Device and method for detecting surface hardness of CIPP lining pipe for pipeline repair

Abstract

The invention belongs to a pipeline detection robot, and discloses a CIPP lining pipe surface hardness detection device and method for pipeline repair, the device comprises a robot capable of moving and rotating in a pipeline, and the robot is provided with a controller and a test assembly which are electrically connected; the testing assembly comprises a hardness testing telescopic rod arranged on the robot, and a hardness testing probe used for testing the hardness of the inner surface of the CIPP lining pipe is arranged at the free end of the hardness testing telescopic rod; a binocular camera electrically connected with the controller is arranged on the hardness testing telescopic rod; an electric control telescopic rod is arranged at the free end of the hardness testing telescopic rod, and a cleaning brush head for cleaning the inner surface of the CIPP lining pipe is arranged at the end part of the electric control telescopic rod. The CIPP lining pipe detection device is high in intelligent degree, convenient to use, high in CIPP lining pipe detection efficiency and high in adaptability, can be suitable for detecting CIPP lining pipes of different specifications, can measure the hardness of any part of the inner surface of a pipeline, and improves the CIPP repairing quality and efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection robots, and in particular relates to a device and method for detecting the surface hardness of a CIPP liner pipe for pipeline repair. Background Art

[0002] Underground pipelines are an indispensable part of urban development, and their normal operation plays an important role in the stable and orderly conduct of urban life. Underground pipeline systems have now been involved in various fields and play a vital role in social and economic development. However, due to the harsh working environment of underground pipelines, as the service life of pipelines increases, pipelines will suffer from corrosion, damage, leakage and other diseases. Once they fail, they will cause road collapse, seriously threatening people’s lives and safety and the harmony and stability of the city. Therefore, the repair of underground pipelines becomes particularly important.

[0003] Traditional repair methods generally require excavation of the ground to expose the pipeline for repair, while the research and application of CIPP technology just solves the limitations of traditional pipeline repair. It maintains the integrity of the pipeline through non-excavation repair, reduces interference with infrastructure and the surrounding environment, improves efficiency, and is widely used in urban pipeline maintenance and repair work. In CIPP repair technology, the hardness of the liner is one of the important indicators to ensure the quality and performance of the repair. The existing hardness detection of the liner usually relies on manual work, and requires sampling at the wellhead and then transporting it to the laboratory for quality testing; however, this method has a time delay. In addition, due to the small space of the inspection well, it is inconvenient for inspection personnel to enter and exit and move, resulting in inconvenience in sampling at the wellhead and delays in construction, which limits the development of CIPP repair quality control technology.

[0004] Therefore, it is urgent to develop a CIPP liner pipe surface hardness detection device and method for pipeline repair to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a CIPP liner pipe surface hardness detection device and method for pipeline repair, which can enter the pipeline to test the surface hardness of the CIPP liner pipe, and has easy operation and high work efficiency.

[0006] To achieve the above-mentioned object, the present invention provides a CIPP liner pipe surface hardness detection device for pipeline repair, comprising a robot that can move and rotate in the pipeline, the robot is provided with a controller and a test component, and the controller is electrically connected to the test component;

[0007] The testing assembly comprises a hardness testing telescopic rod provided on the robot, wherein a hardness testing probe for testing the hardness of the inner surface of the CIPP liner pipe is provided at the free end of the hardness testing telescopic rod;

[0008] The hardness test telescopic rod is provided with a binocular camera electrically connected to the controller for observing the state of the inner surface of the CIPP liner pipe;

[0009] The free end of the hardness testing telescopic rod is provided with an electric-controlled telescopic rod, and the end of the electric-controlled telescopic rod is provided with a cleaning brush head for cleaning the inner surface of the CIPP liner pipe.

[0010] Preferably, the robot comprises a robot body, on which are arranged a plurality of retractable moving wheels, the moving wheels abutting against the inner wall of the CIPP liner pipe, so that the robot body can move, be fixed and rotated in the CIPP liner pipe.

[0011] Preferably, the robot body is provided with a plurality of retractable robot legs electrically connected to the controller, the retractable robot legs are retractable robot legs corresponding to the moving wheels, and the moving wheels are installed at one end of the retractable robot legs away from the robot body.

[0012] Preferably, a walking drive motor electrically connected to the controller is provided on the robot body, and the walking drive motor is transmission-connected to the moving wheel.

[0013] Preferably, the movable wheel is externally transmission-connected with a crawler belt, and the crawler belt is in contact with the inner surface of the CIPP liner pipe.

[0014] Preferably, a telescopic rod driving motor electrically connected to the controller is provided on the robot body, and the telescopic rod driving motor is used to control the extension and retraction of the electric-controlled telescopic rod, the cleaning brush head and the hardness testing telescopic rod.

[0015] Preferably, a monitoring camera electrically connected to the controller is provided on the robot body, and the monitoring camera is used to monitor the internal video of the CIPP liner pipe to facilitate the walking and positioning of the robot body.

[0016] Preferably, the controller includes a wireless communication module, and the controller is wirelessly connected to a remote terminal via the wireless communication module for wirelessly transmitting information.

[0017] Preferably, the moving wheel is rotatably connected to the end of the retractable machine leg and can rotate in different directions under the control of the controller.

[0018] A method for testing the surface hardness of a CIPP liner pipe for pipeline repair includes the following steps:

[0019] Assemble the CIPP liner pipe surface hardness testing device for pipeline repair and ensure that the device can operate normally;

[0020] Control the robot to walk into the CIPP liner pipe, and control the robot to move to the area that needs to be inspected through the controller;

[0021] Control the robot to stop moving forward, then control the robot to rotate in the CIPP liner pipe, and adjust the direction of the robot so that the detection component faces the target area;

[0022] The controller controls the extension and retraction of the hardness test telescopic rod, and adjusts the length of the hardness test telescopic rod so that the hardness test probe and the cleaning brush head are close to the target area;

[0023] Control the extension and retraction of the electric telescopic rod so that the cleaning comb head contacts the target area and cleans the target area, and then control the binocular camera to take pictures of the target area;

[0024] Control the extension and retraction of the hardness test probe to detect the inner wall hardness of the CIPP liner pipe in the target area;

[0025] The detected data and the photographs of the target area are recovered to determine the surface condition and surface hardness of the CIPP liner pipe.

[0026] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses a CIPP liner pipe surface hardness detection device for pipeline repair. The rotating robot can move in the pipeline under the control of a controller and can conveniently reach a predetermined area to be detected without excavating the stratum. The robot is flexible in movement and can walk, stop and rotate, which is convenient for finding the area to be detected and maintaining the stability of the detection process. After arriving at the designated area, the hardness of the pipeline in the target area is detected by the hardness test probe on the hardness test telescopic rod, and the surface of the target area of ​​the pipeline is cleaned by the cleaning brush head, and then a binocular camera is used to take a picture of the target area to detect the state of the target area, so that the repair quality of the CIPP liner pipe can be observed more clearly and defects can be found.

[0027] The invention has a high degree of intelligence, is easy to use, has high detection efficiency for CIPP lined pipes, is highly adaptable, can be used to detect CIPP lined pipes of different specifications, can measure the hardness of any part of the inner surface of the pipeline, and improves the quality and efficiency of CIPP repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 This is a front view of the CIPP liner pipe surface hardness detection device for pipeline repair according to the present invention;

[0030] Figure 2 It is a side view of the CIPP liner pipe surface hardness detection device for pipeline repair of the present invention;

[0031] Figure 3 It is a top view of the CIPP liner pipe surface hardness detection device for pipeline repair of the present invention;

[0032] Figure 4 It is a control schematic diagram of the CIPP liner pipe surface hardness detection device for pipeline repair of the present invention;

[0033] In the figure: 1. Robot body; 2. Moving wheels; 3. Retractable robot legs; 4. Walking drive motor; 5. Controller; 6. Monitoring camera; 7. Telescopic rod drive motor; 8. Hardness test telescopic rod; 9. Binocular camera; 10. Electric control telescopic rod; 11. Cleaning brush head; 12. Hardness test probe; 13. CIPP liner pipe; 14. Original pipeline; 15. Wireless communication module; 16. Remote terminal. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figure 1-Figure 4 As shown, this embodiment provides a CIPP liner pipe surface hardness detection device for pipeline repair, including a robot that can move and rotate in the pipeline, and a controller 5 and a test component are provided on the robot, and the controller 5 is electrically connected to the test component;

[0037] The test assembly includes a hardness test telescopic rod 8 arranged on the robot, and a hardness test probe 12 for testing the hardness of the inner surface of the CIPP liner pipe 13 is arranged at the free end of the hardness test telescopic rod 8;

[0038] A binocular camera 9 electrically connected to the controller 5 is provided on the hardness test telescopic rod 8 and is used to observe the state of the inner surface of the CIPP liner pipe 13;

[0039] The free end of the hardness testing telescopic rod 8 is provided with an electric-controlled telescopic rod 10 , and the end of the electric-controlled telescopic rod 10 is provided with a cleaning brush head 11 for cleaning the inner surface of the CIPP liner pipe 13 .

[0040] The present invention discloses a CIPP inner liner pipe surface hardness detection device for pipeline repair. The rotating robot can move in the pipeline under the control of a controller 5 and can conveniently reach a predetermined area that needs to be detected without excavating the stratum. The robot is flexible in movement and can walk, stop and rotate, which is convenient for finding the area to be detected and maintaining the stability of the detection process. After reaching the designated area, the hardness of the pipeline in the target area is detected by the hardness test probe 12 on the hardness test telescopic rod 8, and the surface of the target area of ​​the pipeline is cleaned by the cleaning brush head 11, and then the target area is photographed by the binocular camera 9 to detect the state of the target area, and the repair quality of the CIPP inner liner pipe 13 can be observed more clearly to find defects. The present invention has a high degree of intelligence, is easy to use, has high detection efficiency for the CIPP inner liner pipe 13, has high adaptability, can be used to detect CIPP inner liner pipes 13 of different specifications, can measure the hardness of any part of the inner surface of the pipeline, and improves the quality and efficiency of CIPP repair.

[0041] In one embodiment of the present application, the CIPP liner pipe 13 is embedded in the original pipe 14 underground, and the outer wall of the CIPP liner pipe 13 fits the inner wall of the original pipe 14 to repair the damaged original pipe 14.

[0042] In one embodiment of the present application, the principle of the hardness test probe 12 is similar to that of a Barcol hardness tester, in which a pressure needle of a specified shape is pressed into a sample under the action of a standard spring pressure, and the hardness of the sample is characterized by the depth of the pressing.

[0043] According to a further optimization scheme, the robot includes a robot body 1, and a plurality of retractable moving wheels 2 are arranged on the robot body 1. The moving wheels 2 abut against the inner wall of the CIPP inner liner 13, so that the robot body 1 can walk, fix and rotate in the CIPP inner liner 13. The robot body 1 is supported on the inner wall of the pipeline by a plurality of moving wheels 2, so that the robot can move smoothly in the pipeline, and can be conveniently locked in position after reaching the designated area, so as to ensure that the equipment remains stable during the detection process; at the same time, the setting of the moving wheels 2 enables the robot body 1 to rotate in the pipeline, and the robot body 1 can rotate 360°, so that the hardness test telescopic rod 8 can face the target area to detect the hardness of any part inside the pipeline, which is convenient for detection.

[0044] Further optimization scheme, the robot body 1 is provided with a plurality of retractable robot legs 3 electrically connected to the controller 5, the retractable robot legs 3 are provided corresponding to the moving wheels 2, and the moving wheels 2 are installed at the end of the retractable robot legs 3 away from the robot body 1; the moving wheels 2 are rotatably connected to the ends of the retractable robot legs 3, and can rotate in different directions under the control of the controller 5. The moving wheels 2 are installed on the robot body 1 through the retractable robot legs 3, so that the distance between the moving wheels 2 and the robot body 1 can be conveniently adjusted, so that the moving wheels 2 can resist the inner wall of the CIPP liner pipe 13 in CIPP liner pipes 13 with different inner diameters, so that the device is suitable for different pipe diameters and has higher practicality.

[0045] In a further optimized solution, a travel drive motor 4 electrically connected to the controller 5 is provided on the robot body 1, and the travel drive motor 4 is in transmission connection with the moving wheel 2. The travel drive motor 4 is installed at the bottom end of the robot body 1, and can be controlled by the controller 5 to drive the moving wheel 2 to travel and stop, so as to realize the movement and fixation of the robot body 1, so that the robot can detect different areas of the CIPP liner pipe 13.

[0046] In a further optimized solution, the mobile wheel 2 is externally connected to a crawler, and the crawler contacts the inner surface of the CIPP liner pipe 13. The mobile wheel 2 adopts a crawler structure, which can ensure that the robot will not slip when moving during the hardness test, and at the same time, the robot will not move around during the test, ensuring the smooth progress of the test.

[0047] In a further optimized solution, a telescopic rod driving motor 7 electrically connected to the controller 5 is provided on the robot body 1, and the telescopic rod driving motor 7 is used to control the telescopic movement of the electric control telescopic rod 10, the cleaning brush head 11 and the hardness test telescopic rod 8. Under the control of the controller 5, the telescopic rod driving motor 7 provides power for the telescopic movement of the hardness test telescopic rod 8, so that the end of the hardness test telescopic rod 8 drives the hardness test probe 12 to approach or move away from the target area for convenient detection; at the same time, the telescopic movement of the hardness test telescopic rod 8 can also prevent interference when the robot moves in pipes with different inner diameters.

[0048] In a further optimization scheme, a monitoring camera 6 electrically connected to the controller 5 is provided on the robot body 1, and the monitoring camera 6 is used to monitor the internal video of the CIPP liner pipe 13, which is convenient for the robot body 1 to walk and position. The monitoring camera 6 is installed at the head of the robot to shoot the internal video of the pipeline, and serves as the robot's eyes, which facilitates the robot to position in the pipeline and to be controlled from the outside, so that the robot can reach different positions of the pipeline.

[0049] Further optimization scheme, the controller 5 includes a wireless communication module, and the controller 5 is wirelessly connected to the remote terminal 16 through the wireless communication module for wireless transmission of information. The wireless communication module 15 is a core component of the controller 5, which is wirelessly connected to the remote terminal 16 in the form of a wireless connection; the external control personnel control the remote terminal 16 to issue instructions, and the instructions are transmitted to the controller 5 through the wireless communication module 15, and then the controller 5 controls other parts of the robot to work, test the hardness of the pipeline and take pictures of the inner wall of the pipeline, and convert the test data and the taken pictures into wirelessly transmittable signals and pass them to the remote terminal 16 through the wireless communication module 15, so as to obtain the information in the pipeline, which can clearly and intuitively reflect the repair quality of the surface of the CIPP liner pipe 13 and find defects.

[0050] In one embodiment of the present application, the wireless communication module 15 is a Wi-Fi module, a NB-LoT module or a GPS module, which can perform wireless signal transmission.

[0051] In addition, the present invention discloses a method for detecting the surface hardness of a CIPP liner pipe for pipeline repair based on a CIPP liner pipe surface hardness detection device for pipeline repair, comprising the following steps:

[0052] Assemble the CIPP liner pipe surface hardness test device for pipeline repair and confirm that the device can operate normally; assemble the required devices and test whether the equipment operates normally and whether the signals and instructions can be transmitted normally through the remote terminal 16. After the test is completed, place the robot into the pipeline;

[0053] The robot is controlled to move into the CIPP liner pipe 13, and the controller 5 controls the robot to move to the area that needs to be inspected; the monitoring camera 6 is started to collect the global image of the inside of the pipeline, and the image is transmitted to the remote terminal through the wireless communication module 15 of the controller 5, and then the remote terminal 16 issues a command, which is transmitted to the wireless communication module 15, and the controller 5 controls the robot to move, and determines and moves to the area that needs to be inspected;

[0054] The robot is controlled to stop moving forward, and then controlled to rotate in the CIPP liner pipe 13, and the direction of the robot is adjusted so that the detection component faces the target area; the moving wheel 2 is controlled by the controller 5 to lock and rotate at the end of the retractable machine leg 3, and then started again, so that the hardness test telescopic rod 8 faces the target area in the pipeline;

[0055] The controller 5 controls the extension and retraction of the hardness test telescopic rod 8, and adjusts the length of the hardness test telescopic rod 8 so that the hardness test probe 12 and the cleaning brush head 11 are close to the target area; the hardness test telescopic rod 8 is adjusted to a suitable length so that the hardness test probe 12 and the cleaning brush head 11 can act on the inner wall of the pipe;

[0056] The electric telescopic rod 10 is controlled to be extended and retracted, so that the cleaning brush head 11 is against the target area and cleans the target area, and then the binocular camera 9 is controlled to take pictures of the target area; the controller 5 controls the electric telescopic rod 10 to adjust the appropriate length, and then the cleaning brush head 11 is used to clean the inner wall of the pipeline, and then the binocular camera 9 is controlled to obtain a clear image of the inner wall of the pipeline to be inspected, and determine whether there are defects on the inner wall of the pipeline;

[0057] Control the extension and retraction of the hardness test probe 12 to detect the inner wall hardness of the CIPP liner pipe 13 in the target area;

[0058] The detected data and the photographs of the target area are recovered to determine the surface state and surface hardness of the CIPP liner pipe 13; the photographs taken and the detected pipeline hardness data are converted into electrical signals by the controller 5, and then transmitted to the remote charging terminal through the wireless communication module 15, so as to facilitate the acquisition of pipeline information, and then timely adjust the repair parameters according to the obtained pipeline information.

[0059] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0060] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A CIPP liner pipe surface hardness detection device for pipeline repair, characterized in that: It comprises a robot that can move and rotate in a pipeline, the robot is provided with a controller (5) and a test component, and the controller (5) is electrically connected to the test component; The testing assembly comprises a hardness testing telescopic rod (8) arranged on the robot, and a hardness testing probe (12) for testing the hardness of the inner surface of the CIPP liner pipe (13) is arranged at the free end of the hardness testing telescopic rod (8); The hardness testing telescopic rod (8) is provided with a binocular camera (9) electrically connected to the controller (5) for observing the state of the inner surface of the CIPP liner pipe (13); The free end of the hardness testing telescopic rod (8) is provided with an electric-controlled telescopic rod (10), and the end of the electric-controlled telescopic rod (10) is provided with a cleaning brush head (11) for cleaning the inner surface of the CIPP liner pipe (13).

2. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 1 is characterized in that: The robot comprises a robot body (1), and a plurality of retractable movable wheels (2) are arranged on the robot body (1). The movable wheels (2) abut against the inner wall of the CIPP liner pipe (13), so that the robot body (1) can move, be fixed and rotated in the CIPP liner pipe (13).

3. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 2 is characterized in that: The robot body (1) is provided with a plurality of retractable robot legs (3) electrically connected to the controller (5), the retractable robot legs (3) being arranged corresponding to the moving wheels (2), and the moving wheels (2) being installed at one end of the retractable robot legs (3) away from the robot body (1).

4. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 2 is characterized in that: The robot body (1) is provided with a walking drive motor (4) electrically connected to the controller (5), and the walking drive motor (4) is transmission-connected to the moving wheel (2).

5. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 3 is characterized in that: The moving wheel (2) is externally connected to a crawler belt, and the crawler belt is in contact with the inner surface of the CIPP liner pipe (13).

6. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 2 is characterized in that: The robot body (1) is provided with a telescopic rod driving motor (7) electrically connected to the controller (5), and the telescopic rod driving motor (7) is used to control the extension and retraction of the electrically controlled telescopic rod (10), the cleaning brush head (11) and the hardness testing telescopic rod (8).

7. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 2 is characterized in that: The robot body (1) is provided with a monitoring camera (6) electrically connected to the controller (5), and the monitoring camera (6) is used to monitor the internal video of the CIPP liner pipe (13) to facilitate the movement and positioning of the robot body (1).

8. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 1 is characterized in that: The controller (5) comprises a wireless communication module, and the controller (5) is wirelessly connected to a remote terminal (16) via the wireless communication module for wirelessly transmitting information.

9. The CIPP liner pipe surface hardness detection device for pipeline repair according to claim 3, characterized in that: The moving wheel (2) is rotatably connected to the end of the retractable machine leg (3) and can rotate in different directions under the control of the controller (5).

10. A method for detecting the surface hardness of a CIPP liner pipe for pipeline repair, characterized in that The following steps are involved: Assembling the CIPP liner pipe surface hardness detection device for pipeline repair as described in any one of claims 1 to 9, and ensuring that the device can operate normally; Controlling the robot to move into the CIPP liner pipe (13), and controlling the robot to move to an area that needs to be inspected through a controller (5); Control the robot to stop moving forward, then control the robot to rotate in the CIPP liner pipe (13), and adjust the direction of the robot so that the detection component faces the target area; The controller (5) controls the extension and retraction of the hardness test telescopic rod (8) and adjusts the length of the hardness test telescopic rod (8) so that the hardness test probe (12) and the cleaning brush head (11) are close to the target area; Controlling the electric control telescopic rod (10) to extend and retract, so that the cleaning comb head is against the target area and cleans the target area, and then controlling the binocular camera (9) to take a picture of the target area; Controlling the extension and retraction of the hardness test probe (12) to detect the inner wall hardness of the CIPP liner pipe (13) in the target area; The detected data and the photographed target area are recovered to determine the surface state and surface hardness of the CIPP liner pipe (13).

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