Guide device of tunneling mechanism for trenchless pipeline repair and use method of guide device

Abstract

The invention relates to a tunneling mechanism guide device for trenchless pipeline repair and a use method. The tunneling mechanism guide device comprises a tunneling mechanism; a state detection device; the device further comprises a fixing frame. The three groups of telescopic cavities are cavities fixed on the peripheral side of the fixed frame; the telescopic rod is located in the telescopic cavity and can stretch out and draw back in the advancing direction and the radial direction of the tunneling mechanism; a wheel body; the extension line of the telescopic rod passes through the center of the fixing frame, and the center of the fixing frame is located on the extension line of the axis of the tunneling mechanism. Two of the three telescopic rods are arranged on the fixing frame by taking the third telescopic rod as a symmetry axis; the detection element is a detection device for detecting the position of the telescopic rod relative to the telescopic cavity and can calculate the distance from the contact position of the wheel body and the inner wall of the old pipeline to the center of the fixing frame; the device has the beneficial effects that the posture of the tunneling mechanism in a complex environment is mastered by utilizing the physical detection distance of the telescopic rod, and the milling direction of the tunneling mechanism is corrected in advance.

Description

Technical Field

[0001] The present invention belongs to the technical field of trenchless pipeline repair, and in particular relates to a guide device for an excavation mechanism for trenchless pipeline repair and a use method thereof. Background Art

[0002] Trenchless repair technology (trenchless) refers to the use of various rock and soil drilling equipment and technical means, through guidance, directional drilling and other methods, in the case of excavation of a very small part of the surface (generally refers to a small area of ​​excavation at the entrance and exit), to lay, replace and repair various underground pipelines. New construction technology will not hinder traffic, will not damage green spaces and vegetation, and will not affect the normal life and work order of shops, hospitals, schools and residents. It solves the interference of traditional excavation construction on residents' lives, damage and adverse effects on traffic, environment, and the foundations of surrounding buildings, and therefore has a high social and economic effect. In the trenchless repair technology, there is a technical direction for the repair of small and medium-sized concrete pipe tissues, which usually requires the broken cement pipes or other metal pipes that allow milling to adapt to the updated metal pipes by milling their interior. For example, application number 202411626874.8, invention name A technical solution for a sludge treatment system for pipe milling and expansion, discloses a treatment method using a tunneling mechanism to mill the inner wall of the pipe.

[0003] The inventors discovered during the study of existing technologies and continued development of trenchless pipe milling equipment that:

[0004] At present, the excavation mechanism under this technical solution adopts the front-end slag discharge method. However, during the milling process of the old pipe, the positioning or direction of the excavation mechanism cannot be observed and determined, which will cause damage to the basic supporting structure of the old pipe. For example, if the method of reducing the diameter to replace the pipe is adopted, it is necessary to only clean the diameter of the old pipe that hinders the laying of the new pipe, and the supporting function of the original old pipe cannot be destroyed, otherwise it will collapse, further affecting the replacement and even the safety of people's livelihood. The inventors found that the existing technology has the following problems:

[0005] 1) Gyroscope-based posture calculation: Due to the vibration characteristics of the roadheader and the measurement characteristics of the gyroscope sensor itself, the noise in the gyroscope measurement results increases, and the noise data may even be greater than the actual data. The gyroscope error accumulates over time, and long-term exposure to vibration environments can cause mechanical fatigue and shorten its lifespan.

[0006] 2) Total station guidance: Small-diameter pipes have a narrow field of view, and total stations, due to their large size, static measurement characteristics, environmental sensitivity, and efficiency bottlenecks, cannot meet the needs of small-diameter tunnel boring machines for miniaturized, dynamic, and anti-interference guidance technology.

[0007] 3) LiDAR guidance: The excavation environment is harsh, which easily produces a large amount of smoke, dust and cement, affecting the laser accuracy.

[0008] In view of the problems existing in the existing technology, there is an urgent need for a non-excavation pipeline repair excavation mechanism guide device with stable measurement effect and strong anti-interference ability and a method of use thereof Summary of the Invention

[0009] To overcome the problems of separate gyroscope calculation and laser guidance in the prior art, the inventors adopted a physical guidance method. A radially extending probe was installed at the front end of the tunneling mechanism to physically measure the relative position of the tunneling mechanism axis in the old pipe. Since the old pipe is cylindrical as a whole, the tunneling mechanism can be matched with the cylindrical tunneling mechanism. As long as the axis positions overlap, the tunneling mechanism can always be located at the center, and the cutter head will not mistakenly mill or grind the old pipe. The technical solution adopted by the present invention is: a tunneling mechanism guide device for trenchless pipeline repair, comprising:

[0010] The tunneling mechanism is cylindrical and is used to mill and clean old pipes;

[0011] A state detection device, located in the tunneling mechanism, monitors the current posture and position of the tunneling mechanism in real time;

[0012] Also includes:

[0013] A fixed frame is a rigid frame that extends from the axis of the milling end of the tunneling mechanism toward the forward direction of the tunneling mechanism and is fixedly connected to the tunneling mechanism;

[0014] The telescopic chambers are three groups of chambers fixed on the peripheral side of the fixing frame;

[0015] The telescopic rod is located in the telescopic cavity and can be radially extended and retracted along the forward direction of the excavation mechanism;

[0016] a wheel body, located at the end of the telescopic rod, at the far end in the opposite direction to the fixing frame;

[0017] A driving force is provided in the telescopic cavity to drive the telescopic rod away from the center of the fixed frame;

[0018] The extension line of the telescopic rod passes through the center of the fixing frame, and the center of the fixing frame is located on the extension line of the axis of the excavation mechanism;

[0019] Two of the three telescopic rods are arranged on the fixing frame with the third one as the axis of symmetry;

[0020] The detection element is a detection device for detecting the position of the telescopic rod relative to the telescopic cavity, and can calculate the distance from the contact position between the wheel body and the inner wall of the old pipe to the center of the fixing frame.

[0021] Further,

[0022] When the excavation mechanism enters the old pipe in a horizontal state, the telescopic rod serving as the axis of symmetry is perpendicular to the horizontal ground, and the wheel body faces upward.

[0023] Further,

[0024] When the excavation mechanism enters the old pipe in a horizontal state, the two symmetrical telescopic rods are parallel to the horizontal ground and perpendicular to the third telescopic rod.

[0025] Further,

[0026] At the tail end of the tunneling mechanism in the forward direction, the same fixing frame, telescopic cavity, telescopic rod and wheel body as those located at the front end of the tunneling mechanism in the forward direction are provided to contact the inner wall of the old pipe to collect the size data of the inner wall of the old pipe after milling by the tunneling mechanism.

[0027] A method for using a guide device for a trenchless pipeline repairing mechanism, comprising:

[0028] The above-mentioned guide device for the excavation mechanism for trenchless pipeline repair and the following method:

[0029] Before the trenchless pipeline is repaired, a working well is opened at the beginning and end of the old pipeline to be repaired to allow the excavation mechanism to enter;

[0030] The excavation mechanism enters the old pipeline in a horizontal state;

[0031] The wheel body is fitted with the inner wall of the old pipe by means of the driving force;

[0032] Recording the distances between the three wheel bodies and the center of the fixing frame in an initial state by means of the detection element;

[0033] The recorded values ​​are A, B, and C;

[0034] During the advancement of the tunneling mechanism, the three values ​​of A, B, and C are always kept unchanged, or the changes are controlled within a threshold range.

[0035] Further, including:

[0036] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0037] Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline;

[0038] Record the recorded value perpendicular to the horizontal ground as A;

[0039] The change in A is ΔA;

[0040] A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value;

[0041] Calculating the theoretical inclination angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair;

[0042] The theoretical inclination angle is a=arcsin(A / (A+ΔA))

[0043] Comparing the pipeline direction information corresponding to the current position of the tunneling mechanism with a, when the two values ​​are the same or close, the value a is accurate; when the difference between the two values ​​exceeds a threshold, dynamically monitoring and detecting the changing trend of the value a in the forward state of the tunneling mechanism; if the value a1 is close to the pipeline direction information, it is considered that the value a1 is accurate; if the value a1 is neither the same nor close, an alarm is prompted in the control system;

[0044] Further, including:

[0045] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0046] The recorded values ​​of the two telescopic rods that are symmetrical or parallel to the horizontal ground are B and C.

[0047] When the excavation mechanism enters the old pipe in a horizontal state, the values ​​of B and C are compared. If the values ​​of B and C are equal or close, the excavation mechanism advances. If the difference between the values ​​of B and C is greater than a threshold, it is observed whether the excavation mechanism is located at the center of the old pipe. If it is located at the center, the excavation mechanism advances. If deflection occurs, the position of the excavation mechanism relative to the old pipe is adjusted.

[0048] Furthermore, the method further includes the following steps:

[0049] Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline;

[0050] When the tunneling mechanism is in the forward state, the values ​​of B and C are recorded in real time;

[0051] The changes of B and C are ΔB and ΔC;

[0052] A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value;

[0053] Calculating the theoretical deflection angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair;

[0054] The theoretical inclination angles are b = arccos (B / (B+ΔB)) and c = arccos (C / (C+ΔC))

[0055] The control system checks whether b and c are the same or similar. If they are not the same or similar, the control system issues an alarm.

[0056] If they are the same or similar, check whether b and c are the same or similar to the pipeline direction information of the old pipeline. When the two values ​​are the same or similar, the b and c values ​​are accurate. When the difference between the two values ​​exceeds the threshold, dynamic monitoring is performed to detect the changing trend of the b and c values ​​in the forward state of the tunneling mechanism. If they are close to the pipeline direction information, the b and c values ​​are considered accurate. If they are neither the same nor close, an alarm is given in the control system.

[0057] Furthermore, it also includes:

[0058] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0059] Using the detection element, the distance between the three wheel bodies at the rear end of the excavation mechanism in the forward direction and the center of the fixed frame is recorded;

[0060] The recorded values ​​are A1, B1, and C1;

[0061] Analyzing the recorded values ​​A, B, C and A1, B1, C1 with the aid of the detection element;

[0062] A three-dimensional stereogram is constructed using A, B, C and A1, B1, C1, and the stereogram is compared with the current posture of the tunneling mechanism recorded by the status detection device.

[0063] Furthermore, the method further includes the following steps:

[0064] The recorded values ​​A1, B1, and C1 are memorized to construct the pipeline direction information of the old pipeline after milling.

[0065] The beneficial effects of the present invention compared with the existing technology are: 1) by utilizing the physical detection distance of the telescopic rod, the posture of the tunneling mechanism in a complex environment can be grasped, and the milling direction of the tunneling mechanism can be corrected in advance; 2) a technical solution is proposed to control the advancement of the tunneling mechanism by using the telescopic rod; 3) the telescopic rod set at the tail end can construct the direction information of the old pipeline after milling. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a front view of the fixed frame, telescopic cavity, telescopic rod, and wheel body in a specific embodiment of the present invention;

[0067] Figure 2 This is a schematic diagram of the assembly of the excavation mechanism and the guide device according to a specific embodiment of the present invention;

[0068] The annotations are:

[0069] 100-fixed frame; 110-telescopic chamber; 120-telescopic rod; 130-wheel body;

[0070] 200- tunneling mechanism; 210- status detection device; DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments are clearly and completely described. Obviously, the embodiments described are only a part of the embodiments of the present invention, rather than all the embodiments. In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0072] To overcome the problems of separate gyroscope calculation and laser guidance in the existing technology, the inventors adopted a physical guidance method. A radially extending probe was installed at the front end of the tunneling mechanism to physically measure the relative position of the tunneling mechanism axis in the old pipe. Since the old pipe is cylindrical, the tunneling mechanism can be matched with the cylindrical tunneling mechanism. As long as the axis positions overlap, the tunneling mechanism can always be located in the center, and the cutter head will not mistakenly mill or grind the old pipe. Please refer to Figure 1 and Figure 2 , the specific implementation is:

[0073] A guide device for a tunneling mechanism used for trenchless pipeline repair.

[0074] In a specific embodiment, the tunneling mechanism 200 has a cutter head at the front end and a driving mechanism at the rear end. For trenchless pipeline repair, the slag discharge method is front-end slag discharge. Of course, in some other embodiments, the rear-end slag discharge method can also be used, which will not affect the control of the direction of the tunneling mechanism 200 by the guide device.

[0075] include:

[0076] The tunneling mechanism 200 is cylindrical and is used for milling and cleaning old pipes;

[0077] The state detection device 210 is located within the tunneling mechanism 200 and monitors the current posture and position of the tunneling mechanism 200 in real time. It should be noted that the state detection device 210 may be an inertial measurement unit (IMU) or other distance or posture measurement device, such as a gyroscope. The state detection device 210 may be located at the center of gravity of the tunneling mechanism 200. To improve compatibility with the guide device's measurement structure, the state detection device 210 may also be located closer to the guide device, such as next to the cutter head.

[0078] Also includes:

[0079] The fixing frame 100 is a rigid frame extending from the axis of the milling end of the tunneling mechanism 200 in the direction of travel of the tunneling mechanism 200 and fixedly connected to the tunneling mechanism 200. The fixing frame 100 is located at the axis of the front end of the tunneling mechanism 200 and should not rotate with the cutter head. It can be a fixed member extending from a fixed portion of the rotating shaft, such as a bearing.

[0080] The telescopic cavities 110 are three groups of cavities fixed on the peripheral side of the fixing frame 100 ; the telescopic cavities 110 can be grooves or cavities, and their purpose is to provide space for the telescopic rod 120 to move.

[0081] The telescopic rod 120 is located in the telescopic cavity 110 and can be radially extended and retracted along the forward direction of the tunneling mechanism 200;

[0082] The wheel body 130 is located at the end of the telescopic rod 120, at the far end opposite to the fixing frame 100; Figure 1 Because the excavation mechanism 200 is moving forward, although it is a physical measurement, it is also necessary to ensure that the contact surface can slide relative to the inner wall of the pipe, so a wheel body 130 is provided. At the same time, since there may be damage inside the pipe, the wheel body 130 can facilitate the expansion and contraction of the telescopic rod 120 to cross obstacles.

[0083] The telescopic cavity 110 is provided with a driving force for driving the telescopic rod 120 away from the center of the fixing frame 100. This driving force can usually be achieved by a spring, or of course by a cylinder with a small thrust force.

[0084] In order to calibrate the position of the axis of the tunneling mechanism 200, the extension line of the telescopic rod 120 passes through the center of the fixing frame 100, and the center of the fixing frame 100 is located on the extension line of the axis of the tunneling mechanism 200;

[0085] Two of the three telescopic rods 120 are arranged on the fixing frame 100 with the third one as the axis of symmetry;

[0086] The detection element is a device that detects the position of the telescopic rod 120 relative to the telescopic cavity 110 and is capable of calculating the distance from the contact point between the wheel body 130 and the inner wall of the old pipe and the center of the fixing frame 100. The detection element can be an encoder or other position-sensing component. By obtaining the extension and contraction amount of the telescopic cavity 110, it determines the contact point between the wheel body 130 and the old pipe and the distance from the center of the fixing frame 100.

[0087] In some embodiments, preferably,

[0088] When the excavation mechanism 200 enters the old pipe in a horizontal position, the telescopic rod 120, which serves as the axis of symmetry, is perpendicular to the ground, and the wheel 130 faces upward. In most implementations, there is accumulated waste at the bottom of the old pipe, or waste is also generated during the milling process. Therefore, to avoid obstruction of the telescopic rod 120's forward movement, the optimal position is to keep it vertically upward.

[0089] In other embodiments, preferably, due to the impact of the above waste,

[0090] When the excavation mechanism 200 enters the old pipe in a horizontal state, the two symmetrical telescopic rods 120 are parallel to the horizontal ground and perpendicular to the third telescopic rod 120. At the same time, if the telescopic rods 120 are in a horizontal position, the relative position can be better judged. Of course, if it is not in a horizontal position, because the excavation mechanism 200 does not rotate and the entry position is horizontal, the angle of the telescopic rods 120 relative to the horizontal position is fixed, and the positive deflection can be calculated by projection. Of course, if it is necessary to consider the oblique deflection, it is also necessary to project the horizontal position onto the corresponding inclined surface and then calculate. However, since this embodiment adopts the method of converting length into angle, the corresponding angle will be offset during the projection conversion process, which realizes a more convenient calculation method.

[0091] In other embodiments, preferably,

[0092] At the rear end of the tunneling mechanism 200, the same fixed frame 100, telescopic chamber 110, telescopic rod 120, and wheel 130 as those located at the front end of the tunneling mechanism 200 are installed. These components contact the inner wall of the old pipe to collect dimensional data after milling by the tunneling mechanism 200. The addition of an additional measuring device can assist in correcting the direction of the tunneling mechanism 200 and also measure the effect of the milled pipe.

[0093] Based on the above device design, a method for using a guide device for a tunneling mechanism for trenchless pipeline repair is proposed, including:

[0094] The above-mentioned guide device for the excavation mechanism for trenchless pipeline repair and the following method:

[0095] Before the trenchless pipeline is repaired, a working well is opened at the beginning and end of the old pipeline to be repaired to allow the excavation mechanism 200 to enter;

[0096] The excavation mechanism 200 enters the old pipeline in a horizontal state;

[0097] The wheel body 130 is fitted with the inner wall of the old pipe by means of the driving force;

[0098] Using the detection element, the distances between the three wheels 130 and the center of the fixing frame 100 in the initial state are recorded;

[0099] The recorded values ​​are A, B, and C;

[0100] During the advancement of the tunneling mechanism 200, the three values ​​of A, B, and C are always kept unchanged, or the changes are controlled within a threshold range.

[0101] It should be noted that the threshold values ​​described here and in other embodiments can be empirical values ​​or theoretical values ​​less than 3mm set for initial measurement. Because different tunneling mechanisms mill old pipes of varying sizes, the sensitivity of the threshold values ​​will inevitably differ when milling small-diameter pipes, such as those under DN300, versus those over DN2000. Therefore, the threshold values ​​must be set based on experience.

[0102] This embodiment uses the initial state, and then based on the fact that the diameter of the old pipe is generally unchanged in the pipeline, and the milling equipment of a single specification can only cope with one specification without considering the diameter change, the initial state calibration is used to achieve relative position control.

[0103] In other embodiments, the method includes:

[0104] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0105] Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline;

[0106] The management information here generally refers to records from the design or construction of the pipeline, or data obtained using detection equipment before repair to record the direction of the pipeline, which corresponds to the deflection angle of the tunneling mechanism 200 during the milling process.

[0107] Record the recorded value perpendicular to the horizontal ground as A;

[0108] The change in A is ΔA;

[0109] A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value;

[0110] Calculating the theoretical inclination angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair;

[0111] The theoretical inclination angle is a=arcsin(A / (A+ΔA))

[0112] Comparing the pipeline direction information corresponding to the current position of the tunneling mechanism 200 with a, when the two values ​​are the same or close, the value a is accurate. When the difference between the two values ​​exceeds a threshold, dynamically monitoring and detecting the changing trend of the value a in the forward state of the tunneling mechanism 200, if the value a is close to the pipeline direction information, the value a is considered accurate. If the value a is neither the same nor close, an alarm is issued in the control system;

[0113] This embodiment utilizes the telescopic rod 120 in the vertical direction to determine the elevation angle or depression angle to which the excavation mechanism should move.

[0114] In other embodiments, the telescopic rod 120 is used to determine the horizontal position or angle, including:

[0115] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0116] The recorded values ​​of the two telescopic rods 120 that are symmetrical or parallel to the horizontal ground are B and C.

[0117] When the excavation mechanism 200 enters the old pipe in a horizontal state, the values ​​of B and C are compared. If the values ​​of B and C are equal or close, the excavation mechanism 200 advances. If the difference between the values ​​of B and C is greater than a threshold, the excavation mechanism 200 is observed to be located at the center of the old pipe. If it is located at the center, the excavation mechanism 200 advances. If it deviates, the position of the excavation mechanism 200 relative to the old pipe is adjusted.

[0118] Preferably, the method further comprises the following steps:

[0119] Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline;

[0120] When the tunneling mechanism 200 is in the forward state, the values ​​of B and C are recorded in real time;

[0121] The changes of B and C are ΔB and ΔC;

[0122] A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value;

[0123] Calculating the theoretical deflection angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair;

[0124] The theoretical inclination angles are b = arccos (B / (B+ΔB)) and c = arccos (C / (C+ΔC))

[0125] The control system checks whether b and c are the same or similar. If they are not the same or similar, the control system issues an alarm.

[0126] If they are the same or similar, check whether b and c are the same or similar to the pipeline direction information of the old pipeline. When the two values ​​are the same or similar, the b and c values ​​are accurate. When the difference between the two values ​​exceeds the threshold, dynamic monitoring is performed to detect the changing trend of the b and c values ​​in the forward state of the tunneling mechanism 200. If they are close to the pipeline direction information, it is considered that the b and c values ​​are accurate. If they are neither the same nor close, an alarm is given in the control system.

[0127] In other embodiments, the guide device at the tail end can be used to check and record the status of the pipe after milling, and further includes:

[0128] The above-mentioned excavation mechanism guide device for trenchless pipeline repair further includes the following steps:

[0129] The distance between the three wheels 130 at the rear end of the excavation mechanism 200 and the center of the fixing frame 100 is recorded by means of the detection element;

[0130] The recorded values ​​are A1, B1, and C1;

[0131] Analyzing the recorded values ​​A, B, C and A1, B1, C1 with the aid of the detection element;

[0132] A, B, C and A1, B1, C1 are used to construct a three-dimensional stereogram, and the stereogram is compared with the current posture of the excavation mechanism (200) recorded by a state detection device (210).

[0133] Preferably, the method further comprises the following steps:

[0134] The recorded values ​​A1, B1, and C1 are memorized to construct the pipeline direction information of the old pipeline after milling.

[0135] Specific implementation process: align the tunneling mechanism 200 with the initial position. At this time, the telescopic rod 120 can already contact the inner wall of the old pipe. Then the tunneling mechanism 200 moves forward under the action of the top thrust of the working well. After entering the old pipe, the tunneling mechanism 200 moves forward by its own power. At this time, the guide device at the tail end can also contact the inner wall of the old pipe. The distance between the front and rear telescopic rods 120 and the extension line of the tunneling mechanism 200, that is, the normal distance of the extension line of the tunneling mechanism 200, is used to judge the forward direction of the old pipe and control the forward posture of the tunneling mechanism 200. At the same time, with the help of the initial state value, the state detection device 210 and the pipeline direction information of the old pipe, the most ideal state that the tunneling mechanism 200 should be in is comprehensively judged to achieve reasonable milling of the old pipe.

[0136] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A guide device for a tunneling mechanism for trenchless pipeline repair, comprising: The excavation mechanism (200) is cylindrical and is used for milling and cleaning old pipes; A state detection device (210) is located in the excavation mechanism (200) and monitors the current posture and position of the excavation mechanism (200) in real time; It is characterized by further comprising: The fixed frame (100) is a rigid frame body that extends from the axis of the milling end of the tunneling mechanism (200) in the forward direction of the tunneling mechanism (200) and is fixedly connected to the tunneling mechanism (200); The telescopic chambers (110) are three groups of chambers fixed on the peripheral side of the fixing frame (100); a telescopic rod (120) located in the telescopic cavity (110) and capable of radially telescoping along the advancing direction of the excavation mechanism (200); a wheel body (130) located at the end of the telescopic rod (120), at the far end in the opposite direction to the fixed frame (100); A driving force for driving the telescopic rod (120) away from the center of the fixed frame (100) is provided in the telescopic cavity (110); The extension line of the telescopic rod (120) passes through the center of the fixing frame (100), and the center of the fixing frame (100) is located on the extension line of the axis of the excavation mechanism (200); Two of the three telescopic rods (120) are arranged on the fixing frame (100) with the third one as a symmetric axis; The detection element is a detection device for detecting the position of the telescopic rod (120) relative to the telescopic cavity (110), and is capable of calculating the distance from the contact position between the wheel body (130) and the inner wall of the old pipe to the center of the fixing frame (100).

2. The guide device for a trenchless pipeline repair according to claim 1, characterized in that: When the excavation mechanism (200) enters the old pipe in a horizontal state, the telescopic rod (120) serving as the axis of symmetry is perpendicular to the horizontal ground, and the wheel body (130) faces upward.

3. The guide device for a trenchless pipeline repair according to claim 2, characterized in that: When the excavation mechanism (200) enters the old pipe in a horizontal state, the two symmetrical telescopic rods (120) are parallel to the horizontal ground and perpendicular to the third telescopic rod (120).

4. The guide device for a trenchless pipeline repair excavation mechanism according to claim 1, characterized in that: At the tail end of the tunneling mechanism (200) in the forward direction, the fixing frame (100), telescopic cavity (110), telescopic rod (120), and wheel body (130) identical to those located at the front end of the tunneling mechanism (200) in the forward direction are provided to contact the inner wall of the old pipe and collect the dimensional data of the inner wall of the old pipe after the tunneling mechanism (200) mills it.

5. A method for using a guide device for a trenchless pipeline repair, characterized in that: include: The excavation mechanism guide device for trenchless pipeline repair according to claim 1, and the following method: Before the trenchless pipeline is repaired, a working well is opened at the beginning and end of the old pipeline to be repaired, allowing the excavation mechanism (200) to enter; The excavation mechanism (200) enters the old pipeline in a horizontal state; The wheel body (130) is fitted with the inner wall of the old pipe by means of the driving force; Using the detection element, the distance between the three wheel bodies (130) and the center of the fixed frame (100) in the initial state is recorded; The recorded values ​​are A, B, and C; During the advancement of the excavation mechanism (200), the three values ​​of A, B, and C are always kept unchanged, or the changes are controlled within a threshold range.

6. The method for using the guide device for a trenchless pipeline repair according to claim 5, characterized in that: include: The guide device for a trenchless pipeline repair excavation mechanism according to claim 2 further comprises the following steps: Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline; Record the recorded value perpendicular to the horizontal ground as A; The change in A is ΔA; A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value; Calculating the theoretical inclination angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair; The theoretical inclination angle is a=arcsin(A / (A+ΔA)) The pipeline direction information corresponding to the current position of the tunneling mechanism (200) is compared with a. When the two values ​​are the same or close, the value a is accurate. When the difference between the two values ​​exceeds a threshold, dynamic monitoring is performed to detect the changing trend of the value a in the forward state of the tunneling mechanism (200). If the value a is close to the pipeline direction information, the value a is considered accurate. If the value a is neither the same nor close, an alarm is given in the control system.

7. The method for using the guide device for a trenchless pipeline repair according to claim 5, characterized in that: include: The excavation mechanism guide device for trenchless pipeline repair according to any one of claims 1 or 3, further comprising the following steps: The recorded values ​​of the two telescopic rods (120) that are individually symmetrical or symmetrical and parallel to the horizontal ground are recorded as B and C. When the excavation mechanism (200) enters the old pipe in a horizontal state, the values ​​of B and C are compared. If the values ​​of B and C are equal or similar, the excavation mechanism (200) moves forward. If the difference between the values ​​of B and C is greater than a threshold, it is observed whether the excavation mechanism (200) is located at the center of the old pipe. If it is observed to be located at the center, the excavation mechanism (200) moves forward. If deflection occurs, the position of the excavation mechanism (200) relative to the old pipe is adjusted.

8. The method for using the guide device for a trenchless pipeline repair according to claim 7, characterized in that: The following steps are also included: Before repairing the trenchless pipeline, record the pipeline direction information of the old pipeline; When the tunneling mechanism (200) is in an advancing state, the values ​​of B and C are recorded in real time; The changes of B and C are ΔB and ΔC; A control system is provided at the remote end, and the control system displays the recorded value and feeds back reminder information corresponding to the recorded value; Calculating the theoretical deflection angle of the current position of the guide device of the excavation mechanism for trenchless pipeline repair; The theoretical inclination angles are b = arccos (B / (B+ΔB)) and c = arccos (C / (C+ΔC)) The control system checks whether b and c are the same or similar. If they are not the same or similar, the control system issues an alarm. If they are the same or similar, check whether b and c are the same or similar to the pipeline direction information of the old pipeline. When the two values ​​are the same or similar, the b and c values ​​are accurate. When the difference between the two values ​​exceeds a threshold, dynamic monitoring is performed to detect the changing trend of the b and c values ​​in the forward state of the tunneling mechanism (200). If they are close to the pipeline direction information, it is considered that the b and c values ​​are accurate. If they are neither the same nor close, an alarm is issued in the control system.

9. The method for using the guide device for a trenchless pipeline repair according to claim 5, characterized in that: Also includes: The guide device for a trenchless pipeline repair excavation mechanism according to claim 4 further comprises the following steps: Using the detection element, the distance between the three wheel bodies (130) at the rear end of the excavation mechanism (200) in the forward direction and the center of the fixed frame (100) is recorded; The recorded values ​​are A1, B1, and C1; Analyzing the recorded values ​​A, B, C and A1, B1, C1 with the aid of the detection element; A, B, C and A1, B1, C1 are used to construct a three-dimensional stereogram, and the stereogram is compared with the current posture of the excavation mechanism (200) recorded by a state detection device (210).

10. The method for using the guide device for a trenchless pipeline repair according to claim 9, characterized in that: The following steps are also included: The recorded values ​​A1, B1, and C1 are memorized to construct the pipeline direction information of the old pipeline after milling.

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