Pipeline construction detection and repair system and method based on ground penetrating radar and robots

Abstract

The application discloses a pipe network construction detection and repair system and method based on a ground radar and a robot, which comprises a robot body and a ground radar rotatable above the robot body, and further comprises a mud brushing mechanism arranged on the top of the robot body, which is used for cleaning the inner wall of the pipeline before the ground radar detects; a gap cleaning mechanism arranged in the mud brushing mechanism, which is used for cleaning the dirt in the gap of the pipeline; and a softening mechanism located on the gap cleaning mechanism, which is used for softening the dirt before the gap cleaning mechanism cleans, so as to avoid damaging the pipeline by the gap cleaning mechanism; and the mud brushing mechanism is arranged, so that the dirt on the inner wall of the detection area of the pipeline can be removed before the ground radar detects, and the detection accuracy of the ground radar is avoided from being affected by the dirt.

Description

Pipeline Construction Detection and Repair System and Method Based on Ground Penetrating Radar and Robots Technical Field

[0001] This invention relates to the field of pipeline construction detection technology, and in particular to a pipeline construction detection and repair system and method based on ground-penetrating radar and robots. Background Technology

[0002] Pipelines can be used to transport liquids, gases, electricity, or other fluids or substances. They are usually composed of multiple pipes that are connected and branched to cover a certain geographical area, forming a comprehensive transportation network. After long-term use, the inner surface of the pipeline is prone to corrosion. If this is not addressed in time, pipeline leaks may occur, posing a danger. Therefore, during the use of pipelines, it is necessary to regularly detect the degree of corrosion on the inner wall of the pipes.

[0003] Traditional detection devices typically consist of ground-penetrating radar (GPR), robots, and data processing systems. GPR detects underground geological features, obstacles, and pipelines, generating high-resolution geological images. The robot serves as the device's mobile platform, possessing navigation, positioning, and control capabilities. It can carry GPR equipment and perform detection and repair tasks within pipeline networks through unmanned or remote-controlled operation. The data processing system receives, analyzes, and processes the data acquired by GPR. Through advanced algorithms and artificial intelligence technologies, it can interpret GPR data in real time, extract pipeline network information, and generate maps, images, or reports.

[0004] However, due to the presence of sludge adhering to the inner wall of the pipeline, the presence of sludge may scatter and absorb the ground-penetrating radar signal, resulting in signal attenuation. This weakens the echo signal and may make it difficult to accurately detect corrosion defects on the pipeline wall. Furthermore, current detection devices cannot easily process the sludge on the inner wall of the pipeline during detection, which can easily affect the detection accuracy of the ground-penetrating radar. Therefore, the existing data processing algorithms also have some technical problems that need to be improved.

[0005] To this end, we propose a pipeline construction detection and repair system and method based on ground-penetrating radar and robots. Summary of the Invention

[0006] The purpose of this invention is to solve the problem in the prior art that it is inconvenient to treat the mud and scale on the inner wall of the pipeline, which easily affects the detection accuracy of ground-penetrating radar. Therefore, this invention proposes a pipeline construction detection and repair system and method based on ground-penetrating radar and robots.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A pipeline construction detection and repair system based on ground-penetrating radar and a robot includes a robot body and a ground-penetrating radar that can rotate above the robot body, and also includes:

[0009] A mud-brushing mechanism is installed on the top of the robot body, which is used to clean the inner wall of the pipe before ground-penetrating radar detection;

[0010] A gap cleaning mechanism is installed inside the sludge brushing mechanism, which is used to clean the sludge and dirt in the pipe gaps;

[0011] A softening mechanism located on the crevice cleaning mechanism is used to soften the sludge before the crevice cleaning mechanism cleans, so as to prevent the crevice cleaning mechanism from damaging the pipe.

[0012] A repair mechanism is installed on top of the robot body, which is used to repair severely corroded parts of the pipe.

[0013] Preferably, the mud-brushing mechanism includes:

[0014] Rotary rod one, which is set above the robot body, and a circular shell is fixed to the right end of the rotary rod one;

[0015] A motor, which is fixed to the inner wall of a circular housing;

[0016] A turntable, which is fixed to the output shaft end of the motor, has an arc-shaped groove inside.

[0017] A push rod that slides inside an arc-shaped groove, with a movable block fixed at the bottom end of the push rod;

[0018] A rectangular shell is fixed to the inner wall of a circular shell, and the movable block slides inside the rectangular shell;

[0019] A movable rod is fixed to the left side of the movable block and slides through the inner wall of the circular shell.

[0020] An arc-shaped block is fixed to the left end of the moving rod, and the arc-shaped block is arranged in an arc shape;

[0021] A brush, which is fixed to the outer surface of the arc-shaped block.

[0022] Preferably, the mud-brushing mechanism further includes:

[0023] A circular gear one, wherein the circular gear one is fixed to the outer surface of the rotating rod one;

[0024] The second circular gear meshes with the first circular gear, and the top of the robot body is also provided with a drive unit for driving the second circular gear to rotate.

[0025] Preferably, the crevice cleaning mechanism includes:

[0026] An extrusion block, wherein the extrusion block is disposed within a circular housing;

[0027] A piston cylinder, which is fixed to the inner wall of a circular shell;

[0028] A sliding rod, which slides inside the piston cylinder, with one end of the sliding rod connected to the extrusion block;

[0029] A return spring is sleeved on the outer surface of the slide rod, and both ends of the return spring are fixedly connected to the compression block and the piston cylinder, respectively.

[0030] The ejector pin is fixed to the side of the extrusion block and slides through the inner wall of the circular housing.

[0031] Preferably, the crevice cleaning mechanism further includes:

[0032] A rectangular block, which is fixed to the top of the push rod;

[0033] An L-shaped rod is attached to the right side of the rectangular block;

[0034] An extrusion head is fixed to the top of an L-shaped rod, and the position of the extrusion head corresponds to the position of the extrusion block.

[0035] Preferably, the softening mechanism includes:

[0036] A piston disc, which is fixed to the top of a slide rod, and the piston disc piston moves inside the piston cylinder;

[0037] Mounting block one, wherein mounting block one is fixed to the outer surface of the ejector pin;

[0038] The nozzle is fixed to the top of the mounting block one, and the liquid outlet direction of the nozzle corresponds to the position of the ejector pin.

[0039] Hose 1, which connects the nozzle and the piston cylinder.

[0040] Preferably, the softening mechanism further includes:

[0041] Liquid inlet pipe, which is connected to the outer surface of the piston cylinder;

[0042] A sealing plug, which is threaded into the inlet pipe.

[0043] Preferably, the repair mechanism includes:

[0044] A liquid container, which is fixed to the top of the robot body;

[0045] A suction pump, which is fixed to the top of the liquid tank;

[0046] Mounting block two is fixed to the side of the arc-shaped block. A nozzle is fixed in the middle of mounting block two. The inlet end of the suction pump is connected to the liquid tank through hose three, and the outlet end of the suction pump is connected to the nozzle through hose two.

[0047] Preferably, the repair mechanism further includes:

[0048] A stirring rod is fixed to the outer surface of a rotating rod and located inside a liquid tank. The stirring rod is rotatably connected to the rotating rod via a bearing.

[0049] A method for using a pipeline construction detection and repair system based on ground-penetrating radar and robots mainly includes the following steps:

[0050] Step A: During the detection, the robot carries a ground-penetrating radar and enters the pipeline through unmanned or remote control operation. The angle of the ground-penetrating radar is adjusted by the adjustment mechanism, and the ground-penetrating radar detects the degree of corrosion on the inner wall of the pipeline network.

[0051] Step B: Before the ground-penetrating radar detection, start the motor to drive the turntable to rotate counterclockwise. The turntable pushes the push rod to slide in the arc-shaped groove. Through the limit of the rectangular shell, it can drive the moving block to slide to the left in the rectangular shell. The moving rod drives the arc-shaped block and the brush to slide to the left, so that the brush is in contact with the inner wall of the pipe. At the same time, start the drive unit to drive the second circular gear to rotate. The second circular gear drives the first circular gear to rotate. The first circular gear drives the first rotating rod and the circular shell to rotate. The circular shell drives the brush to rotate, and the brush removes the dirt adhering to the area to be detected by the ground-penetrating radar in advance.

[0052] Compared with existing technologies, this invention provides a pipeline construction detection and repair system and method based on ground-penetrating radar and robots, which has the following beneficial effects:

[0053] 1. This pipeline construction detection and repair system based on ground-penetrating radar and robots can remove the mud and scale on the walls of the pipeline detection area before the ground-penetrating radar conducts detection, by setting up a mud-brushing mechanism, so as to avoid the mud and scale affecting the detection accuracy of the ground-penetrating radar.

[0054] 2. This pipeline construction detection and repair system based on ground-penetrating radar and robots can treat the sludge in the pipeline gaps through the setting of the gap cleaning mechanism, avoiding the phenomenon that the sludge in the gaps cannot be cleaned due to excessive adhesion. This not only further improves its detection effect, but also facilitates the subsequent repair work.

[0055] 3. This pipeline construction detection and repair system based on ground-penetrating radar and robots can soften the sludge in the gaps before the gap cleaning mechanism cleans it, making it easier for the gap cleaning mechanism to be inserted into the gaps and preventing excessive insertion force from damaging the pipeline. Attached Figure Description

[0056] Figure 1 is a rear view schematic diagram of the robot body structure of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0057] Figure 2 is a front view schematic diagram of the robot body structure of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0058] Figure 3 is an enlarged schematic diagram of the structure at point A in Figure 2 of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention;

[0059] Figure 4 is a side view of the robot body structure of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0060] Figure 5 is a front view of the internal structure of the circular shell of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0061] Figure 6 is an enlarged schematic diagram of section B in Figure 5 of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0062] Figure 7 is a side view of the internal structure of a circular shell of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0063] Figure 8 is a schematic cross-sectional view of the internal structure of the liquid tank of a pipeline construction detection and repair system based on ground-penetrating radar and robot proposed in this invention.

[0064] In the image: 1. Robot body; 2. Ground-penetrating radar;

[0065] 3. Mud brushing mechanism; 31. Rotating rod one; 32. Circular shell; 33. Motor; 34. Turntable; 35. Arc groove; 36. Push rod; 37. Moving block; 38. Rectangular shell; 39. Moving rod; 310. Arc block; 311. Brush; 312. Circular gear one; 313. Circular gear two;

[0066] 4. Gap cleaning mechanism; 41. Extrusion block; 42. Piston cylinder; 43. Slide rod; 44. Return spring; 45. Ejector pin; 46. Rectangular block; 47. L-shaped rod; 48. Extrusion head;

[0067] 5. Softening mechanism; 51. Piston disc; 52. Mounting block one; 53. Nozzle; 54. Hose one; 55. Inlet pipe; 56. Sealing plug;

[0068] 6. Repair mechanism; 61. Liquid tank; 62. Suction pump; 63. Mounting block two; 64. Nozzle; 65. Hose two; 66. Hose three; 67. Stirring rod. Detailed Implementation

[0069] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0070] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0071] Example 1:

[0072] Referring to Figures 1 to 8, a pipeline construction detection and repair system based on ground-penetrating radar and a robot includes a robot body 1 and a ground-penetrating radar 2 that can rotate above the robot body 1, and further includes:

[0073] The mud brushing mechanism 3 is set on the top of the robot body 1. The mud brushing mechanism 3 is used to clean the inner wall of the pipe before the ground-penetrating radar 2 detects it.

[0074] The gap cleaning mechanism 4 is installed inside the mud brushing mechanism 3. The gap cleaning mechanism 4 is used to clean the mud and dirt in the pipe gaps.

[0075] The softening mechanism 5 is located on the gap cleaning mechanism 4. The softening mechanism 5 is used to soften the sludge before the gap cleaning mechanism 4 cleans, so as to prevent the gap cleaning mechanism 4 from damaging the pipe.

[0076] The repair mechanism 6 is located on the top of the robot body 1. The repair mechanism 6 is used to repair the severely corroded parts of the pipe.

[0077] The mud-brushing mechanism 3 includes:

[0078] Rotary rod 31 is positioned above the robot body 1, and a circular housing 32 is fixed to the right end of the rotary rod 31.

[0079] Motor 33 is fixed to the inner wall of the circular housing 32;

[0080] Turntable 34 is fixed to the output shaft end of motor 33, and an arc groove 35 is provided inside the turntable 34;

[0081] Push rod 36 slides inside the arc-shaped groove 35, and a moving block 37 is fixed at the bottom end of push rod 36;

[0082] A rectangular shell 38 is fixed to the inner wall of the circular shell 32, and a movable block 37 slides inside the rectangular shell 38.

[0083] The movable rod 39 is fixed to the left side of the movable block 37 and slides through the inner wall of the circular shell 32.

[0084] Arc-shaped block 310 is fixed to the left end of the moving rod 39, and the arc-shaped block 310 is arranged in an arc shape;

[0085] Brush 311 is fixed to the outer surface of the arc-shaped block 310.

[0086] The mud brushing mechanism 3 also includes:

[0087] Circular gear 312 is fixed to the outer surface of rotating rod 31.

[0088] Circular gear 2 313 meshes with circular gear 1 312, and a drive unit for driving the rotation of circular gear 2 313 is also provided on the top of the robot body 1.

[0089] The drive unit can drive the second circular gear 313 to rotate, which in turn drives the first circular gear 312 and the first rotating rod 31 to rotate. The first rotating rod 31 drives the circular housing 32 to rotate. With the arc-shaped block 310 and the brush 311 in place, when the circular housing 32 rotates, it also drives the brush 311 to rotate. The rotation of the brush 311 scrapes away the sludge on the inner wall of the pipe. The drive unit can be a commercially available motor. The motor 33 can drive the turntable 34 to rotate. (The text abruptly ends here, likely due to an incomplete sentence or missing information.) 36 slides within the movable block 37. Therefore, when the turntable 34 rotates counterclockwise, it pushes the push rod 36 to slide within the arc-shaped groove 35. The movable block 37 slides within the rectangular shell 38 for limiting, and the push rod 36 is connected to the movable block 37. This causes the movable block 37 to slide to the left within the rectangular shell 38. Since the arc-shaped block 310 is connected to the movable rod 39, it can also cause the arc-shaped block 310 and the brush 311 to move to the right together, so that the brush 311 fits against the inner wall of the pipe and cleans the inner wall of the pipe.

[0090] Using this technical solution, the sludge on the inner wall of the pipe can be cleaned before the ground-penetrating radar 2 performs its detection, preventing the sludge from adhering to the inner wall of the pipe and affecting the detection accuracy of the ground-penetrating radar 2. Furthermore, by changing the position of the arc-shaped block 310 and the brush 311, the cleaning function of the sludge brushing mechanism 3 can be applied to pipes of different diameters, resulting in better performance.

[0091] Specifically, during detection, the robot body 1 carries the ground-penetrating radar 2, which is then operated autonomously or remotely to enter the pipeline. The angle of the ground-penetrating radar 2 is adjusted by an adjustment mechanism, and the radar 2 detects the degree of corrosion on the inner wall of the pipeline network. This technology is existing and will not be elaborated further. Before the ground-penetrating radar 2 begins detection, the starter motor 33 drives the turntable 34 to rotate counterclockwise. The turntable 34 pushes the push rod 36 to slide within the arc-shaped groove 35. Limited by the rectangular shell 38, this allows the movement of the... The moving block 37 and the moving rod 39 slide to the left inside the rectangular shell 38. The moving rod 39 drives the arc-shaped block 310 and the brush 311 to slide to the left, so that the brush 311 fits against the inner wall of the pipe. The drive unit is activated, which drives the second circular gear 313 to rotate. The second circular gear 313 drives the first circular gear 312 to rotate. The first circular gear 312 drives the first rotating rod 31 and the circular shell 32 to rotate. The circular shell 32 drives the brush 311 to rotate, and the brush 311 removes the dirt adhering to the area to be detected by the ground-penetrating radar 2 in advance.

[0092] Example 2:

[0093] Referring to Figures 1 to 8, a pipeline construction detection and repair system based on ground-penetrating radar and a robot includes a robot body 1 and a ground-penetrating radar 2 that can rotate above the robot body 1, and further includes:

[0094] The mud brushing mechanism 3 is set on the top of the robot body 1. The mud brushing mechanism 3 is used to clean the inner wall of the pipe before the ground-penetrating radar 2 detects it.

[0095] The gap cleaning mechanism 4 is installed inside the mud brushing mechanism 3. The gap cleaning mechanism 4 is used to clean the mud and dirt in the pipe gaps.

[0096] The softening mechanism 5 is located on the gap cleaning mechanism 4. The softening mechanism 5 is used to soften the sludge before the gap cleaning mechanism 4 cleans, so as to prevent the gap cleaning mechanism 4 from damaging the pipe.

[0097] The repair mechanism 6 is located on the top of the robot body 1. The repair mechanism 6 is used to repair the severely corroded parts of the pipe.

[0098] The gap cleaning mechanism 4 includes:

[0099] An extrusion block 41 is disposed inside the circular housing 32;

[0100] Piston cylinder 42 is fixed to the inner wall of circular housing 32;

[0101] The slide rod 43 slides inside the piston cylinder 42, and one end of the slide rod 43 is connected to the extrusion block 41;

[0102] The return spring 44 is sleeved on the outer surface of the slide bar 43, and the two ends of the return spring 44 are fixedly connected to the pressing block 41 and the piston cylinder 42 respectively.

[0103] The ejector pin 45 is fixed to the side of the extrusion block 41 and slides through the inner wall of the circular housing 32.

[0104] The crevice cleaning mechanism 4 also includes:

[0105] Rectangular block 46 is fixed to the top of push rod 36;

[0106] L-shaped rod 47 is connected to the right side of rectangular block 46;

[0107] The extrusion head 48 is fixed to the top of the L-shaped rod 47, and the position of the extrusion head 48 corresponds to the position of the extrusion block 41.

[0108] While the rotation of brush 311 can remove sludge from the inner walls of pipes of different diameters, the brush 311 is a flexible material. Since some pipes have corrugated designs or gaps at joints, sludge accumulates in these gaps with strong adhesion. The flexible brush 311 alone cannot remove the sludge from these gaps, thus affecting the detection accuracy of the ground-penetrating radar 2. The following improvements are made to address this issue:

[0109] When it is necessary to remove sludge from the gaps in the inner wall of the pipe, the motor 33 drives the turntable 34 to rotate, thereby causing the moving block 37 to move to the right in the rectangular shell 38, retracting the arc-shaped block 310 and the brush 311. The rectangular block 46 is connected to the push rod 36, which in turn causes the rectangular block 46 and the L-shaped rod 47 to move to the right. The extrusion head 48 is connected to the L-shaped rod 47, which in turn causes the extrusion head 48 to move to the right. The extrusion block 41 corresponds to the position of the extrusion head 48, and the movement of the extrusion head 48 will generate extrusion force on the extrusion block 41, thereby causing the extrusion block 41 and the slide rod 43 to slide backward. The extrusion block 41 will then cause the ejector pin 45 to slide backward. The ejector pin 45 is inserted into the gap in the inner wall of the pipe, and the drive unit drives the circular shell 32 to rotate, thereby causing the ejector pin 45 to rotate and removing the sludge from the gap.

[0110] By adopting this technical solution, the power of retracting the brush 311 is used to synchronously drive the pin 45 to insert into the gap of the inner wall of the pipe, which can treat the dirt in the gap of the pipe and avoid the phenomenon that the dirt in the gap cannot be cleaned due to excessive adhesion. This not only further improves the detection effect, but also facilitates the subsequent repair work.

[0111] It should be noted that the condition inside the pipe can be observed by installing a camera on the robot body 1, and the ejector pin 45 can be controlled to enter the corresponding pipe gap.

[0112] Example 3:

[0113] Referring to Figures 1 to 8, a pipeline construction detection and repair system based on ground-penetrating radar and a robot includes a robot body 1 and a ground-penetrating radar 2 that can rotate above the robot body 1, and further includes:

[0114] The mud brushing mechanism 3 is set on the top of the robot body 1. The mud brushing mechanism 3 is used to clean the inner wall of the pipe before the ground-penetrating radar 2 detects it.

[0115] The gap cleaning mechanism 4 is installed inside the mud brushing mechanism 3. The gap cleaning mechanism 4 is used to clean the mud and dirt in the pipe gaps.

[0116] The softening mechanism 5 is located on the gap cleaning mechanism 4. The softening mechanism 5 is used to soften the sludge before the gap cleaning mechanism 4 cleans, so as to prevent the gap cleaning mechanism 4 from damaging the pipe.

[0117] The repair mechanism 6 is located on the top of the robot body 1. The repair mechanism 6 is used to repair the severely corroded parts of the pipe.

[0118] The softening mechanism 5 includes:

[0119] Piston disc 51 is fixed to the top of slide rod 43, and piston 51 moves inside piston cylinder 42.

[0120] Mounting block 52 is fixed to the outer surface of the ejector pin 45;

[0121] Nozzle 53 is fixed to the top of mounting block 52, and the liquid outlet direction of nozzle 53 corresponds to the position of ejector pin 45.

[0122] Hose 54 connects the nozzle 53 and the piston cylinder 42.

[0123] The softening mechanism 5 also includes:

[0124] Liquid inlet pipe 55 is connected to the outer surface of piston cylinder 42;

[0125] The sealing plug 56 is threaded into the inlet pipe 55.

[0126] While the gap cleaning mechanism 4 can remove sludge from pipe gaps, the strong adhesion of the sludge makes it difficult to control the force when the pin 45 is inserted into it. Excessive force can easily damage the inner wall of the pipe. The following improvements are made to address this issue:

[0127] By setting the inlet pipe 55, softener can be added into the piston cylinder 42. By setting the sealing plug 56, the inlet pipe 55 can be sealed after the softener is added. By moving the extrusion head 48, the extrusion block 41 is squeezed. When the ejector pin 45 is inserted into the sludge on the inner wall of the pipe gap, it will also drive the slide rod 43 and piston plate 51 to move upward in the piston cylinder 42, squeezing the softener in the piston cylinder 42. The softener is squeezed from the hose 54 into the nozzle 53 and sprayed out from the nozzle 53. Since the spraying direction of the nozzle 53 corresponds to the position of the ejector pin 45, the softener can be sprayed onto the sludge before the ejector pin 45 is inserted into the sludge, so that the sludge is softened.

[0128] This technical solution uses softened mud to make it easier for the ejector pin 45 to be inserted into the mud, preventing excessive insertion force from damaging the pipe. The softener is simply cold water.

[0129] Example 4:

[0130] Referring to Figures 1 to 8, a pipeline construction detection and repair system based on ground-penetrating radar and a robot includes a robot body 1 and a ground-penetrating radar 2 that can rotate above the robot body 1, and further includes:

[0131] The mud brushing mechanism 3 is set on the top of the robot body 1. The mud brushing mechanism 3 is used to clean the inner wall of the pipe before the ground-penetrating radar 2 detects it.

[0132] The gap cleaning mechanism 4 is installed inside the mud brushing mechanism 3. The gap cleaning mechanism 4 is used to clean the mud and dirt in the pipe gaps.

[0133] The softening mechanism 5 is located on the gap cleaning mechanism 4. The softening mechanism 5 is used to soften the sludge before the gap cleaning mechanism 4 cleans, so as to prevent the gap cleaning mechanism 4 from damaging the pipe.

[0134] The repair mechanism 6 is located on the top of the robot body 1. The repair mechanism 6 is used to repair the severely corroded parts of the pipe.

[0135] Among them, repair mechanism 6 includes:

[0136] Liquid container 61 is fixed to the top of robot body 1;

[0137] Suction pump 62 is fixed to the top of liquid tank 61;

[0138] Mounting block 2 63 is fixed to the side of the arc-shaped block 310. A nozzle 64 is fixed in the middle of mounting block 2 63. The inlet end of the suction pump 62 is connected to the liquid tank 61 through hose 3 66, and the outlet end of the suction pump 62 is connected to the nozzle 64 through hose 2 65.

[0139] Among them, repair mechanism 6 also includes:

[0140] The stirring rod 67 is fixed to the outer surface of the rotating rod 31 and located inside the liquid tank 61. The stirring rod 67 is rotatably connected to the rotating rod 31 through a bearing.

[0141] When the ground-penetrating radar 2 detects a severely corroded area inside the pipeline, the robot body 1 can be moved to a different position and the circular housing 32 can be rotated by the drive unit. This allows the nozzle 64 to move to the severely corroded area of ​​the pipeline. The suction pump 62 is then activated to draw out the pre-placed anti-corrosion agent from the liquid tank 61. The anti-corrosion agent is then drawn into the nozzle 64 through the three hoses 66 and the two hoses 65 and sprayed onto the inner wall of the pipeline. This forms an anti-corrosion coating in the severely corroded area of ​​the pipeline, completing the repair work.

[0142] It should be noted that since the second hose 65 is connected to the nozzle 64, and the nozzle 64 is installed on the circular housing 32, when the circular housing 32 is driven to rotate, it can be driven to rotate 180 degrees and then reset, preventing the second hose 65 from getting tangled. Furthermore, it is connected to the first rotating rod 31 through the stirring rod 67. When the first rotating rod 31 drives the circular housing 32 to rotate and treat the sludge on the inner wall of the pipe, the stirring rod 67 can also be driven to rotate simultaneously. This design can prevent the corrosion inhibitor from settling in the liquid tank 61.

[0143] Example 5:

[0144] In order to work effectively and efficiently in different pipeline environments and conditions, it is necessary to design and select the parameters and structure of the sludge brushing mechanism, gap cleaning mechanism, softening mechanism, and repair mechanism, and to adopt flexible control methods.

[0145] The specific steps are as follows:

[0146] Optimize the parameters of the flexible brush and set up sensors to collect data from the sensors during operation, including pipe diameter, shape, mud thickness and hardness.

[0147] The relevant data is sent to the control system, which analyzes the data and determines the optimal parameters for brush (brush) operation, including pressure, speed, and angle.

[0148] The control system sends commands to the brush (bristle brush), and the brush adjusts its configuration and movement according to the commands.

[0149] In this embodiment, the pressure and speed can be adjusted according to the thickness and hardness of the mud.

[0150] Example 6:

[0151] If data such as the thickness or hardness of the mud exceeds the threshold, the following process is also included:

[0152] Install a spray device in front of the softener dispensing mechanism.

[0153] Based on data from radar or sensors, the location of the sludge is determined, and the control system calculates the optimal operating parameters for the spraying device, such as pressure, flow rate, angle, and duration. The spraying device then sprays water mixed with chemical agents into the target area according to instructions.

[0154] Example 7:

[0155] In this system or the host computer control system, a ground-penetrating radar data processing module is configured. For example, a pre-trained radar data processing module is then deployed to the system. The specific data processing process is as follows:

[0156] Step 1: Collect raw data from underground using predefined signal frequencies and power. The raw data can be represented as a matrix X of size M x N, where M is the number of samples and N is the number of features.

[0157] Step 2: Send the raw data to the data processing system. The data processing system preprocesses the data and converts it into an image format. Preprocessing steps include normalization, filtering, and noise reduction. The image format can be represented as a tensor I of size MxHxWxC, where H is the height, W is the width, and C is the number of channels in the tensor I image.

[0158] Step 3: The data processing system inputs the image data into the CNN model, which extracts the features of the pipelines and outputs a probability map of the pipelines' existence and location. The CNN model consists of convolutional layers, pooling layers, activation layers, etc.

[0159] Iout(k)=F(I in )=σ(W*I in (k)+b);

[0160] I in (k) is the input image for channel k, I out (k) is the output image of the k-channel, W is the convolution kernel, b is the bias term, σ is the activation function, and * is the convolution operation.

[0161] A CNN model can be represented as a function F that maps an input image I to an output probability map Px1 of size MxHxW, where P(i,j,k) is the probability that pixel (i,j) in image k belongs to a pipeline.

[0162] Step 4: The data processing system post-processes the probability map and generates a pipeline diagram, which displays the location, size, shape, and orientation of the pipelines. Post-processing steps include thresholding, clustering, and contour extraction. The pipeline diagram can be represented as a set of parameters Q describing each detected pipeline, such as center coordinates, radius, length, and angle.

[0163] In a further embodiment, the method also includes automatic identification and classification of pipeline features and defects, and steps 5 and 6 can be run in parallel with steps 3 to 4.

[0164] Step 5: Receive the preprocessed image data, i.e., the enhanced image with dimensions MxHxWxC, where H is the height, W is the width, and C is the number of channels in the image.

[0165] Step 6: Apply semantic segmentation technology based on convolutional neural networks to process the enhanced image to obtain a segmented image of size MxHxWxK, where K is the number of categories, such as pipe, soil, rock, water, corrosion, etc.

[0166] Step 7: Based on the pipe material and condition, call the pre-stored genetic algorithm to optimize the frequency and power of the ground-penetrating radar signal, and send feedback to the robot body. The robot body adjusts the signal parameters accordingly. Based on the particle swarm optimization algorithm, optimize the type and quantity of repair materials according to the corrosion type and severity, and send commands to the repair agency.

[0167] Example 8:

[0168] The process of extracting pipeline corrosion based on radar data is as follows:

[0169] Step 11: Collect raw data from the pipe wall using a predefined signal frequency and power. The raw data can be represented as a vector x of length N, where N is the number of samples.

[0170] Step 12: Send the raw data to the data processing system. The data processing system performs wavelet transform on the data to obtain signals in different frequency bands.

[0171] X(i,j)=W(x)=∫ -∞ ∞ x(t)ψ i,j(t) dt;

[0172] Where ψ i,j(t)Let x(t) be the wavelet function at scale i and translation j, and let x(t) be the input signal. The wavelet transform can be represented as a function W that maps the input vector x to a matrix X of size M x N, where M is the number of frequency bands, X(i,j) are the wavelet coefficients of frequency band i, and sample j is the input signal.

[0173] Step 13: The data processing system selects a suitable frequency band containing most of the corrosion defect information and applies Hilbert transform to obtain the envelope of the signal.

[0174] y(j)=H(x)=(1 / π)∫ ∞ -∞ x(t) / (tj)dt;

[0175] x(t) is the input signal, and y(j) is the amplitude of the analytic signal. Taking the absolute value of y yields the envelope of the signal.

[0176] The Hilbert transform can be represented as a function H that maps an input vector x to a vector y of length N, where y(j) is the amplitude of the analytic signal of sample j.

[0177] Step 14: Analyze the signal envelope and calculate erosion parameters, such as depth, area, and volume. Erosion parameters can be obtained by applying different algorithms or models to the envelope vector y, such as thresholding, segmentation, and fitting.

[0178] In this embodiment, the raw data can be decomposed into different frequency components and the envelope of the signal can be extracted to reflect the severity of corrosion.

[0179] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pipeline construction detection and repair system based on ground-penetrating radar and a robot, comprising a robot body (1) and a ground-penetrating radar (2) rotatable above the robot body (1), characterized in that, Also includes: A mud-brushing mechanism (3) is set on the top of the robot body (1), which is used to clean the inner wall of the pipe before the ground-penetrating radar (2) is detected; a crevice cleaning mechanism (4) is set inside the mud-brushing mechanism (3), which is used to clean the mud and scale in the pipe crevice; a softening mechanism (5) is located on the crevice cleaning mechanism (4), which is used to soften the mud and scale before the crevice cleaning mechanism (4) cleans it to prevent the crevice cleaning mechanism (4) from damaging the pipe; a repair mechanism (6) is set on the top of the robot body (1), which is used to repair the severely corroded parts of the pipe; the mud-brushing mechanism (3) includes: a rotating rod (31), which is set to... A circular housing (32) is fixed to the right end of the rotating rod (31) placed above the robot body (1); a motor (33) is fixed to the inner wall of the circular housing (32); a turntable (34) is fixed to the output shaft end of the motor (33), and an arc groove (35) is provided inside the turntable (34); a push rod (36) slides inside the arc groove (35), and a moving block (37) is fixed to the bottom end of the push rod (36); a rectangular shell (38) is fixed to the inner wall of the circular housing (32), and the moving block (37) slides inside the rectangular shell (38); and a moving rod (39) is fixed to the moving block. (37) The left side, and the moving rod (39) slides through the inner wall of the circular shell (32); the arc block (310), the arc block (310) is fixed at the left end of the moving rod (39), the arc block (310) is arranged in an arc shape; the brush (311), the brush (311) is fixed on the outer surface of the arc block (310); the gap cleaning mechanism (4) includes: the squeezing block (41), the squeezing block (41) is arranged in the circular shell (32); the piston cylinder (42), the piston cylinder (42) is fixed in the inner wall of the circular shell (32); the slide rod (43), the slide rod (43) slides in the piston cylinder (42), and one end of the slide rod (43) is connected to the squeezing block (41); the return spring (44) The return spring (44) is sleeved on the outer surface of the slide bar (43), and the two ends of the return spring (44) are fixedly connected to the extrusion block (41) and the piston cylinder (42) respectively; the ejector pin (45) is fixed on the side of the extrusion block (41), and the ejector pin (45) slides through the inner wall of the circular shell (32); the gap cleaning mechanism (4) also includes: a rectangular block (46), which is fixed on the top of the push rod (36); an L-shaped rod (47), which is connected to the right side of the rectangular block (46); an extrusion head (48), which is fixed on the top of the L-shaped rod (47), and the position of the extrusion head (48) corresponds to the position of the extrusion block (41);When it is necessary to remove sludge from the gaps in the inner wall of the pipe, the motor (33) drives the turntable (34) to rotate, thereby causing the moving block (37) to move to the right in the rectangular shell (38), retracting the arc block (310) and the brush (311). The rectangular block (46) is connected to the push rod (36), and the push rod (36) will drive the rectangular block (46) and the L-shaped rod (47) to move to the right together. The push rod (36) is connected to the L-shaped rod (47) through the extrusion head (48), which will then drive the extrusion head (48). Moving to the right, the position of the extrusion block (41) corresponds to that of the extrusion head (48). The movement of the extrusion head (48) generates extrusion force on the extrusion block (41), thereby causing the extrusion block (41) and the slide rod (43) to slide backward. The extrusion block (41) then causes the ejector pin (45) to slide backward. The ejector pin (45) inserts into the gap in the inner wall of the pipe, and the drive unit drives the circular housing (32) to rotate, thereby causing the ejector pin (45) to rotate and removing the dirt in the gap.

2. The pipeline construction detection and repair system based on ground-penetrating radar and robots according to claim 1, characterized in that, The mud brushing mechanism (3) further includes: a circular gear one (312), which is fixed on the outer surface of the rotating rod one (31); a circular gear two (313), which meshes with the circular gear one (312), and the top of the robot body (1) is also provided with a drive unit for driving the circular gear two (313) to rotate.

3. The pipeline construction detection and repair system based on ground-penetrating radar and robots according to claim 1, characterized in that, The softening mechanism (5) includes: a piston disc (51), which is fixed to the top of the slide rod (43) and the piston of the piston disc (51) moves inside the piston cylinder (42); a mounting block (52), which is fixed to the outer surface of the ejector pin (45); a nozzle (53), which is fixed to the top of the mounting block (52) and the liquid outlet direction of the nozzle (53) corresponds to the position of the ejector pin (45); and a hose (54), which connects the nozzle (53) and the piston cylinder (42).

4. The pipeline construction detection and repair system based on ground-penetrating radar and robots according to claim 3, characterized in that, The softening mechanism (5) further includes: an inlet pipe (55) connected to the outer surface of the piston cylinder (42); and a sealing plug (56) threadedly connected inside the inlet pipe (55).

5. A pipeline construction detection and repair system based on ground-penetrating radar and robots according to claim 1, characterized in that, The repair mechanism (6) includes: a liquid tank (61), which is fixed on the top of the robot body (1); a suction pump (62), which is fixed on the top of the liquid tank (61); a second mounting block (63), which is fixed on the side of the arc block (310), and a nozzle (64) is fixed in the middle of the second mounting block (63). The inlet end of the suction pump (62) is connected to the liquid tank (61) through a third hose (66), and the outlet end of the suction pump (62) is connected to the nozzle (64) through a second hose (65); and a stirring rod (67), which is fixed on the outer surface of the first rotating rod (31) and located inside the liquid tank (61). The stirring rod (67) is rotatably connected to the first rotating rod (31) through a bearing.

6. A pipeline construction detection and repair system based on ground-penetrating radar and robots according to claim 5, characterized in that, Also includes: The data processing module is configured in the robot body.

7. A method of using a pipeline construction detection and repair system based on ground-penetrating radar and a robot, comprising the pipeline construction detection and repair system based on ground-penetrating radar and a robot as described in claim 2, characterized in that, The main steps include: Step A: During detection, the robot body (1) carries the ground-penetrating radar (2) and, through unmanned or remote control operation, allows it to enter the pipeline. The angle of the ground-penetrating radar (2) is adjusted by the adjustment mechanism, and the ground-penetrating radar (2) detects the degree of corrosion on the inner wall of the pipeline network. Step B: Before the ground-penetrating radar (2) detects, the motor (33) is started to drive the turntable (34) to rotate counterclockwise. The turntable (34) pushes the push rod (36) to slide in the arc groove (35). Through the limitation of the rectangular shell (38), the moving block (37) can be driven in the rectangular groove. The shell (38) slides to the left, and the moving rod (39) drives the arc block (310) and the brush (311) to slide to the left, so that the brush (311) fits against the inner wall of the pipe, and the drive unit is activated to drive the second circular gear (313) to rotate. The second circular gear (313) drives the first circular gear (312) to rotate. The first circular gear (312) drives the first rotating rod (31) and the circular shell (32) to rotate. The circular shell (32) drives the brush (311) to rotate, and the brush (311) removes the dirt adhering to the area to be detected by the ground radar (2) in advance.

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