KR20000017917A - Apparatus for repairing waterworks and sewer by Chemical agent Injecting Robot and method thereof - Google Patents

Abstract

PURPOSE: A non-excavating repair device is provided to simply repair by filling a crack, also to form a coating film on the connection connected to a branch pipe in water supply/drain pipes. CONSTITUTION: A non-excavating repair device is composed of: an air compressor(13) for generating compressed air; plural medicine tanks(15,17) where subjects and hardening agents moved by compressed air of the air compressor(13) is stored; a drum pump(73) for flowing the subjects and the hardening agents inside of the medicine tank out, operated by the compressed air, connected to the air compressor(13), established to the medicine tank(15,17); a high pressure fixed quantity pump(19) for controlling the flowing quantity and the pressure of the hardening agents; a heater(21) for each heating the subjects and the hardening agents; a generator(23) for operating the heater(21).

Description

Application for repairing waterworks and sewer by Chemical agent Injecting Robot and method

The present invention relates to a non-excavated water and sewage repair device and a repair method, by injecting a self-propelled vehicle equipped with a spray nozzle into a water supply and sewage which requires repair, and spraying a drug to a defect site while allowing the self-driving car to move within the water supply and sewage system, It relates to a CIR water and sewage non-excavation repair device configured to repair the lining and repairing method using the device.

Here, the CIR is an English initial meaning chemical agent injecting robot, and means that the present invention is made by using a robot for injecting chemical agents.

The various sewage and sewage in the ground are gradually aged over time, and in the case of tap water, corrosion occurs, enormous amount of water leaks, and pollution of drinking water is aggravated by inflow of green water. There is a problem in that the bonding force is weakened, the gap is generated in the joint, or cracks are generated, so that the sewage flowing from the inside flows out of the sewer and contaminates the ground as well as the soil.

As mentioned above, various methods have been proposed to repair corrosion and gaps in water supply and sewage, but most of the necessary equipment is large and the composition of equipment is cumbersome, and the work is cumbersome. do. In addition, the holding-tube insertion method, which is mainly used as a conventional method, has a complicated working process, a long construction period, a high cost, and partial repairs. In particular, it is difficult to distinguish the branch pipe part of the water and sewage after the completion of construction, and when the branch pipe part is drilled, there is a problem that the adhesion of the punched part is lowered and the water tightness is deteriorated.

The present invention has been made to solve the above problems, the self-propelled vehicle with the spray nozzle is located on the defect site of water and sewage, and the main and hardeners are supplied to the spray nozzle from the work vehicle, and the spray nozzles CIR water and sewage can be formed by spraying a curing agent to form a coating film on the inner circumferential surface of the water supply and sewage to fill cracks and other gaps, simplifying repair and partial repair, and forming a coating film on the connection to the branch pipe connected to the water supply and sewage system. An object of the present invention is to provide a non-excavation repair device and a repair method.

1 is a view schematically illustrating a configuration of a CIR water and sewage non-excavation repair apparatus according to an embodiment of the present invention.

Figure 2 is a perspective view showing a blind plate provided between the self-propelled vehicle of the CIR water and sewage non-excavation repair apparatus according to an embodiment of the present invention.

Figure 3 is a view showing for explaining the repair method by the CIR water and sewage non-excavation repair apparatus according to an embodiment of the present invention.

Figure 4 is a view showing a cross-sectional view of the self-propelled vehicle is installed in the sewer of the CIR water and sewage non-excavation repair apparatus according to an embodiment of the present invention.

Figure 5 is a block diagram showing the sequence of the CIR water and sewage non-excavation repair method according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

11: Container 13: Air Compressor

15,17: Chemical tank 19: High pressure metering pump

21: heater 23: generator

25: controller 27: self-parking

29: spray nozzle 31: unmanned camera

33, 35: blind 37: assistant parking

39: universal joint 41: rod

43: air nozzle 45: rod through hole

47: injection nozzle opening 49: support plate

51: rubber plate 53: working vehicle

57: manhole 59: sewer

61: air supply pipe 63: chemical supply pipe

65: wheel 67: space

69: I / O device 73: drum pump

75: power line 77: cable reel unit

79: coupling 81: transmission cable

The present invention to achieve the above object, the air compressor for generating compressed air; A plurality of chemical tanks each storing a main body and a hardener flowing by the compressed air of the air compressor; A drum pump installed in communication with each of the chemical tanks and connected to the air compressor, the drum pump being operated by compressed air and flowing out the main body and the hardener in the chemical tank to the outside; A high-pressure metering pump for controlling the pressure and the flow rate of the main and hardeners supplied from the chemical tank to the use place; A heater for heating the main material and the hardener flowing through the high-pressure metering pump to a destination; A generator for generating electricity and operating the heater; A controller for controlling the air compressor, the high-pressure metering pump, the heater and the generator, and connected to the input / output device; A spray nozzle and an unmanned camera are installed, supplied with heated subject and hardener, power and compressed air, and moved through the water supply and sewage while checking the repair position through an unmanned camera. Characterized in that it comprises a self-driving tea configured to spray the mixed solution.

In addition, the injection nozzle is provided to extend a predetermined length from the main body of the self-propelled vehicle, the screen is installed between the tip of the injection nozzle and the main body is configured so that the mixture of the main body and the hardener sprayed from the injection nozzle is not applied to the main body and the unmanned camera The air nozzle is further installed in the opposite direction of the injection nozzle, so that the compressed air from the air compressor is ejected from the air compressor onto the inner surface of the water and sewage during the movement of the autonomous vehicle, so as to blow out the moisture that is accumulated on the floor or flows in from the crack of the pipe. Characterized in that configured.

In addition, the self-driving vehicle is connected to a state separated by a predetermined distance by a rod provided with a removable universal joint, the driver's parking is installed with an unmanned camera operating by a controller is further provided on the side of the self-driving parking direction It is characterized in that the shielding plate is provided so that the mixed solution ejected from the injection nozzle is not applied to the assistant parking.

In addition, the shielding plate is fixed vertically with respect to the rod, characterized in that it comprises a circular rubber plate having a diameter corresponding to the inner diameter of the water and sewage, and a support plate for providing rigidity to the rubber plate.

In addition, to achieve the above object, the present invention includes a check step of removing the obstacles and foreign matter inside the water and sewage to be repaired and determining the repair range by putting an unmanned camera in the water and sewage; A step of preparing the self-propelled vehicle and the subsidiary parking lot in the water supply and sewage system, and placing the self-propelled vehicle and the subsidiary parking vehicle in a maintenance position through an unmanned camera installed in the autonomous vehicle; The main and hardeners are transported to a self-driving car, and the spray nozzle is mixed with the compressed main and hardeners and applied to the inner and outer circumferential surfaces of the water and sewage. A work start step of spraying; A repairing step of moving the self-driving car in a direction opposite to the spraying direction of the mixed liquid and photographing a state before repairing and simultaneously forming a coating film on the inner circumferential surface of the water and sewage by spraying a mixture of the main agent and the hardener through the spray nozzle of the self-propelled vehicle; A maintenance checking step of taking a repair report to a report output device by photographing the application state of the mixed solution sprayed on the inner surface of the water and sewage by an unmanned camera of an assistant parking lot or a separate independent unmanned camera; Characterized in that it comprises a termination step for removing the repaired self-propelled car and assistant parking lot from the water and sewage.

In addition, the pumping pressure of the main material and the curing agent to be fed to the self-driving car is 1400psi to 1600psi, the waterproofing agent is characterized in that heated to 40 ℃ to 45 ℃, the curing agent 55 ℃ to 60 ℃.

The main subject matter is a super fast curing resin which is cured within a few seconds after application to a coated surface as a liquid medicine. Of course these agents are known substances. Curing agents are also known substances which cure the subject applied to the surface as a liquid medicament mixed with the subject.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

In the following description, the case where the present apparatus is applied to the sewer is described by way of example, but the apparatus can be applied to the water supply as in the sewer system.

1 is a view schematically showing the configuration of the CIR water and sewage non-excavation repair apparatus according to an embodiment of the present invention.

As shown, each component of the CIR water and sewage non-excavation repair apparatus according to the present embodiment is mounted on the work vehicle 53 in a state provided in one container 11 so as to be able to move to a site in need of repair at a time. It is.

In the container 11, a generator 23, an air compressor 13, an input / output device 69, a controller 25, a chemical tank 15, 17, a high-pressure metering pump 19 and a heater Equipment such as 21 is connected to each other.

The generator 23 is a device for generating electricity like a normal generator, and transfers the generated electricity to the heater 21 and the self-propelled vehicle 27 to cause the heater 21 to heat the main body and the curing agent to a constant temperature. And, it operates the unmanned camera 31 and the driving motor (not shown) of the self-propelled vehicle 27. The generator 23 and the self-propelled vehicle 27 are connected by the power line 75. In addition, the input / output device 69 and the controller 25 are connected by a transmission cable 81. The transmission cable 81 is wound on a cable reel device 77 to be described later together with the power line 75. Electricity of the generator 23 is also supplied to the input / output device 69 and the controller 25 as a matter of course.

The air compressor 13 installed on the side of the generator 23 sends compressed air in the direction of arrow a, passes through the drum pumps 73 installed in the chemical tanks 15 and 17, and then continues to the arrow. Flow in the b direction is supplied to the self-propelled vehicle 27 through the air supply pipe (61).

The drum pump 73 is installed on the upper portion of each chemical tank (15, 17), and is connected to the inside of the tank (15, 17). Accordingly, when the compressed air is operated by the pump 73 while passing through the drum pump 73, the main agent and the hardener in the tanks 15 and 17 flow by the pump 73 toward the high-pressure metering pump 19 along the arrow o direction. It is.

In one of the two chemical tanks (15, 17) provided next to the air compressor (13) is stored in the tank of the known super fast curing resin, the other tank is stored a curing agent for curing the subject.

The high-pressure metering pump 19 is a pump for supplying the main body and the hardener flowing out of the chemical tanks 15 and 17 by the compressed air to the heater 21 by a constant pressure and a predetermined flow rate. On the other hand, the main and the curing agent flowing out of the chemical tank (15, 17) is not mixed with each other until reaching the self-driving car 27 flows through a separate chemical supply pipe (63).

The high pressure metering pump 19 is connected to the heater 21. The heater 21 is a device for heating the main and hardener pressurized to a constant pressure while passing through the high-pressure metering pump (19). As is well known, the main body and the hardener are mixed well when heated to a constant temperature, and the coating property on the surface to be applied is improved in the mixed state. Thus, the main body and the hardener are sprayed by using the heater 21 in advance. To the nozzle (29).

Eventually, the main agent and the hardener in the chemical tanks 15 and 17 are moved to the high-pressure metering pump 19 by the medicine moving drum pump 73 driven by the compressed air of the air compressor 13, and again the high-pressure metering pump 19 By a certain amount of the main material and the curing agent is moved to the heater 21 at a constant pressure. In addition, the main body and the curing agent passing through the heater 21 is passed through the heater 21 and heated to a predetermined temperature is supplied to the autonomous vehicle 27 through the chemical supply pipe 63. The compressed air of the air compressor 13 moves in the direction of the arrow b through the air supply pipe 61 while the main body and the hardener move through the path as described above to reach the autonomous vehicle 27.

Meanwhile, the chemical supply pipe 63, the air supply pipe 61, the power line 75, and the transmission cable 81, which are directed to the autonomous vehicle, are wound around the cable reel device 77 device. The cable reel device 77 is operated by a separate drive motor (not shown) and winds the supply pipes 61 and 63, the power line 75, and the transmission cable 81 as the independent vehicles 27 and 37 move. To maintain the proper length. Of course, the drive motor for operating the cable reel device 77 is also operated by the generator (23).

The self-propelled vehicle 27 connected to the air supply pipe 61, the chemical supply pipe 63, the power line 75, and the transmission cable 81 is provided with a plurality of wheels 65 and supplies electricity of a generator therein. And a motor (not shown) for driving the wheel 65 is built in. The wheel 65 is capable of adjusting the distance to the body of the self-propelled vehicle as shown in FIG. 3, so that the self-driving car can smoothly run in response to the diameter of the sewerage to be worked on.

In addition, the self-propelled vehicle 27 is provided with an unmanned camera 31 and the injection nozzle 29 to operate by receiving electricity from the generator 23 to transmit the situation inside the sewerage to the external controller 25. The unmanned camera 31 can be rotated 360 degrees in the direction of the arrow s to shoot all the situation immediately before work in the sewer, and transmits the contents to the external controller 25 through the transmission cable 81 to the operator Observe the condition in the sewerage from the outside to ensure proper work. The power line 75 is a wire for transmitting the power of the generator to the self-propelled vehicles 27 and 37, and the transmission cable 81 is a cable for transmitting the photographing contents of the unmanned camera 31 to an external controller.

The injection nozzle 29 provided in the self-propelled vehicle 27 is connected to the chemical supply pipe 63 in the interior of the self-propelled vehicle 27, and the main agent and the hardener flowing through the chemical supply pipe 63 are injected into the injection nozzle 29. It flows inside and is mixed and sprayed.

The end of the injection nozzle 29 can be freely rotated in the direction of the arrow. Therefore, it is possible to selectively spray only the necessary part in the sewer pipe. Such rotation control of the injection nozzle 29 is of course controlled by an external controller.

In the self-propelled vehicle 27, an air nozzle 43 is provided in the opposite direction in which the injection nozzle 29 is provided. The air nozzle 43 is in communication with the air supply pipe 61 in the self-propelled vehicle 27 and the end is directed to the ground. The air nozzle 43 ejects the compressed air reached through the air supply pipe 61 to the bottom surface of the self-driving car 27 when the injection nozzle 29 injects a mixture of the main agent and the curing agent (hereinafter, mixed liquid). It is a spout prepared to make. Therefore, the compressed air is ejected at a high speed in the direction of the arrow d through the air nozzle 43 to push foreign matter or water accumulated at the bottom of the self-driving car 27 in the moving direction.

On the other hand, the autonomous vehicle 27 is connected to the detachable auxiliary parking 37 by the rod 41. The middle joint of the rod 41 is provided with a universal joint 39, the self-driving car 27 and the subsidiary parking lot 37 can easily move in the sewer while maintaining a gap. In addition, the rod 41 and the self-propelled vehicle 27, the rod 41 and the auxiliary vehicle parking 37 is bound so that the self-propelled vehicle 27 and the auxiliary vehicle parking 37 can be separated if necessary.

When the self-driving car 27 sprays the mixed liquid and moves in the sewer, the auxiliary parking lot 37 follows the self-driving car 27 and inspects the application state of the mixed liquid with the unmanned camera 31, and the result is external. It transmits to the controller 25. The auxiliary parking lot 37 is also provided with a plurality of wheels 65, the top is provided with an unmanned camera 31 that can be rotated 360 degrees in the direction of the arrow s.

The distance between the self-driving car 27 and the subsidiary parking lot 37 is proportional to the diameter of the sewer, but preferably about 500 mm to 1000 mm.

Meanwhile, two blind plates 33 and 35 are provided between the self-propelled vehicle 27 and the auxiliary parking lot 37. The shielding plates 33 and 35 are circular rubber plates 51, and a supporting plate (49 in FIG. 2) is provided at the center thereof so that the rubber plates 51 have rigidity. Of the two shielding plates 33 and 35, the shielding plate 33 on the left side of the drawing is installed vertically on the side of the self-driving car 27 facing the auxiliary parking lot 37, and the tip of the injection nozzle 29 is ) Is positioned to pass through and is fixedly supported on the rod 41. In addition, the other shield plate 35 is installed vertically on the side of the auxiliary parking lot 37 facing the self-propelled vehicle 27, which is also fixedly supported by the rod 41. The shielding plates 33 and 35 are shielding films that prevent the mixed liquid injected from the injection nozzle 29 from being sprayed on both self-driving cars 27 and 37, and in particular, prevent the sprayed mixed liquid from being applied to the unmanned camera 31. . In addition, since the blocking plates 33 and 35 are fixedly installed at a predetermined point of the rod 41, even if the self-propelled vehicle 27 and the assistant parking lot 37 move in the sewer, they always maintain a constant interval.

FIG. 2 is a view illustrating a shield plate according to an embodiment of the present invention, and is a perspective view illustrating a shield plate on the left side of the drawing of FIG. 1.

Referring to the drawings, the shielding plate 33 is provided with a rubber plate 51 having a diameter corresponding to the diameter of the sewer and a support plate 49 installed in the center of the rubber plate 51 to provide rigidity to the rubber plate 51. It is configured by. The screen plate 33 is formed with a rod through-hole 45 through which the rod 41 penetrates and is supported by the rod 41. The shielding plate 35 provided on the side of the auxiliary parking lot 37 also has the same shape. However, the shielding plate 33 is further provided with a spray nozzle through-hole 47. The injection nozzle through-hole 47 is a hole provided so that the end of the injection nozzle 29 can penetrate, and the injection nozzle through-hole is not formed in the shielding plate 35.

3 is a cross-sectional view illustrating a state in which a self-propelled vehicle of a repair apparatus according to an embodiment of the present invention is inserted into a sewerage system.

Referring to the drawings, the wheel 65 provided in the self-propelled vehicle 27 or the subsidiary parking lot 37 can be adjusted in the direction of the arrow with respect to the body portion, so as to properly adjust the position of the wheel 65 according to the diameter of the sewer. Can be. Therefore, even if the diameter of the sewer 59 is different, the self-driving car 27 or the subsidiary parking lot 37 can always drive a good run.

4 is a view illustrating a CIR water and sewage non-excavation repair method according to an embodiment of the present invention.

The same reference numerals as the above reference numerals denote the same members having the same function.

In order to repair the sewer (59) using the sewer repair device of the present invention, the first step to remove the foreign matter and obstacles in the sewer (59) to be repaired, the inspection step to determine the repair range by putting an unmanned camera in the sewer Perform In general, impurities such as rust are uniformly adhered to the water supply pipe, and various sewage is deposited in the sewerage. Therefore, it is necessary to first remove impurities or sediments to determine the extent of repair in the water supply and sewage system.

The checking step is to remove impurities and foreign matter in the sewer (59), and then put the self-driving car (27) first, photographing the situation inside the sewer (59) with an unmanned camera (31) mounted to send to an external worker This is where you decide what to work on and where to go.

After checking the state inside the sewer (59) through the checking step, the self-driving car (27) and the assistant parking lot (37) is put into the sewer (59), and the self-driving car (27) through the unmanned camera (31). And a preparatory step of waiting the assistant parking lot 37 at a position requiring repair. At this time, the autonomous vehicle 27 and the subsidiary parking lot 37 are connected by the rod 41, and the subsidiary parking lot can be attached and detached according to the needs of the process, and two screening plates 33 and 35 are also installed. The space portion 67 is provided between the 33 and 35. At this time, it is a matter of course that only one self-driving car 27 can be applied by separating the assistant parking lot 37.

In addition, the self-propelled vehicle 27 has a supply pipe (61, 63 of FIG. 1) and a power line to receive the compressed air, the main body, the hardener, and the electric power from the above-mentioned various equipment mounted on the ground working vehicle 53. 75 of FIG. 1 is connected, and a transmission cable (81 of FIG. 1) is also connected. The power line 75 of FIG. 1 and the transmission cable 81 of FIG. 1 are also connected to the unmanned camera 31 of the assistant parking lot 37.

In order to perform the repair of the sewerage using the self-propelled vehicle 27 and the auxiliary vehicle 37 that are waiting as described above, the main nozzle and the hardener are injected into the injection nozzle 29 provided in the self-propelled vehicle 27 and the injection nozzle (29) sprays a mixture of a waterproofing agent and a curing agent in the direction of the arrow g on the inner circumferential surface of the sewage system; and sprays compressed air in the direction of the arrow d through the air nozzle 43 to collect water accumulated at the bottom of the sewer (59); This is followed by a start-up phase that begins to blow out the moisture on the sides. The mixture sprayed through the injection nozzle 29 is widely spread in the structure of the nozzle 29 and is evenly applied to the inner circumferential surface of the sewer.

At this time, the main body and the hardener supplied to the self-driving car 27 are controlled by a high-pressure metering pump (19 in FIG. 1) at a pressure of 1400 psi to 1600 psi, and pressurized, and the main body and the hardener are heaters (21 in FIG. 1). Is heated, the main material is supplied at a temperature of 40 ° C to 45 ° C and the curing agent is heated to 55 ° C to 60 ° C.

At the same time as the operation start step, the self-driving car 27 is moved in the direction of the arrow e, and a repair step of performing the application of the main agent and the curing agent in the sewer 59 is performed. As described above, the maintenance step is to move the self-driving car in the opposite direction to the spraying direction of the mixed liquid and to shoot the repaired state while spraying the mixture of the main and hardener through the injection nozzle of the self-driving car to form a coating film on the inner circumferential surface of the water and sewage system. Step. Air nozzles 43 are provided on the side of the self-propelled vehicle 27 in the forward direction, and compressed air continues to be injected through the air nozzles 43, so that the autonomous vehicle 27 passes to apply chemicals. Keep the inner circumference of the house clean.

While the self-propelled vehicle 27 moves in the direction of the arrow e, an assistant parking lot 37 connected with the self-propelled vehicle 27 and moving along the self-propelled vehicle 27 is applied to the unmanned camera 31 to apply the mixed solution of the inner surface of the sewerage system. The maintenance check step of transmitting the status to the external controller and the input / output device is performed. As described above, the subject matter used in the present embodiment is a super fast curing property, so that it is cured in an instant and the coating layer does not fall off even when the auxiliary parking 37 moves in the sewer 59 where the mixed liquid is applied.

After completing the application of the mixed solution in the sewer as described above, the operation is completed through the end step of taking out the self-driving car 27 and the auxiliary parking lot 37 from the sewer 59 through the manhole 57.

Figure 4 is a flow chart showing the CIR water and sewage non-excavation repair method according to an embodiment of the present invention.

As shown, the repair method according to the present embodiment, the inspection step (100) for checking the situation in the sewer to be worked to determine the work content, and put the autonomous car and the assistant parking lot in the sewer, waiting in the area requiring repair The preparatory step 102 to start, the operation start step 104 to start the coating operation by supplying power and compressed air and chemicals to the waiting self-propelled vehicle, and moving the self-propelled vehicle while photographing the state immediately before repairing the spray nozzle A maintenance step 105 of forming a coating film on the inner circumferential surface of the sewerage by spraying the mixed medicine through the maintenance step; and a maintenance checking step 106 of taking out the maintenance state by the assistant parking lot 37 and drawing a repair report by the report output device; After completion of the application of the main and hardeners, an end step 108 is taken out of the sewage and auxiliary parking from the sewer.

As mentioned above, although this invention was demonstrated in detail through the specific Example, this invention is not limited to the said Example, A various deformation | transformation is possible for a person with ordinary knowledge within the scope of the technical idea of this invention.

CIR water and sewage non-excavation repair and repair method of the present invention as described above, it is possible to mount a number of necessary devices in a single work vehicle at a time, do not occupy a wide road for work, the work process is simple and the working time is It is very short and construction cost is low. In addition, since the injection speed, the injection angle, and the coating thickness of the chemicals to be injected are determined according to the degree of defects and characteristics of water and sewage, suitable work corresponding to the type and degree of defects of water and sewage defects can be performed. In addition, the entire section between the manhole and the manhole of the sewer can be repaired, and in particular, the section can be repaired only in areas that need to be repaired in the water supply and sewage system. . In addition, even if the water supply and drainage is connected to the branch pipe, by adjusting the angle of the injection nozzle can be applied to the circumference of the outlet of the branch pipe, there is an effect that can be sealed to the joint of the branch pipe.

Claims (6)

An air compressor 13 for generating compressed air; A plurality of chemical tanks 15 and 17, each of which contains a main material and a hardener flowing by the compressed air of the air compressor 13; A drum pump (73) communicating with each of the chemical tanks (15, 17) and connected to the air compressor (13), operating by compressed air, and flowing out the main body and the hardener in the chemical tank to the outside; A high-pressure metering pump 19 for controlling the pressure and the flow rate of the main and hardeners supplied from the chemical tanks 15 and 17 to the place of use; A heater 21 for heating the main and the hardener flowing through the high-pressure metering pump 19 to the place of use; A generator (23) for generating electricity and operating the heater (21); A controller 25 that controls the air compressor 13, the high pressure metering pump 19, the heater 21, and the generator 23, and is connected to the input / output device 69; The spray nozzle 29 and the unmanned camera 31 are installed, and are supplied with a heated main body, a hardener, electric power and compressed air, and move in the water supply and drainage while checking the maintenance position through the unmanned camera 31, and the spray nozzle ( 29) CIR water and sewage non-excavation repair device, characterized in that it comprises a self-driving car (27) configured to spray the mixture of the main and hardener on the inner wall of the water and sewage. According to claim 1, wherein the injection nozzle 29 is provided to extend a predetermined length from the main body 71 of the self-propelled vehicle 27, the screen plate 33 between the tip and the main body 71 of the injection nozzle (29) The liquid mixture of the waterproofing agent and the hardening | curing agent which are installed and sprayed from the injection nozzle 29 is not apply | coated to the main body 71 and the unmanned camera 31, and the air nozzle 43 is opposed to the said injection nozzle 29 Further, it characterized in that the compressed air from the air compressor (13) during the movement of the self-driving car 27 is ejected to the bottom and side of the water and sewage, so as to blow up the moisture that is stuck on the floor or flows from the crack of the tube CIR water and sewage non-excavation repair device. According to claim 2, It is connected to the self-propelled vehicle 27, is connected to the state spaced apart by a predetermined distance by the rod 41 is provided with a removable universal joint 39, and is operated by the controller 25 A driver parking lot (37) provided with an unmanned camera (31) is further provided, and the liquid mixture ejected from the injection nozzle (29) is not applied to the auxiliary parking lot (37) on the side of the self-driving vehicle (27) in the auxiliary driver parking lot (37). CIR water and sewage non-excavation repair device, characterized in that the screen plate 35 is provided. The method of claim 3, wherein the shielding plate (33, 35) is fixed to the rod (41) perpendicularly, and has a circular rubber plate 51 having a diameter corresponding to the inner diameter of the water and sewage and the rubber plate 51 CIR water and sewage non-excavation repair device, characterized in that it comprises a support plate 49 to provide rigidity. A check step (100) of removing the adhering substances, obstacles and sediments inside the water and sewage to be repaired, and determining a repair range by putting an unmanned camera into the water and sewage; A step of preparing 102 to put the self-driving car and the subsidiary car in water and sewage, and to position the self-driving car and the subsidiary car in a maintenance position through an unmanned camera installed in the self-driving car; The main and hardeners are transported to a self-driving car, and the spray nozzles are mixed with the compressed main and hardeners and applied to the inner and outer circumferential surfaces of the water and sewage. A start operation step 104 of injecting air; A maintenance step 105 of moving the self-propelled vehicle in a direction opposite to the spraying direction of the mixed liquid and photographing a state before repairing, and simultaneously spraying a mixture of the main agent and a hardener through the injection nozzle of the self-propelled vehicle to form a coating film on the inner circumferential surface of the water and sewage; A maintenance check step 106 of photographing the application state of the mixed solution sprayed on the inner and upper sewerages by an unmanned camera of the assistant parking lot or a separate independent unmanned camera and transmitting the repair report to an external controller and an output device; CIR water and sewage non-excavation repair method characterized in that it comprises a terminating step (108) for removing the repaired self-driving car and assistant parking from the water and sewer. 6. The CIR water and sewage non-excavation maintenance of claim 5, wherein the pressure-receiving pressure of the waterproofing agent and the curing agent to be pumped into the self-driving vehicle is 1400psi to 1600psi, the waterproofing agent is heated to 40 ℃ to 45 ℃, the curing agent is 55 ℃ to 60 ℃ Method.