CN113898815B - Non-excavation device for repairing deformation collapse of drainage pipeline and repairing method thereof - Google Patents

Non-excavation device for repairing deformation collapse of drainage pipeline and repairing method thereof Download PDF

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Publication number
CN113898815B
CN113898815B CN202111183756.0A CN202111183756A CN113898815B CN 113898815 B CN113898815 B CN 113898815B CN 202111183756 A CN202111183756 A CN 202111183756A CN 113898815 B CN113898815 B CN 113898815B
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repairing
pipeline
repaired
pipe wall
resin plate
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CN113898815A (en
Inventor
董宇
邓云蛟
潘潮峰
潘国乔
高志强
鄯毅
侯雨雷
曾达幸
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Huicheng Automation Technology Ningbo Co ltd
Shanghai Qiaozhi Technology Co ltd
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Huicheng Automation Technology Ningbo Co ltd
Shanghai Qiaozhi Technology Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
    • F16L55/163—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a ring, a band or a sleeve being pressed against the inner surface of the pipe
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/60—Planning or developing urban green infrastructure

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pipe Accessories (AREA)

Abstract

The invention provides a non-excavation device for repairing deformation collapse of a drainage pipeline and a repairing method thereof. The repairing method comprises the following specific steps: performing non-excavation deformation restoration preparation work, adjusting the visual field range of the two-degree-of-freedom camera, and starting the multi-section telescopic cylinder to jack the resin plate above the pipe wall; and acquiring a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, and braking the multi-section telescopic cylinder and heating and curing the resin plate if the ejection difference value is smaller than a certain value or the pressure exceeds a certain value, and supporting the deformation collapse position of the pipe to be repaired in a segmented manner, so that the whole circle of repair is achieved. The invention has the advantages of high safety, short construction period, convenient operation, no need of excavation, strong universality and good repairing effect.

Description

Non-excavation device for repairing deformation collapse of drainage pipeline and repairing method thereof
Technical Field
The invention relates to the field of pipeline restoration and dredging, in particular to a non-excavation device for restoring deformation collapse of a drainage pipeline and a restoration method thereof.
Background
Municipal pipelines are an important component of the urban infrastructure, which is the material basis upon which cities depend to survive and develop, known as the blood vessels of the cities. After the drainage pipeline is put into use for several years, structural defects such as deformation, cracking, collapse and the like of different degrees occur to the pipeline due to external load change, corrosion in the pipeline, insufficient daily maintenance and the like, and the water passing capability of the pipeline is greatly weakened. If the repair is not timely carried out, the deformation collapse degree of the pipeline is larger and larger, finally the pipeline is blocked, sewage cannot be smoothly discharged, and then the sewage overflows the ground, so that the daily life of residents is influenced, and even the surface water body overflows and pollutes.
For repairing deformation and collapse of a drainage pipeline, two types of local repair and overall repair are mainly used in the market; the local repair method and the local lining method mainly comprise an embedding method and a local lining method, but the two methods can only aim at the deformed and collapsed pipeline, otherwise, equipment cannot enter the deformed and collapsed pipeline; the whole repair mainly comprises an interpenetration method, an in-situ curing method (CIPP), a hose lining method and a pipe expanding method, but the methods have the advantages of long construction period, high cost, partial excavation construction pit cooperation work, and uneconomical and practical use for pipelines with most of intact and only partial pipe sections having problems. Therefore, the repairing device which is free of excavation, short in construction period, low in cost, simple and convenient to operate and suitable for the drainage pipelines with different pipe diameters is designed, and is very necessary for repairing and dredging the drainage pipelines.
Disclosure of Invention
The invention provides an excavation-free device for repairing deformation collapse of a drainage pipeline, which comprises a resin plate, a top plate, a plurality of telescopic cylinders and a posture-adjusting base assembly, wherein a first end of the top plate is connected with the resin plate, a second end of the top plate is connected with a first end of a force sensor, a second end of the force sensor is connected with the plurality of telescopic cylinders, the posture-adjusting base assembly is symmetrically distributed on two sides of the lower part of a main mounting plate, the excavation-free deformation repair preparation work is carried out, the visual field range of a camera with two degrees of freedom is regulated, the plurality of telescopic cylinders are started to push the resin plate to the upper part of the pipeline wall, a difference value to be pushed out above the pipeline wall is obtained by adopting a monocular visual positioning algorithm and a circular fitting algorithm, if the difference value to be pushed out is smaller than a certain value or the pressure exceeds a certain value, the multisection telescopic cylinders are braked, the resin plate is heated and cured, the deformation position of the pipeline to be repaired is supported in a subsection mode, and the pipeline is consolidated by whole circle repair. The invention has the advantages of high safety, short construction period, convenient operation, no need of excavation, strong universality, low cost and good repairing effect.
The invention provides a non-excavation device for repairing deformation collapse of a drainage pipeline, which comprises a resin plate, a top plate, a force sensor, a plurality of telescopic cylinders, a motor bracket, an external tooth slewing bearing body, a posture adjusting base assembly, a heating resistance wire, a driving gear shaft, a coupler, a main mounting plate, a two-degree-of-freedom camera and a fastening screw. The resin plate is connected with the first end of the top plate, the second end of the top plate is connected with the first end of the force sensor, the second end of the force sensor is connected with the first end of the multi-section telescopic cylinder, the second end of the multi-section telescopic cylinder is connected with the first end of the outer ring of the external tooth slewing bearing body, and the heating resistance wires are uniformly distributed between the resin plate and the top plate. The motor comprises a motor support, a motor shell, a motor support, a driving gear shaft, a cylindrical gear, an external tooth slewing bearing body, a motor support, a motor, a camera with two degrees of freedom, a main mounting plate, a gesture adjusting base assembly and other components. The gesture adjusting base assembly comprises a limiting pin, a clamping plate, a sliding groove, a support and a rubber block, wherein grooves are formed in two sides of the sliding groove and the support respectively, the limiting pin is located in the grooves, one side, with the grooves, of the clamping plate and the support is fixedly connected, the first end of the sliding groove is fixedly connected with the lower portion of the main mounting plate, the first end of the support is fixedly connected with the second end of the sliding groove through the limiting pin, and the second end of the support is fixedly connected with the rubber block.
Preferably, the axes of the top plate, the force sensor, the multi-section telescopic tube and the external tooth slewing bearing are arranged on the same straight line.
Preferably, the axes of the motor, the motor bracket, the driving gear shaft and the coupling are arranged on the same straight line.
Preferably, the number of the gesture adjusting base assemblies is 2, the gesture adjusting base assemblies are symmetrically distributed on the vertical symmetry plane of the main mounting plate, and the axes of the two-degree-of-freedom cameras are located on the vertical symmetry plane of the main mounting plate.
Preferably, in the posture adjustment base assembly, the number of the limiting pins, the clamping plates and the sliding grooves is 2, the number of the supports is 1, and the limiting pins, the clamping plates and the sliding grooves are symmetrically distributed on two sides of the supports respectively with respect to the central plane of the supports.
Preferably, a round table is arranged on one side of the driving gear, threaded holes are symmetrically formed in two sides of the round table, a shaft shoulder is arranged on one side of the driving gear shaft, and the driving gear shaft is fixedly connected with the driving gear through a fastening screw.
Further, the resin plate is a glass fiber resin sheet.
In another aspect of the invention, a repairing method of a non-excavation device for repairing deformation and collapse of a drainage pipeline is provided, and the method comprises the following specific operation steps:
s1, performing non-excavation deformation repair preparation work: according to the diameter of the pipeline to be repaired, adjusting a support in the posture-adjusting base assembly to a position corresponding to the chute, putting the non-excavation device in a contracted state into the pipeline to be repaired, and sending the non-excavation device into a position where the pipeline to be repaired deforms and collapses;
s2, adjusting the view range of the camera with two degrees of freedom: the two-degree-of-freedom cameras are regulated to rotate to the position right above the pipe wall by a control system, and the visual field above the pipe wall to be repaired is monitored;
s3, starting the multi-section telescopic cylinder to jack the resin plate above the pipe wall: the driving gear is driven by the motor, the external tooth slewing bearing body is further driven to start a multi-section telescopic cylinder in the non-excavation device, when the resin plate is propped against the upper part of the pipe wall of the pipe to be repaired, a force sensor positioned at the upper part of the multi-section telescopic cylinder starts to feed back a pressure signal, and the resin plate is continuously upwards ejected;
s4, acquiring a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, wherein the method specifically comprises the following steps of:
s41, shooting an acquired frame flow above the pipe wall through a two-degree-of-freedom camera, acquiring a three-dimensional coordinate above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface in a local range above the pipe wall, wherein the specific expression is as follows:
S up ＝[x,y,z] (1)
wherein S is up A coordinate set representing a three-dimensional curved surface; the x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by a monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upwards, and the y direction meets the right-hand rule;
s42, fitting to obtain a due three-dimensional curved surface coordinate set after pipe wall repair based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of a local range above the pipe wall, wherein the specific expression is as follows:
S n ＝[x n ,y n ,z n ] (2)
wherein S is n Representing a coordinate set of the three-dimensional curved surface obtained by fitting; x is x n 、y n 、z n Representing coordinate value matrixes of points on the three-dimensional curved surface obtained by fitting in the x, y and z directions;
s43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in a local area above the pipe wall, and taking the maximum height difference as a difference value Λh to be ejected, wherein the specific expression is as follows:
Λh＝max(z n -z) (3)
wherein z is n Representing coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction, wherein z represents coordinate value matrix of each point obtained by a monocular vision positioning algorithm in the z direction;
s5, if the difference value to be ejected is smaller than a certain value h 0 Or the pressure exceeds a certain value F 0 Braking the multi-section telescopic cylinder and executing the step S6, otherwise repeating the step S4;
s6, heating and curing the resin plate: starting heating resistance wires positioned on the top plate and the resin plate, heating the resin plate for ten minutes until the resin plate is solidified, and stopping heating;
s7, supporting deformation collapse positions of the pipeline to be repaired in a segmented mode: recovering the multi-section telescopic tube from the working state to the initial state, withdrawing the non-excavation device from the pipeline to be repaired, installing a resin plate on the upper part of the top plate again, conveying the non-excavation device to the position to be repaired at the back of the pipeline repaired in the step S6, repeating the steps S2-S6, and supporting the deformation collapse position of the pipeline to be repaired in a segmented manner until the whole pipeline which is continuously deformed and collapsed is supported;
s8, repairing and consolidating the pipe section in whole circle: and (3) on the basis of the step S7, repairing the pipe section supported in the step S7 in a whole circle by using local ultraviolet curing repairing equipment.
Compared with the prior art, the invention has the following advantages:
1. the invention has high safety, and can finish repairing without the operation of workers going into the well; the construction period is short, and the process is simple and convenient, does not need to excavate the road surface, and has zero influence on ground traffic and residents.
2. The invention has strong universality and is suitable for pipelines with various specifications; the cost is low, only the defective pipe section is repaired, and other intact pipelines are not damaged.
3. The method has the advantages that by adopting a monocular vision positioning algorithm and a circle fitting algorithm, the repair condition of the deformed pipeline can be obtained in real time, and the repair quality and reliability are ensured; the force sensor is used for feeding back ejection pressure in real time, so that safety and reliability of the repairing device are guaranteed, and meanwhile, the recorded result can reversely optimize the device and improve the repairing effect.
Drawings
FIG. 1 is a schematic view of a first perspective overall structure of a trenchless apparatus for repairing a deformation collapse of a drain pipeline in accordance with the present invention;
FIG. 2 is a schematic view of the overall structure of the trenchless apparatus for repairing a deformation collapse of a drain pipeline according to the present invention;
FIG. 3 is a schematic view of the posture-adjusting base assembly of the trenchless apparatus for repairing a deformation collapse of a drain pipeline of the present invention;
FIG. 4 is a schematic view of the driving gear structure of the trenchless apparatus for repairing a deformation collapse of a drain pipeline according to the present invention;
FIG. 5 is a flow chart of a trenchless apparatus repairing method for repairing a deformation collapse of a drain pipeline according to the present invention.
The main reference numerals:
the electronic device comprises a resin plate 1, a top plate 2, a force sensor 3, a multi-section telescopic cylinder 4, a motor 5, a motor bracket 6, an external tooth slewing bearing body 7, an attitude adjusting base assembly 8, a limiting pin 81, a clamping plate 82, a sliding chute 83, a support 84, a rubber block 85, a heating resistance wire 9, a driving gear 10, a cylindrical gear 101, a round table 102, a driving gear shaft 11, a coupler 12, a main mounting plate 13, a two-degree-of-freedom camera 14 and a fastening screw 15.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The trenchless apparatus for repairing deformation and collapse of a drainage pipeline, as shown in fig. 1 and 2, comprises a resin plate 1, a top plate 2, a force sensor 3, a multi-section telescopic cylinder 4, a motor 5, a motor bracket 6, an external tooth slewing bearing body 7, a posture adjustment base assembly 8, a heating resistance wire 9, a driving gear 10, a driving gear shaft 11, a coupling 12, a main mounting plate 13, a two-degree-of-freedom camera 14 and a fastening screw 15. The force sensor 3 is used for measuring working positive pressure, when the positive pressure is larger than a set value, the deformed and collapsed pipeline is restored, the feedback signal brakes the multi-section telescopic cylinder 4, and the multi-section telescopic cylinder 4 is prevented from excessively extending out to damage the wall of the drainage pipeline; the multi-section telescopic cylinder 4 is used as a power source for supporting the top plate 2 and can be a multi-stage hydraulic cylinder or a multi-stage screw thread driving cylinder driven by a motor; the resin plate 1 is used as a material for repairing a pipeline, can be adhered to the inner wall of the pipeline after the resin plate 1 is solidified, is separated from the top plate 2 and is left in the pipeline to support the pipeline, and the main mounting plate 13 is a key component of the repairing device and is used for supporting all main components.
As shown in fig. 1, the resin plate 1 is connected to the first end of the top plate 2, the second end of the top plate 2 is connected to the first end of the force sensor 3, the second end of the force sensor 3 is connected to the first end of the multi-section telescopic tube 4, the second end of the multi-section telescopic tube 4 is connected to the first end of the outer ring of the external tooth slewing bearing 7, and the heating resistance wires 9 are uniformly distributed between the resin plate 1 and the top plate 2.
Specifically, as shown in fig. 4, the driving gear 10 includes a cylindrical gear 101 and a circular truncated cone 102, one side of the cylindrical gear 101 is provided with the circular truncated cone 102, two sides of the circular truncated cone 102 are symmetrically provided with the same threaded holes, the driving gear shaft 11 passes through the driving gear 10 and is fixedly matched through the fastening screw 15, and one side of the driving gear shaft 11 is provided with a shaft shoulder to clamp the cylindrical gear 101, thereby limiting the position of the driving gear 10.
As shown in fig. 2, the housing of the motor 5 is fixedly connected with the first end of the motor bracket 6, the output shaft of the motor 5 is connected with the first end of the driving gear shaft 11 through the coupling 12, the second end of the driving gear shaft 11 is fixedly connected with the round table 102 of the driving gear 10 through the fastening screw 15, the cylindrical gear 101 of the driving gear 10 is meshed with the second end of the outer ring of the external tooth slewing bearing body 7, the inner ring of the external tooth slewing bearing body 7 and the motor bracket 6 are respectively fixedly connected with the first end and the second end of the upper part of the main mounting plate 13, the two-degree-of-freedom camera 14 is fixedly connected with the third end of the upper part of the main mounting plate 13, and the gesture adjusting base components 8 are symmetrically distributed on two sides of the lower part of the main mounting plate 13.
The motor 5 drives the driving gear shaft 11 to drive the driving gear 10 to rotate, the driving gear 10 can drive the multi-section telescopic cylinder 4, the top plate 2 and the like above the external tooth slewing bearing body 7 to rotate, so that the top plate 2 can be rotated forward by 90 degrees to avoid interference with a pipe wall when a repairing device enters a pipe, and the top plate 2 can be rotated reversely by 90 degrees to an operating state when the device to be repaired falls into the pipe.
As shown in fig. 3, the posture-adjusting base assembly 8 comprises a limiting pin 81, a clamping plate 82, sliding grooves 83, a support 84 and a rubber block 85, wherein the limiting pin 81 is used for fixing the position of the support 84 in the sliding grooves 83, the clamping plate 82 is used for preventing the limiting pin 81 from sliding out of the grooves, two end parts of the support 84 are respectively arranged in the two sliding grooves 83, so that the support 84 can freely slide in the sliding grooves 83, and the support 84 can also be a walking trolley with autonomous power or the like; the resin plate 1 is used as a material for repairing the pipeline, is solidified by heating or irradiating with ultraviolet light, can be adhered to the inner wall of the pipeline after being solidified, is separated from the top plate 2 and is left in the pipeline, and is used for supporting the pipeline; the rubber block 85 has good elasticity and wear resistance, and positive pressure in the operation process enables the contact between the rubber block 85 and the pipe wall to be changed from line contact to surface contact, so that the contact area is increased, and the lower wall of the original pipeline is prevented from being damaged.
The both sides of spout 83 and support 84 are equipped with the recess respectively, have a plurality of different recesses on the spout 83, and the recess top is marked with the position that different pipe diameters correspond, adjusts support 84 to the recess that corresponds to the pipeline of different pipe diameters, increases the transverse distance of two supports 84, avoids prosthetic devices to take place to turn on one's side, increases the stability of device at the operation process.
The limiting pin 81 is located in the groove, one side, provided with the groove, of the clamping plate 82 and the support 84 is fixedly connected, the first end of the sliding groove 83 is fixedly connected with the lower portion of the main mounting plate 13, the first end of the support 84 is fixedly connected with the second end of the sliding groove 83 through the limiting pin 81, and the second end of the support 84 is fixedly connected with the rubber block 85.
Further, in order to ensure the stress stability of the device in the early use process, the axes of the top plate 2, the force sensor 3, the multi-section telescopic cylinder 4 and the external tooth slewing bearing body 7 are on the same straight line; the axes of the motor 5, the motor bracket 6, the driving gear 10, the driving gear shaft 11 and the coupling 12 are on the same straight line.
In a preferred embodiment of the present invention, as shown in fig. 2, the number of the pose-adjusting base assemblies 8 is two, the pose-adjusting base assemblies 8 are symmetrically distributed about the vertical symmetry plane of the main mounting plate 13, the axes of the two-degree-of-freedom cameras 14 are located on the vertical symmetry plane of the main mounting plate 13, the two degrees-of-freedom cameras 14 have two degrees of freedom including adjusting the pitch angle of the cameras and their rotation so as to obtain a good viewing angle, and the image data collected by the two-degree-of-freedom cameras 14 can be transmitted to the demonstrator for the operator to observe. Specifically, in the posture adjustment base assembly 8, the number of the limiting pins 81, the clamping plates 82 and the sliding grooves 83 is two, the number of the supports 84 is one, and the limiting pins 81, the clamping plates 82 and the sliding grooves 83 are symmetrically distributed on two sides of the supports 84 respectively with respect to the central plane of the supports 84.
On the other hand, the repairing method of the trenchless apparatus for repairing a deformation collapse of a drainage pipe includes, as shown in fig. 5:
s1, performing non-excavation deformation repair preparation work: according to the diameter of the pipeline to be repaired, the support 84 in the posture adjustment base assembly 8 is adjusted to the position corresponding to the sliding groove 83, and the non-excavation device in the contracted state is placed in the pipeline to be repaired and is sent to the position where the pipeline to be repaired is deformed and collapsed.
S2, adjusting the visual field range of the two-degree-of-freedom camera 14: the two degrees of freedom cameras 14 are adjusted by the control system to rotate to the position right above the pipe wall, and the view above the pipe wall to be repaired is monitored.
S3, starting the multi-section telescopic cylinder to jack the resin plate above the pipe wall: the driving gear 10 is driven by the motor, the external tooth slewing bearing body 7 is further driven to start the multi-section telescopic cylinder 4 in the non-excavation device, when the resin plate 1 is propped against the upper part of the pipe wall of the pipe to be repaired, the force sensor 3 positioned at the upper part of the multi-section telescopic cylinder 4 starts to feed back a pressure signal, and the resin plate 1 is continuously upwards ejected.
S4, acquiring a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, wherein the method specifically comprises the following steps of:
s41, shooting the acquired frame flow above the pipe wall through the two-degree-of-freedom camera 14, acquiring the three-dimensional coordinates above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface in a local range above the pipe wall, wherein the specific expression is as follows:
S up ＝[x,y,z] (1)
wherein S is up A coordinate set representing a three-dimensional curved surface; the x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by a monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upwards, and the y direction meets the right-hand rule.
S42, fitting to obtain a due three-dimensional curved surface coordinate set after pipe wall repair based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of a local range above the pipe wall, wherein the specific expression is as follows:
S n ＝[x n ,y n ,z n ] (2)
wherein S is n Representing a coordinate set of the three-dimensional curved surface obtained by fitting; x is x n 、y n 、z n And the coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the x, y and z directions is represented.
S43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in a local area above the pipe wall, and taking the maximum height difference as a difference value Λh to be ejected, wherein the specific expression is as follows:
Λh＝max(z n -z) (3)
wherein z is n And the coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction is represented, and z represents the coordinate value matrix of each point obtained by the monocular vision positioning algorithm in the z direction.
S5, if the difference value to be ejected is smaller than a certain value h 0 Or the pressure exceeds a certain value F 0 The multisection telescopic cylinder 4 is braked and the step S6 is executed, otherwise the step S4 is repeated.
S6, heating and curing the resin plate 1: the heating resistance wires 9 positioned on the top plate 2 and the resin plate 1 are started to heat the resin plate 1, and after ten minutes of heating, the heating is stopped until the resin plate 1 is solidified, so that a temporary supporting effect is brought to the pipeline.
S7, supporting deformation collapse positions of the pipeline to be repaired in a segmented mode: and (3) recovering the multi-section telescopic cylinder 4 from the working state to the initial state, withdrawing the trenchless device from the pipeline to be repaired, installing the resin plate 1 on the upper part of the top plate 2 again, conveying the trenchless device into the position to be repaired behind the pipeline repaired in the step (S6), repeating the steps (S2-S6), and supporting the deformation collapse position of the pipeline to be repaired in a segmented manner until the whole pipeline continuously deformed and collapsed is supported.
S8, repairing and consolidating the pipe section in whole circle: because the resin plate 1 of the trenchless device is not a complete circle but can only be temporarily supported, on the basis of the step S7, the pipe section supported in the step S7 is repaired in a whole circle by utilizing local ultraviolet curing repair equipment, the repair reliability is enhanced, and the trenchless repair is completed.
The invention relates to a non-excavation device for repairing deformation collapse of a drainage pipeline and a repairing method thereof, which are further described by combining the following embodiments:
in the repairing process, operators can smoothly observe the real-time condition in the pipeline, and the drainage pipeline cannot be directly observed due to the narrow space and weak light. The two-degree-of-freedom camera 14 is required to obtain a good visual angle, and image data acquired by the two-degree-of-freedom camera 14 is transmitted to the demonstrator for observation by an operator, so that the operator can adjust in real time when repairing the device by using the device, and the device comprises the following specific implementation steps of:
s1, replacing a corresponding top plate 2 on a repairing device according to the diameter of a pipeline to be repaired, adhering a corresponding resin plate 1 above the top plate 2, and simultaneously adjusting a support 84 in the posture adjustment base assembly 8 to a position corresponding to a sliding groove 83 and locking by using a limiting pin 81 and a clamping plate 82.
The non-excavation device and the AGV trolley are placed into the pipeline to be repaired from the inspection well mouth, and the non-excavation device is conveyed to the position where the pipeline to be repaired deforms and collapses by the AGV trolley according to the real-time pictures of the pipeline transmitted by the two-degree-of-freedom cameras 14.
S2, adjusting the two-degree-of-freedom cameras 14 to rotate to the position right above the pipe wall through the control system, and monitoring the visual field above the pipe wall to be repaired.
S3, finely adjusting the pose of the non-excavation device according to the deformation collapse condition to enable the pose of the non-excavation device to be positioned in the optimal stress pose, then putting down the non-excavation device, enabling the starting motor 5 to drive the external tooth slewing bearing body 7 to rotate 90 degrees to enable the top plate 2 to be in an operation state, starting the multi-section telescopic cylinder 4, enabling the resin plate 1 to support the deformation collapse pipeline to be restored to the original state, and enabling the force sensor 3 positioned at the upper portion of the multi-section telescopic cylinder 4 to feed back signals to brake the multi-section telescopic cylinder 4 and keep the supporting pose.
S4, according to the two-degree-of-freedom camera 14, a monocular vision positioning algorithm and a circle fitting algorithm are utilized to obtain a difference value to be ejected above the pipe wall.
S5, repeating the stepsS4, until the ejection difference value is smaller than a certain value h 0 Or the pressure exceeds a certain value F 0 The multisection telescopic cylinder 4 is braked and step S6 is performed.
S6, starting the heating resistance wires 9 positioned on the top plate 2 and the resin plate 1, heating the resin plate 1 for ten minutes until the resin plate 1 is solidified, stopping heating, and temporarily supporting the pipeline.
S7, the multi-section telescopic cylinder 4 is retracted to an initial state, and the motor 5 is started to drive the external tooth slewing bearing body 7 to reversely rotate by 90 degrees, so that the top plate 2 is prevented from colliding with the inner wall of the pipeline along the axial direction of the pipeline; controlling the AGV trolley to support the trenchless device out of the pipeline, pasting a resin plate 1 with the same specification on the top plate 2, controlling the AGV trolley to send the trenchless device to the position of 150mm deformation collapse behind the pipe section supported in the step, and repeating the operation steps to repair the pipe section; and after the repair is finished, controlling the AGV trolley to support the trenchless device out of the pipeline, adhering a resin plate 1 on the top plate 2, repeating the operation steps again for sectionally and intermittently repairing until the whole continuously deformed and collapsed pipe section is supported, and separating the trenchless device from the AGV trolley.
S8, in order to enhance the repair reliability, a whole circle of repair is required, a local ultraviolet curing repair device with a corresponding pipe diameter is installed in front of the AGV trolley, a glass fiber resin section is adhered to the outer ring of the ultraviolet curing repair device, the device and the trolley are placed into a pipeline to be repaired together from an inspection wellhead, and the AGV trolley conveys the local ultraviolet curing repair device to the deformation collapse position repaired in the steps according to the real-time picture of the pipeline transmitted by the two-degree-of-freedom cameras 14.
Opening an air valve of the ultraviolet curing repair equipment to inflate, starting an ultraviolet lamp to irradiate after one minute, and closing the ultraviolet lamp and the air valve after seven minutes; and controlling the AGV trolley to carry the ultraviolet curing repair equipment out of the pipeline, and completing all repair work.
In conclusion, the device has high safety, and can finish repairing without the operation of workers going into the well; the construction period is short, the process is simple and convenient, the road surface is not required to be excavated, and the influence on ground traffic and resident zero is avoided; the universality is strong, and the pipeline is suitable for pipelines with various specifications; the cost is low, only the defective pipe section is repaired, and other intact pipelines are not damaged; the method has the advantages that by adopting a monocular vision positioning algorithm and a circle fitting algorithm, the repair condition of the deformed pipeline can be obtained in real time, and the repair quality and reliability are ensured; the force sensor is used for feeding back ejection pressure in real time, so that safety and reliability of the repairing device are guaranteed, and meanwhile, the recorded result can reversely optimize the device and improve the repairing effect.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (8)

1. A non-excavation device for repairing deformation collapse of a drainage pipeline comprises a resin plate, a top plate, a plurality of sections of telescopic cylinders, a motor and a posture-adjusting base assembly, and is characterized in that,
the resin plate is connected with the first end of the top plate, the second end of the top plate is connected with the first end of the force sensor, the second end of the force sensor is connected with the first end of the multi-section telescopic cylinder, the second end of the multi-section telescopic cylinder is connected with the first end of the outer ring of the external tooth slewing bearing body, and the heating resistance wires are uniformly distributed between the resin plate and the top plate;
the motor comprises a motor shell, a motor support, a motor output shaft, a driving gear shaft, a rotary table, a cylindrical gear, an external tooth slewing bearing body, a motor support, a two-degree-of-freedom camera and a third end, wherein the motor shell is fixedly connected with the first end of the motor support;
the utility model discloses a novel gesture adjusting device, including main mounting panel, gesture adjusting base subassembly symmetry distributes in the both sides of main mounting panel lower part, gesture adjusting base subassembly includes spacer pin, cardboard, spout, support and rubber piece, the spout with the both sides of support are equipped with the recess respectively, the spacer pin is located in the recess, the cardboard with one side fixed connection who has the recess in the support, the first end of spout with the lower part fixed connection of main mounting panel, the first end of support pass through the spacer pin with the second end fixed connection of spout, the second end of support with rubber piece fixed connection.
2. The trenchless apparatus for repairing a deformation collapse of a drain pipe of claim 1 wherein the axes of the top plate, the force sensor, the multi-section telescopic cylinder and the external tooth slewing bearing are disposed on a same straight line.
3. The trenchless assembly for repairing a drainpipe deformation and collapse of a structure according to claim 1, wherein the axes of said motor, said motor bracket, said driving gear shaft, and said coupling are disposed on a same straight line.
4. The trenchless assembly of claim 1 wherein the number of attitude adjustment base assemblies is 2, the attitude adjustment base assemblies being symmetrically distributed about a vertical plane of symmetry of the main mounting plate, the axes of the two degree of freedom cameras being located on the vertical plane of symmetry of the main mounting plate.
5. The trenchless apparatus for repairing a deformation collapse of a drain pipe of claim 1 or 4, wherein in the posture adjusting base assembly, the number of the stopper pins, the clamping plates and the sliding grooves is 2, the number of the holders is 1, and the stopper pins, the clamping plates and the sliding grooves are symmetrically distributed on both sides of the holders with respect to a center plane of the holders, respectively.
6. The trenchless apparatus for repairing a deformation collapse of a drain pipeline of claim 1, wherein one side of the driving gear is provided with a circular table, two sides of the circular table are symmetrically provided with threaded holes, one side of the driving gear shaft is provided with a shaft shoulder, and the driving gear shaft is fixedly connected with the driving gear through a fastening screw.
7. The trenchless apparatus for repairing a deformation collapse of a drain pipeline of claim 1 wherein the resin panel is a fiberglass resin sheet.
8. A repair method for a trenchless apparatus for repairing a deformation collapse of a drain pipe according to one of claims 1 to 7, comprising the steps of:
s1, performing non-excavation deformation repair preparation work: according to the diameter of the pipeline to be repaired, adjusting a support in the posture-adjusting base assembly to a position corresponding to the chute, putting the non-excavation device in a contracted state into the pipeline to be repaired, and sending the non-excavation device into a position where the pipeline to be repaired deforms and collapses;
s2, adjusting the view range of the camera with two degrees of freedom: the two-degree-of-freedom cameras are regulated to rotate to the position right above the pipe wall by a control system, and the visual field above the pipe wall to be repaired is monitored;
s3, starting the multi-section telescopic cylinder to jack the resin plate above the pipe wall: the driving gear is driven by the motor, the external tooth slewing bearing body is further driven to start a multi-section telescopic cylinder in the non-excavation device, when the resin plate is propped against the upper part of the pipe wall of the pipe to be repaired, a force sensor positioned at the upper part of the multi-section telescopic cylinder starts to feed back a pressure signal, and the resin plate is continuously upwards ejected;
s4, acquiring a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, wherein the method specifically comprises the following steps of:
s41, shooting an acquired frame flow above the pipe wall through a two-degree-of-freedom camera, acquiring a three-dimensional coordinate above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface in a local range above the pipe wall, wherein the specific expression is as follows:
S up ＝[x,y,z](1)
wherein S is up A coordinate set representing a three-dimensional curved surface; the x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by a monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upwards, and the y direction meets the right-hand rule;
s42, fitting to obtain a due three-dimensional curved surface coordinate set after pipe wall repair based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of a local range above the pipe wall, wherein the specific expression is as follows:
S n ＝[x n ,y n ,z n ](2)
wherein S is n Representing a coordinate set of the three-dimensional curved surface obtained by fitting; x is x n 、y n 、z n Representing coordinate value matrixes of points on the three-dimensional curved surface obtained by fitting in the x, y and z directions;
s43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in a local area above the pipe wall, and taking the maximum height difference as a difference value Λh to be ejected, wherein the specific expression is as follows:
Λh＝max(z n -z)(3)
wherein z is n Representing coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction, wherein z represents coordinate value matrix of each point obtained by a monocular vision positioning algorithm in the z direction;
s5, if the difference value to be ejected is smaller than a certain value h 0 Or the pressure exceeds a certain value F 0 Braking the multi-section telescopic cylinder and executing the step S6, otherwise repeating the step S4;
s6, heating and curing the resin plate: starting heating resistance wires positioned on the top plate and the resin plate, heating the resin plate until the resin plate is solidified, and stopping heating;
s7, supporting deformation collapse positions of the pipeline to be repaired in a segmented mode: recovering the multi-section telescopic tube from the working state to the initial state, withdrawing the non-excavation device from the pipeline to be repaired, installing a resin plate on the upper part of the top plate again, conveying the non-excavation device to the position to be repaired at the back of the pipeline repaired in the step S6, repeating the steps S2-S6, and supporting the deformation collapse position of the pipeline to be repaired in a segmented manner until the whole pipeline which is continuously deformed and collapsed is supported;
s8, repairing and consolidating the pipe section in whole circle: and (3) on the basis of the step S7, repairing the pipe section supported in the step S7 in a whole circle by using local ultraviolet curing repairing equipment.
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JPH07116744B2 (en) * 1993-06-15 1995-12-13 管清工業株式会社 Adhesive fitting device for pipe repair
WO2013046343A1 (en) * 2011-09-27 2013-04-04 積水化学工業株式会社 Supply device, and method for supplying band-like member
CN109058646B (en) * 2018-08-15 2020-04-10 江西省水利科学研究院 Non-excavation formula prosthetic devices of drainage pipe
CN110030458B (en) * 2019-04-29 2020-09-01 上海誉帆环境科技有限公司 Local repair device for drainage pipeline
CN212004757U (en) * 2020-03-05 2020-11-24 上海景铭建设发展有限公司 Hydraulic repair mechanism for deformed pipeline
CN111853419A (en) * 2020-06-30 2020-10-30 厦门安越非开挖工程技术股份有限公司 Repairing device and repairing method for deformed or collapsed plastic pipeline
CN112377718B (en) * 2020-09-24 2022-05-20 宁波市鄞州世纪耀达市政建设有限公司 Trenchless pipeline repairing system and method thereof
CN214008485U (en) * 2020-12-10 2021-08-20 广东腾祥智能科技有限公司 Be applied to non-excavation prosthetic devices of 300mm municipal administration pipeline

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