Urban pipeline trenchless repair crawling device and repair method

Abstract

The application belongs to the technical field of trenchless repair of sewer pipes, and discloses a trenchless repair crawling device for urban pipes and a repair method, in particular to a trenchless repair crawling device for urban pipes, which comprises a carrier assembly, at least three connecting assemblies are connected to the outer periphery of the carrier assembly, a driving assembly is connected to the end of each connecting assembly away from the carrier assembly, and a camera assembly is connected to each connecting assembly; through the cooperative matching of a cleaning assembly, a driving assembly and a sensing assembly (a camera assembly and an identification sensor), the global precise pretreatment of the inner wall of the pipe is realized. The intelligent controller first collects initial pipe diameter and inner wall impurity distribution data through the sensing assembly, and then dynamically controls the rotating disc speed of the cleaning assembly based on the impurity type and thickness by using a fuzzy control algorithm.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of trenchless repair of drainage pipelines, and particularly relates to a trenchless repair crawling device for urban pipelines and a repair method. BACKGROUND

[0002] The conventional pretreatment before pipeline repair is usually performed in a fixed rotating speed cleaning mode, which cannot adjust the cleaning strength according to the types and thicknesses of impurities, is prone to the problems of incomplete cleaning of silt, splashing of floating algae to pollute the pipeline, and missing scanning or repeated cleaning, and is difficult to form a clean pipeline wall environment, which affects the subsequent damage identification effect, and simple instrument detection cannot accurately identify the damage type and position, and has a large positioning error, which is prone to missing the damage point or positioning deviation to cause repair misplacement.

[0003] Patent No. CN202110927171.9 discloses a crawler for trenchless repair of urban underground drainage pipelines, which comprises a crawler main body and a data transmission line, the data transmission line is arranged on the rear side of the crawler main body, the data transmission line is fixedly connected with positioning clamping blocks on both sides of the top and the bottom of the side close to the crawler main body, the crawler main body is provided with positioning clamping grooves on the side close to the positioning clamping blocks, the opposite sides of the two positioning clamping grooves are provided with movable grooves, a detection device is fixedly connected to the front side of the crawler main body, and a limiting clamping groove is formed in the top of the detection device. The crawler main body, the traveling wheel and the lighting equipment are used in cooperation to solve the problem that the diameter of the traveling wheel is large and cannot be replaced, which causes difficulty in entering some narrow pipelines, the situation in the pipeline cannot be checked, and the subsequent pipeline repair work is affected.

[0004] Meanwhile, the trenchless repair depends on manual remote control or simple mechanical repair, the manual control cannot guarantee the accurate adhesion of the repair parts to the damaged surface, the simple mechanical repair lacks accurate control over the softening temperature of the repair material and the pressing strength, and cannot detect the repair quality in real time, which is prone to the problems of poor adhesion of the repair material and hidden dangers after repair, and the repair process is complicated and requires high skills of the operator.

[0005] Therefore, in order to solve the above technical problems, the application discloses a trenchless repair crawling device for urban pipelines and a repair method. SUMMARY

[0006] The application aims at the above problems, and provides a trenchless repair crawling device for urban pipelines and a repair method, which has the advantages of accurate repair and rapid movement.

[0007] In order to achieve the above object, the present application provides the following technical scheme: a kind of urban pipeline trenchless repair crawling device, including carrier assembly, at least three connecting assemblies are connected on the outer periphery of the carrier assembly, the end of the connecting assembly away from the carrier assembly is connected with drive assembly, and camera assembly is connected on each connecting assembly;

[0008] The carrier assembly includes a bearing tube, a receiving cavity is formed in the bearing tube, a repair assembly is connected in the receiving cavity, and an identification sensor is connected on one end of the bearing tube distributed along the length direction.

[0009] The repair assembly includes a telescopic rod, the distribution direction of the telescopic rod is the same as the extension direction of the bearing tube, and a repair part is connected on the end of the telescopic rod away from the identification sensor.

[0010] Preferably, a direction assembly is connected between the connecting assembly and the drive assembly, the direction assembly includes a rotating rod, one end of the rotating rod is rotatably connected to the connecting assembly, and a buffer rod is connected to the other end of the rotating rod.

[0011] Preferably, the direction assembly further includes an extension rod, both ends of the extension rod distributed along the length direction are rotatably connected to the drive assembly and the connecting assembly respectively.

[0012] Preferably, the repair part includes a connecting rod, one end of the connecting rod is connected to the telescopic rod, a storage groove is formed in the connecting rod, a movable plate is rotatably arranged in the storage groove, and a repair plate is rotatably arranged at the end of the movable plate away from the connecting rod.

[0013] Preferably, the repair part further includes a support rod, one end of the support rod is connected to the repair plate, the other end of the support rod abuts against a reed, a limiting rod is rotatably arranged at the side of the reed away from the support rod, and a repair material is connected to the end of the limiting rod away from the reed.

[0014] Preferably, a through hole is formed in the reed, and a jacking rod is connected to the repair plate, and the jacking rod is located in the through hole.

[0015] Preferably, a heating assembly for softening the repair material is arranged in the repair plate.

[0016] Preferably, a cleaning assembly for cleaning the pipeline is connected to the side of the bearing tube away from the identification sensor.

[0017] Preferably, the cleaning assembly includes a rotating disc, and a plurality of cleaning parts are connected to the outer periphery of the rotating disc.

[0018] A repair method realized by using a city pipeline trenchless repair crawling device, comprising the following steps:

[0019] S1, device initialization and pipeline pretreatment: control the camera assembly and identification sensor to start, perform initial scanning on the pipeline, obtain initial pipe diameter and inner wall impurity distribution data, generate a "pretreatment scheme", and simultaneously control the cleaning assembly to start, control the rotating disc speed according to the impurity data, and synchronously control the driving assembly to drive the device to move at a constant speed, thereby performing global pretreatment on the inner wall of the pipeline, and updating the pipeline environment feature table in real time during the pretreatment process;

[0020] S2, intelligent damage identification and positioning: after the pretreatment is completed, the device enters the "inspection mode", the camera assembly is controlled to continuously collect the image of the inner wall of the pipeline, and the identification sensor is controlled to monitor the pipe diameter change and the pipe wall state in real time; the CNN image recognition algorithm is used to automatically identify the damaged area, extract the damage type and damage center coordinates, and mark on the remote platform; after the damage is identified, the driving assembly is controlled to slow down to 0.1 m / s, accurately moves to the front of the damaged point, and sends a "repair signal" to the remote platform;

[0021] S3, intelligent repair operation: after the remote platform confirms the repair instruction, the matching repair parameters in the pipeline repair knowledge base are called; the telescopic rod is controlled to extend to the preset length, so that the repair part is aligned with the damaged point; the movable plate and the repair plate are synchronously controlled to rotate to the lapping angle; the heating assembly is started, and the temperature is stabilized at 150 DEG C through the PWM algorithm, and heating is continued for 30 s; after the heating is completed, the jacking rod is controlled to press the repair material to the damaged surface at a jacking force of 0.5 MPa, and the pressure is maintained for 60 s; after the repair is completed, the telescopic rod is controlled to retract, the camera assembly takes the image after the repair, the repair quality is judged through the image algorithm, and if it is qualified, the next step is entered, and if it is unqualified, the parameters are adjusted again for secondary repair.

[0022] S4, operation ending and data archiving: after the repair of a single damaged point is completed, the device continues to move in the inspection mode until the repair of the whole pipeline is completed; after the repair of the whole pipeline is completed, the device is controlled to return to the pipeline inlet, a "repair report" is automatically generated, and is uploaded to the remote platform for archiving; the device is recovered by the worker, and the operation is completed.

[0023] Compared with the prior art, the beneficial effects of the present application are as follows:

[0024] 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.

[0025] 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.

[0026] 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

[0027] Figure 1 This is a three-dimensional structural diagram of the overall device of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the overall device of the present invention from another direction;

[0029] Figure 3 This is a schematic diagram of the overall structure of the device of the present invention;

[0030] Figure 4 This is a schematic diagram of the connection structure of the cleaning component of the present invention;

[0031] Figure 5 A perspective view of the repairing assembly of the present application;

[0032] Figure 6 A perspective view of the working structure of the repairing assembly of the present application;

[0033] Figure 7 A perspective view of the repairing plate of the present application;

[0034] Figure 8 A sectional view of the repairing plate of the present application;

[0035] Figure 9 A connecting structure of the jacking rod of the present application.

[0036] BRIEF DESCRIPTION OF DRAWINGS: 1, carrier assembly; 101, bearing tube; 102, accommodating cavity; 2, connecting assembly; 3, direction assembly; 301, rotating rod; 302, buffer rod; 303, extension rod; 4, driving assembly; 5, camera assembly; 6, identification sensor; 7, pipeline; 8, cleaning assembly; 801, rotating disc; 802, cleaning part; 9, repairing assembly; 901, telescopic rod; 902, repairing part; 9021, connecting rod; 9022, storage groove; 9023, movable plate; 9024, repairing plate; 9025, repairing material; 9026, limiting rod; 9027, reed; 9028, jacking rod; 9029, supporting rod. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0038] As shown in the drawings, Figures 1-9 A trenchless repairing crawling device for urban pipeline 7, comprising a carrier assembly 1 for carrying equipment, at least three connecting assemblies 2 for fixation are connected on the outer periphery of the carrier assembly 1, a driving assembly 4 for moving the carrier assembly 1 in the pipeline 7 is connected at the end of the connecting assembly 2 away from the carrier assembly 1, the driving assembly 4 can be in mutual friction with the inner wall of the pipeline 7 to move the carrier assembly 1 in the pipeline 7, and a camera assembly 5 for identifying and detecting the inner wall of the pipeline 7 is connected on each connecting assembly 2.

[0039] In use, the repair device of the pipeline 7 is carried by the carrier assembly 1, and when the carrier assembly 1 enters the pipeline 7, the carrier assembly 1 is driven to move in the pipeline 7 by the driving assembly 4, and the camera assembly 5 is used to identify the wall of the pipeline 7.

[0040] In order to ensure that the carrier assembly 1 can normally move in the pipeline 7, the carrier assembly 1 comprises a carrying pipe 101, the carrying pipe 101 is provided with a containing cavity 102 for storing the components, and the containing cavity 102 is connected with a repair assembly 9 for repairing the pipeline 7, wherein the repair assembly 9 is movably arranged in the containing cavity 102, when the camera assembly 5 identifies that the pipeline 7 needs to be repaired, the repair assembly 9 is controlled to move out of the containing cavity 102, and the repair assembly 9 is used to repair the pipeline 7, and the carrying pipe 101 is connected with an identification sensor 6 for observing the path of the pipeline 7, the environment in the pipeline 7 is identified by the identification sensor 6, and the carrier assembly 1 can normally move in the pipeline 7.

[0041] In order to ensure that the repair assembly 9 can repair the inner wall of the pipeline 7, the repair assembly 9 comprises a telescopic rod 901 for adjusting the position of a repair part 902, the telescopic rod 901 is arranged in the same direction as the extension direction of the carrying pipe 101, and the telescopic rod 901 is connected with the repair part 902 for adjusting the inner wall of the pipeline 7 at the end away from the identification sensor 6, in use, when the camera assembly 5 identifies that there is an abnormal area in the pipeline 7, the repair part 902 is controlled to move in the carrying pipe 101 and out of the carrying pipe 101 by the telescopic rod 901, and the damaged position in the pipeline 7 is repaired by the repair part 902.

[0042] Preferably, in order to ensure that the pipeline 7 with different diameters can be repaired, a direction assembly 3 for adjusting the position of the carrier assembly 1 is connected between the connecting assembly 2 and the driving assembly 4, the direction assembly 3 comprises a rotating rod 301 for adjusting the moving direction of the carrier assembly 1 and adjusting the position of the driving assembly 4, one end of the rotating rod 301 is rotatably connected to the connecting assembly 2, and the other end of the rotating rod 301 is connected with a buffer rod 302 for increasing the friction between the driving assembly 4 and the pipeline 7, in use, the buffer rod 302 is rotated by the rotating rod 301, and the driving assembly 4 is controlled to contact the pipeline 7, so that the driving assembly 4 and the inner wall of the pipeline 7 are in contact, and the carrier assembly 1 can move in the pipeline 7 under the driving of the driving assembly 4.

[0043] The angle of the rotating rod 301 and the telescopic amount of the extension rod 303 are controlled to ensure that the driving assembly 4 always maintains a predetermined pressure, i.e. 0.2-0.5MPa, to avoid slipping or damaging the pipeline wall;

[0044] At the same time, according to the broken position coordinates, the rotational speed difference of the driving assembly 4 is adjusted, such as reducing the speed of the left wheel group and accelerating the speed of the right wheel group to realize steering, so that the device accurately moves to the broken point; when approaching the broken point, the speed is automatically reduced to avoid inertia causing positioning deviation.

[0045] Preferably, the direction assembly 3 further comprises an extension rod 303 for maintaining the stability of the driving assembly 4, both ends of the extension rod 303 distributed along the length direction are respectively rotationally connected to the driving assembly 4 and the connecting assembly 2, when the rotating rod 301 drives the buffer rod 302 to rotate, the position of the driving assembly 4 is driven to move, at this time, in order to maintain the driving assembly 4 can fully contact with the inner wall of the pipeline 7, the driving assembly 4 is driven to rotate by the extension rod 303, and the driving force of the driving assembly 4 is improved.

[0046] Preferably, in order to improve the repair efficiency of the repair part 902 to the inner wall of the pipeline 7, the repair part 902 further comprises a connecting rod 9021 for bearing parts, one end of the connecting rod 9021 is connected with the telescopic rod 901, the connecting rod 9021 is driven to move by the telescopic rod 901, a storage groove 9022 for storing repair parts is arranged on the connecting rod 9021, an extension length movable plate 9023 is rotationally arranged on the storage groove 9022, the movable plate 9023 is located in the storage groove 9022, one end of the movable plate 9023 away from the connecting rod 9021 is rotationally arranged with a repair plate 9024 for repairing the broken position of the pipeline 7, when the connecting rod 9021 is moved out of the containing cavity 102, the movable plate 9023 is controlled to rotate out of the storage groove 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 to be repaired of the pipeline 7.

[0047] Preferably, in order to ensure that the repair material 9025 can be ejected from the repair part 902 and fully contact with the inner wall of the pipeline 7 during the repair process, the repair part 902 further comprises a support rod 9029, the length of the support rod 9029 can be changed, one end of the support rod 9029 is connected with the repair plate 9024, the other end of the support rod 9029 abuts against a reed 9027 for being popped up at the middle position, and the position of the reed 9027 can be fixed during use of the support rod 9029, a limiting rod 9026 for limiting the movement position of the reed 9027 is rotationally arranged on one side of the reed 9027 away from the support rod 9029, one end of the limiting rod 9026 away from the reed 9027 is connected with the repair material 9025, wherein in the present application, the repair material 9025 is mainly composed of plastic material.

[0048] Preferably, in order to ensure that the repair material 9025 is in sufficient contact with the inner wall of the pipeline 7, through holes are provided on the spring plate 9027, and jacking rods 9028 are connected to the repair plate 9024 and located in the through holes. When the spring plate 9027 pops up the repair material 9025, the repair material 9025 is not separated from the spring plate 9027. The length of the jacking rod 9028 is controlled to extend and contact the repair material 9025, so that the repair material 9025 is separated from the spring plate 9027 and contacts the inner wall of the pipeline 7 under the jacking action of the jacking rod 9028.

[0049] Preferably, a heating assembly is arranged in the repair plate 9024 to soften the repair material 9025, thereby improving the adhesion of the repair material 9025 to the inner wall of the pipeline 7 and ensuring that the repair material 9025 can effectively repair the pipeline 7.

[0050] Preferably, in order to clean the adhering objects on the inner wall of the pipeline 7 and improve the subsequent use effect of the pipeline 7, the carrier pipe 101 is connected to the cleaning assembly 8 for cleaning the adhering objects on the pipeline 7 on the side away from the identification sensor 6.

[0051] Preferably, the cleaning assembly 8 includes a rotating disc 801, and a plurality of cleaning parts 802 are connected to the outer circumference of the rotating disc 801. When the carrier assembly 1 moves, the rotating disc 801 rotates to drive the cleaning parts 802 to rotate, so that the cleaning parts 802 contact the inner wall of the pipeline 7 to clean the inside of the pipeline 7.

[0052] In order to improve the intelligent efficiency of the device, an intelligent controller is added to the repair crawling device. The pipeline 7 environment image, damage data, repair parameters, and device state are transmitted in real time to a remote monitoring platform through a 4G / 5G or pipeline 7 special wireless transmission module. The worker can remotely view the work progress, and can send emergency instructions when the device is abnormal.

[0053] During the cleaning of the inner wall of the pipeline 7, the intelligent controller controls the rotating disc 801 based on the thickness and type of impurities identified by the sensing assembly through a fuzzy control algorithm:

[0054] When the impurities are mud and sand, the rotating speed of the rotating disc 801 is increased to 1500 rpm to enhance the scraping force of the cleaning parts 802. When the impurities are floating algae, the rotating speed is reduced to 800 rpm to avoid excessive splashing of floating algae to pollute other areas of the pipeline 7. The moving speed of the carrier assembly 1 is synchronized and associated to match the cleaning frequency with the moving speed, so as to ensure no missed cleaning and no repeated cleaning.

[0055] When repairing the damaged position in the pipeline 7, the intelligent controller controls the whole process based on the type and size of the damage:

[0056] The extension length of the telescopic rod 901 is controlled to accurately extend the repair part 902 to the damaged point;

[0057] The rotation angle of the movable plate 9023 and the fitting angle of the repair plate 9024 are controlled to ensure that the repair material 9025 is completely fitted with the damaged surface;

[0058] Based on the preset softening temperature of the repair material 9025, the power of the heating assembly in the repair plate 9024 is adjusted by the PWM temperature control algorithm to monitor the heating temperature in real time, avoiding overheating to cause material failure or insufficient temperature to affect adhesion;

[0059] When the repair material 9025 is softened, the jacking force of the jacking rod 9028 is controlled, and if necessary, a pressure sensor is added on the jacking rod 9028, and the pipe wall pressure data fed back by the pressure sensor is dynamically adjusted to ensure that the repair material 9025 is tightly fitted with the damaged surface, while avoiding excessive extrusion to cause material waste.

[0060] After the device enters the pipeline 7, the initialization and pretreatment process is first performed, and the cleaning assembly 8 on the side of the bearing pipe 101 away from the identification sensor 6 is started synchronously. The rotating disc 801 of the cleaning assembly 8 is linked with the driving assembly 4, and the intelligent controller dynamically adjusts the rotating speed of the rotating disc 801 according to the inner wall impurity distribution data (such as impurity type, thickness) collected by the camera assembly 5 and the identification sensor 6 through the fuzzy control algorithm: when the impurity is identified as silt, the rotating speed is increased to 1500 rpm to enhance the scraping force of the cleaning part 802 to completely remove hard impurities; when the impurity is identified as soft impurities such as floating algae, the rotating speed is reduced to 800 rpm to avoid floating algae from splashing and polluting other areas of the pipeline 7 due to high-speed rotation. At the same time, the intelligent controller matches the cleaning frequency of the rotating disc 801 with the moving speed of the driving assembly 4 to ensure that the cleaning range covers the whole domain of the pipeline 7, without missing cleaning or repeated cleaning, providing a clean pipe wall environment for subsequent damage identification and repair. Compared with the fixed rotating speed cleaning of traditional devices, this intelligent pretreatment mechanism significantly improves the pretreatment efficiency and the cleanliness of the pipeline 7.

[0061] After the pretreatment is completed, the device switches to the "patrol mode", at this time the identification sensor 6 and the camera assembly 5 form a cooperative detection system: the identification sensor 6 monitors the change of the inner diameter of the pipeline 7 and the overall state of the pipe wall in real time, and can quickly capture the abnormal pipe diameter caused by the deformation of the pipeline 7; the camera assembly 5 continuously collects 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 is built-in CNN (convolutional neural network) image recognition algorithm, which can automatically identify different types of damage such as cracks, holes and corrosion through a large number of pipeline 7 damage samples training, and extract the three-dimensional coordinates of the damage center through image coordinate conversion technology, and mark the damage position and type on the remote monitoring platform. When the damage is identified, the intelligent controller immediately sends a speed reduction instruction to the driving assembly 4, so that the moving speed of the device is reduced from 0.5 m / s in the patrol mode to 0.1 m / s, and the precise steering is realized by adjusting the speed difference of different driving assemblies 4, to ensure that the repair part 902 is opposite to the damage point, the positioning error is controlled within ± 5 mm, and then the "repair signal" is sent to the remote platform, completing the intelligent identification and accurate positioning of the damage. This process does not require manual intervention, compared with traditional manual underground detection or simple instrument detection, the accuracy of damage identification and positioning accuracy are significantly improved.

[0062] 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 execute the repair work. First, the telescopic rod 901 in the containing cavity 102 extends along the extension direction of the bearing pipe 101, and the extension length is determined by the distance data from the damaged point to the device, that is, measured by the identification sensor 6, to ensure that the repair part 902 moves to the front of the damaged point. Subsequently, the movable plate 9023 on the connecting rod 9021 is turned out of the storage slot 9022, and the folding design of the storage slot 9022 can make the movable plate 9023 stored in the containing cavity 102 in the non-working state, avoiding occupying the space of the pipeline 7; when the movable plate 9023 is turned to 90° with the connecting rod 9021, the repair plate 9024 away from the connecting rod 9021 on one end of the movable plate 9023 starts to turn until the working surface of the repair plate 9024 is in a close angle with the damaged surface of the pipeline 7. At this time, the heating component in the repair plate 9024 is started, and the intelligent controller stabilizes the heating temperature at 150℃ through the PWM (pulse width modulation) temperature control algorithm, and softens the repair material 9025 for 30s. After heating, the jacking rod 9028 on the repair plate 9024 extends along the through hole of the reed 9027 to act on the repair material 9025 with a jacking force of 0.5MPa. In this process, the elastic action of the reed 9027 can assist the repair material 9025 to preliminarily adhere to the pipe wall, and the limiting rod 9026 avoids the repair material 9025 from deviating before jacking; the jacking rod 9028 continues to jack for 60s, to ensure that the softened repair material 9025 is in close contact with the damaged surface and forms a close adhesion, and the supporting rod 9029 maintains the stability of the repair plate 9024 through length adjustment, to avoid the jacking force causing the repair plate 9024 to deviate.

[0063] After the repair is completed, the telescopic rod 901 is retracted, the camera component 5 takes the image of the repaired damaged point again, and the intelligent controller judges the repair quality through the image algorithm (compares the flatness of the pipe wall before and after repair and the coverage range of the repair material 9025). If the repair is qualified, the device continues to move in the inspection mode; if it is not qualified, the heating temperature, jacking force and other parameters are adjusted again, and secondary repair is performed. After the repair of a single damaged point is completed, the device repeats the inspection-repair process until the repair of the entire pipeline 7 is completed.

[0064] After the repair of the entire pipeline 7 is completed, the intelligent controller controls the driving component 4 to rotate reversely, drives the device to return to the pipeline 7 entrance along the original path, and automatically generates a “repair report” containing the basic information of the pipeline 7, the damaged position and type, the repair parameters, the repair quality detection results and the like, and uploads it to the remote platform for archiving. After the device is recovered by the staff, the repair report can be consulted through the remote platform to complete the entire repair work.

[0065] The application also includes a repair method realized by using the trenchless repair crawling device of the urban pipeline 7, which comprises the following steps:

[0066] S1, device initialization and pipeline 7 pretreatment: control the camera assembly 5 and the identification sensor 6 to start, perform initial scanning on the pipeline 7, obtain initial pipe diameter and inner wall impurity distribution data, generate a "pretreatment scheme", and control the cleaning assembly 8 to start at the same time, adjust the rotating disc 801 speed according to the impurity data, and synchronously control the driving assembly to drive the device to move at a constant speed, to perform global pretreatment on the inner wall of the pipeline 7, and update the pipeline 7 environmental feature table in real time during the pretreatment process;

[0067] S2, intelligent damage identification and positioning: after the pretreatment is completed, the device enters the "inspection mode", the camera assembly 5 is controlled to continuously collect the image of the inner wall of the pipeline 7, and the identification sensor 6 is controlled to monitor the pipe diameter change and the pipe wall state in real time; the CNN image recognition algorithm is used to automatically identify the damaged area, extract the damage type and damage center coordinates, and mark on the remote platform; after the damage is identified, the driving assembly is controlled to slow down to 0.1 m / s, accurately moves to the front of the damaged point, and sends a "repair signal" to the remote platform.

[0068] S3, intelligent repair operation: after the remote platform confirms the repair instruction, the matching repair parameters in the pipeline 7 repair knowledge base are called; the telescopic rod 901 is controlled to extend to a preset length, so that the repair part 902 is aligned with the damaged point; the movable plate 9023 and the repair plate 9024 are synchronously controlled to rotate to the lapping angle; the heating assembly is started, and the temperature is stabilized at 150 DEG C through the PWM algorithm, and heating is continued for 30 s; after the heating is completed, the jacking rod 9028 is controlled to press the repair material 9025 to the damaged surface at a pushing force of 0.5 MPa, and the pressure is maintained for 60 s; after the repair is completed, the telescopic rod 901 is controlled to retract, the camera assembly 5 takes an image after the repair, and the repair quality is judged through the image algorithm; if the repair quality is qualified, the next step is entered; if the repair quality is unqualified, the parameters are adjusted again for secondary repair.

[0069] S4, operation ending and data archiving: after the repair of a single damaged point is completed, the device continues to move in the inspection mode until the repair of the entire pipeline 7 is completed; after the repair of the entire pipeline 7 is completed, the device is controlled to return to the pipeline 7 entrance, and a "repair report" is automatically generated and uploaded to the remote platform for archiving; the staff recovers the device and completes the operation.

[0070] It should be noted that in this text, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0071] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A trenchless rehabilitation crawler for urban pipes comprising a carrier assembly (1), characterized in that: The outer periphery of the carrier assembly (1) is connected with at least three connecting assemblies (2), one end of the connecting assembly (2) away from the carrier assembly (1) is connected with a driving assembly (4), and each connecting assembly (2) is connected with a camera assembly (5); The carrier assembly (1) comprises a bearing pipe (101), the bearing pipe (101) is provided with an accommodating cavity (102) inside, the accommodating cavity (102) is connected with a repairing assembly (9) inside, and one end of the bearing pipe (101) distributed along the length direction is connected with an identification sensor (6). The repairing assembly (9) comprises a telescopic rod (901), the distribution direction of the telescopic rod (901) is the same as the extension direction of the bearing pipe (101), and one end of the telescopic rod (901) away from the identification sensor (6) is connected with a repairing part (902). The repairing part (902) comprises a connecting rod (9021), one end of the connecting rod (9021) is connected with the telescopic rod (901), the connecting rod (9021) is provided with a storage groove (9022), the storage groove (9022) is rotatably provided with a movable plate (9023), and one end of the movable plate (9023) away from the connecting rod (9021) is rotatably provided with a repairing plate (9024). The repairing part (902) further comprises a supporting rod (9029), one end of the supporting rod (9029) is connected with the repairing plate (9024), and the other end of the supporting rod (9029) is abutted with a reed (9027), one side of the reed (9027) away from the supporting rod (9029) is rotatably provided with a limiting rod (9026), and one end of the limiting rod (9026) away from the reed (9027) is connected with a repairing material (9025). The reed (9027) is provided with a through hole penetrating through, and the repairing plate (9024) is connected with a jacking rod (9028), and the jacking rod (9028) is located in the through hole. The repairing plate (9024) is provided with a heating assembly for softening the repairing material (9025); One side of the bearing pipe (101) away from the identification sensor (6) is connected with a cleaning assembly (8) for cleaning the pipeline.

2. The trenchless, in-place rehabilitation of urban pipes crawling device according to claim 1, characterized in that: The connecting assembly (2) and the driving assembly (4) are connected with a direction assembly (3), the direction assembly (3) comprises a rotating rod (301), one end of the rotating rod (301) is rotatably connected with the connecting assembly (2), and the other end of the rotating rod (301) is connected with a buffer rod (302).

3. The trenchless, in-place rehabilitation of urban pipes crawler according to claim 2, characterized in that: The direction assembly (3) further comprises an extension rod (303), and the two ends of the extension rod (303) distributed along the length direction are rotatably connected with the driving assembly (4) and the connecting assembly (2) respectively.

4. The trenchless rehabilitation crawler for municipal pipes of claim 1, wherein: The cleaning assembly (8) comprises a rotating disc (801), and a plurality of cleaning parts (802) are connected on the outer periphery of the rotating disc (801).

5. A method of repair using the trenchless repair crawler of claim 4, wherein: The method comprises the following steps: S1, device initialization and pipeline pretreatment: control the camera component (5) and the recognition sensor (6) to start, perform initial scanning on the pipeline, obtain initial pipe diameter and inner wall impurity distribution data, generate a "pretreatment scheme", and control the cleaning component (8) to start at the same time, adjust the rotating speed of the rotating disc (801) according to the impurity data, and synchronously control the driving component (4) to drive the device to move at a constant speed, so as to pretreat the inner wall of the pipeline in the whole domain. The pipeline environment feature table is updated in real time during the pretreatment process; S2, intelligent identification and positioning of damage: after the pretreatment is completed, the device enters the "inspection mode", the camera component (5) is controlled to continuously collect the image of the inner wall of the pipeline, and the recognition sensor (6) is controlled to monitor the change of the pipe diameter and the state of the pipe wall in real time; after the damage is identified, the driving component (4) is controlled to reduce 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, the matching repair parameters in the pipeline repair knowledge base are called; the telescopic rod (901) is controlled to extend to the preset length, so that the repair part (902) is aligned with the damage point; the movable plate (9023) and the repair plate (9024) are synchronously controlled to rotate to the lapping angle; the heating component is started, and after heating is completed, the repair material (9025) is pressed to the damage surface by the jacking rod (9028); after the repair is completed, the telescopic rod (901) is controlled to retract, the camera component (5) takes the image after repair, the repair quality is judged by image algorithm, and if it is qualified, the next step is entered, and if it is unqualified, the parameters are adjusted again for secondary repair; S4, operation ending and data archiving: after the repair of a single damage point is completed, the device continues to move in the inspection mode until the repair of the whole pipeline is completed; after the repair of the whole pipeline is completed, the device is controlled to return to the pipeline inlet, and a "repair report" is automatically generated and uploaded to the remote platform for archiving; the staff recovers the device and completes the operation.

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