Pipeline inner diameter self-plugging overhauling device and application method thereof

Abstract

The invention provides a pipeline inner diameter self-plugging overhauling device. The pipeline inner diameter self-plugging overhauling device comprises a crawler walking mechanism, a cutting mechanism, a plugging mechanism, a connecting assembly, a sensing module and a central control module. The crawler walking mechanism is connected with the cutting mechanism and the blocking mechanism through the connecting assembly, and advancing in the pipeline is achieved. The sensing module collects an internal image of the pipeline and feeds back the internal image to the central control module, and the central control module controls the device to act according to image information: when clogging is recognized, the cutting mechanism is controlled to dredge; and when the leakage point is recognized, the plugging mechanism is controlled to move to the corresponding position, and the pipeline is temporarily plugged through inflation expansion of an annular air bag in the plugging mechanism. The device integrates the functions of video detection in the pipeline, autonomous desilting and rapid plugging, can replace manual operation to enter the pipeline, and remarkably improves the safety, efficiency and automation degree of maintenance operation.

Description

Technical Field

[0001] This invention relates to the field of municipal pipeline maintenance technology, specifically to an automated maintenance device that can autonomously move inside sewage, rainwater, and other pipelines, and integrates video detection, dredging, and temporary sealing functions. Background Technology

[0002] Regular inspection and emergency maintenance of urban underground pipe networks (such as sewage pipes and rainwater pipes) are crucial for ensuring the normal operation of cities. Currently, internal pipe inspection mainly relies on manual entry or the use of single-function equipment. Manual entry into pipes poses significant safety hazards, low efficiency, and harsh working environments. Existing pipe robots (CCTV inspection robots) typically only have camera detection capabilities; after detecting blockages or damage, further processing requires the deployment of other equipment (such as high-pressure cleaning trucks and water-blocking airbags) and personnel, resulting in cumbersome processes, difficulties in coordination, and slow response times, especially in emergency leak-sealing scenarios. Therefore, there is an urgent need for an automated device that integrates detection, dredging, and sealing to simplify processes, improve efficiency, and reduce safety risks. Summary of the Invention

[0003] The purpose of this invention is to provide a self-sealing and maintenance device for pipelines and its application method that can complete pipeline inspection, local dredging and rapid sealing operations in one go, realize the rapid isolation of pipeline damage points, and create conditions for subsequent repairs.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A self-sealing and maintenance device for the inner diameter of a pipeline includes a sealing mechanism, a cutting mechanism, a connecting component, a tracked walking mechanism, a sensing module, and a control system.

[0006] The connecting assembly includes a drive unit one and a drive unit two. The blocking mechanism and the cutting mechanism are respectively connected to the output ends of drive unit one and drive unit two, and are respectively set at both ends of the connecting assembly, for blocking the pipeline and for clearing silt or obstacles in the direction of travel.

[0007] The connecting component is connected to the tracked walking mechanism, and the tracked walking mechanism drives and carries the entire device to move inside the pipeline.

[0008] The sensing module is used to acquire image information within the pipeline;

[0009] The control system is signal connected with the sensing module and electrically connected with the crawler walking mechanism, the cutting mechanism and the sealing mechanism, receives the information fed back by the sensing module, processes the information through the built-in image processing unit, and controls the opening and closing of the crawler walking mechanism, the cutting mechanism and the sealing mechanism based on the processed information.

[0010] Preferably, the cutting mechanism comprises a rotary cutter, a blade and a conical umbrella disc.

[0011] The rotary cutter adopts a ring structure, and a plurality of blade mounting holes are uniformly distributed on the circumference of the rotary cutter for mounting the blade.

[0012] One side of the rotary cutter is connected with the conical umbrella disc, the axis of the conical umbrella disc is connected with the output end of the driving unit two, and the rotary cutter is driven to rotate by the driving unit two.

[0013] Preferably, the sealing mechanism comprises a ring-shaped air bag, a support column, a support block, a ball screw, a connecting rod and a ball screw mounting bracket.

[0014] The ring-shaped air bag adopts an inflatable structure, and the inflatable end is connected with the control system; the ring-shaped air bag is inflated by a micro air source, the micro air source is provided with a connecting assembly, and the micro air source and the air path pipeline connecting the electric control air valve, the micro air source and the ring-shaped air bag are provided.

[0015] The ball screw is arranged in the connecting assembly through the ball screw mounting bracket, and the screw rod of the ball screw is drivingly connected with the driving unit one.

[0016] The nut is threadedly connected on the screw rod.

[0017] The support frame is fixedly sleeved outside the nut.

[0018] The support column adopts at least three, and each support column is uniformly arranged along the circumference of the ring-shaped air bag, and the front end of each support column is hingedly connected to one side of the ring-shaped air bag through a support block.

[0019] The number of the connecting rods corresponds to the number of the support columns, and each connecting rod is arranged around the support frame.

[0020] The middle part of each support column is hingedly connected to one end of one connecting rod, and the other end of each connecting rod is hingedly connected to the outside of the support frame.

[0021] When the driving unit drives the screw rod to rotate, the nut and the support frame outside the nut move along the screw rod in the axial direction, and then the connecting rods around the outside of the support frame are driven to rotate through the hinge, and the corresponding support columns are driven to expand or contract, so as to correspondingly expand or retract the ring-shaped air bag.

[0022] Preferably, the connecting assembly includes a sleeve, and inside the sleeve...

[0023] The bottom of the sleeve is fixedly connected to the tracked walking mechanism via a horizontally arranged bracket.

[0024] Preferably, the two sides of the sleeve are connected to the bracket by multiple ribs to achieve a stable connection.

[0025] Preferably, the tracked walking mechanism includes a frame, tracks, a walking motor, a battery, and a lifting mechanism;

[0026] The track consists of two tracks, each installed on both sides of the vehicle frame.

[0027] The walking motor is connected to the control system and is used to drive the tracks;

[0028] The lifting mechanism is located on the top of the vehicle frame and is connected to the control system.

[0029] The frame is connected to the bracket of the connecting assembly via the lifting mechanism, which is used to adjust the operating height of the device.

[0030] Preferably, the lifting mechanism includes a first hydraulic rod and a second hydraulic rod;

[0031] The first hydraulic rod consists of two rods, which are arranged in parallel on the top of the vehicle frame and serve as the main lifting power.

[0032] The second hydraulic rod is a single unit, located on one side of the vehicle frame, serving as an auxiliary lifting power source.

[0033] Preferably, the frame is further provided with a negative pressure suction device, and the bottom of the frame is provided with a suction port. The suction port is used to suck up the broken material during the sludge removal by the cutting mechanism.

[0034] This invention also provides a method for applying a self-sealing and maintenance device for the inner diameter of a pipeline, comprising the following steps:

[0035] Step S1: Equipment deployment and initial reconnaissance

[0036] Step S11: Site preparation and equipment deployment

[0037] At the inspection well upstream or downstream of the target pipeline, clean the working surface and smoothly place the self-sealing and maintenance device into the pipeline.

[0038] Step S12: System Startup and Preliminary Survey

[0039] The tracked walking mechanism is activated by the control system, driving the device to move along the inner wall of the pipe.

[0040] At the same time, the sensing module is turned on, and the collected video images of the internal environment of the pipeline are transmitted to the control station display screen in real time. The operator observes the real-time video to preliminarily investigate and record the conditions of the inner wall of the pipeline, the distribution of sediments and suspicious points, and plan the subsequent operation path;

[0041] Step S2: identification of blockage and autonomous dredging

[0042] Step S21: blockage identification and early warning

[0043] During the journey, when the image processing unit automatically identifies that there is a blockage in front, and the operator manually determines that there is a blockage, the system issues a warning and controls the crawler walking mechanism to automatically pause at a safe distance in front of the blockage;

[0044] Step S22: execution of dredging and suction operation

[0045] The operator confirms or automatically executes the dredging instruction by the control system, and the control system controls the driving motor of the cutting mechanism to drive the rotating cutter head and the blades thereon to rotate at high speed to cut and crush the blockage in front;

[0046] At the same time, the control system starts the negative pressure suction device connected with the sewage suction port to timely suck out the crushed materials from the pipeline, ensuring smooth operation area and providing a clear view for subsequent fine detection;

[0047] Step S3: accurate positioning of the leakage point and attitude adjustment

[0048] Step S31: fine detection and confirmation of the leakage point

[0049] Under the premise of smooth pipeline, the operator carefully inspects the pipe wall through high-definition video, and the control system assists in image enhancement and defect labeling;

[0050] When a leakage point such as a crack, a hole or an interface misalignment is found, the operator marks and confirms it on the control station;

[0051] Step S32: travel to the target point

[0052] After confirming the position of the leakage point, the operator remotely controls the crawler walking mechanism or automatically controls the device according to the marker point coordinates through the control system to make it move accurately until the annular air bag of the plugging mechanism completely covers and corresponds to the damaged position of the pipeline;

[0053] Step S4: execution of air bag plugging and completion of operation

[0054] Step S41: inflation and plugging execution

[0055] After confirming the correct positioning and attitude adjustment of the device, the operator issues a final instruction at the control station;

[0056] The control system controls the electrically-controlled air valve to open when sealing is required, and after the electrically-controlled air valve opens, the compressed gas in the micro air source is filled into the annular air bag through the air path pipeline, the air bag is uniformly radially expanded under the inflation pressure, and the rubber outer membrane of the air bag is tightly and circumferentially sealed with the inner wall of the pipeline, so that the leakage of the fluid in the pipeline is effectively blocked.

[0057] Step S42: sealing verification and state maintenance

[0058] After confirming that there is no leakage by continuously observing the upstream and downstream conditions of the sealing position through the sensing module, it is indicated that the temporary sealing is successful.

[0059] The device can be converted into a low-power standby state to maintain the sealing pressure, so as to create stable and dry working conditions for subsequent personnel to perform permanent repair from the outside of the pipeline.

[0060] Step S43: evacuation and recovery

[0061] After the external repair work is completed and the structure is confirmed to be safe, the control module controls the electrically-controlled air valve to reverse or open the exhaust valve to exhaust the gas in the air bag, so that the air bag is deflated and reset; after the air bag is restored to its original state, the control starts the track walking mechanism to drive the device away from the work point, and finally the recovery completes the entire repair work process.

[0062] Preferably, in step S32, the position of the annular air bag in the pipeline cross section is judged based on the image returned by the sensing module; if the center is not aligned with the pipeline axis, the adjustment mechanism is started:

[0063] Control the lifting of the main body: control the driving unit one of the sealing mechanism, directly lift or lower the main body of the sealing mechanism through the lifting execution unit composed of a screw, a nut and a connecting rod, to realize the vertical centering of the air bag.

[0064] Control the leveling of the vehicle frame: control the first hydraulic rod and the second hydraulic rod on the track walking mechanism to stretch and retract cooperatively, adjust the relative angle of the vehicle frame and the connecting assembly, thereby indirectly level the entire device and realize the centering of the air bag in the pipeline, and ensure the uniformity of the circumferential sealing of the subsequent sealing.

[0065] Compared with the prior art, the present application has the following beneficial effects:

[0066] 1. The present application integrates the functions of detection, dredging and sealing in one self-walking device, avoiding the trouble of multi-device scheduling and cooperation, and greatly improving the continuity and efficiency of pipeline repair work.

[0067] 2、The device can be accurately moved to any position in the pipeline through the track walking mechanism, the operator can remotely observe the situation in the pipeline through the front camera, and accurately position the leakage point or the point to be operated.

[0068] 3、The front rotating cutter head and the sewage suction port are adopted, so that the device can clean itself when encountering slight blockage during movement, ensures the passing ability and the clearness of the camera field of view, and creates conditions for accurate detection and subsequent plugging.

[0069] 4、The whole operation process can be remotely controlled by the operator on the ground, completely avoids the safety risks such as suffocation, poisoning and collapse that the personnel may face when entering the pipeline, and meets the safety production requirements.

[0070] 5、When the pipeline leaks, the device can quickly enter the pipeline, find the leakage point and immediately implement the air bag plugging, block the water flow, gain valuable dry operation time for the subsequent repair team, and effectively control the accident influence. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 A structure diagram of a pipeline inner diameter self-sealing and repairing device provided for an embodiment of the present application Figure 1 ;

[0072] Figure 2 A three-dimensional structure diagram of a pipeline inner diameter self-sealing and repairing device provided for an embodiment of the present application Figure 2 ;

[0073] Figure 3 A structure diagram of a part of A Figure 2 ;

[0074] Figure 4 A structure diagram of a pipeline inner diameter self-sealing and repairing device provided for an embodiment of the present application Figure 3 ;

[0075] Figure 5 A structure diagram of a track walking mechanism in a pipeline inner diameter self-sealing and repairing device provided for an embodiment of the present application

[0076] Figure 6 A structure diagram of a pipeline inner diameter self-sealing and repairing device provided for an embodiment of the present application Figure 1 ;

[0077] Figure 7A schematic diagram of the structure of a self-sealing and maintenance device for pipe inner diameter provided in an embodiment of the present invention. Figure 2 ;

[0078] Figure 8 This is a flowchart illustrating the application method of a self-sealing and maintenance device for the inner diameter of a pipeline, as provided in an embodiment of the present invention.

[0079] The serial numbers in the diagram are as follows:

[0080] 100. Sealing mechanism; 101. Annular airbag; 102. Support column; 103. Support block; 104. Nut; 105. Screw; 106. Connecting rod; 107. Ball screw mounting bracket; 108. Drive unit one; 110. Support frame; 200. Cutting mechanism; 201. Rotary cutter head; 202. Blade mounting port; 203. Blade; 204. Conical umbrella disc; 205. Drive unit two; 300. Connecting assembly; 301. Sleeve; 302. Bracket; 400. Tracked walking mechanism; 401. Frame; 402. Track; 403. First hydraulic rod; 404. Second hydraulic rod; 405. Suction port. Detailed Implementation

[0081] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0082] like Figures 1 to 4 As shown, this embodiment discloses a self-sealing and maintenance device for the inner diameter of a pipeline, which includes a sealing mechanism 100, a cutting mechanism 200, a connecting component 300, a tracked walking mechanism 400, a sensing module, and a control system.

[0083] The connecting assembly 300 includes a sleeve 301, which contains a drive unit 108 and a drive unit 205. The sealing mechanism 100 and the cutting mechanism 200 are respectively connected to the output ends of the drive unit 108 and the drive unit 205, and are respectively set at both ends of the connecting assembly 300, for sealing the pipeline and for clearing silt or obstacles in the direction of travel.

[0084] The bottom of the sleeve 301 is fixedly connected to the tracked walking mechanism 400 through a horizontally arranged bracket 302, and the tracked walking mechanism 400 drives and carries the entire device to move inside the pipeline.

[0085] Furthermore, in this embodiment, the two sides of the sleeve 301 are connected to the bracket 302 by multiple ribs to achieve a stable connection.

[0086] like Figure 5As shown, the crawler traveling mechanism 400 includes a frame 401, a crawler 402, a traveling motor, a battery and a lifting mechanism. The crawler 402 is installed on both sides of the frame 401. The traveling motor is connected with the control system and is used to drive the crawler 402. The lifting mechanism is arranged on the top of the frame 401 and is connected with the control system. The frame 401 is connected with the bracket 302 of the connecting assembly 300 through the lifting mechanism, so as to adjust the operation height of the device.

[0087] Further, in the embodiment, the lifting mechanism includes a first hydraulic rod 403 and a second hydraulic rod 404. The first hydraulic rod 403 is arranged on the top of the frame 401 in parallel and is used as the main lifting power. The second hydraulic rod 404 is arranged on one side of the frame 401 and is used as the auxiliary lifting power.

[0088] Further, in the embodiment, the frame 401 is also provided with a negative pressure suction device. The bottom of the frame 401 is provided with a suction port 405. The suction port 405 is used to suck the broken objects when the cutting mechanism 200 is dredging.

[0089] The plugging mechanism 100 includes an annular air bag 101, a support column 102, a support block 103, a ball screw, a connecting rod 106 and a ball screw mounting rack 107.

[0090] The annular air bag 101 is filled with air. The micro air source (such as a high-pressure gas cylinder or a micro air pump) is arranged in the connecting assembly 300. The micro air source is connected with the electric control air valve and the air path pipeline of the micro air source and the annular air bag 101.

[0091] The ball screw is arranged in the connecting assembly 300 through the ball screw mounting rack 107. The screw rod 105 is drivenly connected with the driving unit 108. The nut 104 is threadedly connected with the screw rod 105. The support frame 110 is fixedly sleeved on the outside of the nut 104. The support column 102 is three. Each support column 102 is uniformly arranged along the circumference of the annular air bag 101. The front end of each support column 102 is hingedly connected with one side of the annular air bag 101 through the support block 103. The number of the connecting rods 106 corresponds to the number of the support columns 102. Each connecting rod 106 is arranged around the support frame 110. The middle part of each support column 102 is hingedly connected with one end of one connecting rod 106. The other end of each connecting rod 106 is hingedly connected with the outside of the support frame 110.

[0092] The central control module 600 sends an opening instruction to the electrically controlled air valve when it needs to perform plugging. After the electrically controlled air valve is opened, the compressed gas in the micro air source is filled into the annular air bag 101 through the air path pipeline, so that it expands. After the plugging task is completed, the central control module 600 controls the electrically controlled air valve to reverse or opens the exhaust valve to exhaust the gas in the air bag, so that it is reset.

[0093] When the driving unit drives the screw rod 105 to rotate, the nut 104 and the support frame 110 outside the nut 104 are moved along the screw rod 105 in the axial direction, and then the connecting rod 106 wrapped outside the support frame 110 is driven to rotate through the hinge, so that the corresponding support column 102 is unfolded or folded, so that the annular air bag 101 is unfolded or folded.

[0094] The cutting mechanism 200 includes a rotating cutter 201, a blade 203, and a conical umbrella disc 204. The rotating cutter 201 adopts an annular structure, and a plurality of blade mounting ports 202 are uniformly distributed on the circumference of the rotating cutter 201 for mounting the blade 203; one side of the rotating cutter 201 is connected with the conical umbrella disc 204, the axis of the conical umbrella disc 204 is connected with the output end of the driving unit two 205, and the rotating cutter 201 is driven to rotate by the driving unit two 205.

[0095] The perception module is used to acquire image information in the pipeline. In this embodiment, a plurality of groups of cameras are adopted, and the cameras are respectively installed on the top or both sides of the 301, so that image information in the pipeline can be collected at multiple angles.

[0096] The control system is in signal connection with the perception module, and is in electrical connection with the crawler walking mechanism 400, the cutting mechanism 200, and the plugging mechanism 100. The control system receives information fed back by the perception module, processes the information through an image processing unit built-in, and controls the opening and closing of the crawler walking mechanism 400, the cutting mechanism 200, and the plugging mechanism 100 based on the processed information.

[0097] In addition, as shown in the Figure 8 application method of the pipeline inner diameter self-plugging and overhauling device is provided, which comprises the following steps:

[0098] Step S1: equipment layout and initial travel survey

[0099] Step S11: site preparation and equipment layout

[0100] At the inspection well upstream or downstream of the target pipeline, the working surface is cleaned, and the pipeline inner diameter self-plugging and overhauling device is stably placed into the pipeline;

[0101] Step S12: system starting and preliminary survey

[0102] The crawler walking mechanism 400 is started by the control system, and the driving device travels along the inner wall of the pipeline.

[0103] At the same time, the perception module is started, and the collected video images of the internal environment of the pipeline are transmitted to the control station display screen in real time. The operator observes the real-time video to preliminarily investigate and record the conditions of the inner wall of the pipeline, the distribution of sediments and suspicious points, and plan the subsequent operation path;

[0104] Step S2: identification of blockage and autonomous dredging

[0105] Step S21: blockage identification and early warning

[0106] During the travel, when the image processing unit automatically identifies that there is a blockage in front, and the operator manually determines that there is a blockage, the system issues a warning and controls the crawler walking mechanism 400 to automatically pause at a safe distance in front of the blockage;

[0107] Step S22: execution of dredging and suction operation

[0108] The operator confirms or automatically executes the dredging instruction by the control system, and the control system controls the driving motor of the cutting mechanism 200 to drive the rotating cutter head 201 and the blades 203 thereon to rotate at high speed to cut and crush the blockage in front;

[0109] At the same time, the control system starts the negative pressure suction equipment connected with the suction port 405 to timely suck out the crushed materials from the pipeline, ensuring the smoothness of the operation area and providing a clear view for subsequent fine detection;

[0110] Step S3: accurate positioning of the leakage point and attitude adjustment

[0111] Step S31: fine detection and confirmation of the leakage point

[0112] Under the premise of smooth pipeline, the operator carefully inspects the pipe wall through high-definition video, and the control system assists in image enhancement and defect labeling;

[0113] When a leakage point such as a crack, a hole or an interface misalignment is found, the operator marks and confirms it on the control station;

[0114] Step S32: travel to the target point

[0115] After confirming the position of the leakage point, the operator remotely controls the crawler walking mechanism 400 or automatically controls the device according to the marker point coordinates through the control system to make it move accurately until the annular air bag 101 of the plugging mechanism 100 completely covers and corresponds to the damaged position of the pipeline;

[0116] Based on the images returned by the perception module, the position of the annular air bag 101 in the cross section of the pipeline is determined. If the center is not aligned with the axis of the pipeline, the adjustment mechanism is started:

[0117] As Figure 6 and Figure 7 The control body is lifted: the driving unit 108 of the sealing mechanism 100 controls the lifting and lowering execution unit composed of the screw rod 105, the nut 104 and the connecting rod 106 to directly lift or lower the sealing mechanism body, so as to realize the vertical centering of the air bag.

[0118] The control frame is leveled: the first hydraulic rod 403 and the second hydraulic rod 404 on the crawler walking mechanism 400 are controlled to stretch and retract in coordination, so as to adjust the relative angle of the frame 401 and the connecting assembly 300, thereby indirectly leveling the entire device and realizing the centering of the air bag in the pipeline, and ensuring the uniformity of the subsequent sealing in the circumferential direction.

[0119] Step S4: Perform air bag sealing and complete the operation

[0120] Step S41: Inflation and sealing execution

[0121] After confirming that the device positioning and attitude adjustment are correct, the operator issues a final command at the control station;

[0122] The control system controls the electric control gas valve to open when sealing needs to be performed, and after the electric control gas valve is opened, the compressed gas in the micro gas source is filled into the annular air bag 101 through the gas path pipeline, the air bag is uniformly radially expanded under the inflation pressure, and the rubber outer membrane of the air bag forms a tight and circumferential seal with the inner wall of the pipeline, thereby effectively blocking the fluid in the pipeline from leaking through the leakage point;

[0123] Step S42: Sealing verification and state maintenance

[0124] After confirming that there is no leakage by continuously observing the upstream and downstream conditions of the sealing position through the sensing module, it is indicated that the temporary sealing is successful;

[0125] The device can be converted into a low-power standby state to maintain the sealing pressure, and create stable and dry working conditions for subsequent personnel to perform permanent repair from the outside of the pipeline;

[0126] Step S43: Withdrawal and recovery

[0127] After the external repair operation is completed and the structure is confirmed to be safe, the control module controls the electric control gas valve to reverse or open the exhaust valve to exhaust the gas in the air bag, so as to deflate the annular air bag 101. After the air bag is shrunk and restored to its original state, the control starts the crawler walking mechanism 400 to drive the device away from the operation point, and finally completes the entire repair operation process.

[0128] In the description of the application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0129] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0130] The above is only the preferred specific implementation of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the application according to the technical scheme and inventive concept of the application, which should be covered within the protection scope of the application.

Claims

1. A self-sealing pipe diameter inspection device, characterized in that, The device comprises a blocking mechanism (100), a cutting mechanism (200), a connecting assembly (300), a track walking mechanism (400), a sensing module and a control system; The connecting assembly (300) is internally provided with a driving unit one (108) and a driving unit two (205), the blocking mechanism (100) and the cutting mechanism (200) are respectively connected to the output ends of the driving unit one (108) and the driving unit two (205) and are respectively arranged at the two ends of the connecting assembly (300) for blocking the pipeline and for removing the silt or obstacles in the advancing direction; The connecting assembly (300) is connected with the track walking mechanism (400) to drive and carry the whole device to move in the pipeline through the track walking mechanism (400); The sensing module is used for acquiring image information in the pipeline; The control system is signal connected with the sensing module and is electrically connected with the track walking mechanism (400), the cutting mechanism (200) and the blocking mechanism (100), receives the information fed back by the sensing module, processes the information through an internal image processing unit and controls the opening and closing of the track walking mechanism (400), the cutting mechanism (200) and the blocking mechanism (100) based on the processed information.

2. The self-sealing pipe internal diameter maintenance device according to claim 1, characterized in that, The cutting mechanism (200) comprises a rotary cutter head (201), a blade (203) and a conical umbrella disc (204); The rotary cutter head (201) adopts an annular structure and is uniformly provided with a plurality of blade mounting ports (202) on the circumference thereof for mounting the blade (203); One side of the rotary cutter head (201) is connected with the conical umbrella disc (204), the axis of the conical umbrella disc (204) is connected with the output end of the driving unit two (205) and the rotary cutter head (201) is driven to rotate through the driving unit two (205).

3. The self-sealing pipe internal diameter inspection device according to claim 1, characterized in that, The blocking mechanism (100) comprises an annular air bag (101), a support column (102), a support block (103), a ball screw, a connecting rod (106) and a ball screw mounting rack (107); The annular air bag (101) adopts an inflatable structure, the inflatable end thereof is connected with the control system, is inflated through a micro air source, the micro air source is arranged in the connecting assembly (300), the micro air source and the electric control air valve, the air path pipeline of the micro air source and the annular air bag (101) are connected; The ball screw is arranged in the connecting assembly (300) through the ball screw mounting rack (107), the screw rod (105) thereof is drivingly connected with the driving unit one (108); The nut (104) is threadedly connected on the screw rod (105); The support frame (110) is fixedly sleeved outside the nut (104); The support column (102) adopts at least three, each of the support columns (102) is uniformly arranged along the circumference of the annular air bag (101), the front ends of each of the support columns (102) are respectively hingedly connected to one side of the annular air bag (101) through the support block (103). The number of the connecting rods (106) corresponds to the support columns (102), and each connecting rod (106) is arranged around the support frame (110); The middle part of each support column (102) is hingedly connected to one end of one connecting rod (106), and the other end of each connecting rod (106) is hingedly connected to the outside of the support frame (110); When the driving unit drives the lead screw (105) to rotate, the nut (104) and the support frame (110) outside the nut (104) are driven to move axially along the lead screw (105), and then the connecting rod (106) outside the support frame (110) is driven to rotate through the hinge to drive the corresponding support column (102) to expand or contract, so as to correspondingly expand or retract the annular air bag (101).

4. The self-sealing pipe internal diameter inspection device according to claim 1, characterized in that, The connecting assembly (300) comprises a sleeve (301), and the sleeve (301) is internally provided with a driving unit one (108) and a driving unit two (205); The bottom of the sleeve (301) is fixedly connected with the track walking mechanism (400) through a horizontally arranged bracket (302).

5. The self-sealing pipe internal diameter inspection device according to claim 4, characterized in that, The two sides of the sleeve (301) are connected with the bracket (302) through a plurality of rib strips, so that stable connection is achieved.

6. The self-sealing pipe internal diameter inspection device according to claim 1, characterized in that, The track walking mechanism (400) comprises a vehicle frame (401), a track (402), a walking motor, a storage battery and a lifting mechanism; The track (402) is arranged on two sides of the vehicle frame (401); The walking motor is connected with the control system and is used to drive the track (402); The lifting mechanism is arranged on the top of the vehicle frame (401) and is connected with the control system; The vehicle frame (401) is connected with the bracket (302) of the connecting assembly (300) through the lifting mechanism, so as to adjust the operation height of the device.

7. The self-sealing pipe internal diameter inspection device according to claim 6, characterized in that, The lifting mechanism comprises a first hydraulic rod (403) and a second hydraulic rod (404); The first hydraulic rod (403) is arranged in parallel on the top of the vehicle frame (401) and is used as a main lifting power; The second hydraulic rod (404) is arranged on one side of the vehicle frame (401) and is used as an auxiliary lifting power.

8. The self-sealing pipe internal diameter inspection device according to claim 6, characterized in that, The vehicle frame (401) is further provided with a negative pressure suction device, and the bottom of the vehicle frame (401) is provided with a sewage suction port (405), which is used for sucking and crushing the broken objects through the negative pressure suction device when the cutting mechanism (200) is dredging.

9. A method for using the self-sealing and repairing device for the inner diameter of a pipeline according to claims 1-8, characterized in that, The method comprises the following steps: Step S1: device arrangement and initial travel survey Step S11: site preparation and device arrangement At the inspection well upstream or downstream of the target pipeline, the operation surface is cleaned, and the self-sealing and repairing device is smoothly placed into the pipeline; Step S12: system starting and preliminary survey The track walking mechanism (400) is started through the control system, and the device is driven to travel along the inner wall of the pipeline; At the same time, the sensing module is started, the collected video images of the internal environment of the pipeline are transmitted to the control station display screen in real time, and the operator observes the real-time video to preliminarily survey and record the inner wall condition, sediment distribution and suspicious points of the pipeline, and plans the subsequent operation path; Step S2: Identify the blockage and autonomous dredging dredging Step S21: Blockage identification and early warning When the image processing unit automatically identifies that there is an obstruction in front of the device during the journey, and the operator manually determines that there is a blockage, the system issues a warning and controls the crawler walking mechanism (400) to automatically stop at a safe distance in front of the blockage; Step S22: Perform dredging and suction operation The operator confirms or automatically executes the dredging instruction by the control system, and the control system controls the driving motor of the cutting mechanism (200) to drive the rotating cutter head (201) and the blades (203) thereon to rotate at high speed, cutting and crushing the blockage in front of the device; At the same time, the control system starts the negative pressure suction device connected with the sewage suction port (405) to suck the crushed material out of the pipeline in time, ensuring the smoothness of the working area and providing a clear view for subsequent fine detection; Step S3: Accurate positioning of the leakage point and attitude adjustment Step S31: Fine detection and leakage point confirmation Under the premise of smooth pipeline, the operator carefully inspects the pipe wall through high-definition video, and the control system assists in image enhancement and defect labeling; When cracks, holes or interface misalignment are found, the operator marks and confirms on the control station; Step S32: Travel to the target point After confirming the position of the leakage point, the operator remotely controls the crawler walking mechanism (400) or automatically controls the device according to the marker point coordinates through the control system to make it move accurately until the annular air bag (101) of the plugging mechanism (100) completely covers and corresponds to the pipeline damage position; Step S4: Perform air bag plugging and complete the operation Step S41: Inflation and plugging execution After confirming the accurate positioning and attitude adjustment of the device, the operator issues the final instruction at the control station; When the control system needs to perform plugging, it sends an opening instruction to the electric control air valve, and after the electric control air valve is opened, the compressed gas in the miniature gas source is filled into the annular air bag (101) through the air path pipeline. The air bag expands uniformly in the radial direction under the inflation pressure until its rubber outer membrane forms a tight and circumferential seal with the inner wall of the pipeline, effectively blocking the fluid from passing through the leakage point; Step S42: Plugging verification and state maintenance After confirming that there is no leakage by continuously observing the upstream and downstream conditions of the plugging position through the sensing module, it indicates that the temporary plugging is successful; The device can be converted to a low-power standby state to maintain the plugging pressure and create stable and dry working conditions for subsequent personnel to perform permanent repair from the outside of the pipeline; Step S43: Withdrawal and recovery After the external repair operation is completed and the structure is confirmed to be safe, the control driving unit two (109) deflates the annular air bag (101); after the air bag is restored to its original state, the control starts the crawler walking mechanism (400) to drive the device away from the work point, and finally completes the entire repair operation process.

10. The method of claim 9, wherein the method further comprises: In step S32, based on the images returned by the sensing module, the position of the annular air bag (101) in the pipeline cross section is judged; if the center is not aligned with the pipeline axis, the adjustment mechanism is started: Control the main body to lift: control the drive unit one (108) of the plugging mechanism (100), through the lifting execution unit composed of screw rod (105), nut (104) and connecting rod (106), directly lift or lower the plugging mechanism main body, realize the vertical direction centering of the air bag. Control the frame to level: control the first hydraulic rod (403) and the second hydraulic rod (404) on the crawler walking mechanism (400) to stretch out and shrink together, adjust the relative angle of the frame (401) and the connecting assembly (300), so as to indirectly level the whole device and realize the centering of the air bag in the pipeline, ensure the uniformity of the subsequent plugging circumferential sealing.

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