Auxiliary positioning construction method for underground pipeline well-adding repair

Abstract

The invention discloses an auxiliary positioning construction method for underground pipeline well adding repair. Mounting holes are formed in telescopic stand columns in the width direction; after the adjacent telescopic stand columns are installed in place at a well mouth, the telescopic stand columns vertically and downwards extend to a set position towards the well mouth, and the transverse rod and the guide rod are installed between the adjacent telescopic stand columns underground; a light source guide mechanism is arranged between adjacent telescopic stand columns on a well, a light source transfer mechanism is arranged on a cross rod, and after installation is in place, a robot is placed; the robot is controlled to move in the length direction of the underground pipeline until the robot detects the disease section of the underground pipeline; according to the method, the problems of large deviation, low efficiency, poor adaptability and the like in a manual suspension wire pendant positioning mode can be solved, accurate orientation and positioning of the underground pipeline are achieved, the construction quality of well adding repair operation can be guaranteed, the labor cost and the excavation cost are reduced, and the construction efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of building construction, in particular to an auxiliary positioning construction method for underground pipeline well adding repair. BACKGROUND

[0002] The smoothness of underground drainage pipeline directly affects the urban flood control and drainage capacity and the quality of life of residents. With the increase of the service life of underground drainage pipeline, affected by factors such as geological subsidence, medium corrosion or external pressure, local pipeline may appear problems such as bulging, depression or rupture, which leads to internal water flow obstruction and sedimentation and blockage, and the underground pipeline needs to be excavated and repaired or replaced through well adding repair operation. The premise of well adding repair operation is to accurately determine the actual direction of the underground pipeline. The traditional positioning method of underground pipeline mainly relies on manual line hanging and plummet estimation at the manhole to estimate the position of the lower pipeline, and then combines with experience to judge the pipeline direction. However, manual line hanging and plummet estimation is limited by the space of the manhole, visual error and underground environment interference, and the positioning deviation is large. The original pipeline may not be found after excavating several meters, which leads to delay of construction period and increase of excavation cost. Moreover, the early construction of urban underground drainage pipeline mostly uses non-metallic corrugated pipe, and some original design drawings are missing or deviate from the actual construction situation, which increases the difficulty of manual positioning and is difficult to meet the comprehensive needs of modern municipal engineering for construction precision and efficiency. Therefore, the development of underground pipeline positioning technology is promoted.

[0003] The existing underground pipeline positioning technology generally uses underground pipeline detection equipment to investigate the pipeline direction, but it is mostly suitable for large-scale pipeline survey on the ground and cannot accurately direct the small range around the inspection well. Moreover, it is difficult to directly combine with the excavation positioning needs of well adding repair operation. There is also a lack of standardized auxiliary device support, and the construction process relies on the experience level of the operating personnel, the positioning results have poor consistency, and positioning errors are easy to occur, which may cause safety hazards such as damage to surrounding pipelines or destruction of underground infrastructure during excavation. In addition, the traditional positioning method is low in efficiency, and the positioning of a single inspection well often needs to consume a lot of time for repeated adjustment, and the positioning results cannot directly provide accurate guidance for subsequent excavation, which leads to slow progress of well adding repair operation as a whole.

[0004] Therefore, it is necessary to improve the existing underground pipeline positioning technology, which not only can solve the problems of large deviation, low efficiency and poor adaptability in the traditional manual line hanging and plummet positioning method, realize accurate orientation and positioning of underground pipeline, but also can guarantee the construction quality of well adding repair operation, avoid the rework problem of not finding the pipeline after excavating to the design elevation, reduce the labor cost and excavation cost, improve the construction efficiency, and meet the comprehensive needs of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operation. SUMMARY

[0005] In view of the shortcomings of the current underground pipeline positioning technology, the purpose of the present application is to provide an auxiliary positioning construction method for underground pipeline well adding repair, which can not only solve the problems of large deviation, low efficiency and poor adaptability in the traditional manual wire dropping positioning method, realize accurate orientation and positioning of underground pipelines, but also guarantee the construction quality of well adding repair operation, avoid the problem of rework after excavating to the design elevation without seeing the pipeline, reduce the labor cost and excavation cost, improve the construction efficiency, and meet the comprehensive needs of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operation.

[0006] The auxiliary positioning construction method for underground pipeline well adding repair of the present application comprises the following steps:

[0007] S1. Make a crossbar, a guide rod, a connecting strip and a telescopic column, and open mounting holes on the telescopic column in the width direction;

[0008] S2. After the adjacent telescopic columns are installed in place at the well mouth, the telescopic columns are vertically extended downward to the set position at the well mouth, and the crossbar and the guide rod are installed between the adjacent telescopic columns underground;

[0009] S3. A light source guiding mechanism is arranged between the adjacent telescopic columns on the well, and a light source transfer mechanism is arranged on the crossbar, and after installation, the robot is placed;

[0010] S4. The robot is controlled to move along the length direction of the underground pipeline until the robot detects the disease section of the underground pipeline;

[0011] S5. When the robot stops moving, the position of the light source emitted by the light source guiding mechanism is the position of the disease section of the underground pipeline.

[0012] Further, in step S2, the crossbar is fixedly connected between the adjacent telescopic columns, the guide rod is detachably installed on the crossbar, and the end of the guide rod away from the crossbar extends into the underground pipeline and can be telescoped in the length direction of the underground pipeline;

[0013] Further comprising step S6, the orientation of the underground pipeline is measured and the position of the disease section of the underground pipeline is calculated.

[0014] Further, the crossbar is provided with a scale and a sliding groove, the scale is located on the outer surface of the crossbar and is distributed along the length direction of the crossbar, the sliding groove is located on the top surface of the crossbar and its distribution corresponds to the scale, and the guide rod can be driven to slide in the length direction of the crossbar in the sliding groove.

[0015] Further, the number of guide rods is two, and they are symmetrically distributed on the crossbar, and when used, the guide rods are in close contact with the inner wall of the underground pipeline.

[0016] The horizontal rod is further provided with a reference platform for placing the robot, and the robot is placed in the space between the adjacent guide rods by the reference platform.

[0017] Further, the adjacent telescopic columns are fixedly connected by connecting strips, the connecting strips include first connecting strips and second connecting strips, the first connecting strips are fixedly connected between the adjacent telescopic columns in the transverse direction, and the adjacent second connecting strips are fixedly connected between the adjacent telescopic columns in the X-shaped connection.

[0018] Further, in step S3, the stable rods are arranged in the transverse direction of the telescopic columns and fixedly connected between the adjacent telescopic columns, and the adjusting rods are arranged on the stable rods and movable along the length direction of the stable rods.

[0019] One end of the adjusting rod is provided with a splayed clamp.

[0020] Further, the column connecting caps are buckled on the top of the telescopic columns, and the adjacent column connecting caps are connected by the column cap connecting strips, and the column cap connecting strips are provided with light source guide mechanism mounting rods for mounting the light source guide mechanism.

[0021] Further, the light source guide mechanism includes a light source emitter and a control unit, the light source emitter is synchronously rotatable with the movement of the robot, and the light source emitted by the light source emitter is directed to the robot, and the control unit is used for receiving the image data of the data acquisition unit on the robot and sending control instructions to the light source emitter.

[0022] Further, the light source transfer mechanism is located at the midpoint of the horizontal rod, and the center of the light source transfer mechanism is longitudinally coplanar with the light source emitter.

[0023] Further, in step S1, the mounting holes include horizontal rod mounting holes and connecting strip mounting holes, and a plurality of connecting strip mounting holes are arranged in parallel along the length direction of the telescopic columns.

[0024] The horizontal rod is provided with column mounting rods, the column mounting rods pass through the horizontal rod mounting holes and are fixed by bolts.

[0025] The application has the beneficial effects that the auxiliary positioning construction method for well adding repair of underground pipelines provided by the application adopts the telescopic structure for installing the light source guiding mechanism and the light source transfer mechanism at the well adding position, which can not only solve the problems of large deviation, low efficiency and poor adaptability in the traditional manual wire hanging and plummet positioning method, realize accurate orientation and positioning of underground pipelines, guarantee the construction quality of well adding repair operation, avoid the rework problem of not seeing the pipeline after excavation to the design elevation, reduce the labor cost and excavation cost, improve the construction efficiency, and meet the comprehensive needs of modern municipal engineering for the accuracy, efficiency and safety of underground pipeline repair operation. BRIEF DESCRIPTION OF DRAWINGS

[0026] The application will be further described below in combination with the drawings and embodiments:

[0027] Figure 1 The structure schematic diagram of the auxiliary positioning construction method for well adding repair of underground pipelines after completion of the application;

[0028] Figure 2 The connection schematic diagram of the cross rod and the guide rod;

[0029] Figure 3 The top view of the connection of the stabilizing rod and the adjusting rod;

[0030] Figure 4 The side view of the connection of the stabilizing rod and the adjusting rod;

[0031] Figure 5 The connection schematic diagram of the light source guiding mechanism and the telescopic stand.

[0032] The drawings show that: 1, telescopic stand; 101, cross rod mounting hole; 102, connecting strip mounting hole; 2, cross rod; 201, scale; 202, sliding groove; 203, stand mounting rod; 204, reference platform; 3, guide rod; 4, connecting strip; 401, first connecting strip; 402, second connecting strip; 5, light source guiding mechanism; 501, light source emitter; 502, control unit; 6, light source transfer mechanism; 7, stabilizing rod; 8, adjusting rod; 9, eight-shaped card; 10, stand connecting cap; 11, stand cap connecting strip; 1101, light source guiding mechanism mounting rod; 12, anti-falling bolt; 13, U-shaped card; 14, adjusting bolt. DETAILED DESCRIPTION

[0033] The application will be further described below in combination with the drawings and embodiments: Figures 1-5 The application will be further described below in combination with the drawings and embodiments:

[0034] The application discloses an auxiliary positioning construction method for well adding repair of underground pipelines, which comprises the following steps:

[0035] S1. Make the crossbar 2, guide rod 3, connecting strip 4 and telescopic column 1, and open mounting holes on the telescopic column 1 in the width direction; the width direction refers to the thickness direction of the telescopic column 1, in which direction the mounting holes are opened for subsequent installation with other components such as the crossbar 2; the telescopic column has a telescopic structure, which, in combination with the mounting holes, can flexibly adjust the height and installation spacing of the overall device, adapt to different working heights, and the crossbar 2 and guide rod 3 can also adjust the installation position through the mounting holes, improving the versatility of the entire positioning device; the standardized components such as the crossbar 2 and guide rod 3 are prefabricated and can be directly assembled on site without temporary processing, reducing the preparation time of on-site construction, which will not be described here;

[0036] S2. After the adjacent telescopic columns 1 are installed in place at the wellhead, the telescopic columns 1 are vertically extended downward to the set position at the wellhead, and the crossbar 2 and guide rod 3 are installed between the adjacent telescopic columns 1 underground; the set position refers to the vicinity of the underground pipeline, and the crossbar 2 and guide rod 3 are assembled underground, which can accurately fit the working environment in the well and form a rigidly connected positioning frame, providing a stable reference datum for subsequent well repair procedures and reducing positioning errors, which will not be described here;

[0037] S3. A light source guiding mechanism 5 is provided between the adjacent telescopic columns 1 at the wellhead, and a light source transfer mechanism 6 is provided on the crossbar 2, and after installation, the robot is placed; the arrangement of the light source guiding mechanism 5 and the light source transfer mechanism 6 can ensure the stability and accuracy of receiving or outputting the light source, which will not be described here;

[0038] S4. The robot is controlled to move along the length direction of the underground pipeline until the robot detects the disease section of the underground pipeline; the robot can continuously move and detect along the underground pipeline without frequent entering and exiting the wellhead and adjusting the position like manual detection, improving the detection speed of the disease section of the underground pipeline, which will not be described here;

[0039] S5. When the robot stops moving, the position of the light source emitted by the light source guiding mechanism 5 towards the robot is the position of the disease section of the underground pipeline, and traditional manual detection down the well not only has high operation difficulty, but also is prone to safety accidents such as poisoning or bumping of construction personnel, while controlling the robot to move and detect along the underground pipeline, the staff need not enter the well, but only need to remotely operate on the wellhead to complete the detection of the disease section, and through light source trajectory positioning, personnel need not risk going down the well to recheck the position, avoiding the safety hazards of well operation and protecting the personal safety of construction personnel; the robot generally carries high-definition cameras and other detection equipment, which can move flexibly in the underground pipeline, compared with manual visual inspection or simple tool detection, can realize omnidirectional detection, lock the accurate position of the disease section of the underground pipeline with the light source end, and even can assist in judging the specific position of the disease, solving the problems of ambiguous disease position and easy missed detection in traditional detection.

[0040] In this embodiment, in step S2, the crossbar 2 is fixedly connected between adjacent telescopic columns 1, and the guide rod 3 is detachably installed on the crossbar 2, with one end of the guide rod 3 extending into the underground pipeline and being telescopic in the length direction of the underground pipeline. The crossbar 2 is fixedly connected between adjacent telescopic columns 1, which can form a complete and stable frame from the dispersed telescopic columns 1. In the underground environment, there is a risk of soil loosening or slight collapse. The independent telescopic column 1 is prone to sway and shift. The fixed crossbar 2 can form a transverse support to offset the lateral force in the wellbore, thereby avoiding the telescopic column 1 from tilting or shifting. At the same time, this stable frame also provides a firm reference carrier for the subsequent installation of the guide rod 3, so that the guide rod 3 will not deviate after installation due to the shaking of the carrier, thereby laying a stable foundation for subsequent robot operation and light source positioning. The lengths of the pipelines in the underground pipeline network are different, and some of the pipelines are slightly bent. The guide rod 3 can be telescopic in the length direction of the pipeline, which can extend into the interior of the pipeline with a long distance to continuously provide a guide reference for the robot moving a long distance, and can also be adjusted to the pipeline track through telescopic fine adjustment when the pipeline has a small deviation in the direction, which will not be described here.

[0041] The step S6 of orienting and measuring the direction of the underground pipeline and calculating the position of the disease section of the underground pipeline is also included. The orientation and measurement can calibrate the direction of the underground pipeline by means of professional surveying and mapping tools, and then correct the position deviation of the disease section through data calculation to improve the positioning accuracy. In addition to the pipeline to be repaired, there are various pipelines such as power, communication and gas in the city underground. Through directional measurement, the accurate direction and depth of the pipeline to be repaired can be determined, and combined with the calculation of the position of the disease section, the spatial positional relationship between the pipeline and the surrounding pipelines can be clearly sorted out. Before construction, the safe construction range can be determined accordingly, such as determining the drilling angle of trenchless repair to avoid touching the adjacent gas pipeline during repair operation. At the same time, it can also predict in advance whether the disease has affected the surrounding pipelines, and take preventive measures in advance to prevent construction from causing a chain failure and ensure the stable operation of the underground pipeline network as a whole, which will not be described here.

[0042] In the embodiment, the crossbar 2 is provided with a scale 201 and a sliding groove 202. The scale 201 is located on the outer surface of the crossbar 2 and is distributed along the length direction of the crossbar 2. The sliding groove 202 is located on the top surface of the crossbar 2 and is distributed correspondingly to the scale 201. The guide rod 3 can be driven to slide in the sliding groove 202 along the length direction of the crossbar 2. The sliding groove 202 provides a stable transverse moving track for the guide rod 3, avoiding the problems of deviation or inclination of the guide rod 3 when sliding, and ensuring that the guide rod 3 moves smoothly along the length direction of the crossbar 2. The corresponding scale 201 enables the operator to intuitively read the sliding distance and real-time position of the guide rod 3, without the need to repeatedly measure with additional measuring tools, thereby shortening the installation and debugging time of the guide rod 3. When the guide rod 3 is adjusted in position with the sliding groove 202, the accurate coordinates of the guide rod 3 can be recorded through the scale 201, and the length of the guide rod 3 extending into the underground pipeline is combined with the robot detection data and the light source positioning track to verify each other, thereby improving the positioning accuracy. The end of the guide rod 3 can be provided with a sliding groove mounting hole matched with the sliding groove 202. The sliding groove mounting hole is sleeved on the sliding groove 202 and is fixed by the anti-falling bolt 12 to fix the sliding groove mounting hole of the guide rod 3 and the sliding groove 202, and the fastening of the two can be adjusted. The scale 201 is usually provided with an origin, i.e. the position of the center point, to facilitate direct observation of whether the guide rod 3 is symmetrically distributed on the crossbar 2, which will not be described here.

[0043] In this embodiment, the number of guide rods 3 is two, and they are symmetrically distributed on the cross bar 2. In use, the guide rods 3 are in close contact with the inner wall of the underground pipeline. The cross bar 2 is also provided with a reference platform 204 for placing a robot. In use, the robot enters the underground pipeline from the reference platform 204, and the robot is located in the space between the adjacent guide rods 3. The reference platform 204 provides a fixed starting position for the robot, avoiding repeated adjustment of the initial attitude of the robot each time the construction is carried out, and achieving the effect of placing and positioning at the same time. At the same time, the relative position of the reference platform 204 and the symmetrically distributed guide rods 3 is fixed, forming a standardized starting reference for operation, reducing the steps of manual calibration, and shortening the preparation time in the early stage of construction. The reference platform 204 serves as a reference point underground. Before the robot moves, the robot is located on the reference platform 204. After the robot moves, the light source guiding mechanism 5 starts to emit light to the robot. Of course, the light source guiding mechanism 5 can also start to emit light to the robot after the robot moves 1-2 meters into the underground pipeline, which will not be described here. The robot is located in the space between the adjacent guide rods 3, and the guide rods 3 are in close contact with the inner wall of the underground pipeline, which is equivalent to forming a buffer isolation between the robot and the underground pipeline, avoiding the direct collision and friction of the robot with the damaged part or sharp protrusion of the underground pipeline, and protecting the precision parts such as the detection lens and the shell of the robot. The symmetric distribution of the two guide rods 3 can adjust the interval through the sliding groove 202, and can adapt to underground pipelines of different diameters by cooperating with the self-elongation characteristics. Only by adjusting the sliding interval and the length of the guide rods 3 according to the size of the pipe diameter, the two guide rods can always be in close contact with the inner wall of the underground pipeline, without the need to customize the guide structure for different pipe diameters, reducing the equipment investment cost. The symmetrically distributed guide rods 3 do not need to be repeatedly adjusted during installation, but only need to be symmetrically positioned according to the scale 201 on the cross bar 2, which simplifies the underground installation and debugging process, shortens the operation time, and the robot does not need to avoid the guide rods 3 in the middle channel, and will not appear unilateral jamming, which makes the robot travel more smoothly, reduces the risk of equipment jamming or cable winding, reduces the difficulty of manual remote control, and improves the safety of construction. In this embodiment, one end of the guide rod 3 can be telescopic along the length direction in the underground pipeline, which can adopt the structure of a sleeve. The adjacent sleeves can be fixed by bolts, which is a conventional technical means of the prior art, and will not be described here.

[0044] In this embodiment, the adjacent telescopic columns 1 are fixedly connected by connecting strips 4, the connecting strips 4 include first connecting strips 401 and second connecting strips 402, the first connecting strips 401 are fixedly connected between adjacent telescopic columns 1 along the transverse direction, the adjacent second connecting strips 402 are fixedly connected between adjacent telescopic columns 1 in an X-shaped connection, the first connecting strips 401 are fixedly connected between adjacent telescopic columns 1 along the transverse direction, which can directly offset the lateral displacement force of the telescopic columns 1, avoid the left and right shaking of the telescopic columns 1 when the soil layer is loose or slightly vibrates underground, and reinforce the installation reference of the cross bars 2 and the guide rods 3, the second connecting strips 402 are in an X-shaped cross structure, which can form diagonal support and effectively resist the distortion of the frame, when the material hoisting and other operations are performed underground, the longitudinal or oblique force is generated, the X-shaped structure can conduct the dispersed force to the telescopic columns 1, avoid the local overloading to cause the inclination and collapse of the frame; the first connecting strips 401 and the second connecting strips 402 form a three-dimensional support network, so that the dispersed telescopic columns 1 form a rigid whole rather than an independent force unit, this structure can improve the vertical bearing capacity and horizontal impact resistance of the frame, whether the light source guide mechanism 5 and the light source transfer mechanism 6 are installed or the gravity of the cross bars 2 and the guide rods 3 is loaded, the stable bearing can be achieved, the telescopic columns 1 are prevented from being bent or broken due to local overloading, the installation and use safety of the whole auxiliary positioning device is ensured, the first connecting strips 401 and the second connecting strips 402 are simple in structure and are standardized components, only need to be fixed through the installation holes on the telescopic columns 1 during installation, which is convenient to operate and does not need complex on-site processing; the two ends of the first connecting strips 401 and the second connecting strips 402 can be fixed to the telescopic columns 1 by bolts, which will not be described here.

[0045] In this embodiment, step S3 also includes a stabilizing rod 7 arranged transversely along the telescopic column 1 and fixedly connected between adjacent telescopic columns 1, and an adjusting rod 8 arranged through the stabilizing rod 7 and movable along the length direction of the stabilizing rod 7; one end of the adjusting rod 8 is provided with a splayed clamp 9, the stabilizing rod 7 is fixed transversely along the telescopic column 1 and forms a three-dimensional reinforcing network with the connecting strip 4, further offsetting the lateral displacement force of the telescopic column 1, avoiding the telescopic column 1 from shaking due to vibration caused by personnel operation or equipment hoisting in the wellhead area, the adjusting rod 8 is arranged through the stabilizing rod 7 and is movable, without damaging the transverse support structure of the stabilizing rod 7, while making the reinforcing system more flexible, both maintaining the rigidity of the frame and adapting to subsequent limiting needs, so that the auxiliary positioning device can bear the light source guiding mechanism 5 and the light source transfer mechanism 6 while resisting additional external force impact; the splayed clamp 9 arranged at one end of the adjusting rod 8 is also fixed to the well wall, the direction in which the splayed clamp 9 is fixed to the well wall is perpendicular to the horizontal plane in which the telescopic column 1 is located, so that the entire auxiliary positioning device is fixed from three directions, enhancing the stability of the structure; of course, the end of the stabilizing rod 7 can be fixed to the telescopic column 1 through a U-shaped clamp 13 and a fastening bolt, and the adjusting rod 8 can be arranged through the stabilizing rod 7 by using an adjusting bolt 14, which is a conventional arrangement in the prior art and will not be described here.

[0046] In this embodiment, a column connecting cap 10 and a column cap connecting strip 11 are also included, the column connecting cap 10 is buckled on the top of the telescopic column 1 and connected between adjacent column connecting caps 10 through the column cap connecting strip 11, the column cap connecting strip 11 is provided with a light source guiding mechanism mounting rod 1101 for mounting the light source guiding mechanism 5, adjacent telescopic columns 1 are connected through the column cap connecting strip 11, which is equivalent to forming a transverse stabilizing structure on the top of the frame, and forming a three-dimensional reinforcing system in response to the first connecting strip 401 and the second connecting strip 402 below, further avoiding the telescopic column 1 from shaking or tilting at the top, so that the stability of the entire frame from the bottom to the top is consistent, the light source guiding mechanism mounting rod 1101 provides a dedicated mounting position for the light source guiding mechanism 5, avoiding position deviation caused by directly mounting the light source guiding mechanism 5 on the cross bar 2 or the telescopic column 1, and the column cap connecting strip 11 is located at the top of the frame and is relatively fixed in position, which can reduce the influence of underground bottom soil layer fluctuation on the installation accuracy of the light source guiding mechanism 5; the light source guiding mechanism 5 can be fixedly connected to the top of the light source guiding mechanism mounting rod 1101 by using a bolt, and will not be described here.

[0047] In the embodiment, the light source guiding mechanism 5 comprises a light source emitter 501 and a control unit 502, the light source emitter 501 can be controlled to rotate synchronously with the robot movement, and the light source emitted by the light source emitter 501 points to the robot, the control unit 502 is used for receiving image data of the data acquisition unit on the robot, and sending control instructions to the light source emitter 501, the light source emitter 501 rotates synchronously with the robot movement and always points to the robot, forming a following guiding path, even if the robot encounters a bend, slope or slight deviation in the underground pipeline, the light source can correct the pointing in real time, improving the positioning accuracy; the control unit 502 receives image data of the robot and sends control instructions, which can realize dynamic adjustment of illumination. This intelligent linkage does not need manual remote control of the light source, so that the illumination always adapts to the detection state of the robot, reducing the labor cost; the emission track of the directional light source can be used as a visual reference of the underground pipeline direction, which is mutually verified with the movement track of the robot, assisting in calibrating the underground pipeline direction data; without separately arranging personnel to control the light source, the control unit 502 and the robot are automatically linked, reducing the division pressure of the wellhead operation personnel, and the staff only needs image analysis and robot control, which will not be described here.

[0048] In the embodiment, the light source emitter 501 can be hinged with a support seat and driven by a driving motor to realize the pitching action of the light source emitter 501, and the support seat is further swung left and right by a support and a driving motor, so as to realize the synchronous rotation of the light source emitter 501 with the robot movement, which will not be described here.

[0049] In the embodiment, the light source transfer mechanism 6 is located at the midpoint of the cross rod 2, and the center of the light source transfer mechanism 6 is longitudinally coplanar with the light source emitter 501, and the center of the light source emission port of the light source emitter 501 is longitudinally coplanar with the light source transfer mechanism 6, which is convenient for ground reference positioning and improves the measurement accuracy, which will not be described here; of course, a pulley driven by a motor can also be arranged on the cross rod 2, or a winding wheel machine in the prior art can be used, the connecting line on the winding wheel machine is connected with the robot, which can be used as an auxiliary measurement of the distance of the underground pipeline disease section, which will not be described here.

[0050] In this embodiment, in step S1, the mounting holes include a crossbar mounting hole 101 and a connecting strip mounting hole 102, and the connecting strip mounting hole 102 is arranged in parallel along the length direction of the telescopic column 1; the specific design of the mounting hole enables the crossbar 2 and the connecting strip 4 to be quickly aligned and installed, without the need for on-site adjustment of the hole position or additional punching, thereby reducing installation errors, ensuring that the crossbar 2 is horizontal and the connecting strip 4 is stable, further improving the accuracy of the positioning frame, and the multiple connecting strip mounting holes 102 allow the connecting strip 4 to be installed at different heights of the telescopic column 1, forming a multi-layer transverse reinforcing structure, which can more evenly disperse external forces and improve the overall structural stability compared to single-layer connection, and the details are not described here;

[0051] The crossbar 2 is provided with a column mounting rod 203, which passes through the crossbar mounting hole 101 and is fixed by a bolt, and the column mounting rod 203 and the crossbar mounting hole 101 form a special matching structure, so that when the column mounting rod 203 is inserted into the crossbar mounting hole 101, the crossbar 2 and the telescopic column 1 can be quickly aligned and positioned, which can ensure that the crossbar 2 always remains horizontal, providing a unified reference plane for subsequent components such as the guide rod 3 and the light source transfer mechanism 6, reducing positioning errors caused by the inclination of the crossbar 2, and indirectly improving the accuracy of robot detection and disease segment positioning; after the column mounting rod 203 is inserted into the crossbar mounting hole 101, it is fixed by a bolt, which has a larger contact area and more uniform stress than simple bolt connection, and can effectively resist the lateral force and torque of the crossbar 2 during underground operation, and the details are not described here.

[0052] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. An auxiliary positioning construction method for underground pipeline well repair, characterized in that, Includes the following steps: S1. Fabricate crossbars, guide bars, connecting strips, and telescopic uprights, and make mounting holes on the telescopic uprights along the width direction; S2. After the adjacent retractable columns are installed in place at the wellhead, the retractable columns extend vertically downwards towards the wellhead to a set position, and the crossbar and guide rod are installed between the adjacent retractable columns in the well. S3. Install a light source guiding mechanism between adjacent retractable columns on the well, and a light source transfer mechanism on the crossbar. After installation, place the robot. S4. Control the robot to move along the length of the underground pipeline until the robot detects the damaged section of the underground pipeline; S5. When the robot stops moving, the position of the light source emitted by the light source guiding mechanism that shines on the robot is the location of the defective section of the underground pipeline.

2. The auxiliary positioning construction method for underground pipeline well repair according to claim 1, characterized in that: In step S2, the crossbar is fixedly connected between adjacent retractable columns, the guide rod is detachably installed on the crossbar, and the end of the guide rod away from the crossbar extends into the underground pipe and can extend and retract along the length direction inside the underground pipe; It also includes step S6, which involves directional measurement of the underground pipeline's direction and calculation of the location of the damaged sections of the underground pipeline.

3. The auxiliary positioning construction method for underground pipeline well repair according to claim 2, characterized in that: The crossbar is provided with a scale and a sliding groove. The scale is located on the outer surface of the crossbar and is distributed along the length of the crossbar. The sliding groove is located on the top surface of the crossbar and its distribution corresponds to the scale. The guide rod can be driven to slide within the sliding groove along the length of the crossbar.

4. The auxiliary positioning construction method for underground pipeline well repair according to claim 3, characterized in that: There are two guide rods, which are symmetrically distributed on the crossbar. In use, the guide rods are in contact with the inner wall of the underground pipeline. The crossbar is also equipped with a reference platform for placing the robot. In use, the robot enters the underground pipeline from the reference platform and is located in the space between adjacent guide bars.

5. The auxiliary positioning construction method for underground pipeline well repair according to claim 2, characterized in that: The adjacent retractable columns are fixedly connected by connecting strips, which include a first connecting strip and a second connecting strip. The first connecting strip is fixedly connected to the adjacent retractable columns in a horizontal direction, and the adjacent second connecting strips form an X-shaped connection and are fixedly connected to the adjacent retractable columns.

6. The auxiliary positioning construction method for underground pipeline well repair according to claim 1, characterized in that: Step S3 also includes a stabilizing rod and an adjusting rod. The stabilizing rod is arranged laterally along the telescopic column and fixedly connected between adjacent telescopic columns. The adjusting rod passes through the stabilizing rod and can move along the length of the stabilizing rod. One end of the adjusting rod is equipped with a figure-eight clip.

7. The auxiliary positioning construction method for underground pipeline well repair according to claim 6, characterized in that: It also includes a column connecting cap and a column cap connecting strip. The column connecting cap is fastened to the top of the telescopic column and adjacent column connecting caps are connected by the column cap connecting strip. The column cap connecting strip is provided with a light source guiding mechanism mounting rod for installing the light source guiding mechanism.

8. The auxiliary positioning construction method for underground pipeline well repair according to claim 6, characterized in that: The light source guiding mechanism includes a light source emitter and a control unit. The light source emitter can be controlled to rotate synchronously with the robot's movement, and the light source emitted by the light source emitter is directed towards the robot. The control unit is used to receive image data from the data acquisition unit on the robot and issue control commands to the light source emitter.

9. The auxiliary positioning construction method for underground pipeline well repair according to claim 8, characterized in that: The light source transfer mechanism is located at the midpoint of the crossbar, and the center of the light source transfer mechanism is coplanar with the longitudinal direction of the light source emitter.

10. The auxiliary positioning construction method for underground pipeline well repair according to claim 1, characterized in that: In step S1, the mounting holes include crossbar mounting holes and connecting strip mounting holes, and several connecting strip mounting holes are arranged side by side along the length of the extendable column; The crossbar is provided with a column mounting rod, which passes through the mounting hole of the crossbar and is fixed by bolts.

Images