Pipeline excavation method

Abstract

The invention provides a pipeline excavation method, and belongs to the technical field of pipeline excavation. According to the method, the depth and the trend of the excavated pipeline are detected through the pipeline detector, a batch and step-by-step excavation method is adopted according to the detection result, firstly, a groove is preliminarily excavated manually, and then the groove is washed with high-pressure water through the water flow system; discharging residual mud-water mixture after flushing through a negative pressure suction device until the excavated pipeline is exposed, operating the exposed excavated pipeline, backfilling soil after the operation is completed, cleaning the site, ending the work, excavating the groove by utilizing high-pressure water flow, and removing the excavated pipeline after the operation is completed. The technical problems of construction period delay, waste of a large amount of manpower and material resources and damage to national defense safety caused by frequent damage or breakage of national defense cables due to manual excavation or excavation by an excavator in the prior art are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline excavation, and more specifically, relates to a pipeline excavation method. Background Art

[0002] As cities develop faster and faster, pipeline networks are receiving more and more attention. However, municipal pipelines in existing urban pipeline networks are often intertwined, such as water supply, drainage, gas, sanitation, power supply, communications and national defense cables. Therefore, when excavating pipelines, it is necessary to first locate and survey the municipal pipelines within the road red line. Municipal pipelines that affect construction also need to be excavated to expose them, and then maintained or repaired.

[0003] In the prior art, pipeline excavation is usually done manually or with an excavator. Because the excavated pipelines are often intertwined with defense cables, communication cables, etc., pipeline excavation has long relied mainly on manpower, which is inefficient and labor-intensive. Operation and maintenance units usually temporarily hire migrant workers to carry out the work, which in turn brings about problems of poor controllability and manageability. During the excavation of the excavated pipelines using traditional excavation methods, defense cables are often damaged or cut, which not only causes construction delays, wastes a lot of manpower and material resources, but also damages national defense security. Therefore, the excavation link has become a major bottleneck in improving maintenance efficiency and strengthening the controllability of maintenance quality. Summary of the invention

[0004] The object of the present invention is to provide a pipeline excavation method to solve the technical problem of preventing national defense cables from being damaged during the excavation process in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is to provide a pipeline excavation method, comprising:

[0006] S1. Detect the excavated pipelines, establish a BIM database, integrate IOT technology, collect data from the project site in real time, use TensorFlow to define the model architecture of the convolutional neural network (CNN), import the data obtained from the detection into the TensorFlow library and related auxiliary libraries, and use the Keras API TensorFlow's powerful computing power to train and deep learn models to establish pipeline mining models;

[0007] S2. In the process of establishing the pipeline mining model, in the initialization method (__init__), add the required layers as instance variables; the layers can be convolutional layers (tf.keras.layers.Conv2D), pooling layers (tf.keras.layers.MaxPooling2D or tf.keras.layers.AveragePooling2D), and fully connected layers (tf.keras.layers.Dense), and finally determine the depth and direction of the excavated pipeline;

[0008] S3, based on the depth and direction of the excavated pipeline, the excavated pipeline is initially excavated to form a trench, and the excavation is stopped after the trench is excavated to a certain depth; after the initial excavation, the pipeline excavation model system result signal is transmitted to the high-pressure water flow system, the sandblasting device and the negative suction pressure device; the trench is secondary excavated using the high-pressure water flow system, the sandblasting device and the negative suction pressure device, and the working conditions are analyzed in real time during the secondary excavation process, and the result signal after the real-time analysis is transmitted to the high-pressure water flow system, the sandblasting device and the negative suction pressure device, and the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device are adjusted in real time until the excavated pipeline is exposed;

[0009] S4, operating the exposed excavated pipeline;

[0010] S5. After the operation is completed, backfill the soil, clean up the site, and end the work.

[0011] In a possible implementation, in step S1, a pipeline detector is used to perform depth detection and direction detection on the excavated pipeline, and the pipeline detector is connected to the high-pressure water flow system signal.

[0012] In a possible implementation, the high-pressure water flow system in step S3 includes a moving unit, an adjustment unit, a high-pressure water jetting unit and a control unit. The moving unit moves along the direction of the excavated pipeline; the adjustment unit is arranged on the moving unit; the high-pressure water jetting unit is arranged on the adjustment unit, and the high-pressure water jetting unit includes a high-pressure pump, a water tank, a water pipe and a nozzle, and the two ends of the water pipe are respectively connected to the water pipe and the water tank, the water tank is used to hold water, the high-pressure pump is used to pump the water in the water tank into the nozzle through the water pipe, and the pumped high-pressure water is ejected from the nozzle to perform high-pressure injection and impact on the soil; the control unit is respectively connected to the moving unit, the adjustment unit and the high-pressure water jetting unit by signal.

[0013] In a possible implementation, the high-pressure water jetting unit further includes a depth sensing module and a width sensing module for detecting the crushing depth and crushing width of the soil caused by the operation of the high-pressure water jetting unit.

[0014] In a possible implementation, the sandblasting device includes:

[0015] A sandblasting box, arranged on the mobile unit, and used for containing blasting materials;

[0016] Sandblasting pipe: one end of which is connected to the sandblasting box, and a first valve is provided on the sandblasting pipe;

[0017] A sandblasting head connected to the other end of the sandblasting tube, the sandblasting head sprays the material onto the soil;

[0018] A compressed air system is arranged on the sandblasting box and is communicated with the sandblasting box. The compressed air system is used to press the blasting material in the sandblasting box into the sandblasting tube and spray it out through the sandblasting head.

[0019] In a possible implementation, it further includes a sandblasting branch pipe, on which a second valve is provided, one end of the sandblasting branch pipe is connected to the sandblasting pipe, and the other end of the sandblasting branch pipe is connected to the water pipe.

[0020] In a possible implementation, the negative suction pressure device includes a stirring unit and a negative suction unit. The stirring unit is arranged on the mobile unit. The stirring unit is used to fully stir the mud-water mixture. The stirred mud-water mixture is discharged from the excavated trench through the negative suction unit.

[0021] In a possible implementation, the stirring unit includes:

[0022] A stirring motor, arranged on the moving unit;

[0023] The stirrer is connected to the power output end of the stirring motor, and a plurality of spiral blades and a plurality of crushing cutters are arranged on the front end of the stirrer.

[0024] In a possible implementation, the negative suction unit includes:

[0025] A support, provided on the mobile unit, wherein the support has automatic angle adjustment and length adjustment freedom;

[0026] A negative suction pressure pipe is arranged on the support, and the negative suction pressure pipe is used to discharge the mud-water mixture from the groove;

[0027] A negative pressure generator is arranged on the mobile unit, and one end of the negative pressure generator is communicated with the negative suction pressure pipeline.

[0028] In a possible implementation, step S3 further includes:

[0029] S31. Digging sump and drainage pipes;

[0030] S32. Support, drain and lay workbench in the excavated trench.

[0031] In a possible implementation, the supporting platform and the rotating platform are both hollow structures.

[0032] The beneficial effect of a pipeline excavation method provided by the present invention is that: compared with the prior art, the present invention first uses a pipeline detector to detect the depth and direction of the excavated pipeline, trains the pipeline excavation model according to the detection data, and obtains a target excavation model; during specific excavation, a batch and step-by-step excavation method is adopted according to the pipeline excavation model, firstly, a preliminary trench is excavated manually, and after the trench is excavated to a certain depth, the pipeline excavation model system result signal is transmitted to the high-pressure water flow system, the sandblasting device and the negative suction pressure device, and then the water flow system is used to flush the trench with high-pressure water, and the mud and water mixture generated after flushing is discharged through the negative suction pressure device until the excavated pipeline is exposed, and finally the exposed excavated pipeline is operated, and after the operation is completed, the soil is backfilled and the site is cleaned to end the work. The present invention uses TensorFlow to define the model architecture of a convolutional neural network (CNN) based on deep learning to achieve the construction of a pipeline mining model, which has the characteristics of automated recognition and high recognition accuracy. At the same time, high-pressure water flow is used to dig the trench, which solves the technical problem that in the conventional prior art, manual digging or excavation using an excavator often causes damage or breaking of national defense cables, which not only causes construction delays and wastes a lot of manpower and material resources, but also damages national defense security. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 A flow chart of a pipeline mining method provided by an embodiment of the present invention;

[0035] Figure 2 A diagram showing the structure of a high-pressure water flow system provided by an embodiment of the present invention;

[0036] Figure 3A diagram showing the composition of a sandblasting device provided by an embodiment of the present invention;

[0037] Figure 4 A diagram showing the composition of a negative suction pressure device provided by an embodiment of the present invention;

[0038] 100, moving unit; 200, adjusting unit; 300, high-pressure water jet unit; 400, control unit; 301, high-pressure pump; 302, water tank; 303, water pipe; 304, nozzle; 305, depth sensing module; 306, width sensing module; 10, sandblasting device; 11, sandblasting box; 12, sandblasting tube; 121, sandblasting branch pipe; 13, sandblasting head; 14, compressed air system; 20, negative suction pressure device; 21, stirring unit; 22, negative suction unit; 201, stirring motor; 202, stirrer; 221, support; 222, negative suction pressure pipeline; 223, negative pressure generator. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] It should be further explained that the drawings and implementation modes of the present invention mainly describe the concept of the present invention. On the basis of this concept, the specific forms and settings of some connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, on the premise that those skilled in the art understand the concept of the present invention, those skilled in the art can implement the above-mentioned specific forms and settings in a well-known manner.

[0041] When an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0042] The directions or positional relationships indicated by terms such as “length”, “width”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, and "several" means one or more, unless otherwise clearly and specifically defined.

[0044] A pipeline excavation method provided by the present invention is now described.

[0045] Please also read Figure 1 and Figure 2 The present invention provides a pipeline excavation method, comprising the following steps S1 to S5:

[0046] S1. Detect the excavated pipelines, establish a BIM database, integrate IOT technology, collect data from the project site in real time, use TensorFlow to define the model architecture of the convolutional neural network (CNN), import the data obtained from the detection into the TensorFlow library and related auxiliary libraries, and use the Keras API TensorFlow's powerful computing power to train and deep learn models to establish pipeline mining models;

[0047] S2. In the pipeline mining model initialization method (__init__), add the required layers as instance variables; the layers can be convolutional layers (tf.keras.layers.Conv2D), pooling layers (tf.keras.layers.MaxPooling2D or tf.keras.layers.AveragePooling2D), and fully connected layers (tf.keras.layers.Dense), and finally determine the depth and direction of the excavated pipeline;

[0048] S3. Preliminary excavation is performed on the excavated pipeline to form a trench according to the depth and direction of the excavated pipeline, and the excavation is stopped after the trench is excavated to a certain depth; after the preliminary excavation, the pipeline excavation model system result signal is transmitted to the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20); the trench is secondary excavated using the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20), and the working conditions are analyzed in real time during the secondary excavation process, and the result signal after the real-time analysis is transmitted to the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20), and the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20) are adjusted in real time until the excavated pipeline is exposed;

[0049] S4, operating the exposed excavated pipeline;

[0050] S5. After the operation is completed, backfill the soil, clean up the site, and end the work.

[0051] Specifically, after the pipeline mining model is established in step S2, it needs to be compiled. In the specific compilation process, the loss function, optimizer and evaluation index need to be specified. Among them, the loss function can be the following: Mean Squared Error (MSE), Root Mean Squared Error (RMSE), Mean Absolute Error (MAE), Cross-Entropy Loss, Binary Crossentropy Loss, Sparse Categorical Crossentropy, Categorical Crossentropy and Hinge Loss, etc.

[0052] A pipeline excavation method provided in this embodiment, compared with the prior art, first uses a pipeline detector to detect the depth and direction of the excavated pipeline, and trains the pipeline excavation model according to the detection data to obtain a target excavation model; during the specific excavation, a batch and step-by-step excavation method is adopted according to the pipeline excavation model. First, a preliminary trench is excavated manually. After the trench is excavated to a certain depth, the pipeline excavation model system result signal is transmitted to the high-pressure water flow system, the sandblasting device 10 and the negative suction pressure device 20. Then, the water flow system is used to flush the trench with high-pressure water. The mud and water mixture generated after flushing is discharged through the negative suction pressure device 20 until the excavated pipeline is exposed. Finally, the exposed excavated pipeline is operated. After the operation is completed, the soil is backfilled and the site is cleaned to end the work. The present invention uses TensorFlow to define the model architecture of a convolutional neural network (CNN) based on deep learning to achieve the construction of a pipeline mining model, which has the characteristics of automated recognition and high recognition accuracy. At the same time, high-pressure water flow is used to dig the trench, which solves the technical problem that in the conventional prior art, manual digging or excavation using an excavator often causes damage or breaking of national defense cables, which not only causes construction delays and wastes a lot of manpower and material resources, but also damages national defense security.

[0053] Please also read Figure 1 to Figure 2In step S1, a pipeline detector is used to detect the depth and direction of the excavated pipeline. The pipeline detector is connected to the high-pressure water flow system signal. Pipeline detectors are divided into two categories. One category (underground pipeline detector) uses the principle of electromagnetic induction to detect metal pipelines, electric / optical cables, and some non-metallic pipelines with metal marking lines. This type is referred to as a pipeline detector. Advantages: fast detection speed, simple and intuitive, easy to operate, and high sensitivity. Disadvantages: When detecting non-metallic pipelines, non-metallic probes must be used. This method is more laborious to use and requires intrusion into the interior of the pipeline. The other type uses electromagnetic waves to detect underground pipelines of all materials. It can also be used to find underground buried objects. It is commonly known as radar and is also called pipeline radar. Advantages: It can detect pipelines of all materials. Disadvantages: It has high environmental requirements, poor depth measurement capabilities (it is difficult to detect pipelines with deeper burial depths), and requires high operator quality and experience.

[0054] In some embodiments, the high-pressure water flow system in step S3 includes a mobile unit 100, an adjustment unit 200, a high-pressure water jet unit 300 and a control unit 400. The mobile unit 100 moves along the direction of the excavated pipeline; the adjustment unit 200 is arranged on the mobile unit 100; the high-pressure water jet unit 300 is arranged on the adjustment unit 200, and the high-pressure water jet unit 300 includes a high-pressure pump 301, a water tank 302, a water pipe 303 and a nozzle 304, and the two ends of the water pipe 303 are respectively connected with the water pipe 303 and the water tank 302, and the water tank 302 is used to hold water, and the high-pressure pump 301 is used to pump the water in the water tank 302 into the nozzle 304 through the water pipe 303, and the pumped high-pressure water is ejected from the nozzle 304 to perform high-pressure injection and impact on the soil; the control unit 400 is respectively connected to the mobile unit 100, the adjustment unit 200 and the high-pressure water jet unit 300 by signal.

[0055] The control unit 400 is operated to control the mobile unit 100, the adjustment unit 200 and the high-pressure water jet unit 300 respectively. Since the control unit 400 is connected to the pipeline detector, the pipeline detector transmits the direction and depth of the excavated pipeline after detection to the control unit 400, and the control unit 400 starts the mobile unit 100, the adjustment unit 200 and the high-pressure water jet unit 300 according to the detected data. The high-pressure pump 301 pumps the water in the water tank 302 into the nozzle 304 through the water pipe 303. Since the nozzle 304 is fixed on the adjustment unit 200, the angle between the nozzle 304 and the groove is adjusted in time according to the control unit 400. The nozzle 304 impacts the high-pressure water flow into the groove. The soil and stones in the groove are gradually peeled off under the impact of the high-pressure water flow to form a mud-water mixture. Under the control and adjustment of the control unit 400, the mobile unit 100 adjusts the direction and speed of movement in real time. The use of high-pressure water flow to dig the groove can avoid damage to the national defense cable caused by manual excavation or excavator during the excavation process.

[0056] Furthermore, the high-pressure water jet unit 300 also includes a depth sensing module 305 and a width sensing module 306 for detecting the crushing depth and crushing width of the soil caused by the operation of the high-pressure water jet unit 300 .

[0057] The depth sensing module 305 and the width sensing module 306 transmit the excavation depth and crushing width to the control unit 400 in real time. The control unit 400 adjusts the power of the high-pressure pump 301, the impact power and angle of the high-pressure water flow, and the travel direction and speed of the mobile unit 100 in real time according to the transmitted data, so as to better adapt to different excavation environments.

[0058] Since there will be larger stones during the excavation process, high-pressure water flushing alone cannot achieve faster excavation efficiency, so the present application also provides a sandblasting device 10, which includes a sandblasting box 11, a sandblasting tube 12, a sandblasting head 13 and a compressed air system 14. The sandblasting box 11 is arranged on the mobile unit 100, and the sandblasting box 11 is used to contain the spraying material; one end of the sandblasting tube 12 is connected to the sandblasting box 11, and the sandblasting tube 12 is provided with a first valve; the sandblasting head 13 is connected to the other end of the sandblasting tube 12, and the sandblasting head 13 sprays the spraying material onto the soil; the compressed air system 14 is arranged on the sandblasting box 11, and the compressed air system 14 is connected to the sandblasting box 11, and the compressed air system 14 is used to press the spraying material in the sandblasting box 11 into the sandblasting tube 12 and spray it out through the sandblasting head 13.

[0059] Open the first valve and start the compressed air system 14. Since the compressed air system 14 is connected to the sandblasting box 11, the compressed air system 14 presses the material in the sandblasting box 11 into the sandblasting tube 12 and sprays it out through the sandblasting head 13. The sprayed material impacts on larger stones and cuts the larger stones, thereby avoiding larger stones during excavation and affecting the excavation efficiency.

[0060] On the basis of the above embodiment, a sandblasting branch pipe 121 is further included. The sandblasting branch pipe 121 is provided with a second valve. One end of the sandblasting branch pipe 121 is connected to the sandblasting pipe 12 , and the other end of the sandblasting branch pipe 121 is connected to the water pipe 303 .

[0061] Open the second valve and close the first valve. Since the discharge port of the sandblasting branch pipe 121 is connected to the water pipe 303, the compressed air system 14 presses the spray material in the sandblasting box 11 into the sandblasting branch pipe 121 and sprays it out together with the high-pressure water flow through the nozzle 304. The mixture of the spray material and the high-pressure water flow has a sharper cutting force than the conventional high-pressure water flow, which improves the excavation efficiency of the excavation pipeline. At the same time, the high-pressure water flow can also reduce the spray force of the spray material on the national defense cable, thereby avoiding damage to the national defense cable by the spray material during the excavation process.

[0062] Specifically, the negative suction pressure device 20 includes a stirring unit 21 and a negative suction unit 22. The stirring unit 21 is arranged on the mobile unit 100. The stirring unit 21 is used to fully stir the muddy water mixture. The stirred muddy water mixture is discharged from the excavated trench through the negative suction unit 22. The arrangement of the stirring unit 21 and the negative suction unit 22 can stir the flushed muddy water mixture evenly. After the stirred muddy water mixture is mixed, it is sucked out from the bottom of the trench under the negative suction pressure of the negative suction unit 22 and discharged to other locations, realizing automation.

[0063] Specifically, the stirring unit 21 includes a stirring motor 201 and a stirrer 202. The stirring motor 201 is arranged on the mobile unit 100; the stirrer 202 is connected to the power output end of the stirring motor 201, and a plurality of spiral blades and a plurality of crushing cutters are arranged on the front end of the stirrer 202.

[0064] The stirring motor 201 is started, and the stirring motor 201 drives the stirrer 202 to rotate. Since the front section of the stirrer 202 is provided with a plurality of crushing cutters, the setting of the crushing cutters can crush the larger stones in the mud-water mixture in the groove. The crushed stones are fully mixed with the mud-water under the action of the plurality of spiral blades. At the same time, the mud-water mixture can also prevent the temperature of the crushing cutters from being too high when crushing larger stones, and can also avoid dust pollution of the environment. The fully stirred mud-water mixture is extracted from the groove through the negative suction unit 22 to avoid affecting the subsequent excavation work.

[0065] Furthermore, the negative suction unit 22 includes a support 221, a negative suction pressure pipe 222, and a negative pressure generator 223. The support 221 is provided on the mobile unit 100, and the support 221 has automatic angle adjustment and length adjustment freedom; the negative suction pressure pipe 222 is provided on the support 221, and the negative suction pressure pipe 222 is used to discharge the mud-water mixture from the groove; the negative pressure generator 223 is provided on the mobile unit 100, and one end of the negative pressure generator 223 is connected to the negative suction pressure pipe 222.

[0066] Start the negative pressure generator 223, which will create a negative pressure environment in the negative suction pressure pipe 222. The mud and water mixture is discharged through the negative suction pressure pipe 222 under the action of negative pressure. During the negative pressure suction process, adjust the angle and length of the support 221 to better allow the mud and water mixture to be discharged through the negative suction pressure pipe 222, thereby improving work efficiency.

[0067] Negative pressure generator 223 is a device used to generate negative pressure environment, which is widely used in many fields. Negative pressure generator 223, also known as vacuum generator, is a device that uses positive pressure gas source to generate negative pressure. There are many types, which are described as follows:

[0068] Classification by nozzle exit Mach number:

[0069] Subsonic nozzle type: When M1<1, it belongs to the subsonic nozzle type.

[0070] Sonic nozzle type: When M1=1, it is a sonic nozzle type.

[0071] Supersonic nozzle type: When M1>1, it is a supersonic nozzle type. Among them, the supersonic nozzle type (i.e., Laval nozzle 304) is a nozzle that first contracts and then expands. In order to obtain the maximum suction flow or the highest suction port pressure, the vacuum generator is usually designed into this type.

[0072] Classification by structural form:

[0073] CV Series: It has a simple structure without moving parts, a long service life, and a type with a mechanical vacuum switch. It also has a body material that is resistant to chemicals and gases, and can be used in a variety of environments.

[0074] MC2 series: Small and lightweight, with a variety of pressure sensors to choose from, can be equipped with a pressure sensor with solenoid valve control function, can be equipped with up to 8-way manifolds, and can select pneumatic valves.

[0075] Based on the above embodiment, the step S3 process further includes:

[0076] S31. Digging sump and drainage pipes;

[0077] S32, support, drain and lay workbench for the excavated trench;

[0078] By digging collection pits and drainage pipes, the mud and water mixture can be prevented from being discharged at will. The excavated trenches are then supported to avoid trench collapse during construction, which may cause safety accidents.

[0079] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline excavation method, comprising: S1. Use pipeline detectors to detect the excavated pipelines, establish a BIM database, integrate IOT technology, collect data from the project site in real time, use TensorFlow to define the model architecture of the convolutional neural network (CNN), import the data obtained from the detection into the TensorFlow library and related auxiliary libraries, and use the Keras API TensorFlow's powerful computing power to train and deep learn models to establish pipeline mining models; S2. In the pipeline mining model initialization method (__init__), add the required layers as instance variables; the layers can be convolutional layers (tf.keras.layers.Conv2D), pooling layers (tf.keras.layers.MaxPooling2D or tf.keras.layers.AveragePooling2D), fully connected layers (tf.keras.layers.Dense), and compile the pipeline mining model to finally determine the depth and direction of the excavated pipeline; S3. Preliminary excavation is performed on the excavated pipeline to form a trench according to the depth and direction of the excavated pipeline, and the excavation is stopped after the trench is excavated to a certain depth; after the preliminary excavation, the pipeline excavation model system result signal is transmitted to the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20); the trench is secondary excavated using the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20), and the working conditions are analyzed in real time during the secondary excavation process, and the result signal after the real-time analysis is transmitted to the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20), and the high-pressure water flow system, the sandblasting device (10) and the negative suction pressure device (20) are adjusted trial and error until the excavated pipeline is exposed; S4, operating the exposed excavated pipeline; S5. After the operation is completed, backfill the soil, clean up the site, and end the work.

2. A pipeline excavation method according to claim 1, characterized in that: In step S1, a pipeline detector is used to detect the depth and direction of the excavated pipeline, and the pipeline detector is connected to the high-pressure water flow system signal.

3. A pipeline excavation method according to claim 2, characterized in that: The high-pressure water flow system in step S3 comprises: A moving unit (100) moves along the direction of the excavated pipeline; An adjustment unit (200) is arranged on the moving unit (100); A high-pressure water jetting unit (300) is arranged on the adjustment unit (200), the high-pressure water jetting unit (300) comprising a high-pressure pump (301), a water tank (302), a water pipe (303) and a nozzle (304), the two ends of the water pipe (303) being respectively connected to the water pipe (303) and the water tank (302), the water tank (302) being used to hold water, the high-pressure pump (301) being used to pump the water in the water tank (302) into the nozzle (304) through the water pipe (303), and the pumped high-pressure water is ejected from the nozzle (304) to perform high-pressure ejection and impact on the soil; The control unit (400) is respectively connected to the moving unit (100), the adjustment unit (200) and the high-pressure water jetting unit (300) by signals.

4. A pipeline excavation method as claimed in claim 3, characterized in that: The high-pressure water jetting unit (300) further comprises a depth sensing module (305) and a width sensing module (306) for detecting the crushing depth and crushing width of soil caused by the operation of the high-pressure water jetting unit (300).

5. A pipeline excavation method as claimed in claim 4, characterized in that: The sandblasting device (10) comprises: A sandblasting box (11), arranged on the mobile unit (100), the sandblasting box (11) being used to contain blasting material; A sandblasting tube (12): one end of which is connected to the sandblasting box (11), and a first valve is provided on the sandblasting tube (12); A sandblasting head (13); connected to the other end of the sandblasting tube (12), the sandblasting head (13) sprays the blasting material onto the soil; A compressed air system (14) is provided on the sandblasting box (11), the compressed air system (14) is connected to the sandblasting box (11), and the compressed air system (14) is used to press the blasting material in the sandblasting box (11) into the sandblasting tube (12) and spray it out through the sandblasting head (13).

6. A pipeline excavation method according to claim 5, characterized in that: It also includes a sandblasting branch pipe (121), on which a second valve is provided, one end of the sandblasting branch pipe (121) is connected to the sandblasting pipe (12), and the other end of the sandblasting branch pipe (121) is connected to the water pipe (303).

7. A pipeline excavation method according to claim 6, characterized in that: The negative suction pressure device (20) comprises a stirring unit (21) and a negative suction unit (22); the stirring unit (21) is arranged on the mobile unit (100); the stirring unit (21) is used to fully stir the mud-water mixture; the stirred mud-water mixture is discharged from the excavated trench through the negative suction unit (22).

8. A pipeline excavation method as claimed in claim 7, characterized in that: The stirring unit (21) comprises: A stirring motor (201), arranged on the moving unit (100); The stirrer (202) is connected to the power output end of the stirring motor (201), and a plurality of spiral blades and a plurality of crushing cutters are provided on the front end of the stirrer (202).

9. A pipeline excavation method as claimed in claim 8, characterized in that: The negative suction unit (22) comprises: A support (221) is provided on the mobile unit (100), wherein the support (221) has an automatic degree of angle adjustment and a degree of freedom of length adjustment; A negative suction pressure pipe (222) is arranged on the support (221), and the negative suction pressure pipe (222) is used to discharge the mud-water mixture from the groove; A negative pressure generator (223) is provided on the mobile unit (100), and one end of the negative pressure generator (223) is in communication with the negative suction pressure pipe (222).

10. A pipeline excavation method according to claim 7, characterized in that: The step S3 also includes: S31. Digging sump and drainage pipes; S32. Support, drain and lay workbench in the excavated trench.

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