Method and device for replacing underground drainage pipeline

Abstract

The invention discloses a method and device for replacing an underground drainage pipeline. Comprising the steps that a sleeve tool head is deployed in a downstream working well of the old underground drainage pipeline to be replaced, the sleeve tool head is arranged on the periphery of the old underground drainage pipeline in a sleeving mode, and a sleeve lengthened along with advancing of the sleeve tool head is arranged at the rear end of the sleeve tool head; arranging a traction cable in the old underground drainage pipeline, and connecting the sleeve tool head with a traction mechanism deployed in the upstream working well; the sleeve tool head is pulled by a traction mechanism to cut into the soil body around the old underground drainage pipeline and move towards the upstream working well, and the part, covered by the sleeve tool head and the sleeve, of the old underground drainage pipeline is cut and removed; and deploying a new underground drainage pipeline on the inner sides of the casing and the casing tool head under the condition that the casing tool head reaches the upstream working well.

Description

Technical Field

[0001] The present application relates to the technical field of underground pipeline construction, and in particular to a method and device for replacing underground drainage pipelines. Background Art

[0002] Currently, trenchless, in-situ replacement technology for buried reinforced concrete drainage pipes is widely used. During the replacement process, a cutting mechanism operates within the old pipe, cutting the pipe wall longitudinally. Simultaneously, a pipe expander ruptures the old pipe wall, forcing the broken wall into the surrounding soil. The new pipe is then pulled into the ruptured old pipe using the expander, completing the replacement.

[0003] However, the existing method of replacing drainage pipes is to squeeze the broken old pipe wall into the surrounding soil, which will bring a lot of uncertainty to the construction. First, it cannot guarantee that the broken old pipe wall is squeezed into the surrounding soil evenly to ensure that the new pipe can be installed according to the expected axis. Secondly, it is impossible to control the surrounding soil from entering the squeezed space. The most important thing is that during the crushing process, the structure of the old pipe has been destroyed but no effective support structure for the soil has been established at the same time, causing safety hazards. In order to solve this technical problem, the inventor further proposed that before cutting the old underground drainage pipe, a casing (for example, steel material) can be placed on the outside of part of the pipe wall of the old underground drainage pipe to separate this part of the old underground drainage pipe from the surrounding soil, forming a support for the surrounding soil, thereby forming a construction environment that is isolated from the soil in the casing. Then, the cutting mechanism is used to cut the pipe wall of the old underground drainage pipe, and the cut pipe wall is crushed and removed, and then the new drainage pipe is inserted into the casing, so that the switching between the old and new pipes is completed in this way. But even so, the following problems still need to be faced:

[0004] After experiments, the inventors found that if the sleeve is inserted into the soil outside the old drainage pipe by pushing the sleeve from the rear end, it is difficult to provide a balanced thrust as the sleeve is pushed forward. This causes the sleeve to become eccentric during the advancement process, making it easy for the advancement of the sleeve to be paused due to deviation in direction. Summary of the Invention

[0005] The present disclosure provides a method and device for replacing an underground drainage pipe, so as to at least solve the above-mentioned technical problems existing in the prior art.

[0006] According to one aspect of the present application, a method for replacing an underground drainage pipe is provided, comprising: deploying a casing tool head in a downstream working well of an old underground drainage pipe to be replaced, wherein the casing tool head is sleeved around the old underground drainage pipe, and a casing is provided at the rear end of the casing tool head; arranging a traction rope in the old underground drainage pipe to connect the casing tool head and a traction mechanism deployed in the upstream working well; using the traction mechanism to tow the casing tool head toward the upstream working well, and cutting and removing the portion of the old underground drainage pipe covered by the casing tool head and the casing; and when the casing tool head reaches the upstream working well, deploying a new underground drainage pipe on the inner side of the casing and the casing tool head.

[0007] According to another aspect of the present application, a device for replacing an underground drainage pipe is provided, comprising a casing tool head, a traction rope, and a traction mechanism. The casing tool head is configured to be deployed on a first side of an old underground drainage pipe and sleeved around the old underground drainage pipe, wherein a casing can be installed at a rear end of the casing tool head. The traction mechanism is configured to be deployed on a second side of the old underground drainage pipe and to pull the casing tool head via the traction rope. The traction rope connects the traction mechanism and the casing tool head and, under the traction action of the traction mechanism, can pull the casing tool head from the first side of the old underground drainage pipe to the second side of the old underground drainage pipe.

[0008] Therefore, in the technical solution of the present application, the casing is not advanced by applying thrust at the rear end, but is pulled by a traction mechanism at the front using a traction rope. Therefore, through this traction method, it can be ensured that no matter how long the casing travels, the casing and the casing tool head can be relatively easily controlled to keep them consistent with the axis of the old underground drainage pipe. This avoids the eccentricity of the casing during the advancement process, making it easy for the advancement of the casing to be paused due to deviation in direction. Compared with adjusting the forward direction of the tool head by transmitting the thrust from the rear end working well to the tool head, directly adjusting the tension of the traction rope is simpler and more effective. At the same time, it also saves space for the thrust device in the working well and the structural requirements for the working well and the casing.

[0009] Based on the detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the drawings:

[0011] Figure 11 is a flow chart of a method for replacing an underground drainage pipe according to the first aspect of an embodiment of the present application;

[0012] Figure 2 It is a state diagram of the casing tool head in the preparation stage;

[0013] Figure 3 yes Figure 2 A schematic side view of the casing pulling mechanism shown in FIG.

[0014] Figure 4 yes Figure 2 A schematic diagram of the traction mechanism shown in FIG;

[0015] Figure 5 yes Figure 2 A schematic diagram of a casing tool head is shown in FIG;

[0016] Figure 6 yes Figure 2 A schematic diagram of a control system in an embodiment of the present application is shown;

[0017] Figure 7 It is a state diagram when the casing tool head advances to a preset distance;

[0018] Figure 8 is a side view of the casing tool head;

[0019] Figure 9 This is a state diagram of the cut portion of the pipe wall after removing the old underground drainage pipe;

[0020] Figures 10 and 11 shows a loop implementation Figure 7 and Figure 9 The state diagram of the corresponding method;

[0021] Figure 12 A diagram showing a state where the casing tool head reaches the second side of the old underground drainage pipe;

[0022] Figure 13 The figure shows a state after the cut pipe wall of the old underground drainage pipe is removed, thereby completing the removal of the old underground drainage pipe;

[0023] Figure 14 The figure shows the state after all components inside the casing tool head are removed;

[0024] Figure 15 A diagram showing the state after deployment of a new drainage pipeline; and

[0025] Figure 16 A schematic diagram showing how a vector sequence composed of various feature information is input into a neural network to generate proportion information. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0028] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present disclosure 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 apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] According to a first aspect of the present embodiment, a method for replacing an underground drainage pipe is provided. Figure 1 This is a flow chart of a method for replacing an underground drainage pipe according to an embodiment of the present application, with reference to Figure 1 As shown, the method includes:

[0031] S102: deploying a casing tool head in a downstream working well of the old underground drainage pipe to be replaced, wherein the casing tool head is sleeved around the old underground drainage pipe, and a casing is provided at the rear end of the casing tool head that is extended as the casing tool head advances;

[0032] S104: Arrange a traction rope in the old underground drainage pipe to connect the casing tool head and the traction mechanism deployed in the upstream working well;

[0033] S106: Using the traction mechanism to pull the casing tool head into the soil around the old underground drainage pipe, moving toward the upstream working well, and cutting and removing the portion of the old underground drainage pipe covered by the casing tool head and the casing; and

[0034] S108: When the casing tool head reaches the upstream working well, a new underground drainage pipeline is deployed inside the casing and the casing tool head.

[0035] Specifically, refer to Figure 2 As shown, according to the technical solution described in this application, when replacing the old underground drainage pipe 100, first as a preparatory stage, the casing tool head 210 is deployed in the downstream working well 401 located on the first side of the old underground drainage pipe 100 (S102). Figure 2 As shown, the casing tool head 210 is sleeved around the old underground drainage pipe 100 , and a casing 300 is provided at the rear end of the casing tool head 210 .

[0036] And, reference Figure 2 As shown, the traction mechanism 230 is deployed in the upstream working well 402 of the old underground drainage pipe 100 to be replaced (S104).

[0037] in, Figure 3 The side view of the casing traction mechanism 200 is shown, which is composed of a casing tool head 210, a traction rope 220 and a traction mechanism 230. The traction mechanism 230 is fixed to the upstream working well 402 and is used to pull the casing tool head 210 from the downstream working well 401 to the upstream working well 402 through the traction rope 220. Figure 4 As shown, there can be multiple traction mechanisms 230, so that the casing tool head 210 can be pulled at multiple locations through multiple traction ropes 220, thereby making the casing tool head 210 move more stably. In this application, the traction mechanism 230 can be, for example, a steel strand jack, and the traction rope 220 can be, for example, a steel strand. In addition, further reference is made to Figure 2 and Figure 5 As shown, traction rope fixing seats 211 are provided at positions corresponding to the respective traction mechanisms 230 in the casing tool head 210 for fixing the traction ropes 220 .

[0038] Then, refer to Figure 7 、 Figure 10 as well as Figure 12 As shown, the pulling mechanism is started and the casing tool head 210 is pulled by the pulling mechanism 230 to move toward the upstream working well 402. Figure 9 、 Figure 11 、 Figure 13As shown, while the traction mechanism 230 is pulling the casing tool head 210, the existing cutting mechanism can be used to cut the portion of the old underground drainage pipe 100 covered by the casing tool head 210 and the casing 300, including first cutting longitudinally along the old underground drainage pipe 100 and then cutting transversely. The worker then removes the portion of the old underground drainage pipe 100 located within the casing tool head 210 and the casing 300, thereby clearing the casing 300 and the corresponding portion of the casing tool head 210 (S106).

[0039] Further, refer to Figure 14 and Figure 15 As shown, when the casing tool head 210 reaches the upstream working well 402, the worker deploys a new underground drainage pipe 500 inside the casing 300 and the casing tool head 210, and backfills mortar or sand material 510 between the new drainage pipe 500, the casing 300, and the casing tool head 210. In this way, the replacement of the drainage pipe is completed (S108).

[0040] As described in the background art, the existing method for replacing drainage pipes, because the broken old pipe wall is squeezed into the surrounding soil, will bring many uncertainties to the construction. First, it is impossible to ensure that the broken old pipe wall is squeezed into the surrounding soil evenly to ensure that the new pipe can be installed along the expected axis. Second, it is impossible to control the surrounding soil from entering the squeezed space. Most importantly, during the crushing process, the structure of the old pipe is destroyed but no effective support structure for the soil is established at the same time, posing a safety hazard. To solve this technical problem, the inventor further proposed that before cutting the old underground drainage pipe, a sleeve (for example, made of steel) can be placed on the outside of a portion of the pipe wall of the old underground drainage pipe, separating this portion of the old underground drainage pipe from the surrounding soil, forming a support for the surrounding soil, and thus forming a construction environment isolated from the soil within the sleeve. Then, a cutting mechanism is used to cut the pipe wall of the old underground drainage pipe in the longitudinal direction, and the cut pipe wall is crushed and removed, and then a new drainage pipe is inserted into the sleeve, thereby completing the switching of the old and new pipes in this way. However, even so, the following problem still needs to be faced: if the casing is inserted into the soil outside the old drain pipe by pushing the casing from the rear end, it is difficult to provide a balanced thrust as the casing is pushed forward. This causes the casing to be eccentric during the advancement process, making it easy for the advancement of the casing to be paused due to deviation in direction.

[0041] In view of this, in the technical solution of the present application, the casing is not advanced by applying thrust at the rear end, but is pulled by a traction rope at the front through a traction mechanism. Therefore, through this traction method, it can be ensured that no matter how long the casing travels, the casing and the casing tool head can be relatively easily controlled to keep them consistent with the axis of the preset drainage pipe. This avoids the eccentricity of the casing during the advancement process, making it easy for the advancement of the casing to be paused due to deviation in direction. Compared with adjusting the forward direction of the tool head by transmitting the thrust from the rear end working well to the tool head, directly adjusting the tension of the traction rope is simpler and more effective. At the same time, it also saves space for the thrust device in the working well and the structural requirements for the working well and the casing.

[0042] Optionally, before using the traction mechanism 230 to pull the casing tool head 210 toward the upstream working well 402, the method further includes: setting a traction rope 220 between the casing tool head 210 and the traction mechanism 230. The traction rope 220 connects the traction mechanism 230 and the casing tool head 210 via the old underground drainage pipe 400.

[0043] Specifically, refer to Figure 2 and Figure 3 As shown, before using the traction mechanism 230 to pull the casing tool head 210 to move to the upstream working well 402, the staff sets a traction rope 220 between the casing tool head 210 and the traction mechanism 230, wherein the traction rope 220 connects the traction mechanism 230 and the casing tool head 210 via the old underground drainage pipe 100.

[0044] Therefore, in the present application, since the traction rope 220 connects the traction mechanism 230 and the casing tool head 210 via the old underground drainage pipe 100, the traction rope 220 can pull the casing tool head 210 within the space of the old underground drainage pipe 100 during the traction process. This prevents the traction process from being affected by the underground soil environment, ensures the stability of the traction process, and prevents malfunction of the traction mechanism 230, which is beneficial to the maintenance of the traction equipment.

[0045] Optionally, the casing tool head is pulled toward the upstream working well by a traction mechanism, and the portion of the old underground drainage pipe covered by the casing tool head is cut and removed, including: pulling the casing tool head along a predetermined path toward the upstream working well by the traction mechanism; stopping the traction action of the traction mechanism when the casing tool head moves a preset distance; and cutting and removing the portion of the old underground drainage pipe covered by the casing tool head and the casing.

[0046] Specifically, Figure 6 The schematic diagram of the control system in the solution of this application is shown. Figure 6As shown, in this embodiment, a processor device 600 is also provided, which is in communication with the traction mechanism 230. The processor device 600 is also in communication with the high-pressure water gun 212 on the casing tool head 210 and the automatic total station 610. The high-pressure water gun 212 and the automatic total station 610 will be described later.

[0047] refer to Figure 7 As shown, during the process of cutting and removing the old underground drainage pipe 100, the processor device 600 first controls the pulling mechanism 220 to pull the casing tool head 210 forward. The pulling distance of the pulling mechanism 220 is simultaneously monitored, and the forward distance of the casing tool head 210 is determined in real time based on the monitored pulling distance.

[0048] Then, refer to Figure 7 As shown, when the advancement distance of the casing tool head 210 reaches the preset distance, the processor device 600 stops the traction action of the traction mechanism 220, so that the casing tool head 210 stops advancing. Figure 7 As shown, in this application, the preset distance is the maximum forward distance of the traction cable fixing seat 211 of the casing tool head 210 before it hits the old underground drainage pipe 100. That is, the preset distance is less than the distance l from the front end of the casing tool head 210 to the traction cable fixing seat 211, as shown in FIG. Figure 8 As shown. In addition, further reference Figure 7 As shown, in this embodiment, the old underground drainage pipe 100 is, for example, composed of multiple pipe sections (see dashed lines in the figure, where adjacent dashed lines define a pipe section). Therefore, the casing tool head 210 is preferably longer than each pipe section, so that each time the casing tool head 210 is pulled and moved, it can cover at least one complete pipe section and ensure that surrounding soil cannot freely enter the casing tool head 210.

[0049] Then, refer to Figure 9 As shown, the portion of the old underground drainage pipe covered by the casing tool head 210 is cut and removed. Figure 9 Not shown in the figure, in reality, the casing tool head may continue to move forward under the tension of the steel cable because the internal resistance is gone, and wrap a part of the old pipe in front until the tension and resistance are balanced.

[0050] In addition, reference Figures 10-11 As shown, the above operations can be performed cyclically, so that each cycle can drive the casing 300 forward a distance (substantially equal to the length of a pipe unit) through the casing tool head 210, and cut and remove the old underground drainage pipe section within the distance.

[0051] Optionally, when the casing tool head reaches the upstream working well, the operation of deploying a new underground drainage pipe inside the casing and the casing tool head includes: stopping the traction action of the traction mechanism when the casing tool head reaches the upstream working well; cutting and removing the portion of the old underground drainage pipe covered by the casing tool head; removing the components deployed inside the casing tool head; and deploying the new underground drainage pipe inside the casing and the casing tool head.

[0052] Specifically, refer to Figure 12 As shown, at this time, the casing tool head 210 has reached the second side of the old underground drainage pipe 100 under the traction of the traction mechanism 230 , and the casing 300 is also close to the second side of the old underground drainage pipe 100 under the traction of the casing tool head 210 .

[0053] Then, refer to Figure 13 As shown, the old underground drainage pipe 100 can be cut by using a cutting mechanism, and the worker removes the cut pipe wall of the old underground drainage pipe 100, thereby completely removing the old underground drainage pipe 100.

[0054] Then, refer to Figure 14 As shown, the worker can continue to remove components inside the casing tool head 210. For example, the worker can cut off the traction cable fixing base 211, thereby removing the traction cable fixing base 211 and the traction cable 220 from the casing tool head 210. The worker can also remove the high-pressure water gun 212 and the water pipe 213. Thus, all components inside the casing tool head 210 are removed. Preferably, the multiple traction mechanisms 230 can also be removed.

[0055] Finally, reference Figure 15 As shown, the worker deploys a new drainage pipe 500 inside the casing 300 and the casing tool head 210, and also backfills earth material 510 between the new drainage pipe 500 and the casing 300 and the casing tool head 210. Thus, the replacement of the drainage pipe is completed in this way.

[0056] Optionally, the method further includes: when the length of the sleeve is insufficient, increasing the length of the sleeve by splicing.

[0057] Specifically, see Figure 7 、 Figure 10 and Figure 12 As shown, the sleeve 300 can be spliced by multiple sleeve units, so the length of the sleeve 300 can be adjusted. Figure 7 In the embodiment, the sleeve 300 includes 1 sleeve unit, but in Figure 10 In the embodiment, when the length of the sleeve 300 is insufficient, the sleeve units can be further spliced at the rear end of the sleeve 300. Thus, the spliced sleeve 300 includes three sleeve units. Figure 12 In the embodiment, as the casing 300 moves under the traction of the casing tool head 210 , casing units can be continuously spliced at the rear end of the casing 300 to increase the length of the casing 300 .

[0058] Optionally, before the traction mechanism tows the casing tool head, the method further comprises: flushing the soil between the casing tool head and the old underground drainage pipe using a high-pressure water gun of the casing tool head.

[0059] refer to Figure 3 As shown, a plurality of high-pressure water guns 212 are further provided inside the casing tool head 210, wherein the high-pressure water guns 212 provide high-pressure water flow through the water pipe 213. Figure 6 As shown, the high-pressure water gun 212 is controlled by the processor device 600 .

[0060] Therefore, in each of the aforementioned cycles, before controlling the traction mechanism 230 to pull the casing tool head 210 forward, the processor device 600 first controls the high-pressure water gun 212 to flush the soil between the casing tool head 210 and the old underground drainage pipe 100, and then controls the traction mechanism 230 to pull the casing tool head 210 forward. In this way, the friction during the pulling operation can be greatly reduced.

[0061] Optionally, the traction mechanism is a plurality of traction mechanisms, the high-pressure water gun is a plurality of high-pressure water guns, and in the process of the traction mechanism pulling the casing tool head, the method further includes: using an automatic total station to measure the coordinates of a plurality of first reference points on the end face of the casing tool head; determining the first center point coordinates of the end face of the casing tool head according to the coordinates of the first reference point; determining the second center point coordinates corresponding to the preset casing center line; determining the position deviation of the casing tool head according to the first center point coordinates and the second center point coordinates; and determining the target traction force of the plurality of traction mechanisms and the target flow rate of the plurality of high-pressure water guns according to the position deviation.

[0062] Specifically, refer to Figure 4 As shown, the traction mechanism 230 is a plurality of traction mechanisms, for example, Figure 4 In FIG, the traction mechanism 230 is 4 traction mechanisms. Figure 2 and Figure 3 As shown, the high pressure water gun 212 is also a plurality of high pressure water guns. Figure 5 As shown, in this embodiment, the high-pressure water guns 212 may be, for example, six high-pressure water guns evenly distributed along the circumference of the casing tool head 210 .

[0063] Thus, the processor device 600 measures the coordinates of multiple reference points on the end face of the casing tool head 210 during the process of controlling the pulling mechanism 230 to pull the casing tool head 210. Figure 6As shown, the processor device 600 can measure the coordinates of multiple reference points on the casing tool head 210 through the automatic total station 610. Figure 5 In this application, three reference points P1 to P3 are set on the circumference of the end face of the casing tool head 210.

[0064] Then, the processor device 600 determines the first center point coordinates (x0, y0, z0) of the first center point O of the end face of the casing tool head according to the coordinates of the first reference points P1 to P3. For example, the first center point coordinates can be determined according to the following formula:

[0065] (x1-x0) 2 +(y1-y0) 2 +(z1-z0) 2 =r 2 ;

[0066] (x2-x0) 2 +(y2-y0) 2 +(z2-z0) 2 =r 2 ;as well as

[0067] (x3-x0) 2 +(y3-y0) 2 +(z3-z0) 2 =r 2 .

[0068] Where (x0, y0, z0) are the coordinates of the first center point O, (x1, y1, z1) are the coordinates of the first reference point P1, (x2, y2, z2) are the coordinates of the first reference point P2, and (x3, y3, z3) are the coordinates of the first reference point P3. Where r is the radius of the casing tool head 210.

[0069] The processor device 600 then determines the second center point coordinates (x0', y0', z0') of the second center point O' corresponding to the preset casing center line.

[0070] The processor device 600 then compares the calculated coordinates (x0, y0) of the first center point coordinates (x0, y0, z0) with the coordinates (x0', y0') of the second center point coordinates (x0', y0', z0') to determine the position deviation (Δx, Δy):

[0071] Δx = x0 - x0'; and

[0072] Δy=y0-y0'.

[0073] Then, the processor device 600 further determines the target traction forces f1-f4 of each traction mechanism 230 (since four traction mechanisms are provided in this embodiment, f1-f4 correspond to different traction mechanisms) and the target flow rates q1-q6 of each high-pressure water gun 212 (since six high-pressure water guns are provided in this embodiment, q1-q6 correspond to different high-pressure water guns). Thus, each traction mechanism 230 pulls the casing tool head 210 according to its target traction force, while each high-pressure water gun 212 flushes the soil according to its target flow rate.

[0074] In this way, the traction force of each traction mechanism and the flow rate of the high-pressure water gun can be adjusted in real time according to the position deviation of the casing tool head 210, so that the traction direction of the casing tool head 210 can be adjusted in real time so that it moves in a direction consistent with the preset axis.

[0075] Furthermore, the operation of determining the target traction force of multiple traction mechanisms and the target flow rate of multiple high-pressure water guns based on the position deviation includes: obtaining multiple first feature information corresponding to the current moment and multiple historical moments relative to the current moment, wherein each first feature information includes the position deviation at the corresponding moment, the traction force of the multiple traction mechanisms at the corresponding moment, and the flow rate of the multiple high-pressure water guns at the corresponding moment; inputting the multiple first feature information into a preset first neural network model to determine the first ratio information between the target traction forces of the multiple traction mechanisms; inputting the first feature information and the first ratio information into a preset second neural network model to determine the second ratio information between the target flow rates of the multiple high-pressure water guns; and determining the target traction force of the multiple traction mechanisms according to the first ratio information, and determining the target flow rates of the multiple high-pressure water guns according to the second ratio information.

[0076] Specifically, for example, the processor device 600 may determine the number of times from the current time t0 to the previous L-1 time t L-1 L feature information F0~F L-1 . Among them, each feature information F k (k=0~(L-1)), defined as follows:

[0077] F k =[Δx k ,Δy k ,f 1,k ,f 2,k ,f 3,k ,f 4,k ,q 1,k ,q 2,k ,q 3,k ,q 4,k ,q 5,k ,q6,k ] T .

[0078] where Δx k and Δy k Represents the time t k The corresponding position deviation, f 1,k ~f 4,k Represents the time t k The corresponding traction force of each traction mechanism 230, and q 1,k ~q 6,k Represents the time t k The flow rate of each high pressure water gun 212 is corresponding. L-1 Constitute a vector sequence.

[0079] Then, refer to Figure 16 As shown, the processor device 600 converts each feature information F0 to F L-1 The constructed vector sequence is input into the first neural network to generate the first scale information H = [h1, h2, h3, h4] T Wherein, h1-h4 represent the ratio between the target traction forces f1-f4 of the respective traction mechanisms 230, wherein:

[0080] 0≤h1,h2,h3,h4≤1, and h1+h2+h3+h4=1.

[0081] Then, the processor device 600 inputs the feature information F1 corresponding to the previous moment t1 before the current moment t0 and the first ratio information H into the second neural network, thereby generating the second ratio information W = [w1, w2, w3, w4, w5, w6] T Wherein, 0≤w1,w2,w3,w4,w5,w6≤1, and w1+w2+w3+w4+w5+w6=1.

[0082] Then, the processor device 600 determines the target traction forces f1-f4 according to the first proportional information H, and determines the target flow rates q1-q6 according to the second proportional information W.

[0083] Furthermore, the operation of determining the target traction forces of the multiple traction mechanisms according to the first ratio information includes: summing the traction forces of the multiple traction mechanisms at the current moment to obtain a total traction force value; and determining the target traction forces of the multiple traction mechanisms based on the total traction force value and the ratio information. And the operation of determining the target flow rates of the multiple high-pressure water guns according to the second ratio information includes: determining the target flow rates of the multiple high-pressure water guns based on the total flow rate value of the multiple high-pressure water guns and the second ratio information.

[0084] Specifically, the processor device 600 calculates the traction force f of each traction mechanism 230 at the current time t0. 1,0 ~f 4,0 Add them together to get the total traction force ft:

[0085] ft=f 1,k +f 2,k +f 3,k +f 4,k .

[0086] The processor device 600 then determines the target traction forces f1-f4 of the respective traction mechanisms 230 according to the total traction force value ft and the first proportional information h1-h4:

[0087] f1=h1*ft;

[0088] f2=h2*ft;

[0089] f3 = h3 * ft; and

[0090] f4=h4*ft.

[0091] In addition, the processor device 600 determines the target flow rates q1-q6 of each high-pressure water gun 212 according to the total flow rate value qt and the second proportional information w1-w6:

[0092] q1=w1*qt;

[0093] q2=w2*qt;

[0094] q3=w3*qt;

[0095] q4=w4*qt

[0096] q5 = w5 * qt; and

[0097] q6=w6*qt.

[0098] Thus, through the above method, the present application utilizes a neural network to determine first proportional information of the traction force of each traction mechanism 230 based on L pieces of feature information traced back from the current moment. Second proportional information of the flow rate of each high-pressure water gun is then determined based on the first proportional information and the feature information from the moment before the current moment. The target traction force f1-f4 of each traction mechanism 230 is then determined using the total traction force value obtained by summing the traction forces of each traction mechanism at the current moment and the determined proportional information. The flow rate of each high-pressure water gun is then determined using the total flow rate and the second proportional information. This method allows the neural network parameters to be trained using more data, enabling more accurate prediction of the proportional information of the traction force of each traction mechanism and the proportional information of the flow rate of each high-pressure water gun, thereby more accurately determining the target traction force of each traction mechanism and the target flow rate of each high-pressure water gun.

[0099] In addition, reference Figure 2 and Figure 3 As shown, according to another aspect of this embodiment, a device for replacing an underground drainage pipe is provided, comprising a casing tool head 210, a traction rope 220, and a traction mechanism 230. The casing tool head 210 is configured to be deployed on a first side of an old underground drainage pipe 100 and sleeved around the old underground drainage pipe 100, wherein a casing 300 can be installed at the rear end of the casing tool head 210; the traction mechanism 230 is configured to be deployed on a second side of the old underground drainage pipe 100 and to pull the casing tool head 210 via the traction rope 220; the traction rope 220 connects the traction mechanism 230 and the casing tool head 210, and can pull the casing tool head 210 from the first side of the old underground drainage pipe 100 to the second side of the old underground drainage pipe 100 under the traction action of the traction mechanism 230.

[0100] Therefore, in the technical solution of the present application, the casing is not advanced by applying thrust at the rear end, but is pulled by a traction rope at the front through a traction mechanism. Therefore, through this traction method, it can be ensured that no matter how long the casing travels, the casing and the casing tool head can be relatively easily controlled to be consistent with the axis of the preset drainage pipe. This avoids the eccentricity of the casing during the advancement process, making it easy for the advancement of the casing to be paused due to deviation in direction. Compared with adjusting the forward direction of the tool head by transmitting the thrust from the rear end working well to the tool head, directly adjusting the tension of the traction rope is simpler and more effective. At the same time, it also saves space for the thrust device in the working well and the structural requirements for the working well and the casing.

[0101] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn according to actual scale information. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed herein, any specific values should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0102] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0103] In the description of the present disclosure, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0104] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for replacing an underground drainage pipe, characterized in that: include: A casing tool head (210) is deployed in a downstream working well (401) of an old underground drainage pipe (100) to be replaced, wherein the casing tool head (210) is sleeved around the old underground drainage pipe (100), and a casing (300) is provided at the rear end of the casing tool head (210) to be extended as the casing tool head advances; Arranging a traction rope (220) in the old underground drainage pipe (100) to connect the casing tool head (210) and a traction mechanism (230) deployed in an upstream working well (402); The traction mechanism (230) is used to pull the casing tool head (210) into the soil surrounding the old underground drainage pipe (100), move the casing tool head toward the upstream working well (402), and cut and remove the portion of the old underground drainage pipe (100) covered by the casing tool head (210); as well as When the casing tool head (210) reaches the upstream working well (402), a new underground drainage pipe (500) is deployed inside the casing (300) and the casing tool head (210).

2. The method according to claim 1, characterized in that Before using the traction mechanism (230) to traction the casing tool head (210) to move toward the upstream working well (402), the method further includes: setting a traction rope (220) between the casing tool head (210) and the traction mechanism (230), wherein the traction rope (220) connects the traction mechanism (230) and the casing tool head (210) via the old underground drainage pipe (400).

3. The method according to claim 1, characterized in that The operation of using the traction mechanism (230) to pull the casing tool head (210) toward the upstream working well (402) and cutting and removing the portion of the old underground drainage pipe (100) covered by the casing tool head (210) includes: Controlling the pulling mechanism (230) to pull the casing tool head (210) along a predetermined path toward the upstream working well (402); When the casing tool head (210) moves a preset distance, stopping the pulling action of the pulling mechanism (230); and The portion of the old underground drainage pipe (100) covered by the casing tool head (210) is cut and removed.

4. The method according to claim 1, wherein When the casing tool head (210) reaches the upstream working well (402), the operation of deploying a new underground drainage pipe (500) inside the casing (300) and the casing tool head (210) includes: When the casing tool head (210) reaches the upstream working well (402), stopping the pulling action of the pulling mechanism (230); Cutting and removing the portion of the old underground drainage pipe (100) covered by the casing tool head (210); removing components disposed inside the casing tool head (210); and Inside the casing (300) and the casing tool head (210), a new underground drainage pipe (500) is deployed.

5. The method according to claim 1, wherein Also includes: In the case that the length of the sleeve (300) is insufficient, the length of the sleeve (300) is increased by splicing.

6. The method according to claim 1, wherein Before the traction mechanism (230) tows the casing tool head (210), the method further comprises: using the high-pressure water gun (212) of the casing tool head (210) to flush the soil between the casing tool head (210) and the old underground drainage pipe (400).

7. The method according to claim 6, characterized in that The traction mechanism (230) is a plurality of traction mechanisms, the high-pressure water gun (212) is a plurality of high-pressure water guns, and during the process of the traction mechanism (230) traction the casing tool head (210), the method further comprises: Using an automatic total station to measure the coordinates of a plurality of first reference points on the end surface of the casing tool head (210); Determining the coordinates of a first center point of the end face of the casing tool head (210) according to the coordinates of the first reference point; Determining the coordinates of a second center point corresponding to a preset casing center line; Determining a position deviation of the casing tool head (210) according to the first center point coordinates and the second center point coordinates; and According to the position deviation, target traction forces of the plurality of traction mechanisms (230) and target flow rates of the plurality of high-pressure water guns (212) are determined.

8. The method according to claim 7, characterized in that The operation of determining the target traction force of the plurality of traction mechanisms (230) and the target flow rate of the plurality of high-pressure water guns (212) according to the position deviation comprises: Acquiring a plurality of first feature information corresponding to a current moment and a plurality of historical moments relative to the current moment, wherein each first feature information includes a position deviation at a corresponding moment, a traction force of the plurality of traction mechanisms (230) at a corresponding moment, and a flow rate of the plurality of high-pressure water guns (212) at a corresponding moment; Inputting the plurality of first feature information into a preset first neural network model, thereby determining first ratio information between target traction forces of the plurality of traction mechanisms (230); Inputting the first characteristic information corresponding to the previous moment of the current moment and the first ratio information into a preset second neural network model, thereby determining the second ratio information between the target flow rates of the plurality of high-pressure water guns (212); and The target traction forces of the plurality of traction mechanisms (230) are determined according to the first proportional information, and the target flow rates of the plurality of high-pressure water guns (212) are determined according to the second proportional information.

9. The method according to claim 8, characterized in that The operation of determining the target traction forces of the plurality of traction mechanisms (230) according to the first proportional information comprises: summing the traction forces of the plurality of traction mechanisms at the current moment to obtain a total traction force value; and determining the target traction forces of the plurality of traction mechanisms (230) according to the total traction force value and the first proportional information, and wherein The operation of determining the target flow rates of the plurality of high-pressure water guns (212) according to the second proportional information comprises: determining the target flow rates of the plurality of high-pressure water guns (212) according to the total flow rate value of the plurality of high-pressure water guns (212) and the second proportional information.

10. A device for replacing underground drainage pipes, characterized in that: It comprises a casing tool head (210), a traction rope (220) and a traction mechanism (230), wherein: The casing tool head (210) is used to be deployed on a first side of an old underground drainage pipe (100) and sleeved around the old underground drainage pipe (100), wherein the rear end of the casing tool head (210) is capable of installing a casing (300); The traction mechanism (230) is used to be deployed on the second side of the old underground drainage pipe (100) and to pull the casing tool head (210) through the traction rope (220); The traction rope (220) connects the traction mechanism (230) and the casing tool head (210), and is capable of traction of the casing tool head (210) from the first side of the old underground drainage pipe (100) to the second side of the old underground drainage pipe (100) under the traction action of the traction mechanism (230).

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