Filling drilling pipeline abrasion repairing method

Abstract

The invention discloses a method for repairing abrasion of a filling drilling pipeline. Relates to the technical field of pipeline repair. A pipeline climbing robot is applied, and the method comprises the following steps that S1, remote three-dimensional scanning is conducted on a vertical section pipeline abrasion point through a small three-dimensional laser scanner; s2, the thickness H, the area S and the volume V of a wear point are calculated according to the three-dimensional model of laser scanning, and the volume of the needed repairing solid liquid and the volume of the needed wear-resistant paint are obtained; s3, the pipeline climbing robot carries the solid liquid needing to be repaired and the wear-resistant paint again to the wear point of the vertical pipeline; s4, after a vertical pipeline abrasion point is reached, repairing solid liquid is sprayed firstly, and after the repairing solid liquid is condensed, abrasion-resistant paint is sprayed; s5, the pipeline climbing robot climbs out of the pipeline; according to the method, the damaged part of the filling drill hole is intelligently repaired, so that the filling drill hole is reutilized, and the problem that the underground filling drill hole cannot be used due to damage is solved; and a series of filling drilling safety and cost problems in the deep mining process are solved to the greatest extent.

Description

Technical Field

[0001] This invention relates to the field of pipeline repair technology, and in particular to a method for repairing worn pipelines by filling boreholes. Background Technology

[0002] Currently, many mine shafts in my country are buried at depths exceeding 1,000 meters. For mines using the backfilling mining method, the large elevation difference between the surface and underground mining areas causes problems such as high flow velocity, strong impact, and intense abrasion during the transport of backfill slurry through vertical pipelines, leading to vibration and perforation of the backfilling boreholes. Once the backfilling borehole pipeline is perforated and damaged, the borehole becomes unusable and must be re-drilled, resulting in enormous engineering costs. Therefore, how to repair damaged backfilling boreholes and reuse them while reducing backfilling costs has become an urgent need in the mining industry today. Summary of the Invention

[0003] To efficiently and effectively repair and fill worn borehole pipes, this application provides a method for repairing worn borehole pipes by filling them.

[0004] This application provides a method for repairing wear in filled borehole pipes, employing the following technical solution:

[0005] A method for repairing worn pipes through filling boreholes, characterized by the application of a pipe-climbing robot, comprising the following steps:

[0006] S1. A pipe-climbing robot equipped with a miniature camera brings a small 3D laser scanner to the wear point of a vertical pipe to perform a remote 3D scan of the wear point of the vertical pipe section.

[0007] S2. Based on the three-dimensional model obtained from the laser scan, calculate the thickness H, area S, and volume V of the wear point to determine the required repair solid-liquid volume. and the volume of wear-resistant paint ;

[0008] S3. The pipe climbing robot with a miniature camera carries the required repair solids and wear-resistant paint to the wear point of the vertical pipe again.

[0009] S4. After reaching the wear point of the vertical pipe, first spray the repair liquid. After the repair liquid solidifies, spray the wear-resistant paint until it is flush with the inner wall of the pipe.

[0010] S5, the pipe climbing robot climbs out of the pipe.

[0011] Optionally, the three-dimensional laser scanning in step S1 includes distance measurement, coordinate transformation, and data registration.

[0012] Distance measurement: The phase difference method is used to calculate the distance measurement d of the miniature three-dimensional laser scan. The calculation formula is as follows:

[0013]

[0014] In the formula, d is the measurement distance in meters; Δϕ is the phase difference between the emitted and reflected laser light in rads; f is the laser modulation frequency in Hz; and c is the speed of light.

[0015] Coordinate transformation: Convert the ranging value d and the horizontal angle θ and vertical angle ϕ recorded by the angle encoder into Cartesian coordinates; the three-dimensional coordinate transformation formula is shown below:

[0016]

[0017] In the formula: θ is the rotation angle about the Z-axis; ϕ is the pitch angle about the Y-axis; x is the rectangular coordinate of the x-axis, in meters; y is the rectangular coordinate of the y-axis, in meters; z is the rectangular coordinate of the z-axis, in meters.

[0018] Data registration: Data registration uses the ICP algorithm, and the calculation formula is shown below:

[0019]

[0020] In the above formula, P i R is the coordinates of the original point cell; R is the unit rotation matrix; T is the unit translation vector; Q is the unit translation vector. i The points represent the objective function; N represents the number of data points.

[0021] The 3D laser scanning system transforms the raw measurement data into a usable 3D model. Through further processing by software, a CAD 3D model of the wear location is finally obtained. Based on the obtained CAD 3D model, the shape, one-dimensional thickness H, two-dimensional area S, and three-dimensional volume V of the wear location in the pipeline can be obtained.

[0022] Optionally, the volume ratio formula for the repair solid-liquid mixture and the wear-resistant paint in step S2 is as follows:

[0023]

[0024] In the above formula, V represents the total three-dimensional volume of the wear point, with units of... ; The volume of the damage outside the outer wall of the pipe at the wear point, in units of... ; This refers to the volume between the inner and outer walls of the pipe at the wear point, expressed in units of... ; The proportion of the repair solid-liquid mixture in the total volume of the wear area is generally taken as 0.6-0.9. This represents the percentage of the wear-resistant paint in the total volume of the worn area, typically ranging from 0.1% to 0.4%.

[0025] Optional, based on calculation and The actual quantity should be increased by a certain safety factor based on the calculated value to account for material and construction errors; therefore, the actual amount of solid-liquid repaired in the can should be increased. and wear-resistant paint The calculation formula is as follows:

[0026]

[0027]

[0028] In the above formula, This refers to the actual volume of the solid-liquid mixture used for repair in the can; is the actual volume of the wear-resistant paint in the can; k is the safety factor for the repair solid and liquid and the wear-resistant paint, taken as 1.1~1.2.

[0029] Optionally, the repair liquid should have the characteristics of expansion, corrosion resistance, high compressive strength, and strong adhesion. Specifically, polyurethane foam grouting, epoxy resin repair adhesive, or potassium silicate-nano carbon fiber adhesive can be used. The wear-resistant paint should have wear resistance, corrosion resistance, and strong adhesion. Specifically, epoxy resin-based wear-resistant paint, inorganic silicate ceramic paint, and polyurethane-ceramic composite paint can be used.

[0030] In summary, this application includes the following beneficial technical effects:

[0031] This application utilizes intelligent repair techniques to address damaged areas in backfill boreholes. This not only allows for the reuse of backfill boreholes and solves the problem of unusable underground backfill boreholes due to damage, but also significantly reduces the engineering cost of backfill boreholes. Consequently, it greatly addresses a series of safety and cost issues related to backfill boreholes during deep mining. Attached Figure Description

[0032] Figure 1 This is an overall flowchart of a method for repairing worn borehole pipes using filling technology, as described in this application. Detailed Implementation

[0033] The following is in conjunction with the appendix Figure 1 This application will be described in further detail.

[0034] This application discloses a method for repairing worn pipes through filling boreholes. This method utilizes a pipe-climbing robot, which can employ existing technology and needs to meet the following functions: it can climb vertical pipes, carry a certain weight load, and can be equipped with and disassembled with a laser scanner and spraying device via simple connectors (such as flanges). Any pipe-climbing robot that meets the above conditions is acceptable, such as the robot mentioned in the patent with publication number CN115370868A. There are many robots that can meet the above conditions, and this is an existing mature technology.

[0035] The method includes the following steps:

[0036] S1. A pipe-climbing robot equipped with a miniature camera brings a small 3D laser scanner to the wear point of a vertical pipe to perform a remote 3D scan of the wear point of the vertical pipe section.

[0037] 3D laser scanning specifically includes the steps of distance measurement, coordinate transformation, and data registration:

[0038] Distance measurement: The phase difference method is used to calculate the distance measurement d of the miniature three-dimensional laser scan. The calculation formula is as follows:

[0039]

[0040] In the formula, d is the measurement distance in meters; Δϕ is the phase difference between the emitted and reflected laser light in rads; f is the laser modulation frequency in Hz; and c is the speed of light.

[0041] Coordinate transformation: Convert the ranging value d and the horizontal angle θ and vertical angle ϕ recorded by the angle encoder into Cartesian coordinates; the three-dimensional coordinate transformation formula is shown below:

[0042]

[0043] In the formula: θ is the rotation angle about the Z-axis (0°~360°), °; ϕ is the pitch angle about the Y-axis (-90°~90°), °; x is the rectangular coordinate of the x-axis, in meters; y is the rectangular coordinate of the y-axis, in meters; z is the rectangular coordinate of the z-axis, in meters; the other parameters are the same as above.

[0044] Data registration: Data registration uses the ICP algorithm, and the calculation formula is shown below:

[0045]

[0046] In the above formula, Pi is the coordinate of the original point unit (3×1 vector); R is the unit rotation matrix (3×3); T is the unit translation vector (3×1); Qi is the point corresponding to the objective function; and N is the number of data points.

[0047] The 3D laser scanning system transforms the raw measurement data into a usable 3D model, which is then further processed by software such as CloudCompare, MeshLab, and 3Dmine to finally obtain a CAD 3D model of the wear location. Based on the obtained CAD 3D model, the shape, one-dimensional thickness H, two-dimensional area S, and three-dimensional volume V of the wear area in the pipe can be obtained.

[0048] S2. Based on the three-dimensional model obtained from the laser scan, calculate the thickness H, area S, and volume V of the wear point to determine the required repair solid-liquid volume. and the volume of wear-resistant paint ;

[0049] The volume ratio formula for repair solids and wear-resistant paint is shown below:

[0050]

[0051] In the above formula, V represents the total three-dimensional volume of the wear point, with units of... ; The volume of the damage outside the outer wall of the pipe at the wear point, in units of... ; This refers to the volume between the inner and outer walls of the pipe at the wear point, expressed in units of... ; The proportion of the repair solid-liquid mixture in the total volume of the wear area is generally taken as 0.6-0.9. This represents the percentage of the wear-resistant paint in the total volume of the worn area, typically taken as 0.1-0.4.

[0052] According to calculation and The actual quantity should be increased by a certain safety factor based on the calculated value to account for material and construction errors; therefore, the actual amount of solid-liquid repaired in the can should be increased. and wear-resistant paint The calculation formula is as follows:

[0053]

[0054]

[0055] In the above formula, This refers to the actual volume of the solid-liquid mixture used for repair in the can; The actual volume of the wear-resistant paint in the container; k is the safety factor for the repair solid-liquid mixture and the wear-resistant paint, taken as 1.1~1.2;

[0056] The repair fluid must possess the characteristics of expansion, corrosion resistance, high compressive strength, and strong adhesion. Specifically, polyurethane foam grouting, epoxy resin repair adhesive, or potassium silicate-nano carbon fiber adhesive can be used. The wear-resistant paint must possess wear resistance, corrosion resistance, and strong adhesion. Specifically, epoxy resin-based wear-resistant paint, inorganic silicate ceramic paint, and polyurethane-ceramic composite paint can be used.

[0057] S3, Based on the calculated repair solid-liquid V f and wear-resistant paint V jThe small 3D laser scanner on the pipe climbing robot is disassembled and replaced with repair fluid and wear-resistant paint; the pipe climbing robot with a miniature camera carries the required repair fluid and wear-resistant paint to the wear point of the vertical pipe again.

[0058] S4. After reaching the wear point of the vertical pipe, first spray the repair liquid. After the repair liquid solidifies, spray the wear-resistant paint until it is flush with the inner wall of the pipe.

[0059] S5, the pipe climbing robot climbs out of the pipe.

[0060] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for repairing wear in filled borehole pipes, characterized in that: The application includes a pipe-climbing robot, comprising the following steps: S1. A pipe-climbing robot equipped with a miniature camera brings a small 3D laser scanner to the wear point of a vertical pipe to perform a remote 3D scan of the wear point of the vertical pipe section. S2. Based on the three-dimensional model obtained from the laser scan, calculate the thickness H, area S, and volume V of the wear point to determine the required repair solid-liquid volume. and the volume of wear-resistant paint ; S3. The pipe climbing robot with a miniature camera carries the required repair solids and wear-resistant paint to the wear point of the vertical pipe again. S4. After reaching the wear point of the vertical pipe, first spray the repair liquid. After the repair liquid solidifies, spray the wear-resistant paint until it is flush with the inner wall of the pipe. S5, the pipe climbing robot climbs out of the pipe.

2. The method for repairing worn borehole pipes according to claim 1, characterized in that: The three-dimensional laser scanning in step S1 includes distance measurement, coordinate transformation, and data registration. Distance measurement: The phase difference method is used to calculate the distance measurement d of the miniature three-dimensional laser scan. The calculation formula is as follows: In the formula, d is the measurement distance in meters; Δϕ is the phase difference between the emitted and reflected laser light in rads; f is the laser modulation frequency in Hz; and c is the speed of light. Coordinate transformation: Convert the ranging value d and the horizontal angle θ and vertical angle ϕ recorded by the angle encoder into Cartesian coordinates; the three-dimensional coordinate transformation formula is shown below: In the formula: θ is the rotation angle about the Z-axis; ϕ is the pitch angle about the Y-axis; x is the rectangular coordinate of the x-axis, in meters; y is the rectangular coordinate of the y-axis, in meters; z is the rectangular coordinate of the z-axis, in meters. Data registration: Data registration uses the ICP algorithm, and the calculation formula is shown below: In the above formula, P i R represents the coordinates of the original point cell; R is the unit rotation matrix. T is the unit translation vector; Q i The points represent the objective function; N represents the number of data points. The 3D laser scanning system transforms the raw measurement data into a usable 3D model. Through further processing by software, a CAD 3D model of the wear location is finally obtained. Based on the obtained CAD 3D model, the shape, one-dimensional thickness H, two-dimensional area S, and three-dimensional volume V of the wear location in the pipeline can be obtained.

3. The method for repairing worn borehole pipes according to claim 2, characterized in that: The volume ratio formula for the repair solid and liquid and the wear-resistant paint in step S2 is as follows: In the above formula, V represents the total three-dimensional volume of the wear point, with units of... ; The volume of the damage outside the outer wall of the pipe at the wear point, in units of... ; This refers to the volume between the inner and outer walls of the pipe at the wear point, expressed in units of... ; The proportion of the repair solid-liquid mixture in the total volume of the wear area is generally taken as 0.6-0.

9. This represents the percentage of the wear-resistant paint in the total volume of the worn area, typically ranging from 0.1% to 0.4%.

4. The method for repairing worn pipes through filling boreholes according to claim 3, characterized in that: According to calculation and The actual quantity should be increased by a certain safety factor based on the calculated value to account for material and construction errors; therefore, the actual amount of solid-liquid repaired in the can should be increased. and wear-resistant paint The calculation formula is as follows: In the above formula, This refers to the actual volume of the solid-liquid mixture used for repair in the can; is the actual volume of the wear-resistant paint in the can; k is the safety factor for the repair solid and liquid and the wear-resistant paint, taken as 1.1~1.

2.

5. The method for repairing worn pipes through filling boreholes according to claim 4, characterized in that: The repair liquid must have the characteristics of expansion, corrosion resistance, high compressive strength and strong adhesion. Specifically, polyurethane foam grouting, epoxy resin repair adhesive or potassium silicate-nano carbon fiber adhesive can be used. The wear-resistant paint must have wear resistance, corrosion resistance and strong adhesion. Specifically, epoxy resin-based wear-resistant paint, inorganic silicate ceramic paint and polyurethane-ceramic composite paint can be used.

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