An apparatus and method for measuring the thickness of point repair inside a pipeline

Abstract

The present invention provides a device and a method for measuring the thickness of point repair inside a pipeline. It includes a traveling device for driving the entire device to travel inside the pipeline; a telescopic device capable of telescopic adjustment is installed on the top of the traveling device; a rotating device is installed at the output end of the telescopic device; a laser measuring device for measuring the inside of the pipeline is installed at the rotating output end of the rotating device. This device can be used for non-destructive detection of the thickness of local curing repair inside the pipeline. It uses the idea of calculus to achieve non-destructive measurement, with high detection accuracy, convenient use, and effectively improves the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of trenchless repair of drainage pipes for municipal engineering, and particularly to a device and method for measuring the thickness of point repair inside a pipe. Background Art

[0002] When repairing a drainage pipe network, in order to reduce the impact, trenchless repair techniques are generally preferred. Among them, the commonly used repair technique is local curing repair. According to different pipe diameters and external environments, the design will specify different thickness requirements. For projects implementing large-scale repair works, it is difficult for the construction party to conduct comprehensive supervision. In this way, there may be a situation where the actual repair thickness is lower than the design requirements. However, in fact, except near inspection wells, it is very difficult to perform on-site non-destructive measurement of the local curing thickness. For locations far from inspection wells, currently only the excavation measurement method can be adopted, but this method has a large damage range and a high restoration difficulty, so it is rarely actually used. Summary of the Invention

[0003] In view of the above problems, the object of the present invention is to provide a device and method for measuring the thickness of point repair inside a pipe. This device can be used for non-excavation detection of the thickness of local curing repair inside a pipe, and uses the idea of calculus to achieve non-destructive measurement. Its detection accuracy is high, it is easy to use, and the detection efficiency is effectively improved.

[0004] To achieve the above technical features, the object of the present invention is realized as follows: A device for measuring the thickness of point repair inside a pipe, which includes a traveling device for driving the entire device to travel inside the pipe;

[0005] On the top of the traveling device, a telescopic device for telescopic adjustment is installed;

[0006] At the output end of the telescopic device, a rotating device is installed;

[0007] At the rotating output end of the rotating device, a laser measuring device for measuring inside the pipe is installed.

[0008] The traveling device includes a main body frame. At the bottom of the main body frame, wheels are provided. Inside the main body frame, a motor for driving the wheels to rotate and enabling the device to automatically travel inside the pipe is provided; at the tail of the main body frame, a power cord and a signal transmission line are provided. The power cord is connected to an external power supply to provide electrical energy for the entire device, and the signal transmission line is connected to a central computer and is used to control the traveling of the traveling device.

[0009] The telescopic device adopts an electric telescopic rod, which is composed of cylindrical tubes nested layer by layer. The number of telescopic rod sections is multiple. Among them, the innermost layer is a solid cylindrical rod, and the others are hollow cylindrical rods; the power cord and the signal transmission line at the tail of the main body frame respectively provide power and transmit signals for the telescopic device.

[0010] The telescopic device and the top of the main frame adopt a two-point support structure, one of the support points is hinged, and the other support point adopts an electric lifting hinge structure. The telescopic device is horizontally adjusted by controlling the telescopic length of the electric lifting hinge structure through a central computer to ensure that the axis of the telescopic device is in a horizontal position.

[0011] The middle part of the rotating device can rotate relatively, with a rotation angle of not less than 360°. One side of the rotating device is rigidly connected to the innermost telescopic joint of the telescopic device, and the other side is rigidly connected to the laser measuring device. The rotating device has a built-in small motor to provide rotational power, and a built-in gear reducer with a large reduction ratio and self-locking function; the power line and signal transmission line at the rear of the main frame provide power and transmission signals for the rotating device respectively.

[0012] The laser measuring device consists of a laser, a camera and a fixed rod. The base of the laser and the base of the camera are rigidly connected to the fixed rod. The laser is perpendicular to the axis of the fixed rod, has the characteristics of small beam width, small divergence angle, and high energy intensity, and can emit a collimated light beam with small beam width and low divergence angle in a direction perpendicular to the axis of the fixed rod. The lens of the camera can rotate on the base, and the rotation surface is the surface formed by the laser beam emitted by the laser and the axis of the fixed rod. The camera can automatically and accurately lock the light spot of the laser beam on the object and measure the rotation angle of the lens.

[0013] A method for measuring the thickness of a pipe's internal spot repair using a device capable of measuring the thickness of a pipe's internal spot repair comprises the following steps:

[0014] Step 1: Block and dewater the planned section of the pipeline to be tested. If necessary, set up drainage to prevent overflow upstream. Flush the inside of the pipeline, especially near the location to be measured, to ensure that the surface is free of dirt.

[0015] Step 2: Use a long pole with a hook or auxiliary tool to place the device into the mouth of the pipe to be tested. The central computer controls the device to move forward, and the camera is adjusted to observe the situation inside the pipe in real time. Stop moving when the camera approaches the edge of the local solidification to be tested.

[0016] Step 3: The central computer controls the laser to turn on, and the laser beam hits the inner wall of the pipe to form a light spot P0. The camera locks the light spot P0 under the control of the industrial computer, and the industrial computer records the camera's rotation angle θ0 at this time. AC =L BD , L AB =L CD At this time, the distance L between the light point P0 and the axis of the fixed rod is BP0 =L CD ×tanθ0+L BD ;

[0017] Where: L AC is the distance from the axis point C of the camera rotation axis to the axis of the lower fixing rod (7) of the laser (5); L AB is the distance between the projection point A of the axis point C of the camera rotation axis on the axis of the fixing rod and the projection point B of the axis of the laser on the axis of the fixing rod; L BD and L CD are construction lines set for calculation; and after the device is manufactured, the values of L AC 、L AB 、L BD and L CD are objectively unique fixed values, which are obtained through measurement;

[0018] Step Four: The central computer controls the rotating device to rotate an angle α1 in a fixed direction, and 360 should be an integer multiple of α1. α1 should be a small angle. The laser and the camera rotate synchronously by an angle α1. The laser beam hits the inner wall of the pipeline to form a light spot P1. The camera locks the light spot P1 under the control of the central computer. At this time, the central computer records the rotation angle θ1 of the camera at this time. Then the distance L BP1 =L CD ×tanθ1 + L BD ;

[0019] Step Five: The central computer controls the rotating device to rotate an angle α2 in a fixed direction. α2 is also a small angle. It can be set that α2 = α1 = α. The laser and the camera rotate synchronously by an angle α2. The laser beam hits the inner wall of the pipeline to form a light spot P2. The camera locks the light spot P2 under the control of the central computer. At this time, the central computer records the rotation angle θ2 of the camera at this time. Then the distance L BP2 =L CD ×tanθ2 + L BD ;

[0020] Step Six: Repeat the operations in Step Four and Step Five until the rotating device completes a full circle of rotation. At this time, α1 + α2 + α3 + α4 + α5 + …… + α n = 360°, and L BP3 、L BP4、 L BP5 ……L BPn are obtained, where L BPn =L BP0 ;

[0021] Considering that α1, α2, α3, α4, α5 …… α n are small enough, then the inner wall circumference C of the pipeline here = (α1 × π / 180) × (L BP0 +L BP1) / 2 + (α2 × π / 180) × (L BP1 + L BP2 ) / 2 + (α3 × π / 180) × (L BP2 + L BP3 ) / 2 + …… + (α n-1 × π / 180) × (L BPn-2 + L BPn-1 ) / 2 + (α n × π / 180) × (L BPn-1 + L BPn ) / 2;

[0022] When α1 = α2 = α3 = …… = α n = α, the perimeter of the inner wall of the pipeline here is:

[0023] C = (α × π / 180)(L BP0 + L BP1 ) / 2 + (α × π / 180)(L BP1 + L BP2 ) / 2 + (α × π / 180)(L BP2 + L BP3 ) / 2 + …… + (α × π / 180)(L BPn-2 + L BPn-1 ) / 2 + (α × π / 180)(L BPn-1 + L BPn ) / 2

[0024] = απL BP0 / 360 + απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 360

[0025] = απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 180

[0026] = απ(L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 180;

[0027] Step 7: Control the telescopic device to extend through the central computer, and observe the situation inside the pipe in real time through the adjusted camera. Stop extending when the camera approaches the middle position of the local curing to be detected.

[0028] Step 8: Repeat Steps 3 to 6 to obtain the perimeter C1 of the locally cured inner wall = απ(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L 1BPn ) / 180;

[0029] Step 9: Calculate through the central computer to obtain:

[0030] Pipe radius: R = C / (2π) = α(L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 360;

[0031] Radius of the locally cured position: R1 = C1 / (2π) = α(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L 1BPn ) / 360;

[0032] Then the local curing thickness is: h = R - R1.

[0033] The values of α1, α2, α3, α4, α5 …… α n are all less than 1°.

[0034] The present invention has the following beneficial effects:

[0035] 1. This device can be used for non-excavation detection of the thickness of local curing repair inside the pipe, realizes non-destructive measurement using the idea of calculus, has high detection accuracy, is easy to use, and effectively improves the detection efficiency.

[0036] 2. Through the above-mentioned walking device, it can be used to drive the entire walking device to walk inside the pipe.

[0037] 3. Through the telescopic device, the position adjustment of the entire laser measurement device can be realized.

[0038] 4. Through the above-mentioned two-point support structure, the levelness of the telescopic device can be adjusted, thereby ensuring the accuracy of subsequent measurements.

[0039] 5. Through the above-mentioned rotating device, it can be used to control the circumferential rotation of the laser measurement device, thereby facilitating subsequent measurements. Brief Description of the Drawings

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] Figure 1 It is a schematic diagram of the device structure of the present invention.

[0042] Figure 2 It is a schematic diagram of the device of the present invention used inside a pipeline.

[0043] Figure 3 It is a schematic diagram when the laser measurement device of the present invention is measuring.

[0044] Figure 4 It is a schematic diagram of the principle of the laser measurement device of the present invention.

[0045] Figure 5 It is for the L of the present invention AC 、L AB 、L BD and L CD Schematic diagram of the line segment positions.

[0046] In the figure: main body frame 1, wheels 2, telescopic device 3, rotating device 4, laser 5, camera 6, fixed rod 7. Specific embodiments

[0047] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0048] Embodiment 1:

[0049] Referring to Figures 1-5 , a device for measuring the thickness of point repair inside a pipeline, which includes a traveling device for driving the entire device to travel inside the pipeline; a telescopic device 3 capable of telescopic adjustment is installed on the top of the traveling device; a rotating device 4 is installed at the output end of the telescopic device 3; a laser measurement device for measuring inside the pipeline is installed at the rotational output end of the rotating device 4. This device can be used for non-destructive detection of the thickness of local curing repair inside the pipeline, and uses the idea of calculus to achieve non-destructive measurement. Its detection accuracy is high, it is easy to use, and the detection efficiency is effectively improved. During the specific measurement process, the entire device is driven by the traveling device to travel inside the pipeline, and then it is moved to the position to be measured. Then, the rotating device 4 is driven to extend by the telescopic device 3, and the entire laser measurement device is driven by the rotating device 4 to rotate 360°, thereby realizing the laser measurement of the inner wall of the pipeline.

[0050] Furthermore, the walking device includes a main frame 1, a wheel 2 is provided at the bottom of the main frame 1, and a motor is provided inside the main frame 1 for driving the wheel 2 to rotate and realize automatic movement of the device inside the pipe; a power cord and a signal transmission line are provided at the rear of the main frame 1, the power cord is connected to an external power source and provides power to the entire device, and the signal transmission line is connected to a central computer and is used to control the movement of the walking device. The above-mentioned walking device can be used to drive the entire walking device to move inside the pipe. During operation, the wheel 2 is driven by the motor, and the wheel 2 drives the entire device to move inside the pipe, and remote automatic control can be achieved through the central computer.

[0051] Furthermore, the telescopic device 3 utilizes an electrically operated telescopic rod, comprised of layers of cylindrical tubes nested within each other. The rod has multiple sections, with the innermost section being a solid cylindrical rod and the others being hollow. A power cable and a signal transmission cable at the rear of the main frame 1 provide power and signal transmission to the telescopic device 3, respectively. The telescopic device 3 enables position adjustment of the entire laser measuring device. During operation, the laser measuring device is adjusted by extending and retracting the electrically operated telescopic rod.

[0052] Furthermore, the telescopic device 3 and the top of the main frame 1 utilize a two-point support structure, one of which is hinged, and the other employs an electrically driven lift hinge. A central computer controls the extension and retraction length of the electrically driven lift hinge to achieve horizontal adjustment of the telescopic device 3, ensuring that the axis of the telescopic device 3 remains horizontal. This two-point support structure allows for adjustment of the horizontality of the telescopic device 3, thereby ensuring the accuracy of subsequent measurements.

[0053] Furthermore, the central portion of the rotating device 4 is capable of relative rotation, with a rotation angle of no less than 360°. One side of the rotating device 4 is rigidly connected to the innermost telescopic section of the telescopic device 3, and the other side is rigidly connected to the laser measuring device. The rotating device 4 includes a small motor to provide rotational power, and a built-in gear reducer with a large reduction ratio and self-locking function. The power cord and signal transmission line at the rear of the main frame 1 respectively provide power and transmit signals to the rotating device 4. The rotating device 4 can be used to control the circumferential rotation of the laser measuring device, thereby facilitating subsequent measurements. During the measurement process, the rotating device 4 drives the fixed rod 7 at its other end to rotate, thereby achieving rotation of the laser measuring device.

[0054] Furthermore, the laser measurement device consists of a laser 5, a camera 6, and a fixed rod 7. The bases of the laser 5 and the camera 6 are rigidly connected to the fixed rod 7. The laser 5 is perpendicular to the axis of the fixed rod 7, has the characteristics of a small beam width, a small divergence angle, and a high energy intensity, and can emit a collimated beam with a small beam width and a low divergence angle in a direction perpendicular to the axis of the fixed rod 7. The lens of the camera 6 can rotate on the base, and the rotation plane is the plane formed by the laser beam emitted by the laser 5 and the axis of the fixed rod 7. The camera 6 can automatically and accurately lock the light spot of the laser beam on the object and measure the rotation angle of the lens. Through the above laser measurement device, the laser measurement process inside the pipeline can be realized.

[0055] Embodiment 2:

[0056] A method for measuring the point repair thickness inside a pipeline using a device capable of measuring the point repair thickness inside the pipeline includes the following steps:

[0057] Step 1: Plug and dewater the pipeline section to be measured, and set up a drainage guide if necessary to avoid upstream overflow; and flush the inside of the pipeline, especially near the position to be measured, to ensure that the surface is free of mud and dirt;

[0058] Step 2: Use a long rod with a hook or an auxiliary tool to place this device into the pipe orifice of the pipeline to be measured, control the advancement of this device through the central computer, and observe the situation inside the pipeline in real time by adjusting the camera; stop advancing when the camera 6 approaches the local curing edge to be detected; as Figure 2 .

[0059] Step 3: The central computer controls the laser 5 to be turned on. The laser beam of the laser 5 hits the inner wall of the pipeline to form a light spot P0. The camera 6 locks the light spot P0 under the control of the industrial control computer, and the industrial control computer records the rotation angle θ0 of the camera at this time, L AC =L BD , L AB =L CD Then the distance L of the light spot P0 from the axis of the fixed rod 7 at this time BP0 =L CD ×tanθ0 + L BD ; as Figure 3 .

[0060] Where: L AC is the distance from the center point C of the camera rotation axis to the axis of the lower fixed rod (7) of the laser (5); L AB is the distance between the projection point A of the center point C of the camera rotation axis on the fixed rod axis and the projection point B of the laser axis on the fixed rod axis; L BD and L CD are construction lines set for calculation; and after the device is manufactured, L AC , L AB, L BD and L CD The value is an objectively unique fixed value, obtained through measurement; point D is the projection point of the axis center point C of the camera rotation axis on the laser axis. For specific line segment values, see Figure 5 .

[0061] Step 4: The central computer controls the rotating device 4 to rotate by an angle α1 in a fixed direction, and 360 should be an integer multiple of α1. α1 should be a small angle. The laser 5 and the camera rotate synchronously by an angle α1. The beam of the laser 5 hits the inner wall of the pipeline to form a light spot P1. The camera 6 locks the light spot P1 under the control of the central computer. At this time, the central computer records the rotation angle θ1 of the camera 6 at this time. Then the distance L from the light spot P1 to the axis of the fixed rod 7 at this time BP1 = L CD ×tanθ1 + L BD ; as Figure 4 .

[0062] Step 5: The central computer controls the rotating device 4 to rotate by an angle α2 in a fixed direction. α2 is also a small angle. It can be set that α2 = α1 = α. The laser 5 and the camera rotate synchronously by an angle α2. The beam of the laser 5 hits the inner wall of the pipeline to form a light spot P2. The camera 6 locks the light spot P2 under the control of the central computer. At this time, the central computer records the rotation angle θ2 of the camera 6 at this time. Then the distance L from the light spot P2 to the axis of the fixed rod 7 at this time BP2 = L CD ×tanθ2 + L BD ;

[0063] Step 6: Repeat the operations in Step 4 and Step 5 until the rotating device completes a full circle of rotation. At this time, α1 + α2 + α3 + α4 + α5 + …… + α n = 360°, and obtain L BP3 , L BP4、 L BP5 ……L BPn , where L BPn = L BP0 ;

[0064] Considering that α1, α2, α3, α4, α5 …… α n is small enough, then the circumference C of the inner wall of the pipeline here = (α1 × π / 180) × (L BP0 + L BP1 ) / 2 + (α2 × π / 180) × (L BP1 + L BP2 ) / 2 + (α3 × π / 180) × (L BP2 + L BP3 ) / 2 + …… + (α n-1 × π / 180) × (L BPn-2 + LBPn-1 ) / 2 + (α n × π / 180) × (L BPn-1 + L BPn ) / 2;

[0065] When α1 = α2 = α3 = …… = α n = α, the perimeter of the inner wall of the pipe here is:

[0066] C = (α × π / 180)(L BP0 + L BP1 ) / 2 + (α × π / 180)(L BP1 + L BP2 ) / 2 + (α × π / 180)(L BP2 + L BP3 ) / 2 + …… + (α × π / 180)(L BPn-2 + L BPn-1 ) / 2 + (α × π / 180)(L BPn-1 + L BPn ) / 2

[0067] = απL BP0 / 360 + απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 360

[0068] = απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 180

[0069] = απ(L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 180;

[0070] Step 7: Control the telescopic device 3 to extend through the central computer, and observe the situation inside the pipe in real time by adjusting the camera 6. Stop extending when the camera 6 approaches the middle position of the local curing to be detected;

[0071] Step 8: Repeat Steps 3 to 6 to obtain the perimeter C1 of the locally cured inner wall = απ(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L1BPn ) / 180;

[0072] Step Nine: Calculate through the central computer to obtain:

[0073] Pipe radius: R = C / (2π) = α(L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 360;

[0074] Radius of the local curing position: R1 = C1 / (2π) = α(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L 1BPn ) / 360;

[0075] Then the local curing thickness is: h = R - R1.

[0076] Furthermore, the values of α1, α2, α3, α4, α5 …… α n are all less than 1°.

Claims

1. A method for measuring the thickness of in-pipe spot repair, including a device capable of measuring the thickness of in-pipe spot repair. The device includes a traveling device for driving the whole device to travel inside the pipe; At the top of the traveling device, there is a telescopic device (3) capable of telescopic adjustment; At the output end of the telescopic device (3), a rotating device (4) is installed; At the rotating output end of the rotating device (4), a laser measuring device for measuring the inside of the pipe is installed; The laser measuring device is composed of a laser (5), a camera (6) and a fixing rod (7). The bases of the laser (5) and the camera (6) are rigidly connected to the fixing rod (7); the laser (5) is perpendicular to the axis of the fixing rod (7), has the characteristics of small beam width, small divergence angle and high energy intensity, and can emit a collimated beam with small beam width and low divergence angle in the direction perpendicular to the axis of the fixing rod (7); the lens of the camera (6) can rotate on the base, and the rotation plane is the plane formed by the laser beam emitted by the laser (5) and the axis of the fixing rod (7). The camera (6) can automatically and accurately lock the light spot of the laser beam on the object and measure the rotation angle of the lens; It is characterized in that The method includes the following steps: Step 1: Block and dewater the pipe section to be operated on the pipe to be measured. If necessary, set up a drainage system to avoid upstream overflows; and flush the inside of the pipe, especially near the position to be measured, to ensure that the surface is free of mud and dirt; Step 2: Use a long rod with a hook or an auxiliary tool to put this device into the pipe orifice of the pipe to be measured, control the forward movement of this device through the central computer, and observe the situation inside the pipe in real time by adjusting the camera; stop moving forward when the camera (6) approaches the local curing edge to be detected; Step 3: The central computer controls the laser (5) to turn on. The beam of the laser (5) hits the inner wall of the pipeline to form a light spot P0. The camera (6) locks the light spot P0 under the control of the industrial control computer, and the industrial control computer records the rotation angle θ0 of the camera at this time, L AC =L BD , L AB =L CD Then the distance L from the light spot P0 to the axis of the fixed rod (7) at this time BP0 =L CD × tanθ0 + L BD ; Where: L AC is the distance from the axis center point C of the camera rotation shaft to the axis of the lower fixed rod (7) of the laser (5); L AB is the distance between the projection point A of the axis center point C of the camera rotation shaft on the axis of the fixed rod and the projection point B of the axis of the laser on the axis of the fixed rod; L BD and L CD are construction lines set for calculation; and after the device is manufactured, L AC 、L AB 、L BD and L CD are objectively unique fixed values, which are obtained through measurement; Step 4: The central computer controls the rotating device (4) to rotate by an angle α1 in a fixed direction, and 360 should be an integer multiple of α1. α1 should be a small angle. The laser (5) and the camera rotate synchronously by the angle α1. The beam of the laser (5) hits the inner wall of the pipe to form a light spot P1. The camera (6) locks the light spot P1 under the control of the central computer. At this time, the central computer records the rotation angle θ1 of the camera (6) at this time. Then the distance L from the light spot P1 to the axis of the fixed rod (7) at this time BP1 =L CD ×tanθ1 + L BD ; Step Five: The central computer controls the rotating device (4) to rotate by an angle α2 in a fixed direction. α2 is also a small angle, and it can be set that α2 = α1 = α. The laser (5) and the camera rotate synchronously by the angle α2. The beam of the laser (5) hits the inner wall of the pipe to form a light spot P2. The camera (6) locks the light spot P2 under the control of the central computer. At this time, the central computer records the rotation angle θ2 of the camera (6) at this moment. Then the distance L from the light spot P2 to the axis of the fixed rod (7) at this time BP2 =L CD ×tanθ2 + L BD ; Step 6: Repeat the operations in Step 4 and Step 5 until the rotating device completes a full circle of rotation. At this time, α1 + α2 + α3 + α4 + α5 + …… + α n = 360°, and obtain L BP3 、L BP4、 L BP5 ……L BPn ,where L BPn = L BP0 ; Considering that α1, α2, α3, α4, α5... α n is small enough, the perimeter C of the inner wall of the pipe here is C = (α1×π / 180)×(L BP0 +L BP1 ) / 2 + (α2×π / 180)×(L BP1 +L BP2 ) / 2 + (α3×π / 180)×(L BP2 +L BP3 ) / 2 +... + (α n-1 ×π / 180)×(L BPn-2 +L BPn-1 ) / 2 + (α n ×π / 180)×(L BPn-1 +L BPn ) / 2; When α1 = α2 = α3 = …… = α n = α, the perimeter of the inner wall of the pipeline here is: C = (α × π / 180)(L BP0 + L BP1 ) / 2 + (α × π / 180)(L BP1 + L BP2 ) / 2 + (α × π / 180)(L BP2 + L BP3 ) / 2 + …… + (α × π / 180)(L BPn-2 + L BPn-1 ) / 2 + (α × π / 180)(L BPn-1 + L BPn ) / 2 = απL BP0 / 360 + απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 360 = απL BP1 / 180 + απL BP2 / 180 + απL BP3 / 180 + …… + απL BPn-1 / 180 + απL BPn / 180 = απ (L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 180; Step 7: Control the telescopic device (3) to extend through the central computer, observe the situation inside the pipe in real time by adjusting the camera (6), and stop extending when the camera (6) approaches the middle position of the local curing to be detected; Step VIII: Repeat Steps III to VI to obtain the perimeter C1 of the locally cured inner wall = απ(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L 1BPn ) / 180; Step 9: Calculate through the central computer to obtain: Pipe radius: R = C / (2π) = α(L BP1 + L BP2 + L BP3 + …… + L BPn-1 + L BPn ) / 360; Radius of the locally cured position: R1 = C1 / (2π) = α(L 1BP1 + L 1BP2 + L 1BP3 + …… + L 1BPn-1 + L 1BPn ) / 360; Then the local curing thickness is: h = R - R1.

2. The method for measuring the thickness of in - pipe point repair according to claim 1, wherein: The traveling device includes a main body frame (1). At the bottom of the main body frame (1), wheels (2) are provided. Inside the main body frame (1), there is a motor for driving the wheels (2) to rotate and realizing the automatic walking of the device inside the pipe; at the tail of the main body frame (1), there are a power cord and a signal transmission line. The power cord is connected to an external power source to provide electrical energy for the whole device, and the signal transmission line is connected to the central computer and is used to control the walking of the traveling device.

3. The method for measuring the thickness of in-pipe spot repair according to claim 1, wherein: The telescopic device (3) adopts an electric telescopic rod, which is composed of cylindrical tubes nested layer by layer. The number of telescopic rod sections is multiple. The innermost layer is a solid cylindrical rod, and the others are hollow cylindrical rods; the power cord and the signal transmission line at the tail of the main body frame (1) respectively provide power and transmit signals for the telescopic device (3).

4. The method for measuring the thickness of in - pipe spot repair according to claim 3, characterized in that: The telescopic device (3) is supported by a two-point structure at the top of the main frame (1). One of the support points is hinged, and the other support point is an electric lift hinge structure. The telescopic length of the electric lift hinge structure is controlled by a central computer to achieve the horizontal adjustment of the telescopic device (3), ensuring that the axis of the telescopic device (3) is in a horizontal position.

5. The method for measuring the thickness of in - pipe spot repair according to claim 1, characterized in that: The middle part of the rotating device (4) can rotate relatively, and the rotation angle is not less than 360°. One side of the rotating device (4) is rigidly connected to the innermost telescopic section of the telescopic device (3), and the other side is rigidly connected to the laser measuring device. The rotating device (4) is internally provided with a small motor to provide rotation power, and is internally provided with a gear reducer with a large reduction ratio and a self-locking function; the power cord and signal transmission line at the tail of the main frame (1) respectively supply power and transmit signals to the rotating device (4).

6. The method for measuring the thickness of in - pipe spot repair according to claim 1, wherein, The values of α1, α2, α3, α4, α5……α n are all less than 1°.

Images