Municipal trenchless repair of pipelines detection equipment and construction method

Abstract

The application discloses municipal trenchless pipeline repairing detection equipment and a construction method, relates to the technical field of pipeline detection, and comprises a driving unit, a diagnosis and treatment unit and a control unit. The driving unit comprises a driving base and a driving structure connected to the driving base. The diagnosis and treatment unit comprises two passive wheels connected to the driving base, a detection structure arranged on one of the passive wheels and a repairing structure arranged on the other passive wheel. The detection structure comprises a detection integrated body, a first telescopic assembly arranged between the detection integrated body and the corresponding passive wheel, and a coupling assembly arranged on the outer side of the detection integrated body. The coupling assembly comprises a flexible bag and an injector connected to the flexible bag. The repairing structure comprises a repairing cylinder, a repairing agent arranged in the repairing cylinder, an injection part for pushing the repairing agent out of the repairing cylinder, and a second telescopic assembly arranged between the repairing cylinder and the corresponding passive wheel. The control unit is used for driving the two passive wheels to rotate respectively. The application reduces the dangerous coefficient of operation.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to municipal trenchless repair pipeline inspection equipment and construction methods. Background Technology

[0002] Currently, the detection of structural defects in urban underground pipelines mainly relies on traditional methods such as closed-circuit television (CCTV) robots, sonar detection, or portable ground-penetrating radar (GPR). CCTV inspection can only visually present apparent defects on the inner wall of the pipeline, such as cracks, blockages, or deformations. However, it is completely unable to identify hidden defects such as cavities and hollow areas on the outside of the pipe wall caused by soil erosion, as well as stress concentration areas inside the pipe. Although ground-penetrating radar can detect looseness and cavities in the soil around the pipe from the ground, its detection accuracy is easily affected by factors such as road traffic, changes in burial depth, and interference from underground pipelines, making it difficult to achieve precise location and quantitative assessment of defects.

[0003] To overcome the limitations of single-sensor inspection technologies, pipeline inspection robots integrating multiple sensors have emerged in recent years. These robots are typically equipped with GPR (Gas Probe) and ultrasonic transducers to simultaneously collect data from both inside and outside the pipe wall. Through data fusion, they can initially identify voids and assess stress. However, existing equipment is still limited to the single function of "detecting defects." For high-risk areas identified during inspection, it can only record the location coordinates. Before manual intervention and repair, these high-risk areas may further deteriorate, increasing the risk of the operation. Summary of the Invention

[0004] The purpose of this invention is to provide municipal trenchless repair pipeline inspection equipment and construction method to solve the problems mentioned in the background art.

[0005] In a first aspect, the present invention provides the following technical solution: a municipal trenchless repair pipeline inspection device, comprising:

[0006] A drive unit includes a drive base and a drive structure that is drively connected to the drive base, the drive structure being used to drive the drive base to move along a first direction;

[0007] The diagnostic and treatment unit includes two driven wheels rotatably connected to the drive seat, a detection structure disposed on one of the driven wheels, and a repair structure disposed on the other driven wheel. The detection structure includes a probe assembly, a first telescopic component disposed between the probe assembly and the corresponding driven wheel, and a coupling component disposed outside the probe assembly. The first telescopic component extends and retracts radially along the drive seat. The coupling component includes a flexible pouch and an injector communicating with the flexible pouch. The repair structure includes a repair cylinder, a repair agent disposed within the repair cylinder, an injection unit for dispensing the repair agent from the repair cylinder, and a second telescopic component disposed between the repair cylinder and the corresponding driven wheel. The second telescopic component extends and retracts radially along the drive seat.

[0008] The control unit is connected to the two passive wheels and is used to drive the two passive wheels to rotate about the first direction as the rotation axis.

[0009] In conjunction with the first aspect, in one possible implementation, the repair cylinder has a combined cavity, a hopper A, a hopper B, a discharge channel A connecting the hopper A and the combined cavity, and a discharge channel B connecting the hopper B and the combined cavity. The mixture of the contents of the hopper A and the hopper B forms the repair agent.

[0010] The repair structure also includes:

[0011] Valve A, located in the discharge channel A, is used to draw the contents of the hopper A into the integrated cavity; and

[0012] Valve B, located in the discharge channel B, is used to extract the contents of the hopper B into the integrated cavity.

[0013] In conjunction with the first aspect, in one possible implementation, the repair structure further includes:

[0014] The injection assembly is slidably disposed on the repair cylinder;

[0015] An ejector, drively connected to the injection assembly, and used to drive the injection assembly to move axially along the repair cylinder; and

[0016] A rotating component is disposed between the injection assembly and the ejector component. The rotating component is throttle-connected to the injection assembly and is used to drive the injection assembly to rotate about the axis of the repair cylinder.

[0017] In conjunction with the first aspect, in one possible implementation, the injection assembly includes a base drivenly connected to the rotating member, a drill bit slidably connected to the base, and an elastic member disposed between the base and the drill bit, the drill bit forming the injection portion, and the elastic member having a preload force that causes the drill bit to move toward the base.

[0018] The drill bit has a sliding cavity for the base to insert into, and the drill bit also has multiple air holes communicating with the sliding cavity. The base has a pneumatic component communicating with the sliding cavity. The air holes have a first open state and a second closed state.

[0019] The drill bit is connected to a switching unit for switching the pore between the first state and the second state.

[0020] In conjunction with the first aspect, in one possible implementation, the switching unit includes:

[0021] A switching cover, fitted over the tip of the drill bit, has through holes corresponding one-to-one with the air holes, and is rotatably connected to the drill bit; and

[0022] A rotating structure is connected to the switching cover and is used to drive the switching cover to rotate about the axis of the repair cylinder.

[0023] In conjunction with the first aspect, in one possible implementation, the repair cylinder is provided with two sealing plates and an opening and closing element connected to the sealing plates at the port of the integrated cavity. The sealing plates are rotatably connected to the repair cylinder, and the opening and closing element is used to drive the sealing plates to rotate.

[0024] In conjunction with the first aspect, in one possible implementation, the repair structure further includes a marking assembly disposed on the corresponding passive wheel and a third telescopic assembly disposed between the marking assembly and the corresponding passive wheel, the marking assembly being used to spray fluorescent markings onto the pipe wall, and the third telescopic assembly being radially telescopic along the drive seat.

[0025] In conjunction with the first aspect, in one possible implementation, the inner ring of the passive wheel is provided with teeth;

[0026] The control unit includes:

[0027] A shift sleeve is slidably connected to the drive seat along the first direction, and the shift sleeve has a locking position for the passive wheel to rotate and connect.

[0028] A shifting component is connected to the shifting sleeve via a transmission mechanism, and the shifting component is used to drive the shifting sleeve to move;

[0029] A control wheel, rotatably connected to the drive seat, the control wheel rotating about the first direction, and the control wheel having teeth that mesh with the driven wheel; and

[0030] A control component is connected to the control wheel and is used to drive the control wheel to rotate.

[0031] In conjunction with the first aspect, in one possible implementation, the driving structure is provided in two sets, and the two sets of driving structures are respectively disposed at both ends of the driving seat along the first direction;

[0032] The drive structure includes multiple drive compartments arranged around the drive seat and a variable diameter assembly disposed between the drive seat and the drive compartments, the variable diameter assembly being used to adjust the distance between the drive compartments and the drive seat.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: through the collaborative design of the drive unit, the diagnosis unit and the control unit, a pipeline maintenance operation platform integrating mobile walking, multi-directional detection and immediate repair is constructed. This integrated design not only avoids the further deterioration of the disease while waiting for repair and reduces the safety risks of subsequent manual well operations, but also significantly improves the overall efficiency and repair quality of pipeline maintenance, providing a reliable guarantee for the safe operation of urban underground pipe networks.

[0034] Secondly, the present invention also provides a method for detecting and repairing municipal trenchless pipelines, the steps of which are as follows: S10, using a high-pressure water gun to clean the detection path inside the pipeline and remove sediments, scum and other debris attached to the pipe wall;

[0035] S20. Place the municipal trenchless repair pipeline inspection equipment through the pipeline wellhead or the pre-set working port, and use the traction equipment to adjust its posture so that it can enter smoothly along the central axis of the pipeline. According to the pipeline burial depth and the height of the wellhead, use an adjustable length traction cable to ensure that the municipal trenchless repair pipeline inspection equipment is accurately lowered to the detection starting point.

[0036] After the S30 municipal trenchless repair pipeline inspection equipment arrives at the starting point, the injector starts to inject coupling agent into the flexible bag. The pressure inside the flexible bag is adjusted by a micro pump so that the surrounding detection integration (GPR antenna and ultrasonic transducer array) adaptively fits the inner surface of the pipe wall. The coupling pressure data is monitored in real time by the ground control console to ensure that the detection integration and the pipe wall maintain constant and tight contact.

[0037] S40. After the coupling state meets the standard, perform multi-dimensional calibration operations: collect the reference attitude and position data of the pipeline starting point through the IMU and visual SLAM system; start the zero-point calibration of the odometer and circumferential orientation encoder; simultaneously test the signal transmission stability of the GPR and ultrasonic system, complete the data acquisition timing synchronization calibration, and ensure that the detection data and position information are accurately bound.

[0038] S50, set the driving structure speed (constant low speed to ensure data acquisition density), start the detection program; the detection cabin rotates continuously at a preset speed of 360°, the GPR system emits electromagnetic waves in a cycle, the ultrasonic system simultaneously performs signal acquisition in active / passive mode, and all raw data are transmitted to the vehicle edge computing unit in real time.

[0039] The S60 edge computing unit extracts amplitude and filters noise from the acquired raw GPR signal to generate a GPRB-Scan image; at the same time, it calculates the propagation speed and attenuation coefficient of the ultrasonic wave to generate an ultrasonic velocity / attenuation spectrum. Both types of data are transmitted back to the ground workstation in real time for preliminary display.

[0040] S70. After the detection operation is completed, the ground workstation starts the multi-source data fusion algorithm to align the GPR image and ultrasonic data at the pixel level. Based on the GPR void detection results, ultrasonic stress anomaly data is superimposed. Through three-dimensional reconstruction technology, a spatial model and stress distribution cloud map of the pipeline periphery are generated to achieve mutual verification and completion of the defect information.

[0041] S80. The system automatically identifies hollow areas (≥100mm outer diameter) and stress concentration areas, marks "high-risk areas" (hollow areas + high stress) and "potential risk areas", and generates a complete deliverable package including a pipe cross-section "health cloud map", longitudinal unfolded map, three-dimensional hollow model, stress concentration distribution cloud map and comprehensive risk classification report. At the same time, it stores the original data and processing files for subsequent traceability and review.

[0042] S90. After the results are confirmed, the detection system is shut down, the pressure of the flexible bag is released, and the municipal trenchless repair pipeline detection equipment is smoothly moved out of the pipeline using traction equipment to complete the detection operation. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the municipal trenchless repair pipeline inspection equipment of the present invention;

[0044] Figure 2 This is a cross-sectional view illustrating the internal structure of the repair cylinder in this invention;

[0045] Figure 3 This is a schematic diagram illustrating the rotating structure of the present invention;

[0046] Figure 4 This is a cross-sectional view illustrating the control unit of the present invention.

[0047] In the diagram: 10, drive unit; 101, drive base; 102, drive compartment; 103, variable diameter assembly;

[0048] 20. Diagnostic and treatment unit; 201. Passive wheel; 202. Detection integration; 203. First telescopic assembly; 204. Flexible bag; 205. Repair cylinder; 2051. Integrated cavity; 2052. Hopper A; 2053. Hopper B; 2054. Discharge channel A; 2055. Discharge channel B; 2056. Sealing plate; 2057. Opening and closing element; 206. Second telescopic assembly; 207. Push-out element; 208. Rotating element; 209. Base; 2091. Pneumatic element; 210. Drill bit; 2101. Sliding cavity; 2102. Air hole; 211. Elastic element; 212. Marking assembly; 213. Third telescopic assembly;

[0049] 30. Control unit; 301. Displacement sleeve; 302. Displacement component; 303. Control wheel; 304. Control component;

[0050] 40. Switching unit; 401. Switching cover; 4011. Through hole; 402. Rotating structure. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] like Figures 1-4As shown, the present invention provides a technical solution: a municipal trenchless repair pipeline inspection device, including a drive unit 10, a diagnostic unit 20, and a control unit 30; the drive unit 10 includes a drive seat 101 and a drive structure pulsatingly connected to the drive seat 101, the drive structure being used to drive the drive seat 101 to move along a first direction; the diagnostic unit 20 includes two driven wheels 201 rotatably connected to the drive seat 101, a detection structure disposed on one of the driven wheels 201, and a repair structure disposed on the other driven wheel 201, the detection structure including a detection assembly 202, a first telescopic component 203 disposed between the detection assembly 202 and the corresponding driven wheel 201, and a repair structure disposed on the detection assembly 202. The coupling assembly is located outside the drive seat 101. The first telescopic assembly 203 extends and retracts radially along the drive seat 101. The coupling assembly includes a flexible bag 204 and an injector connected to the flexible bag 204. The injector is a pressure pump. The coupling agent can be water. The repair structure includes a repair cylinder 205, a repair agent disposed in the repair cylinder 205, an injection part for pushing the repair agent out of the repair cylinder 205, and a second telescopic assembly 206 disposed between the repair cylinder 205 and the corresponding passive wheel 201. The second telescopic assembly 206 extends and retracts radially along the drive seat 101. The control unit 30 is connected to the two passive wheels 201 for driving the two passive wheels 201 to rotate about a first direction as the rotation axis.

[0053] It should be noted that the first telescopic component 203 and the second telescopic component 206 are both existing telescopic structures, which are prior art and will not be described in detail in this application; the detection integration 202 includes a GPR antenna and an ultrasonic transducer array.

[0054] The municipal trenchless repair pipeline inspection equipment provided in this application first sends the entire device into the pipeline to be inspected, and drives the drive seat 101 to move along the first direction through the drive structure, so that the equipment can traverse the pipe section to be inspected.

[0055] Before the equipment moves, the injector injects coupling agent (water) into the flexible bag 204. Through the expansion of the first telescopic component 203 and the flexible bag 204, the detection structure is made to fit against the inner wall of the pipe. After coupling is completed, the control unit 30 starts to work. The control unit 30 drives the passive wheel 201 with the detection structure to rotate, so that the detection integration 202360 rotates to detect, thereby identifying cavities, voids, cracks or loose areas of the surrounding soil inside the pipe wall.

[0056] Once the detection structure identifies a risky defect, the control unit 30 drives another passive wheel 201 to rotate, and then the second telescopic assembly 206 extends, bringing the repair cylinder 205 close to the defect location. The repair cylinder 205 is pre-filled with repair agent, and the injection unit pushes the repair agent out of the cylinder under mechanical thrust, filling the crack or hole and completing the immediate repair of the defect.

[0057] Compared with existing technologies, a pipeline maintenance operation platform integrating mobile walking, multi-directional detection and immediate repair is constructed through the collaborative design of drive unit 10, diagnosis unit 20 and control unit 30. This integrated design not only avoids the further deterioration of defects while waiting for repair and reduces the safety risks of subsequent manual well operations, but also significantly improves the overall efficiency and repair quality of pipeline maintenance, providing a reliable guarantee for the safe operation of urban underground pipe networks.

[0058] In some embodiments, see Figure 2 The repair cylinder 205 has a combined cavity 2051, a hopper A2052, a hopper B2053, a discharge channel A2054 connecting the hopper A2052 and the combined cavity 2051, and a discharge channel B2055 connecting the hopper B2053 and the combined cavity 2051. The mixture of the contents of the hoppers A2052 and B2053 forms the repair agent.

[0059] The repair structure also includes valve A and valve B. Valve A is located in the discharge channel A2054 and is used to extract the contents of the hopper A2052 into the integrated cavity 2051. Valve B is located in the discharge channel B2055 and is used to extract the contents of the hopper B2053 into the integrated cavity 2051.

[0060] Optionally, the contents of silo A2052 are epoxy resin main agent, and the contents of silo B2053 are curing agent.

[0061] Optionally, the contents of silo A2052 are acrylate / acrylamide monomer solutions, and the contents of silo B2053 are initiators / accelerators (such as ammonium persulfate, triethanolamine, etc.).

[0062] When the equipment identifies a defect in the inner wall of the pipe that needs to be repaired through the detection structure, the two independent hoppers inside the repair cylinder 205—hopper A2052 and hopper B2053—store two different components of the repair agent respectively.

[0063] After the injection command is issued, valve A is activated first, drawing the contents of hopper A2052 into integrated chamber 2051 through discharge channel A2054; at the same time or according to the preset sequence, valve B is also activated, drawing the contents of hopper B2053 into the same integrated chamber 2051 through discharge channel B2055.

[0064] The two components meet and begin to mix in the integration chamber 2051, forming a final repair agent with flowability and curing ability. Throughout the mixing process, the opening degree and start / stop time of valves A and B can be controlled as needed to ensure that the ratio of the two components meets the process requirements. After mixing, the repair agent is temporarily stored in the integration chamber 2051, awaiting subsequent injection assembly to push it out and fill the defect area.

[0065] This ready-to-use method ensures that the repair agent is always injected into the defect in optimal condition, thus achieving high-quality repair of pipeline defects.

[0066] In some embodiments, see Figure 2 The repair structure also includes an injection assembly, an ejector 207, and a rotating component 208. The injection assembly is slidably mounted on the repair cylinder 205. The ejector 207 is driven to the injection assembly and is used to drive the injection assembly to move along the axial direction of the repair cylinder 205. The ejector 207 is a telescopic cylinder, an electric cylinder, or a hydraulic cylinder. The rotating component 208 is located between the injection assembly and the ejector 207. The rotating component 208 is driven to the injection assembly and is used to drive the injection assembly to rotate about the axial direction of the repair cylinder 205. The rotating component 208 is a servo motor.

[0067] It should be noted that a vision camera is provided at the end of the repair cylinder 205 for observing the area to be repaired.

[0068] If there are cracks in the pipe wall of the area to be repaired, the ejector 207 will be activated to eject and inject the repair agent into the crack through the injection component, thereby completing the repair.

[0069] If there are no cracks in the pipe wall of the area to be repaired, the repair agent needs to be injected into the outside of the pipe wall. At this time, the ejector 207 first ejects the injection component, and then the rotating component 208 starts to drive the injection component to rotate, thereby drilling a hole in the pipe wall. After drilling is completed, the ejector 207 retracts the injection component into the repair cylinder 205, and then the repair agent is injected into the repair cylinder 205. Finally, the ejector 207 starts again to inject the repair agent into the outside of the pipe wall through the drill hole, while sealing the drill hole.

[0070] This composite working mode of "drilling first and then injecting, drilling and injection separation" allows the same injection component to treat surface cracks and penetrate the complete pipe wall for deep grouting without changing tools or carrying additional drilling modules, which greatly expands the equipment's operating range and on-site adaptability.

[0071] In some embodiments, see Figure 2 and Figure 3 The injection assembly includes a base 209 that is pulsatorically connected to the rotating member 208, a drill bit 210 that is slidably connected to the base 209, and an elastic member 211 disposed between the base 209 and the drill bit 210. The drill bit 210 forms the injection part, and the elastic member 211 has a preload force that causes the drill bit 210 to move toward the base 209. The elastic member 211 is a spring.

[0072] The drill bit 210 has a sliding cavity 2101 for the base 209 to be inserted into. The drill bit 210 also has a plurality of air holes 2102 communicating with the sliding cavity 2101. The base 209 has a pneumatic component 2091 communicating with the sliding cavity 2101. The pneumatic component 2091 is an air pump. The air holes 2102 have a first open state and a second closed state.

[0073] The drill bit 210 is connected to a switching unit 40 for switching the vent 2102 between a first state and a second state.

[0074] Specifically, the switching unit 40 includes a switching cover 401 and a rotating structure 402. The switching cover 401 is fitted over the tip of the drill bit 210. The switching cover 401 has through holes 4011 that correspond one-to-one with the air holes 2102. The switching cover 401 is also rotatably connected to the drill bit 210. The rotating structure 402 is connected to the switching cover 401 and is used to drive the switching cover 401 to rotate about the axis of the repair cylinder 205. The rotating structure 402 includes a servo motor and a gear set, which are prior art and will not be described in detail in this application.

[0075] During drilling, the rotating structure 402 drives the switching cover 401 to rotate, so that the through hole 4011 and the air hole 2102 are completely aligned. The pneumatic component 2091 blows air into the air hole 2102 through the sliding cavity 2101 to clean the injection point. During stirring, the rotating structure 402 drives the switching cover 401 to rotate, so that the through hole 4011 and the air hole 2102 are completely misaligned. At this time, the air hole 2102 is closed to prevent foreign matter from entering. At the same time, during stirring, the air hole 2102 is in the second state. At this time, the pneumatic component 2091 is in the cycle of blowing and sucking air, so that the drill bit 210 will move up and down, further improving the stirring effect.

[0076] Meanwhile, during grouting operations, the vent 2102 can also be in an open state, and the pneumatic system will assist in pushing out the repair agent by injecting gas, thereby increasing the flow path of the repair agent.

[0077] In some embodiments, see Figure 2 The repair cylinder 205 has two sealing plates 2056 and an opening and closing element 2057 connected to the sealing plates 2056 at the port of the integrated cavity 2051. The sealing plates 2056 are rotatably connected to the repair cylinder 205, and the opening and closing element 2057 is used to drive the sealing plates 2056 to rotate.

[0078] During the mixing operation, the opening and closing component 2057 drives the two sealing plates 2056 to the closed position. The sealing plates 2056 cover the port of the integrated cavity 2051 to form a physical seal and prevent the repair agent from overflowing prematurely. After the mixing is completed, the sealing plates 2056 are rotated by the opening and closing component 2057 to open the integrated cavity 2051.

[0079] In some embodiments, see Figure 1 The repair structure also includes a marking component 212 disposed on the corresponding passive wheel 201 and a third telescopic component 213 disposed between the marking component 212 and the corresponding passive wheel 201. The marking component 212 is used to spray fluorescent markings onto the pipe wall, and the third telescopic component 213 extends and retracts radially along the drive seat 101.

[0080] It should be noted that the marking component 212 is a paint gun, and both the marking component 212 and the third telescopic component 213 are existing technologies, which will not be described in detail in this application.

[0081] The marking component 212 sprays fluorescent markings onto the pipe wall, enabling previously difficult-to-identify defect locations or repair areas to be clearly marked in dark, humid, or visually monotonous pipe interior environments, providing intuitive visual guidance for subsequent manual review, quality acceptance, or long-term monitoring.

[0082] In some embodiments, see Figure 1 and Figure 4 The passive wheel 201 has teeth on its inner ring; the control unit 30 includes a shift sleeve 301, a shift member 302, a control wheel 303, and a control member 304; the shift sleeve 301 is slidably connected to the drive seat 101 along a first direction, and the shift sleeve 301 has a locking position for the passive wheel 201 to rotate; the shift member 302 is throttle connected to the shift sleeve 301, and the shift member 302 is used to drive the shift sleeve 301 to move, and the shift member 302 is a linear module or a linear guide rail; the control wheel 303 is rotatably connected to the drive seat 101, and the control wheel 303 has a rotation axis in the first direction, and the control wheel 303 has teeth that mesh with the passive wheel 201; the control member 304 is throttle connected to the control wheel 303 and is used to drive the control wheel 303 to rotate, and the control member 304 is a servo motor.

[0083] When the equipment needs to adjust a passive wheel 201 to align with a target position on the pipe wall, the shifting component 302 is first activated. The shifting component 302 drives the shifting sleeve 301 to slide along the first direction until the corresponding passive wheel 201 engages with the control wheel 303. After the control component 304 is activated, it drives the control wheel 303 to rotate, which in turn drives the corresponding passive wheel 201 to rotate. If the detection structure needs to be activated at this time, the control component 304 will continue to operate, causing the detection integration 202 to rotate continuously. If the repair structure needs to be activated at this time, the control component 304 will align the repair structure with the area to be repaired and then stop operating.

[0084] The specific transmission structure of the control unit 30 was designed in detail. By introducing the shift sleeve 301, shift component 302, control wheel 303 and control component 304, and cooperating with the teeth set in the inner ring of the passive wheel 201, a passive wheel 201 control system with clutch switching function and dual-mode drive capability was constructed.

[0085] In some embodiments, see Figure 1 The drive structure is provided in two sets, and the two sets of drive structures are respectively located at both ends of the drive seat 101 along the first direction.

[0086] The drive structure includes multiple drive compartments 102 arranged around the drive seat 101 and a variable diameter assembly 103 disposed between the drive seat 101 and the drive compartments 102. The variable diameter assembly 103 is used to adjust the distance between the drive compartments 102 and the drive seat 101.

[0087] It should be noted that the variable diameter assembly 103 extends and retracts radially along the drive seat 101, which is prior art and will not be described in detail here.

[0088] The two sets of drive structures are located at the front and rear ends of the drive base 101, respectively, and work independently yet in coordination. The variable diameter component 103 in each set of drive structures first makes an initial adjustment according to the actual inner diameter of the current pipe, so that the drive wheel (such as a rubber wheel or track) fits against the pipe wall with an appropriate preload.

[0089] During the movement of the equipment along the first direction (pipeline axis), the diameter changing component 103 works continuously to monitor the pipe diameter change or the contact pressure between the drive wheel and the pipe wall in real time, and dynamically adjusts the radial position of the drive chamber 102 according to the feedback signal.

[0090] When the front drive structure encounters a narrowing section of the pipe, its diameter-changing component 103 automatically retracts, reducing the radial extension of the drive wheel and allowing the drive wheel to pass smoothly through the diameter-changing area. At the same time, the rear drive structure makes adaptive adjustments based on the pipe diameter after the front end passes through, ensuring the overall walking posture is stable.

[0091] When the equipment passes through pipe joints, misalignments, or deformed sections, the front and rear drive structures can independently adapt to the local undulations of the pipe wall. One set may be temporarily compressed, while the other set remains supported, together maintaining the stable posture of the vehicle body.

[0092] Based on the same inventive concept, this application also discloses a method for detecting and repairing municipal trenchless pipelines, with the following steps: S10, using a high-pressure water gun to clean the detection path inside the pipeline and remove sediments, scum and other debris attached to the pipe wall;

[0093] S20. Place the municipal trenchless repair pipeline inspection equipment through the pipeline wellhead or the pre-set working port, and use the traction equipment to adjust its posture so that it can enter smoothly along the central axis of the pipeline. According to the pipeline burial depth and the height of the wellhead, use an adjustable length traction cable to ensure that the municipal trenchless repair pipeline inspection equipment is accurately lowered to the detection starting point.

[0094] After the S30 municipal trenchless repair pipeline inspection equipment arrives at the starting point, the injector starts to inject coupling agent into the flexible bag 204. The pressure inside the flexible bag 204 is adjusted by a micro pump so that the surrounding detection integration 202 (GPR antenna and ultrasonic transducer array) adaptively fits the inner surface of the pipe wall. The coupling pressure data is monitored in real time by the ground control console to ensure that the detection integration 202 and the pipe wall maintain constant and tight contact.

[0095] S40. After the coupling state meets the standard, perform multi-dimensional calibration operations: collect the reference attitude and position data of the pipeline starting point through the IMU and visual SLAM system; start the zero-point calibration of the odometer and circumferential orientation encoder; simultaneously test the signal transmission stability of the GPR and ultrasonic system, complete the data acquisition timing synchronization calibration, and ensure that the detection data and position information are accurately bound.

[0096] S50, set the driving structure speed (constant low speed to ensure data acquisition density), start the detection program; the detection cabin rotates continuously at a preset speed of 360°, the GPR system emits electromagnetic waves in a cycle, the ultrasonic system simultaneously performs signal acquisition in active / passive mode, and all raw data are transmitted to the vehicle edge computing unit in real time.

[0097] The S60 edge computing unit extracts amplitude and filters noise from the acquired raw GPR signal to generate a GPRB-Scan image; at the same time, it calculates the propagation speed and attenuation coefficient of the ultrasonic wave to generate an ultrasonic velocity / attenuation spectrum. Both types of data are transmitted back to the ground workstation in real time for preliminary display.

[0098] S70. After the detection operation is completed, the ground workstation starts the multi-source data fusion algorithm to align the GPR image and ultrasonic data at the pixel level. Based on the GPR void detection results, ultrasonic stress anomaly data is superimposed. Through three-dimensional reconstruction technology, a spatial model and stress distribution cloud map of the pipeline periphery are generated to achieve mutual verification and completion of the defect information.

[0099] S80. The system automatically identifies hollow areas (≥100mm outer diameter) and stress concentration areas, marks "high-risk areas" (hollow areas + high stress) and "potential risk areas", and generates a complete deliverable package including a pipe cross-section "health cloud map", longitudinal unfolded map, three-dimensional hollow model, stress concentration distribution cloud map and comprehensive risk classification report. At the same time, it stores the original data and processing files for subsequent traceability and review.

[0100] S90. After the results are confirmed, the detection system is shut down, the pressure of the flexible bag 204 is released, and the municipal trenchless repair pipeline detection equipment is smoothly moved out of the pipeline using traction equipment to complete the detection operation.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. A municipal trenchless pipeline repair and inspection device, characterized in that, include: A drive unit includes a drive base and a drive structure that is drively connected to the drive base, the drive structure being used to drive the drive base to move along a first direction; The diagnostic and treatment unit includes two passive wheels rotatably connected to the drive seat, a detection structure disposed on one of the passive wheels, and a repair structure disposed on the other passive wheel. The detection structure includes a detection assembly, a first telescopic component disposed between the detection assembly and the corresponding passive wheel, and a coupling component disposed outside the detection assembly. The first telescopic component extends and retracts radially along the drive seat. The coupling component includes a flexible pouch and an injector communicating with the flexible pouch. The repair structure includes a repair cylinder, a repair agent disposed within the repair cylinder, an injection part for ejecting the repair agent from the repair cylinder, and a second telescopic component disposed between the repair cylinder and the corresponding passive wheel. The second telescopic component extends and retracts radially along the drive seat. as well as The control unit is connected to the two passive wheels and is used to drive the two passive wheels to rotate about the first direction as the rotation axis.

2. The municipal trenchless pipeline repair and inspection equipment according to claim 1, characterized in that, The repair cylinder has a combined cavity, a material hopper A, a material hopper B, a discharge channel A connecting the material hopper A and the combined cavity, and a discharge channel B connecting the material hopper B and the combined cavity. The mixture of the contents of the material hopper A and the material hopper B forms the repair agent. The repair structure also includes: Valve A, located in the discharge channel A, is used to extract the contents of the hopper A into the integrated cavity; as well as Valve B, located in the discharge channel B, is used to extract the contents of the hopper B into the integrated cavity.

3. The municipal trenchless repair pipeline inspection equipment according to claim 2, characterized in that, The repair structure also includes: The injection assembly is slidably disposed on the repair cylinder; An ejector, drively connected to the injection assembly, and used to drive the injection assembly to move axially along the repair cylinder; and A rotating component is disposed between the injection assembly and the ejector component. The rotating component is throttle-connected to the injection assembly and is used to drive the injection assembly to rotate about the axis of the repair cylinder.

4. The municipal trenchless repair pipeline inspection equipment according to claim 3, characterized in that, The injection assembly includes a base that is pulsatorically connected to the rotating component, a drill bit that is slidably connected to the base, and an elastic member disposed between the base and the drill bit. The drill bit forms the injection portion, and the elastic member has a preload force that causes the drill bit to move toward the base. The drill bit has a sliding cavity for the base to insert into, and the drill bit also has multiple air holes communicating with the sliding cavity. The base has a pneumatic component communicating with the sliding cavity. The air holes have a first open state and a second closed state. The drill bit is connected to a switching unit for switching the pore between the first state and the second state.

5. The municipal trenchless repair pipeline inspection equipment according to claim 4, characterized in that, The switching unit includes: A switching cover, fitted over the tip of the drill bit, has through holes corresponding one-to-one with the air holes, and is rotatably connected to the drill bit; and A rotating structure is connected to the switching cover and is used to drive the switching cover to rotate about the axis of the repair cylinder.

6. The municipal trenchless repair pipeline inspection equipment according to claim 3, characterized in that, The repair cylinder is provided with two sealing plates and an opening and closing component connected to the sealing plates at the port of the integrated cavity. The sealing plates are rotatably connected to the repair cylinder, and the opening and closing component is used to drive the sealing plates to rotate.

7. The municipal trenchless pipeline repair and inspection equipment according to claim 1, characterized in that, The repair structure also includes a marking assembly corresponding to the passive wheel and a third telescopic assembly between the marking assembly and the passive wheel. The marking assembly is used to spray fluorescent markings onto the pipe wall, and the third telescopic assembly extends and retracts radially along the drive seat.

8. The municipal trenchless pipeline repair and inspection equipment according to claim 1, characterized in that, The inner ring of the driven wheel is provided with teeth; The control unit includes: A shift sleeve is slidably connected to the drive seat along the first direction, and the shift sleeve has a locking position for the passive wheel to rotate and connect. A shifting component is connected to the shifting sleeve via a transmission mechanism, and the shifting component is used to drive the shifting sleeve to move; A control wheel, rotatably connected to the drive seat, the control wheel rotating about the first direction, and the control wheel having teeth that mesh with the driven wheel; and A control component is connected to the control wheel and is used to drive the control wheel to rotate.

9. The municipal trenchless repair pipeline inspection equipment according to claim 1, characterized in that, The drive structure is provided in two sets, and the two sets of drive structures are respectively located at both ends of the drive seat along the first direction; The drive structure includes multiple drive compartments arranged around the drive seat and a variable diameter assembly disposed between the drive seat and the drive compartments, the variable diameter assembly being used to adjust the distance between the drive compartments and the drive seat.

10. A method for inspecting and repairing municipal trenchless pipelines, comprising the municipal trenchless pipeline inspection equipment as described in any one of claims 1-9, characterized in that, The steps are as follows: S10. Use a high-pressure water gun to clean the internal detection path of the pipeline and remove sediments, scum and other debris attached to the pipe wall; S20. Place the municipal trenchless repair pipeline inspection equipment through the pipeline wellhead or the pre-set working port, and use the traction equipment to adjust its posture so that it can enter smoothly along the central axis of the pipeline. According to the pipeline burial depth and the height of the wellhead, use an adjustable length traction cable to ensure that the municipal trenchless repair pipeline inspection equipment is accurately lowered to the detection starting point. After the S30 municipal trenchless repair pipeline inspection equipment arrives at the starting point, the injector starts to inject coupling agent into the flexible bag. The pressure inside the flexible bag is adjusted by a micro pump so that the surrounding detection integration (GPR antenna and ultrasonic transducer array) adaptively fits the inner surface of the pipe wall. The coupling pressure data is monitored in real time by the ground control console to ensure that the detection integration and the pipe wall maintain constant and tight contact. S40. After the coupling state meets the standard, perform multi-dimensional calibration operations: collect the reference attitude and position data of the pipeline starting point through the IMU and visual SLAM system; start the zero-point calibration of the odometer and circumferential orientation encoder; simultaneously test the signal transmission stability of the GPR and ultrasonic system, complete the data acquisition timing synchronization calibration, and ensure that the detection data and position information are accurately bound. S50, set the driving structure speed (constant low speed to ensure data acquisition density), start the detection program; the detection cabin rotates continuously at a preset speed of 360°, the GPR system emits electromagnetic waves in a cycle, the ultrasonic system simultaneously performs signal acquisition in active / passive mode, and all raw data are transmitted to the vehicle edge computing unit in real time. The S60 edge computing unit extracts amplitude and filters noise from the acquired raw GPR signal to generate a GPRB-Scan image; at the same time, it calculates the propagation speed and attenuation coefficient of the ultrasonic wave to generate an ultrasonic velocity / attenuation spectrum. Both types of data are transmitted back to the ground workstation in real time for preliminary display. S70. After the detection operation is completed, the ground workstation starts the multi-source data fusion algorithm to align the GPR image and ultrasonic data at the pixel level. Based on the GPR void detection results, ultrasonic stress anomaly data is superimposed. Through three-dimensional reconstruction technology, a spatial model and stress distribution cloud map of the pipeline periphery are generated to achieve mutual verification and completion of the defect information. S80. The system automatically identifies hollow areas (≥100mm outer diameter) and stress concentration areas, marks "high-risk areas" (hollow areas + high stress) and "potential risk areas", and generates a complete deliverable package including a pipe cross-section "health cloud map", longitudinal unfolded map, three-dimensional hollow model, stress concentration distribution cloud map and comprehensive risk classification report. At the same time, it stores the original data and processing files for subsequent traceability and review. S90. After the results are confirmed, the detection system is shut down, the pressure of the flexible bag is released, and the municipal trenchless repair pipeline detection equipment is smoothly moved out of the pipeline using traction equipment to complete the detection operation.

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