first monitoring unit (30), (B) arranging a stirring module (50) capable of moving under the control of an operating device (20) based on the slurry flow condition in the dynamic simulation image in the sewage pipeline (10), wherein the operating device (20) can judge the slurry flow condition based on the dynamic simulation image of the slurry in the sewage pipeline (10), and further controlling the stirring module (50) to stir the position with insufficient flow or slurry accumulation;

the simulation module (31) can be divided into a first virtual module and a second virtual module based on different time dimensions for describing the flow of the slurry in the grouting removal process of the sewage pipeline, the first virtual module and the second virtual module are used for respectively processing a real database and a past database, and the operating device (20) judges the corresponding flow state of the slurry in the real database by comparing the past database;

the stirring module (50) further comprises a vibration component (52) and a moving component (53), the operating device (20) can judge the flow condition of the mud at the position of the stirring module (50) on the two-dimensional and/or three-dimensional image displayed on the operating device (20) by the simulation module (31) to adjust the vibration frequency of the vibration component (52);

the vibration component (52) can transmit centrifugal force generated by high-speed rotation of the eccentric mass rotating shaft arranged inside to the stirring module shell through the bearing when the sewage pipeline is grouted, so that the stirring module can fully stir the slurry poured in the sewage pipeline and uniformly lay the slurry, and the vibration component can adjust the vibration frequency of the vibration component by changing the rotation speed of the eccentric mass rotating shaft based on the flowing condition of the slurry at the position on a two-dimensional and/or three-dimensional image displayed on the operating device by the simulation module.

2. Method for grout removal of sewer lines according to claim 1, characterized in that said moving assembly (53) comprises a propulsion unit and a steering unit, said moving assembly (53) being able to drive said stirring module (50) to move to places where the mud flow is not uniform by varying the motor output rate of said propulsion unit and adjusting the steering unit based on the mud flow situation displayed by said simulation module (31) on the two-dimensional and/or three-dimensional image on the operating device (20).

3. The grout removal method of sewage line according to claim 2, wherein the vibration wire (54) is wound with an excess portion of ground coil on a coil retracting assembly (55), the coil retracting assembly (55) can calculate a distance that the stirring module (50) needs to move based on the two-dimensional/three-dimensional image, and the vibration wire (54) is retracted and paid out so that the stirring module (50) does not get knotted due to taking in a large amount of the vibration wire (54) in the displacement or affect the stirring effect due to the stirring module (50) dragging a large amount of the vibration wire (54).

4. Method for grout removal of sewer lines according to claim 3, characterized in that the stirring module (50) and the first monitoring unit (30) can be pulled out of the pre-excavated channel (11) of the rotary drilling rig after completion of the grout removal grouting of sewer lines on the basis of a vibration wire (54) and a monitoring wire (301), respectively, the vibration wire (54) and the monitoring wire (301) being partly sheathed in the channel (11) with a protective sleeve (112) for protecting the vibration wire (54) and the monitoring wire (301) from the grouting.

5. Method for grout removal of the sewer line according to claim 4, characterised in that the two-dimensional image and the three-dimensional image are associated with each other such that when the stirring module (50) inside the sewer pipe (10) or the section of the sewer pipe (10) comprised by one of the two-dimensional and/or three-dimensional images is selected, the stirring module (50) inside the sewer pipe (10) or the section of the sewer pipe (10) corresponding thereto in the other one will be positioned and/or marked synchronously.

6. Method for grout removal of sewer lines according to claim 1, characterized in that the sections of sewer piping (10) are given a uniform code set according to preset definition rules and that said uniform code corresponds to the equipment number of the first monitoring unit provided on the respective section,

when the simulation module (31) is used for performing real-time dynamic simulation on the grouting removal process of the sewage pipeline, codes corresponding to the sections of the sewage pipeline and/or equipment numbers of the first monitoring units (30) corresponding to the sections of the sewage pipeline can be called to obtain a two-dimensional/three-dimensional image at least containing the flowing condition of the slurry of the sections of the sewage pipeline (10), so that the simulation imaging of the sections of the sewage pipeline in the grouting removal process can be completed.

7. The method of claim 1, wherein the two-dimensional simulation server and/or the three-dimensional simulation server is capable of updating an image thereof and attribute information corresponding to the image in synchronization in response to a change in the attribute information of the sludge removal process of the sewage line, so that the two-dimensional simulation server and/or the three-dimensional simulation server is capable of displaying a dynamic simulation image of the sludge removal process of the sewage line in a manner of maintaining consistency of the image and the attribute information.

8. Method for grout removal from sewer lines according to claim 4, characterized in that a second monitoring unit (40) for monitoring the flow rate of grout when grouting is performed is arranged at the ground end of the channel (11), said second monitoring unit (40) being connected to the operating device (20), said operating device (20) being able to control the grout car grout out rate based on the flow rate data transmitted by the second monitoring unit (40).