Detection dismantling-free repairing system and method for underground pipeline

Abstract

The invention relates to the technical field of underground pipeline repairing, and discloses a detection dismantling-free repairing system and method for an underground pipeline, the system comprises a pipeline repairing assembly and a controller, the pipeline repairing assembly is located in the pipeline, and the controller is located outside the pipeline; the pipeline repairing assembly comprises an air bag assembly, a moving assembly, a camera, a host and a hydraulic cylinder assembly. The two ends of the air bag assembly are arranged on the moving assemblies correspondingly, and the air bag assembly is wrapped with a repairing patch and used for repairing a damaged area in the pipeline. The host is arranged on one side of the moving assembly, the signal end of the camera is connected with the power end of the host, the hydraulic cylinder assembly is arranged on the other side of the moving assembly, and the driving end of the hydraulic cylinder assembly abuts against a deformation area in a pipeline and is used for resetting the deformation area. By means of the air bag assembly and the repairing patch in the pipeline repairing assembly, the damaged area can be repaired under the condition that the pipeline is not disassembled.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipeline repair, and in particular to a detection and removal-free repair system and method for underground pipelines. Background Art

[0002] In the built underground pipeline system, there are often problems such as deformation, damage and leakage of pipelines due to pressure from heavy machinery. Traditional repair methods rely on ground excavation. When the direction of the pipeline is unknown, the positioning is prone to deviation, which consumes a lot of manpower, material resources and time, and is also easy to damage surrounding underground facilities. In narrow construction sites, the operation of large excavation equipment is limited, and the safety risk is high. Under complex geological conditions, such as soft soil, rock layers or high water levels, excavation is prone to cause collapse, landslides and other accidents, which greatly increases the cost of repair. The pipeline network in old urban areas is dense and complex, and excavation and repair are prone to damage other pipelines, affecting the lives of residents, and the repair efficiency is low.

[0003] Traditional underground pipeline repair mostly adopts the ground excavation method. Before construction, construction workers preliminarily determine the location of the pipeline based on pipeline laying drawings or simple detection equipment, and then use large excavators to dig. However, in actual operation, if the direction of the pipeline is not clear, the detection results are often inaccurate, resulting in deviation from the excavation position, which not only wastes resources, but also may endanger surrounding underground facilities. In a small construction space, large equipment is difficult to operate, increasing the difficulty of construction and safety hazards. Geologically complex areas, such as soft soil layers that are prone to collapse, rock layers that are difficult to dig, and high water levels that are prone to water inrush, will increase the cost of repair dramatically. In old urban areas, dense underground pipelines are intertwined with many facilities, and excavation repairs are very likely to damage other pipelines, seriously interfering with residents' lives. In addition, there is a method of using a mobile airbag (wrapped with repair materials) to connect the air pipe and the air compressor to inflate the repair method, which has obvious defects. It is restricted by the length of the air pipe, the repair range is narrow, and for pipelines with severe compression and deformation on the upper part, it is difficult to completely repair them by airbag inflation alone. Summary of the invention

[0004] In order to overcome the defects of the above-mentioned prior art, the purpose of the present invention is to provide a system and method for detecting and repairing underground pipelines without dismantling, so as to solve the technical problem of low efficiency in repairing underground deformed pipelines in the prior art.

[0005] The present invention is achieved through the following technical solutions: In a first aspect, the present invention provides a detection and removal-free repair system for underground pipelines, comprising a pipeline repair component and a controller, wherein the pipeline repair component is located inside the pipeline and the controller is located outside the pipeline; The pipeline repair component includes an airbag component, a mobile component, a camera, a host, and a hydraulic cylinder component; both ends of the airbag component are respectively arranged on the mobile component, and the airbag component is coated with a repair patch, which includes a fiber cloth coated with polyurethane glue, and is used to adhere the fiber cloth to the damaged area of ​​the pipeline through the airbag component; The host is arranged on one side of the mobile component, the signal end of the camera is connected to the power end of the host, the hydraulic cylinder component is arranged on the other side of the mobile component, and the driving end of the hydraulic cylinder component abuts against the deformation area in the pipe; The control end of the host is connected to the control ends of the airbag component, the hydraulic cylinder component and the moving component respectively; the signal end of the camera and the host is wirelessly connected to the controller.

[0006] Preferably, the airbag assembly includes an airbag and an inflation pump; The repair patch is coated on the outer surface of the airbag, and the two ends of the airbag are respectively arranged on the moving components. The air pump is arranged at the interface of the airbag and is used to inflate and exhaust the airbag through the air pump. The control end of the air pump is connected to the control end of the host.

[0007] Furthermore, the air pump is provided with a pressure gauge and a pressure sensor, and the control end of the pressure sensor is connected to the control end of the host.

[0008] Preferably, the hydraulic cylinder assembly comprises a hydraulic cylinder and a hydraulic rod; The hydraulic cylinder is arranged on the moving assembly, one end of the hydraulic rod is connected to the driving end of the hydraulic cylinder, and the other end is connected to the top plate.

[0009] Furthermore, the top plate abuts against the deformation area of ​​the pipeline.

[0010] Furthermore, the structure of the top plate corresponds to the inner wall structure of the pipeline.

[0011] Preferably, the moving assembly includes a moving vehicle and a plurality of sets of supporting pulley assemblies; One side of the airbag assembly is mounted on a moving vehicle, and the other side of the airbag assembly is mounted on multiple sets of supporting pulley assemblies. The driving end of the moving vehicle is connected to the control end of the host, and is used to drive the airbag assembly to move in the pipeline in combination with the multiple sets of supporting pulley assemblies.

[0012] Furthermore, the support pulley assembly includes a support rod and a pulley; one end of the support rod is connected to the pulley, and the other end is connected to the airbag assembly.

[0013] Preferably, a control module is provided in the controller, the signal input end of the control module is connected to the output end of the signal input module, and the input end of the signal input module is connected to the camera; the signal output end of the control module is connected to the signal output module, and the output end of the signal output module is connected to the signal input end of the host.

[0014] In a second aspect, the present invention further provides a detection and removal-free repair method for underground pipelines. Based on the above-mentioned detection and removal-free repair system for underground pipelines, the detection and removal-free repair method comprises the following steps: The controller starts the moving component through the host, so that the camera collects images during the movement of the moving component in the pipeline, and determines the damaged position in the pipeline through the image collection data; The controller starts the hydraulic cylinder assembly through the host, so that the driving end of the hydraulic cylinder assembly abuts against the deformed position around the damaged position of the pipeline, and resets the deformed pipeline; The controller starts the airbag assembly through the host, and the repair patch is gradually and tightly adhered to the damaged part under the inflated state of the airbag assembly and then exhausted, so that the repair patch is separated from the airbag assembly and adhered to the damaged part of the pipe, completing the repair work.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a detection and non-removal repair system for underground pipelines. Through the airbag assembly and the repair patch in the pipeline repair assembly, the damaged area can be repaired without removing the pipeline. The cumbersome excavation and pipeline replacement work in the traditional repair method is avoided, which greatly saves time and cost and improves the repair efficiency. As a high-strength material, the fiber cloth can provide sufficient mechanical support force to effectively cover and reinforce the damaged area of ​​the pipeline. The polyurethane glue has excellent adhesion performance and can firmly adhere the fiber cloth to the surface of the pipeline to form a continuous and solid repair layer, thereby improving the strength and durability of the repair area. The camera can detect the deformed area in the pipeline in real time and transmit the signal to the host. The host transmits the data to the controller, so that the operator can understand the situation inside the pipeline in real time outside the pipeline and accurately locate the damaged or deformed area. This intelligent detection method improves the accuracy and pertinence of the repair. The setting of the hydraulic cylinder assembly enables the system to reset the deformed area in the pipeline. Through the driving force of the hydraulic cylinder, the original shape of the pipeline can be effectively restored, and the bearing capacity and service life of the pipeline can be improved. Since the controller is located outside the pipeline, the operator can remotely control the pipeline repair assembly in a safe position. It not only improves the safety of operation, but also enables operators to monitor the entire repair process more conveniently to ensure the smooth progress of the repair work.

[0016] Furthermore, the airbag assembly is composed of an airbag and an air pump, and the air pump is directly arranged at the interface of the airbag, which makes the inflation and deflation process of the airbag faster and more efficient. The host can control the operation of the air pump, thereby achieving precise control of the inflation and deflation of the airbag. This precise control helps to ensure the stability and reliability of the airbag during the repair process, and avoids poor repair effects due to insufficient or excessive inflation. The repair patch is coated on the outer surface of the airbag. When the airbag is inflated, the repair patch can fit tightly on the damaged area of ​​the pipeline to achieve effective sealing and repair.

[0017] Furthermore, the pressure gauge can intuitively display the pressure value inside the airbag, allowing the operator to understand the inflation status of the airbag in real time. The pressure sensor can monitor the pressure changes inside the airbag in real time and feed the data back to the host. Based on the received data, the host can accurately control the working status of the inflation pump, thereby achieving precise adjustment of the inflation of the airbag.

[0018] Furthermore, the hydraulic cylinder assembly can accurately control the extension and retraction of the hydraulic rod through the driving force generated by the hydraulic cylinder, thereby achieving accurate adjustment of the position of the top plate. This precise reset capability helps ensure that the top plate can accurately abut the deformed area of ​​the pipeline and effectively reset the deformed area.

[0019] Furthermore, the structure of the top plate corresponds to the structure of the inner wall of the pipe, which can ensure that the top plate fits tightly with the inner wall of the pipe, reducing gaps and voids. The structure of the top plate matches the structure of the inner wall of the pipe, which can ensure that the top plate can evenly apply pressure to the deformed area of ​​the pipe during the resetting process. This uniform pressure distribution helps to more effectively restore the original shape and structural strength of the pipe and improve the resetting effect.

[0020] Furthermore, the combined design of the mobile vehicle and multiple sets of supporting pulley assemblies enables the entire airbag assembly to move flexibly within the pipeline, which helps ensure that the airbag assembly can accurately reach the location of the pipeline that needs to be repaired, thereby improving the efficiency and accuracy of the repair work. Multiple sets of supporting pulley assemblies are distributed on both sides of the airbag assembly, providing stable support for the airbag assembly. This stable support helps prevent the airbag assembly from tilting or rolling during movement, thereby ensuring the smooth progress of the repair work.

[0021] Furthermore, the support pulley assembly firmly connects the pulley to the airbag assembly through the support rod, providing additional stability and support for the airbag assembly. The design of the pulley can reduce the friction and resistance between the pulley and the inner wall of the pipeline, making the airbag assembly move more smoothly in the pipeline, which not only improves the efficiency of the repair work, but also reduces the wear and damage caused by friction, and prolongs the service life of the system.

[0022] Furthermore, the camera, as the input end of the signal input module, can capture the image information inside the pipeline in real time. This image information is transmitted to the control module through the signal input module, and the control module processes it and sends it to the signal output module, and finally transmits it to the host for display and analysis. The control module can accurately control the system based on the received image information. Through real-time monitoring and precise control, operators can locate damaged areas more efficiently and carry out targeted repairs.

[0023] The present invention also provides a method for detecting and repairing underground pipelines without dismantling. The mobile component is started by a controller, and the camera can flexibly move in the pipeline and collect images. The image collection data can be transmitted to the host in real time for analysis, and the damaged position in the pipeline can be quickly determined, providing accurate guidance for subsequent repair work. The precise drive of the hydraulic cylinder assembly can ensure the accurate resetting of the deformed position of the pipeline and restore the original shape of the pipeline. The expanded state of the airbag assembly allows the repair patch to be tightly attached to the damaged part, ensuring the firmness and sealing of the repair. The present invention is controlled by the controller through the host, realizing the automation and intelligence of the repair work. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall structural diagram of the detection and removal-free repair system in an embodiment of the present invention; Figure 2 Schematic diagram of the principle structure of the controller in an embodiment of the present invention; In the figure: 1. pipeline; 2. air bag; 3. fiber cloth; 4. pressure gauge; 5. air pump; 6. hydraulic cylinder; 7. support rod; 8. camera; 9. host; 10. mobile vehicle; 11. controller; 12. hydraulic rod; 13. top plate; 14. pulley; 111. control module; 112. signal input module; 113. signal output module. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] The purpose of the present invention is to provide a system and method for detecting and repairing underground pipelines without dismantling, so as to solve the technical problem of low efficiency in repairing underground deformed pipelines in the prior art.

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings: Example 1 See also Figure 1 In the present embodiment, a detection and dismantling-free repair system for underground pipelines is provided, comprising a pipeline repair component and a controller 11, wherein the pipeline repair component is located inside the pipeline 1, and the controller 11 is located outside the pipeline 1; the pipeline repair component comprises an airbag component, a mobile component, a camera 8, a host 9, and a hydraulic cylinder component; the two ends of the airbag component are respectively arranged on the mobile component, and the airbag component is coated with a repair patch for repairing the damaged area in the pipeline 1; the host 9 is arranged on one side of the mobile component, and the signal end of the camera 8 is connected to the power end of the host 9 for detecting the deformed area in the pipeline 1, and the hydraulic cylinder component is arranged on the other side of the mobile component, and the driving end of the hydraulic cylinder component abuts on the deformed area in the pipeline 1 for resetting the deformed area; the control end of the host 9 is respectively connected to the control ends of the airbag component, the hydraulic cylinder component and the mobile component; the signal ends of the camera 8 and the host 9 are wirelessly connected to the controller 11.

[0029] In this embodiment, the camera 8 is equipped with advanced laser ranging and automatic fill light functions, which can clearly image in the dark or insufficiently lit pipeline 1, accurately measure the distance and orientation information between the damaged part and the device, and transmit the real-time image and distance data to the controller 11 at high speed through the wireless transmission module, so as to assist the operator in precise positioning and operation.

[0030] In this embodiment, the host 9 has a built-in high-capacity rechargeable battery as a driving power source, which outputs a stable voltage to continuously power the camera 8, the air pump 5, the hydraulic cylinder 6 and other devices. The high-performance communication chip supports high-speed data transmission, and stably transmits the image, air pressure data and working status information of the hydraulic cylinder 6 collected by the device to the controller 11, ensuring smooth information interaction of the repair operation.

[0031] Specifically, the airbag assembly includes an airbag 2 and an air pump 5; The repair patch is coated on the outer surface of the airbag 2, and both ends of the airbag 2 are respectively provided on the moving components. The air pump 5 is provided at the interface of the airbag 2, and is used to inflate and exhaust the airbag 2 through the air pump 5. The control end of the air pump 5 is connected to the control end of the host 9.

[0032] The repair patch includes a fiber cloth 3 , on which polyurethane glue is coated, so as to adhere the fiber cloth 3 to the damaged area of ​​the pipeline 1 through the polyurethane glue.

[0033] The air pump 5 is provided with a pressure gauge 4 and a pressure sensor, and a control end of the pressure sensor is connected to a control end of the host 9 .

[0034] In this embodiment, the gas 2 plays a key supporting role in the repair operation. Its material and structural design can withstand a certain pressure, ensuring that during the inflation process, a uniform and stable fitting pressure is provided to the fiber cloth 3 coated with polyurethane glue, so that the fiber cloth 3 is tightly attached to the damaged part of the pipe 1, effectively plugging the leak or repairing the deformed part.

[0035] This embodiment uses high-strength fiber cloth 3 and coats it with high-quality polyurethane glue. The polyurethane glue has high adhesion, water resistance and chemical stability, can be firmly bonded to the inner wall of the pipe 1, and is tightly combined with the damaged surface of the pipe 1 under the support of the airbag 2 to form a durable sealing repair layer to prevent leakage.

[0036] In this embodiment, a high-precision pressure sensor is integrated into the pressure gauge 4, which accurately monitors the pressure changes in the airbag 2 in real time, converts the analog pressure signal into a digital signal, and transmits it to the controller 11 through the signal line, providing accurate data for the inflation pump 5 to ensure that the pressure during the repair process is stable within a safe and effective range.

[0037] In this embodiment, a small and efficient electric air pump 5 is used, which has the functions of adjusting the inflation rate and the upper pressure limit. The inflation process is automatically or manually controlled according to the feedback data of the pressure gauge 4, and the airbag 2 is quickly and accurately inflated to the preset pressure to meet the repair needs of different damage conditions.

[0038] Specifically, the hydraulic cylinder assembly includes a hydraulic cylinder 6 and a hydraulic rod 12; the hydraulic cylinder 6 is arranged on the moving assembly, one end of the hydraulic rod 12 is connected to the driving end of the hydraulic cylinder 6, and the other end is connected to a top plate 13, and the top plate 13 abuts against the deformation area of ​​the pipeline 1.

[0039] The structure of the top plate 13 corresponds to the inner wall structure of the pipeline 1 .

[0040] In this embodiment, the hydraulic cylinder 6 is installed on the moving component, and is connected to the main machine 9 through a shielded signal line and a power line inside the airbag 2. It receives a control signal from the main machine 9 to drive the hydraulic rod 12 to extend and retract, accurately controls the thrust, and pushes the deformed part of the pipeline 1 back to its original position. It has an overload protection function to prevent damage to the pipeline 1.

[0041] Specifically, the moving assembly includes a moving vehicle 10 and multiple sets of supporting pulley assemblies; one side of the airbag assembly is assembled on the moving vehicle 10, and the other side of the airbag assembly is assembled on multiple sets of supporting pulley assemblies. The driving end of the moving vehicle 10 is connected to the control end of the host 9, and is used to drive the airbag assembly to move in the pipeline 1 in combination with the multiple sets of supporting pulley assemblies.

[0042] The support pulley assembly includes a support rod 7 and a pulley 14; one end of the support rod 7 is connected to the pulley 14, and the other end is connected to the airbag assembly.

[0043] In this embodiment, the pulley 14 is made of wear-resistant, low-friction coefficient material, has multi-directional telescopic and rotation functions, and can adapt to different pipe diameters and curvatures of the pipeline 1 through intelligent adjustment, ensuring that the device moves smoothly and stably to the damaged position in the pipeline 1 and operates stably.

[0044] Specifically, according to Figure 2 As shown, the controller 11 is provided with a control module 111, the signal input end of the control module 111 is connected to the output end of the signal input module 112, and the input end of the signal input module 112 is connected to the camera 8; the signal output end of the control module 111 is connected to the input end of the signal output module 113, and the output end of the signal output module 113 is connected to the signal input end of the host 9.

[0045] In this embodiment, the controller 11 is equipped with an intelligent control algorithm and a human-computer interaction interface, receives various types of data from the device, and sends control instructions to the air pump 5, hydraulic cylinder 6, mobile components and other components after processing and analysis, so as to realize automatic and precise control of the repair device. The operator can monitor the repair process and equipment status in real time through the interface, and perform manual intervention when necessary.

[0046] In summary, the present embodiment provides a detection and non-removal repair system for underground pipelines. Through the airbag assembly and the repair patch in the pipeline repair assembly, the damaged area can be repaired without removing the pipeline 1. The cumbersome excavation and replacement of the pipeline 1 in the traditional repair method are avoided, which greatly saves time and cost and improves the repair efficiency. The camera 8 can detect the deformed area in the pipeline 1 in real time and transmit the signal to the host 9. The host 9 transmits the data to the controller 11, so that the operator can understand the situation inside the pipeline 1 in real time outside the pipeline 1 and accurately locate the damaged or deformed area. This intelligent detection method improves the accuracy and pertinence of the repair. The setting of the hydraulic cylinder assembly enables the system to reset the deformed area in the pipeline 1. Through the driving force of the hydraulic cylinder 6, the original shape of the pipeline 1 can be effectively restored, and the bearing capacity and service life of the pipeline 1 can be improved. Since the controller 11 is located outside the pipeline 1, the operator can remotely control the pipeline repair assembly in a safe position. Not only does it improve the safety of the operation, but it also enables the operator to more conveniently monitor the entire repair process to ensure the smooth progress of the repair work.

[0047] Example 2 This embodiment provides a detection and removal-free repair method for underground pipelines. Based on the above-mentioned detection and removal-free repair system for underground pipelines, the detection and removal-free repair method includes the following steps: The controller 11 starts the mobile vehicle 10 through the host 9, and the camera 8 performs a 360-degree scan of the inside of the pipe 1, collects image information at a speed of 60 frames per second, and uses the image recognition algorithm to quickly find the deformed and damaged parts. Once an abnormality is found, the video stream containing detailed information such as position, shape, size, etc. and the distance data are immediately sent to the controller 11 through the wireless transmission module.

[0048] After receiving the data, the controller 11 completes data processing and analysis within 1S, accurately calculates the moving path and adjustment amount of the repair device according to the preset program and the parameters input by the operator, drives the moving assembly to adjust the device position, and accurately aligns the hydraulic cylinder 6 with the damaged part, and then starts the hydraulic cylinder 6. The hydraulic cylinder 6 applies a thrust of 1CM / S, and slowly pushes the deformed part of the pipeline 1 back to its original position through the hydraulic rod 12. During the process, the thrust and the reaction force of the pipeline 1 are monitored in real time through the pressure sensor to ensure that the pushing process is safe and controllable.

[0049] After the deformation repair of the pipeline 1 is completed, the controller 11 controls the mobile vehicle 10 to move so that the airbag 2 faces the damaged part and starts the air pump 5. The air pump 5 inflates the airbag 2 according to the preset pressure curve (such as first quickly inflating to 50% of the rated pressure, and then slowly inflating to the rated pressure), and the pressure rise rate is controlled within 0.5Kpa / S. As the airbag 2 expands, the fiber cloth 3 coated with polyurethane glue fits tightly to the damaged part of the inner wall of the pipeline 1. During the inflation process, the pressure and the fit of the fiber cloth 3 are continuously monitored to ensure the repair effect.

[0050] After the inflation is completed, the pressure of the airbag 2 is kept stable and the polyurethane glue is completely solidified. During the solidification process, the state of the repaired part is continuously monitored by the camera 8 and the pressure sensor to ensure good sealing. After the glue is completely solidified, the controller 11 controls the airbag 2 to slowly deflate, and the deflation rate is controlled within 0.1Kpa / S to prevent the glue from falling off or the pipeline 1 from being damaged again. Finally, the repair device is smoothly withdrawn from the pipeline 1.

[0051] In summary, the present embodiment provides a method for detecting and repairing underground pipelines without disassembly. The mobile component is started by the controller 11, and the camera 8 can flexibly move in the pipeline 1 and collect images. The image collection data can be transmitted to the host 9 in real time for analysis, and the damaged position in the pipeline 1 can be quickly determined to provide accurate guidance for subsequent repair work. The precise drive of the hydraulic cylinder assembly can ensure the accurate resetting of the deformed position of the pipeline 1 and restore the original shape of the pipeline 1. The expanded state of the airbag assembly allows the repair patch to be tightly attached to the damaged part, ensuring the firmness and sealing of the repair. The present invention is controlled by the controller 11 through the host 9, realizing the automation and intelligence of the repair work.

[0052] In this embodiment, the airbag 2, mobile vehicle 10, hydraulic cylinder 6 and other components are innovatively connected and work in coordination to ensure stable operation and efficient repair in a complex pipeline 1 environment. Through pressure monitoring and control technology, the pressure of the airbag 2 is ensured to be accurate and stable during the repair process, achieving a reliable repair effect. The camera 8 can quickly and accurately identify the damaged area and guide the device to operate accurately, thereby improving the repair efficiency and accuracy. Through the repair material of the fiber cloth 3 coated with polyurethane glue and the repair process coordinated with the airbag 2, the material properties and unique process are used to achieve a firm bond and seal on the damaged part of the pipeline 1, ensuring a long-term repair effect. This embodiment is applicable to adaptive technologies for pipelines 1 with different diameters and curvatures, such as the adjustable design of the pulley assembly, so that the device has a wide range of applicability to pipelines 1 and reduces construction restrictions.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A detection and repair system for underground pipelines without dismantling, characterized in that: It comprises a pipeline repair component and a controller (11), wherein the pipeline repair component is located inside the pipeline (1) and the controller (11) is located outside the pipeline (1); The pipeline repair component comprises an airbag component, a mobile component, a camera (8), a main machine (9), and a hydraulic cylinder component; the two ends of the airbag component are respectively arranged on the mobile component, the airbag component is coated with a repair patch, the repair patch comprises a fiber cloth (3), the fiber cloth (3) is coated with polyurethane glue, and is used to adhere the fiber cloth (3) to the damaged area of ​​the pipeline (1) through the airbag component; The host (9) is arranged on one side of the moving component, the signal end of the camera (8) is connected to the power end of the host (9), the hydraulic cylinder component is arranged on the other side of the moving component, and the driving end of the hydraulic cylinder component abuts against the deformation area in the pipe (1); The control end of the host (9) is respectively connected to the control ends of the airbag component, the hydraulic cylinder component and the moving component; the signal ends of the camera (8) and the host (9) are wirelessly connected to the controller (11).

2. The detection and non-dismantling repair system for underground pipelines according to claim 1 is characterized in that: The airbag assembly comprises an airbag (2) and an inflation pump (5); The repair patch is coated on the outer surface of the airbag (2), and the two ends of the airbag (2) are respectively provided on the moving components. The air pump (5) is provided at the interface of the airbag (2) and is used to inflate and exhaust the airbag (2) through the air pump (5). The control end of the air pump (5) is connected to the control end of the host (9).

3. The detection and non-dismantling repair system for underground pipelines according to claim 2 is characterized in that: The inflation pump (5) is provided with a pressure gauge (4) and a pressure sensor, and the control end of the pressure sensor is connected to the control end of the host (9).

4. The detection and non-dismantling repair system for underground pipelines according to claim 1 is characterized in that: The hydraulic cylinder assembly comprises a hydraulic cylinder (6) and a hydraulic rod (12); The hydraulic cylinder (6) is arranged on the moving assembly; one end of the hydraulic rod (12) is connected to the driving end of the hydraulic cylinder (6), and the other end is connected to the top plate (13).

5. The detection and non-dismantling repair system for underground pipelines according to claim 4 is characterized in that: The top plate (13) abuts against the deformation area of ​​the pipe (1).

6. The detection and non-dismantling repair system for underground pipelines according to claim 5 is characterized in that: The structure of the top plate (13) corresponds to the inner wall structure of the pipeline (1).

7. The detection and non-dismantling repair system for underground pipelines according to claim 1 is characterized in that: The moving assembly comprises a moving vehicle (10) and a plurality of sets of supporting pulley assemblies; One side of the airbag assembly is mounted on a moving vehicle (10), and the other side of the airbag assembly is mounted on a plurality of sets of supporting pulley assemblies. The driving end of the moving vehicle (10) is connected to the control end of the host (9) and is used to drive the airbag assembly to move in the pipeline (1) in combination with the plurality of sets of supporting pulley assemblies.

8. The detection and non-dismantling repair system for underground pipelines according to claim 7 is characterized in that: The support pulley assembly comprises a support rod (7) and a pulley (14); one end of the support rod (7) is connected to the pulley (14), and the other end is connected to the airbag assembly.

9. The detection and non-dismantling repair system for underground pipelines according to claim 1 is characterized in that: The controller (11) is provided with a control module (111), the signal input end of the control module (111) is connected to the output end of the signal input module (112), and the input end of the signal input module (112) is connected to the camera (8); the signal output end of the control module (111) is connected to the input end of the signal output module (113), and the output end of the signal output module (113) is connected to the signal input end of the host (9).

10. A method for detecting and repairing underground pipelines without dismantling, characterized in that: Based on the detection and non-dismantling repair system for underground pipelines according to any one of claims 1 to 9, the detection and non-dismantling repair method comprises the following steps: The controller (11) activates the moving component via the host (9), so that the camera (8) collects images during the movement of the moving component in the pipe (1), and determines the damaged position in the pipe (1) through the image collection data; The controller (11) activates the hydraulic cylinder assembly via the main machine (9), so that the driving end of the hydraulic cylinder assembly abuts against a deformed position around the damaged position of the pipeline (1), and resets the deformed pipeline (1); The controller (11) activates the airbag assembly via the host (9), and the repair patch gradually and tightly adheres to the damaged part in the expanded state of the airbag assembly, and then exhausts air, so that the repair patch is separated from the airbag assembly and adheres to the damaged part of the pipe (1), completing the repair work.

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