Urban pipeline non-excavation repairing crawling device and repairing method

Abstract

The invention belongs to the technical field of drainage pipeline non-excavation repair, discloses an urban pipeline non-excavation repair crawling device and a repair method, and particularly relates to an urban pipeline non-excavation repair crawling device which comprises a carrier assembly, and at least three connecting assemblies are connected to the periphery of the carrier assembly. One end, far away from the carrier assembly, of each connecting assembly is connected with a driving assembly, and each connecting assembly is connected with a camera assembly; through cooperation of the cleaning assembly, the driving assembly and the sensing assemblies (the camera shooting assembly and the recognition sensor), global precise pretreatment of the inner wall of the pipeline is achieved. The intelligent controller firstly collects initial pipe diameter and inner wall impurity distribution data through the sensing assembly, and then dynamically regulates and controls the rotating speed of a rotating disc of the cleaning assembly through a fuzzy control algorithm based on the impurity type and thickness.

Description

Technical Field

[0001] This invention belongs to the field of trenchless repair technology for drainage pipelines, specifically a trenchless repair crawling device and repair method for urban pipelines. Background Technology

[0002] Traditional pretreatment methods for pipeline repair often use a fixed rotation speed for cleaning, which cannot adjust the cleaning intensity according to the type and thickness of impurities. This can easily lead to incomplete removal of mud and sand, splashing of algae and contamination of the pipeline, and may result in missed or repeated cleaning. It is difficult to create a clean pipe wall environment, which affects the subsequent damage identification effect. Furthermore, simple instrument detection is difficult to accurately identify the type and location of damage, and the positioning error is large, which can easily lead to missed damage points or positioning deviations that result in misaligned repairs.

[0003] Patent application number CN202110927171.9 discloses a crawler for trenchless repair of urban underground drainage pipes, including a crawler body and a data transmission line. The data transmission line is located on the rear side of the crawler body. Positioning blocks are fixedly connected to both the top and bottom sides of the data transmission line near the crawler body. A positioning slot is formed on the side of the crawler body near the positioning blocks to cooperate with the positioning blocks. Movable slots are formed on the opposite sides of the two positioning slots. A detection device is fixedly connected to the front side of the crawler body. A limit slot is formed on the top of the detection device. By using the crawler body, driving wheels and lighting equipment in combination, the problem of difficulty in entering some narrow pipes due to the large diameter of the driving wheels and the inability to replace them is solved, making it impossible to check the condition inside the pipe and affecting subsequent pipe repair work.

[0004] Meanwhile, trenchless repairs often rely on remote manual control or simple mechanical repairs. Manual control makes it difficult to ensure precise fit between the repaired parts and the damaged surface. Simple mechanical repairs lack precise control over the softening temperature and pressing force of the repair material, and cannot detect the repair quality in real time. This can easily lead to problems such as poor adhesion of the repair material and potential hidden dangers after repair. In addition, the repair process is complex and requires high skills from the operators.

[0005] Therefore, in order to solve the above-mentioned technical problems, the present invention discloses a trenchless repair crawling device and repair method for urban pipelines. Summary of the Invention

[0006] The purpose of this invention is to address the above-mentioned problems. This invention provides a trenchless repair crawling device and repair method for urban pipelines, which has the advantages of precise repair and rapid movement.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a trenchless repair crawling device for urban pipelines, comprising a carrier component, wherein at least three connecting components are connected to the outer periphery of the carrier component, a driving component is connected to the end of each connecting component away from the carrier component, and a camera component is connected to each connecting component; The carrier assembly includes a carrier tube, which has a receiving cavity. A repair component is connected to the receiving cavity, and an identification sensor is connected to one end of the carrier tube along its length. The repair assembly includes a telescopic rod, the telescopic rod being distributed in the same direction as the extension direction of the bearing tube, and a repair part being connected to the end of the telescopic rod furthest from the identification sensor.

[0008] Preferably, a directional component is provided between the connecting component and the driving component. The directional component includes a rotating rod, one end of which is rotatably connected to the connecting component, and a buffer rod is connected to the other end of the rotating rod.

[0009] Preferably, the directional assembly further includes an extension rod, the two ends of which are rotatably connected to the drive assembly and the connecting assembly, respectively, along the length direction.

[0010] Preferably, the repair part includes a connecting rod, one end of which is connected to the telescopic rod. The connecting rod has a storage groove, and a movable plate is rotatably mounted on the storage groove. A repair plate is rotatably mounted on the end of the movable plate away from the connecting rod.

[0011] Preferably, the repair part further includes a support rod, one end of which is connected to the repair plate, and the other end of which is abutted against a spring. A limiting rod is rotatably provided on the side of the spring away from the support rod, and repair material is connected to the end of the limiting rod away from the spring.

[0012] Preferably, the spring sheet has a through hole, and the repair plate is connected to a lifting rod, all of which are located inside the through hole.

[0013] Preferably, the repair plate is provided with a heating component for softening the repair material.

[0014] Preferably, a cleaning assembly for cleaning the pipe is connected to the side of the carrier pipe away from the identification sensor.

[0015] Preferably, the cleaning assembly includes a rotating disk, and a plurality of cleaning parts are connected to the outer circumference of the rotating disk.

[0016] A repair method using a trenchless repair crawling device for urban pipelines includes the following steps: S1. Device initialization and pipeline pretreatment: The camera component and identification sensor are started to perform an initial scan of the pipeline, obtain initial pipe diameter and inner wall impurity distribution data, generate a "pretreatment plan", and at the same time control the cleaning component to start, adjust the rotation speed of the rotating disk according to the impurity data, and synchronously control the drive component to drive the device to move at a constant speed to perform full-area pretreatment of the inner wall of the pipeline. During the pretreatment process, the pipeline environment characteristic table is updated in real time. S2. Intelligent Damage Identification and Location: After preprocessing, the device enters "inspection mode," controlling the camera component to continuously acquire images of the inner wall of the pipe, and identifying sensors to monitor pipe diameter changes and pipe wall conditions in real time; the device automatically identifies the damaged area through a CNN image recognition algorithm, extracts the damage type and damage center coordinates, and marks them on the remote platform; after identifying the damage, the device controls the drive component to decelerate to 0.1 m / s, accurately moves to the front of the damage point, and sends a "repair signal" to the remote platform; S3. Intelligent Repair Operation: After the remote platform confirms the repair instruction, it calls the matching repair parameters from the pipeline repair knowledge base; it controls the telescopic rod to extend to the preset length, aligning the repair part with the damage point; it simultaneously controls the movable plate and the repair plate to rotate to the fitting angle; it starts the heating component, using a PWM algorithm to stabilize the temperature at 150℃ and heat for 30 seconds; after heating, it controls the lifting rod to press the repair material onto the damaged surface with a 0.5MPa pushing force, maintaining the pressure for 60 seconds; after repair, it controls the telescopic rod to retract, the camera component captures the repaired image, and the image algorithm judges the repair quality. If it is qualified, it proceeds to the next step; if it is unqualified, the parameters are readjusted for a second repair.

[0017] S4. Work Completion and Data Archiving: After a single damaged point is repaired, the device continues to move in inspection mode until the entire pipeline is repaired. After the entire pipeline is repaired, the control device returns to the pipeline inlet and automatically generates a "repair report" which is then uploaded to the remote platform for archiving. The staff retrieves the device, completing the operation.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By leveraging the coordinated efforts of cleaning components, drive components, and sensing components (camera components, recognition sensors), precise pre-treatment of the entire inner wall of the pipe is achieved. The intelligent controller first collects initial pipe diameter and inner wall impurity distribution data through the sensing components. Then, based on the type and thickness of the impurities, it dynamically adjusts the rotation speed of the cleaning component's disc using a fuzzy control algorithm. Simultaneously, it correlates the movement speed of the drive components to match the cleaning frequency with the movement rhythm. This coordination ensures no missed areas and no repeated cleaning, while also avoiding impurity residue. Compared to traditional fixed-speed cleaning, the pre-treatment efficiency and pipe wall cleanliness are significantly improved, providing a clean and clear pipe wall environment for subsequent damage identification.

[0019] 2. By linking sensors, camera components, drive components, and CNN image recognition algorithms, efficient damage identification and precise location are achieved. After preprocessing, the device enters inspection mode, where sensors monitor pipe diameter changes and the overall condition of the pipe wall in real time. The three-dimensional coordinates of the damage center are extracted through image coordinate transformation and marked on a remote platform. Upon detection of damage, the controller immediately instructs the drive components to decelerate and simultaneously adjusts the speed difference between different drive components to achieve precise steering, ensuring the repair unit is directly aligned with the damage point. The entire system operates without manual intervention, solving the problems of low efficiency and large errors associated with traditional manual detection, and significantly improving the accuracy of damage identification and location.

[0020] 3. Precise and secure repair is achieved through the coordinated operation of multiple components within the repair assembly and identification sensors. Upon remote command confirmation, the telescopic rod extends according to the distance measured by the identification sensor, precisely delivering the repair section to the damage point. The movable plate rotates from the storage slot to a preset angle, and the repair plate rotates accordingly to the angle of contact with the damaged surface. The heating component softens the repair material, and the pushing force of the lifting rod presses the material against the damaged surface. During this process, springs assist in the initial adhesion of the material, a limiting rod prevents material displacement, and the support rod adjusts its length to maintain the stability of the repair plate. After repair, the camera assembly captures an image, and the image algorithm judges the repair quality. If the repair is unsatisfactory, the parameters are readjusted for a second repair. The precise coordination between components ensures that the repair material adheres tightly to the damaged surface, resulting in controllable and secure repair quality, avoiding the instability of manual repair. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the overall device of the present invention; Figure 2 This is a three-dimensional structural diagram of the overall device of the present invention from another direction; Figure 3 This is a schematic diagram of the overall structure of the device of the present invention; Figure 4 This is a schematic diagram of the connection structure of the cleaning component of the present invention; Figure 5 This is a three-dimensional structural diagram of the repair component of the present invention; Figure 6 This is a schematic diagram of the working structure of the repair component of the present invention; Figure 7 This is a three-dimensional structural diagram of the repair plate of the present invention; Figure 8 This is a schematic cross-sectional view of the repair plate of the present invention; Figure 9 This is a schematic diagram of the connection structure of the lifting rod of the present invention.

[0022] Figure Descriptions: 1. Carrier assembly; 101. Carrier tube; 102. Receiving cavity; 2. Connecting assembly; 3. Directional assembly; 301. Rotating rod; 302. Buffer rod; 303. Extension rod; 4. Drive assembly; 5. Camera assembly; 6. Identification sensor; 7. Pipeline; 8. Cleaning assembly; 801. Rotating disk; 802. Cleaning section; 9. Repair assembly; 901. Telescopic rod; 902. Repair section; 9021. Connecting rod; 9022. Storage slot; 9023. Movable plate; 9024. Repair plate; 9025. Repair material; 9026. Limiting rod; 9027. Spring; 9028. Lifting rod; 9029. Support rod. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] like Figures 1-9 As shown, a trenchless repair crawling device for urban pipeline 7 includes a carrier component 1 for carrying the equipment. At least three connecting components 2 for fixing are connected to the outer periphery of the carrier component 1. A driving component 4 for moving the carrier component 1 within the pipeline 7 is connected to the end of the connecting component 2 away from the carrier component 1. The driving component 4 can abut against the inner wall of the pipeline 7 and drive the carrier component 1 to move within the pipeline 7 through friction. Each connecting component 2 is connected to a camera component 5 for identifying and detecting the inner wall of the pipeline 7.

[0025] During use, the carrier component 1 supports the repair device of the pipe 7. When the carrier component 1 enters the pipe 7, the drive component 4 drives the carrier component 1 to move inside the pipe 7, and prompts the camera component 5 to identify the pipe wall inside the pipe 7.

[0026] To ensure that the carrier assembly 1 can move normally within the pipe 7, the carrier assembly 1 includes a carrier tube 101. The carrier tube 101 has a receiving cavity 102 for the retraction and storage of the assembly. A repair assembly 9 for repairing the pipe 7 is connected within the receiving cavity 102. The repair assembly 9 moves within the receiving cavity 102. When the camera assembly 5 detects that the pipe 7 needs repair, it controls the repair assembly 9 to move out of the receiving cavity 102 and causes the repair assembly 9 to work to repair the pipe 7. An identification sensor 6 for observing the path of the pipe 7 is connected to one end of the carrier tube 101 along its length. The identification sensor 6 identifies the environment inside the pipe 7, ensuring that the carrier assembly 1 moves normally within the pipe 7.

[0027] To ensure that the repair assembly 9 repairs the inner wall of the pipe 7, the repair assembly 9 includes a telescopic rod 901 for adjusting the position of the repair section 902. The telescopic rod 901 is distributed in the same direction as the extension direction of the carrier pipe 101. The end of the telescopic rod 901 away from the identification sensor 6 is connected to the repair section 902 for adjusting the inner wall of the pipe 7. In use, when the camera assembly 5 detects an abnormal area in the pipe 7, the telescopic rod 901 controls the repair section 902 to move inside the carrier pipe 101 and then move it out of the carrier pipe 101. The repair section 902 is then used to repair the damaged area inside the pipe 7.

[0028] Preferably, in order to ensure that pipes 7 of different diameters can be repaired, a directional component 3 for adjusting the position of the carrier component 1 is connected between the connecting component 2 and the driving component 4. The directional component 3 includes a rotating rod 301 for adjusting the moving direction of the carrier component 1 and adjusting the position of the driving component 4. One end of the rotating rod 301 is rotatably connected to the connecting component 2, and the other end of the rotating rod 301 is connected to a buffer rod 302 for increasing the friction between the driving component 4 and the pipe 7. In use, the rotating rod 301 drives the buffer rod 302 to rotate, while controlling the driving component 4 to contact the pipe 7, ensuring that the driving component 4 and the inner wall of the pipe 7 abut against each other, and ensuring that the carrier component 1 can move inside the pipe 7 under the driving action of the driving component 4.

[0029] Control the rotation angle of the rotating rod 301 and the extension amount of the extension rod 303 to ensure that the drive assembly 4 always maintains a preset pressure with the pipe wall, i.e., 0.2-0.5MPa, to avoid slippage or damage to the pipe wall; At the same time, based on the coordinates of the damaged location, the speed difference of the drive component 4 is adjusted, such as the left wheel set decelerating and the right wheel set accelerating to achieve steering, so that the device can move accurately to the damaged point; when approaching the damaged point, it automatically decelerates to avoid positioning deviation caused by inertia.

[0030] Preferably, the directional component 3 further includes an extension rod 303 for maintaining the stability of the drive component 4. The two ends of the extension rod 303 are rotatably connected to the drive component 4 and the connecting component 2, respectively, along the length direction. When the rotating rod 301 drives the buffer rod 302 to rotate, it drives the position of the drive component 4 to move. At this time, in order to maintain the drive component 4 in full contact with the inner wall of the pipe 7, the drive component 4 synchronously drives the extension rod 303 to rotate, thereby increasing the driving force of the drive component 4.

[0031] Preferably, in order to improve the repair efficiency of the repair unit 902 on the inner wall of the pipe 7, the repair unit 902 includes a connecting rod 9021 for carrying parts. One end of the connecting rod 9021 is connected to the telescopic rod 901. The telescopic rod 901 drives the connecting rod 9021 to move. The connecting rod 9021 is provided with a storage slot 9022 for storing repair parts. An extended movable plate 9023 is rotatably provided on the storage slot 9022. The movable plate 9023 is located in the storage slot 9022. A repair plate 9024 for repairing the damaged position of the pipe 7 is rotatably provided at the end of the movable plate 9023 away from the connecting rod 9021. When the connecting rod 9021 is moved out of the receiving cavity 102, the movable plate 9023 is controlled to rotate out of the storage slot 9022. When the movable plate 9023 reaches the target position, the repair plate 9024 is controlled to rotate, and the position of the repair plate 9024 is ensured to correspond to the area of ​​the pipe 7 to be repaired.

[0032] Preferably, to ensure that the repair material 9025 can be ejected from the repair section 902 and fully contact the inner wall of the pipe 7 during the repair process, the repair section 902 further includes a support rod 9029, wherein the length of the support rod 9029 can be varied, one end of the support rod 9029 is connected to the repair plate 9024, and the other end of the support rod 9029 abuts against a spring 9027 for springing up at the middle position, and the position of the spring 9027 can be fixed during the use of the support rod 9029. A limiting rod 9026 is rotatably provided on the side of the spring 9027 away from the support rod 9029 to constrain the movement position of the spring 9027. The end of the limiting rod 9026 away from the spring 9027 is connected to the repair material 9025, wherein, in this invention, the repair material 9025 is mainly composed of a plastic material.

[0033] Preferably, in order to ensure that the repair material 9025 fully contacts the inner wall of the pipe 7, a through hole is provided on the spring 9027, and a lifting rod 9028 is connected to the repair plate 9024. The lifting rod 9028 is located in the through hole. When the spring 9027 bounces the repair material 9025, the repair material 9025 does not detach from the spring 9027. Then, the length of the lifting rod 9028 is controlled to extend and contact the repair material 9025, so that the repair material 9025 detaches from the spring 9027 and, under the lifting action of the lifting rod 9028, contacts the inner wall of the pipe 7.

[0034] Preferably, the repair plate 9024 is provided with a heating component for softening the repair material 9025, thereby improving the adhesion between the repair material 9025 and the inner wall of the pipe 7, and ensuring that the repair material 9025 can effectively repair the pipe 7.

[0035] Preferably, in order to clean the adhering substances on the inner wall of the pipe 7 and improve the subsequent use effect of the pipe 7, a cleaning component 8 for cleaning the adhering substances on the pipe 7 is connected to the side of the carrier pipe 101 away from the identification sensor 6.

[0036] Preferably, the cleaning component 8 includes a rotating disk 801, and a plurality of cleaning parts 802 are connected on the outer circumference of the rotating disk 801. When the carrier component 1 moves, the rotation of the rotating disk 801 drives the cleaning parts 802 to rotate, so that the cleaning parts 802 come into contact with the inner wall of the pipe 7, thereby cleaning the inside of the pipe 7.

[0037] Meanwhile, to improve the intelligent efficiency of the device, an intelligent controller is added to the repair crawling device. Through 4G / 5G or a dedicated wireless transmission module for Pipeline 7, the environmental images of Pipeline 7, damage data, repair parameters, and device status are transmitted to the remote monitoring platform in real time. Staff can remotely view the work progress and send emergency commands when the device malfunctions.

[0038] During the cleaning process of the inner wall of pipe 7, the intelligent controller, based on the thickness and type of impurities identified by the sensing components, adjusts the process using a fuzzy control algorithm. When the impurities are mud and sand, the rotation speed of the rotating disk 801 is increased to 1500 rpm to enhance the scraping force of the cleaning part 802; when the impurities are floating algae, the rotation speed is reduced to 800 rpm to avoid excessive splashing of floating algae and contamination of other areas of the pipe 7; the moving speed of the carrier component 1 is synchronized to match the cleaning frequency with the moving speed, ensuring no missed cleaning and no repeated cleaning.

[0039] Meanwhile, during the repair of the damaged area within pipe 7, an intelligent controller is used to achieve intelligent control throughout the entire process based on the type and size of the damage. Control the extension length of the telescopic rod 901 so that the repair part 902 extends precisely to the damage point; Control the rotation angle of the movable plate 9023 and the contact angle of the repair plate 9024 to ensure that the repair material 9025 is completely in contact with the damaged surface; Based on the preset softening temperature of the repair material 9025, the power of the heating component inside the repair board 9024 is adjusted by the PWM temperature control algorithm, and the heating temperature is monitored in real time to avoid overheating that could lead to material failure or insufficient temperature that could affect adhesion. After the repair material 9025 softens, control the pushing force of the lifting rod 9028. If necessary, add a pressure sensor to the lifting rod 9028 and dynamically adjust the pressure by using the pipe wall pressure data fed back by the pressure sensor to ensure that the repair material 9025 fits tightly against the damaged surface, while avoiding excessive compression that would lead to material waste.

[0040] After the device enters the pipe 7, it first performs initialization and pre-processing procedures. At this time, the cleaning component 8 on the side of the carrier pipe 101 away from the identification sensor 6 starts synchronously. The rotating disk 801 of the cleaning component 8 is linked with the drive component 4. The intelligent controller dynamically adjusts the rotation speed of the rotating disk 801 through a fuzzy control algorithm based on the distribution data of impurities on the inner wall collected by the camera component 5 and the identification sensor 6 (such as impurity type and thickness): when the impurity is identified as mud and sand, the rotation speed is increased to 1500 rpm to enhance the scraping force of the cleaning part 802 to thoroughly remove hard impurities; when the impurity is identified as soft impurities such as algae, the rotation speed is reduced to 800 rpm to prevent algae from splashing and contaminating other areas of the pipe 7 due to excessive high-speed rotation. At the same time, the intelligent controller correlates and matches the cleaning frequency of the rotating disk 801 with the moving speed of the drive component 4 to ensure that the cleaning range covers the entire area of ​​the pipe 7, with no missed areas and no repeated cleaning, providing a clean pipe wall environment for subsequent damage identification and repair. Compared with the fixed rotation speed cleaning of traditional devices, this intelligent pre-processing mechanism significantly improves the pre-processing efficiency and the cleanliness of the pipe 7.

[0041] After preprocessing, the device switches to "inspection mode," where the identification sensor 6 and camera assembly 5 form a collaborative detection system: the identification sensor 6 monitors the changes in the inner diameter of pipe 7 and the overall condition of the pipe wall in real time, quickly capturing pipe diameter anomalies caused by pipe 7 deformation; the camera assembly 5 continuously acquires high-definition images of the pipe wall at a frequency of 30 frames per second and transmits the image data to the intelligent controller in real time. The intelligent controller has a built-in CNN (Convolutional Neural Network) image recognition algorithm, which has been trained on a large number of pipe 7 damage samples. It can automatically identify different types of damage such as cracks, holes, and corrosion, and extract the three-dimensional coordinates of the damage center through image coordinate transformation technology, simultaneously marking the damage location and type on the remote monitoring platform. Upon detection of damage, the intelligent controller immediately sends a deceleration command to drive component 4, reducing the device's movement speed from 0.5 m / s in inspection mode to 0.1 m / s. Simultaneously, precise steering is achieved by adjusting the speed difference between different drive components 4, ensuring that the repair unit 902 is directly aligned with the damage point, with the positioning error controlled within ±5 mm. Subsequently, a "repair pending signal" is sent to the remote platform, completing the intelligent identification and precise positioning of the damage. This process requires no manual intervention and significantly improves the accuracy of damage identification and positioning precision compared to traditional manual downhole detection or simple instrument detection.

[0042] After the remote platform confirms the repair instruction, the intelligent controller calls the pipeline 7 repair knowledge base and starts the repair component 9 to perform the repair operation. First, the telescopic rod 901 in the receiving cavity 102 extends along the extension direction of the bearing pipe 101. Its extension length is determined by the distance data between the damage point and the device, that is, by the identification sensor 6, to ensure that the repair part 902 moves to the front of the damage point. Then, the movable plate 9023 on the connecting rod 9021 rotates out from the storage slot 9022. The folding design of the storage slot 9022 allows the movable plate 9023 to be stored in the receiving cavity 102 when not in operation, avoiding occupying the space of the pipeline 7. When the movable plate 9023 rotates to form a 90° angle with the connecting rod 9021, the repair plate 9024 at the end away from the connecting rod 9021 begins to rotate until the working surface of the repair plate 9024 is at a fitting angle with the damaged surface of the pipeline 7. At this point, the heating component inside the repair plate 9024 is activated. The intelligent controller stabilizes the heating temperature at 150℃ using a PWM (Pulse Width Modulation) temperature control algorithm, and continues heating for 30 seconds to soften the repair material 9025. After heating is complete, the lifting rod 9028 on the repair plate 9024 extends along the through hole of the spring 9027, applying a pushing force of 0.5MPa to the repair material 9025. During this process, the elasticity of the spring 9027 helps the repair material 9025 to initially adhere to the pipe wall, while the limiting rod 9026 prevents the repair material 9025 from shifting before being pushed. The lifting rod 9028 continues to push for 60 seconds to ensure that the softened repair material 9025 is in full contact with the damaged surface and forms a tight adhesion. The support rod 9029 maintains the stability of the repair plate 9024 through length adjustment, preventing the repair plate 9024 from shifting due to the pushing force.

[0043] After repair, the telescopic rod 901 retracts, and the camera component 5 captures another image of the repaired damaged area. The intelligent controller uses image algorithms (comparing the pipe wall smoothness before and after repair, and the coverage area of ​​the repair material 9025) to determine the repair quality: if the repair is satisfactory, the device continues to move in inspection mode; if it is unsatisfactory, the heating temperature, jacking force, and other parameters are readjusted, and a second repair is performed. After a single damaged point is repaired, the device repeats the inspection-repair process until the entire pipeline 7 is repaired.

[0044] After the entire pipeline 7 is repaired, the intelligent controller controls the drive component 4 to rotate in reverse, driving the device back to the inlet of pipeline 7 along the original path. Simultaneously, a "repair report" is automatically generated, containing basic information about pipeline 7, the location and type of damage, repair parameters, and repair quality inspection results, and is uploaded to a remote platform for archiving. After the equipment is retrieved, staff can view the repair report through the remote platform to complete the entire repair operation.

[0045] This invention also includes a repair method using a trenchless repair crawling device for urban pipelines, comprising the following steps: S1. Device initialization and pipeline 7 pretreatment: The camera component 5 and the identification sensor 6 are started to perform an initial scan of the pipeline 7, obtain the initial pipe diameter and inner wall impurity distribution data, and generate a "pretreatment plan". At the same time, the cleaning component 8 is started to adjust the rotation speed of the rotating disk 801 according to the impurity data. The drive component is synchronously controlled to drive the device to move at a constant speed to perform full-area pretreatment on the inner wall of the pipeline 7. During the pretreatment process, the pipeline 7 environmental characteristic table is updated in real time. S2. Intelligent Damage Identification and Location: After preprocessing, the device enters "inspection mode," controlling camera component 5 to continuously acquire images of the inner wall of pipe 7, and identification sensor 6 to monitor pipe diameter changes and pipe wall status in real time; the device automatically identifies the damaged area through CNN image recognition algorithm, extracts the damage type and damage center coordinates, and marks them on the remote platform; after identifying the damage, the device controls the drive component to decelerate to 0.1m / s, accurately moves to the front of the damage point, and sends a "repair signal" to the remote platform.

[0046] S3. Intelligent Repair Operation: After the remote platform confirms the repair instruction, it calls the matching repair parameters from the pipeline 7 repair knowledge base; it controls the telescopic rod 901 to extend to the preset length, aligning the repair part 902 with the damaged point; it simultaneously controls the movable plate 9023 and the repair plate 9024 to rotate to the fitting angle; it starts the heating component, using a PWM algorithm to stabilize the temperature at 150℃ and heat for 30 seconds; after heating, it controls the lifting rod 9028 to press the repair material 9025 onto the damaged surface with a 0.5MPa pushing force, maintaining the pressure for 60 seconds; after repair, it controls the telescopic rod 901 to retract, and the camera component 5 captures the repaired image. The image algorithm judges the repair quality; if it is qualified, it proceeds to the next step; if it is unqualified, the parameters are readjusted for a second repair.

[0047] S4. Work Completion and Data Archiving: After a single damaged point is repaired, the device continues to move in inspection mode until the entire pipeline 7 is repaired; after the entire pipeline 7 is repaired, the control device returns to the inlet of pipeline 7, and automatically generates a "repair report" and uploads it to the remote platform for archiving; the staff retrieves the device and completes the work.

[0048] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A trenchless repair crawling device for urban pipelines, comprising a carrier component (1), characterized in that: At least three connecting components (2) are connected to the outer periphery of the carrier component (1), and a driving component (4) is connected to one end of the connecting component (2) away from the carrier component (1), and a camera component (5) is connected to each connecting component (2). The carrier assembly (1) includes a carrier tube (101), a receiving cavity (102) is provided inside the carrier tube (101), a repair assembly (9) is connected inside the receiving cavity (102), and an identification sensor (6) is connected to one end of the carrier tube (101) distributed along the length direction. The repair component (9) includes a telescopic rod (901), the distribution direction of the telescopic rod (901) is the same as the extension direction of the bearing tube (101), and a repair part (902) is connected to the end of the telescopic rod (901) away from the identification sensor (6).

2. The trenchless pipeline repair crawling device according to claim 1, characterized in that: A directional component (3) is provided between the connecting component (2) and the driving component (4). The directional component (3) includes a rotating rod (301). One end of the rotating rod (301) is rotatably connected to the connecting component (2), and a buffer rod (302) is provided on the other end of the rotating rod (301).

3. The trenchless pipeline repair crawling device according to claim 2, characterized in that: The directional component (3) further includes an extension rod (303), the two ends of which are distributed along the length direction and are rotatably connected to the drive component (4) and the connecting component (2), respectively.

4. The trenchless pipeline repair crawling device according to claim 1, characterized in that: The repair part (902) includes a connecting rod (9021), one end of which is connected to the telescopic rod (901). A storage slot (9022) is provided on the connecting rod (9021), and a movable plate (9023) is rotatably provided on the storage slot (9022). A repair plate (9024) is rotatably provided at the end of the movable plate (9023) away from the connecting rod (9021).

5. The trenchless pipeline repair crawling device according to claim 4, characterized in that: The repair part (902) also includes a support rod (9029), one end of which is connected to the repair plate (9024), and the other end of which is abutted against a spring (9027). A limiting rod (9026) is rotatably provided on the side of the spring (9027) away from the support rod (9029), and a repair material (9025) is connected to the end of the limiting rod (9026) away from the spring (9027).

6. The trenchless pipeline repair crawling device according to claim 5, characterized in that: The spring (9027) has a through hole, and the repair plate (9024) is connected to a lifting rod (9028), and the lifting rod (9028) is located inside the through hole.

7. The trenchless pipeline repair crawling device according to claim 6, characterized in that: The repair plate (9024) is provided with a heating component for softening the repair material (9025).

8. The trenchless pipeline repair crawling device according to claim 7, characterized in that: A cleaning assembly (8) for cleaning the pipe is connected to the side of the carrier pipe (101) away from the identification sensor (6).

9. The trenchless pipeline repair crawling device according to claim 8, characterized in that: The cleaning assembly (8) includes a rotating disk (801), and a plurality of cleaning parts (802) are connected to the outer circumference of the rotating disk (801).

10. A repair method using the trenchless repair crawling device for urban pipelines as described in claim 9, characterized in that: Includes the following steps: S1. Device initialization and pipeline pretreatment: Control the camera component (5) and the identification sensor (6) to start, perform initial scanning of the pipeline, obtain initial pipe diameter and inner wall impurity distribution data, generate "pretreatment plan", and control the cleaning component (8) to start, adjust the rotation speed of the rotating disk (801) according to the impurity data, and synchronously control the drive component (4) to drive the device to move at a constant speed, perform full-area pretreatment of the inner wall of the pipeline, and update the pipeline environment characteristic table in real time during the pretreatment process; S2. Damage Intelligent Identification and Location: After preprocessing, the device enters "inspection mode", controls the camera component (5) to continuously collect images of the inner wall of the pipe, and identifies the sensor (6) to monitor the pipe diameter change and pipe wall status in real time; after identifying the damage, controls the drive component (4) to decelerate to 0.1m / s, accurately moves to the front of the damage point, and sends a "repair signal" to the remote platform; S3, Intelligent Repair Operation: After the remote platform confirms the repair instruction, it calls the matching repair parameters in the pipeline repair knowledge base; controls the telescopic rod (901) to extend to the preset length so that the repair part (902) is aligned with the damaged point; simultaneously controls the movable plate (9023) and the repair plate (9024) to rotate to the fitting angle; starts the heating component, and after heating is completed, controls the lifting rod (9028) to push the repair material (9025) to the damaged surface; after the repair is completed, controls the telescopic rod (901) to retract, and the camera component (5) takes a picture of the repaired image. The repair quality is judged by the image algorithm. If it is qualified, it proceeds to the next step. If it is unqualified, the parameters are readjusted for a second repair. S4. Work Completion and Data Archiving: After a single damaged point is repaired, the device continues to move in inspection mode until the entire pipeline is repaired. After the entire pipeline is repaired, the control device returns to the pipeline inlet and automatically generates a "repair report" which is then uploaded to the remote platform for archiving. The staff retrieves the device, completing the operation.

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