Intelligent maintenance device and method for slurry shield discharge pipe

Abstract

The application provides an intelligent maintenance device and method for a slurry shield mud discharge pipe, and relates to the technical field of mud discharge pipe maintenance. The device comprises a mobile bearing assembly, an ultrasonic scanning assembly, a pipe segment connecting assembly, a pipe segment rotating assembly and a control module. The mobile bearing assembly carries the ultrasonic scanning assembly to move axially along the measured pipe segment and to scan circumferentially. The control module fuses the wall thickness value and the position information to form a wall thickness data set, realizing full-segment detection. The pipe segment connecting assembly and the pipe segment rotating assembly cooperate to adjust the posture of the measured pipe segment without stopping. The control module selects the most dangerous cross section based on the wall thickness data set and performs double-threshold judgment. When there is a detection point with a wall thickness value lower than the safety threshold, emergency rotation is performed. When there is only a detection point with a wall thickness value lower than the warning threshold, the target rotation angle is determined according to the detection point and the measured pipe segment is rotated. The device realizes a closed loop from detection and diagnosis to maintenance, transfers local wear to a safe area, avoids premature scrapping of the pipe, prolongs the service life and reduces the cost.

Description

Technical Field

[0001] This application generally relates to the field of slurry pipe maintenance technology, and specifically to an intelligent maintenance device and method for slurry pipe of a slurry shield tunnel. Background Technology

[0002] During slurry shield tunneling, the slurry discharge pipes continuously transport slurry containing large amounts of mud, sand, and pebbles. The bottom of the pipes suffers severe erosion and wear, leading to continuous thinning of the wall thickness in some areas. If not addressed promptly, this can result in pipe perforation, slurry leakage, and other safety accidents. Current solutions to slurry discharge pipe wear primarily fall into the following categories: first, shutting down and replacing the pipe after wear occurs; second, passive protection through methods such as thickening the pipe wall, welding a wear-resistant layer, or casting a wear-resistant alloy lining. In addition, some solutions include installing vibration sensors at the bottom of the pipe for wear-through early warning, using ultrasonic thickness gauges to measure wall thickness at fixed points, and deploying inspection robots inside the pipe for automated defect detection.

[0003] All of the above methods require emptying the pipeline and interrupting construction, and are either passive responses or single-function inspections. It is difficult to obtain the wall thickness distribution of the entire pipeline section and circumference while it is in operation, making it impossible to promptly grasp the wear status. Furthermore, there is a lack of linkage between inspection data and maintenance actions; the timing and method of maintenance rely on manual experience, and localized wear problems cannot be addressed in a timely and effective manner, leading to premature pipeline failure due to continuous localized wear. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an intelligent maintenance device and method for the slurry discharge pipe of a slurry shield tunnel that can solve the above-mentioned technical problems.

[0005] In a first aspect, this application provides an intelligent maintenance device for a slurry drainage pipe in a slurry shield tunnel. The slurry drainage pipe includes at least two fixed pipe sections and a monitored pipe section located between the two fixed pipe sections, comprising: A movable bearing component is movably mounted on the pipe section under test and is used to move along the axial direction of the pipe section under test. An ultrasonic scanning component, mounted on the mobile support component, is used to perform circumferential scanning on the pipe section under test to obtain the wall thickness value at each detection point. A pipe segment connection assembly is disposed between the fixed pipe segment and the pipe segment under test, for enabling the pipe segment under test to rotate circumferentially relative to the fixed pipe segment; A pipe segment rotation assembly is mounted on the mobile bearing assembly, and the pipe segment rotation assembly is used to drive the pipe segment under test to rotate circumferentially. The control module is electrically connected to the moving support assembly, the ultrasonic scanning assembly, and the pipe segment rotation assembly, respectively. The control module is configured to: The axial position, wall thickness value, and circumferential angle of each detection point are obtained, and a wall thickness dataset of the tested pipe section is formed. The cross section containing the detection point with the smallest wall thickness value is selected from the wall thickness dataset as the most dangerous cross section. When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the pipe section rotation assembly is controlled to rotate the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. When there are no detection points with wall thickness values ​​below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, the target rotation angle is determined based on the warning point, and the tested pipe section is rotated based on the target rotation angle.

[0006] According to the technical solution provided in this application, the ultrasound scanning component includes: A first motor is disposed within the movable support assembly. The output end of the first motor extends out of the movable support assembly and is connected to a scanning drive gear. The first motor is used to drive the scanning drive gear to rotate. A scanning driven gear is sleeved on the pipe section under test. The scanning driven gear is rotatably mounted on the movable bearing assembly through a first connecting mechanism, and the scanning driven gear meshes with the scanning driving gear. Multiple electromagnetic ultrasonic probes are arranged circumferentially on the inner wall of the scanning driven gear to obtain the wall thickness value of the corresponding detection point. A first encoder is disposed at the tail of the first motor and is used to obtain the rotation angle of the output end of the first motor.

[0007] According to the technical solution provided in this application, the first connecting mechanism includes: A first slide rail is circumferentially disposed on the side of the scanning driven gear near the movable support assembly; a first slider is slidably connected within the first slide rail. A first fixed rod, one end of which is fixedly connected to the first slider, and the other end of which is fixedly connected to the movable bearing assembly.

[0008] According to the technical solution provided in this application, the pipe segment rotation assembly includes: A second motor is disposed within the movable support assembly. The output end of the second motor extends out of the movable support assembly and is connected to a rotary drive gear. The second motor is used to drive the rotary drive gear to rotate. A rotary driven gear is sleeved on the pipe section being tested. The rotary driven gear is rotatably mounted on the movable bearing assembly via a second connecting mechanism, and the rotary driven gear meshes with the rotary driving gear. The clamping mechanism includes two sets of clamping units symmetrically arranged on the inner wall of the rotary driven gear. The two sets of clamping units are used to clamp the pipe segment to be tested so as to drive the pipe segment to be tested to rotate when the rotary driven gear rotates. The second encoder is located at the tail of the second motor and is used to obtain the rotation angle of the output end of the second motor.

[0009] According to the technical solution provided in this application, the clamping unit includes: A third motor is mounted on the inner wall of the rotating driven gear, and a lead screw is connected to the output end of the third motor. The third motor is used to drive the lead screw to rotate. A fixed base is threadedly connected to the lead screw and is used to move along the axial direction of the lead screw when the lead screw rotates. A first hydraulic component and a second hydraulic component are respectively provided on both sides of the fixed base along a first direction. A first clamping arm is rotatably connected to the other end of the first hydraulic component, and a second clamping arm is rotatably connected to the other end of the second hydraulic component. The first clamping arm and the second clamping arm are rotatably connected by a connecting shaft. The first direction is perpendicular to the axial direction of the lead screw. A connecting rod is provided, and the connecting shaft is connected to the fixed base via the connecting rod. The clamping unit has a first state and a second state. In the first state, the first clamping arm and the second clamping arm clamp the pipe segment under test under the drive of the first hydraulic component and the second hydraulic component. In the second state, the first clamping arm and the second clamping arm release the pipe segment under test under the drive of the first hydraulic component and the second hydraulic component.

[0010] According to the technical solution provided in this application, the mobile carrier component includes: The vehicle body has wheels rotatably mounted on its bottom, and the wheels make rolling contact with the outer wall of the pipe section being tested. A limiting mechanism is provided between the two fixed pipe sections, and the vehicle body is slidably mounted on the limiting mechanism; A fourth motor is mounted on the vehicle body, and the output end of the fourth motor is connected to at least one of the wheels for driving the wheels to rotate. A third encoder is disposed at the tail of the fourth motor, and the third encoder is used to obtain the rotation angle of the output end of the fourth motor.

[0011] According to the technical solution provided in this application, the limiting mechanism includes: Two limiting plates are respectively fixed to the two fixed pipe sections; The first slide rail is disposed between the two limiting plates and extends along the axial direction of the pipe section being tested; the vehicle body is sleeved on the first slide rail, and a pulley is provided inside the vehicle body, the pulley being rotatably connected to the first slide rail.

[0012] Secondly, this application provides an intelligent maintenance method for the slurry drainage pipe of a slurry shield tunnel, which is implemented using the intelligent maintenance device for the slurry drainage pipe of a slurry shield tunnel provided in any one of the first aspects, and includes the following steps: The axial position, wall thickness value, and circumferential angle of each detection point are obtained, and a wall thickness dataset of the tested pipe section is formed. The cross section containing the detection point with the smallest wall thickness value is selected from the wall thickness dataset as the most dangerous cross section. When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the pipe section rotation assembly is controlled to rotate the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. When there are no detection points with wall thickness values ​​below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, the target rotation angle is determined based on the warning point, and the tested pipe section is rotated based on the target rotation angle.

[0013] According to the technical solution provided in this application, determining the target rotation angle based on the warning point specifically includes the following steps: The area formed by continuous detection points with wall thickness values ​​lower than the warning threshold on the most dangerous section, and where the number of continuous detection points is greater than the preset threshold, is identified as a continuous warning area, and the continuous warning area with the largest sum of wear depth is taken as the main area. The wear centroid angle of the main region was calculated using the weighted average method. Determine a preset angle range on the opposite side of the wear center of gravity angle, and determine the target rotation angle based on the wear center of gravity angle and the preset angle range.

[0014] According to the technical solution provided in this application, the target rotation angle is determined based on the wear center of gravity angle and the preset angle range, specifically including the following steps: Within the preset angle range, a continuous region with the most uniform wall thickness and the largest average thickness is selected as the healthy region, and its center angle is determined. The average wall thickness increase rate of the healthy region and the main region is calculated based on the wall thickness data of the most dangerous section. If the average wall thickness increase rate is greater than a preset threshold, the angle difference between the center angle and the wear center angle is taken as the target rotation angle; if the average wall thickness increase rate is not greater than the preset threshold, the target rotation angle is 0.

[0015] The beneficial effects of this application are as follows: This application provides an intelligent maintenance device and method for slurry drainage pipes in slurry shield tunneling machines, comprising: a mobile bearing component, an ultrasonic scanning component, a pipe segment connection component, a pipe segment rotation component, and a control module. The mobile bearing component, carrying the ultrasonic scanning component, moves axially along the pipe segment under test. The ultrasonic scanning component performs a circumferential scan of the pipe segment under test to obtain the wall thickness value. The control module obtains the axial position and circumferential angle of each detection point based on the state of the mobile bearing component and the ultrasonic scanning component, forming a wall thickness dataset with precise spatial coordinates, thereby achieving online, full-segment, and full-circumferential wall thickness distribution detection while the pipeline is in operation. The pipe segment connection component rotatably connects the pipe segment under test between two fixed pipe segments. The pipe segment rotation component drives the circumferential rotation of the pipe segment under test, allowing adjustment of the posture of the pipe segment under test without stopping the machine or draining slurry. The control module selects the most dangerous section based on the wall thickness dataset and uses a two-level decision-making process with safety thresholds and warning thresholds: when there are only detection points with wall thickness values ​​lower than the safety threshold, the detection point with the smallest wall thickness value on the most dangerous section is rotated to a preset safe position to achieve emergency protection; when there are no detection points with wall thickness values ​​lower than the safety threshold but there are detection points with wall thickness values ​​lower than the warning threshold, the target rotation angle is determined according to the warning point and the tested pipe section is rotated.

[0016] Therefore, this application realizes a closed-loop process from online detection and intelligent diagnosis to automatic rotation maintenance, which actively transfers the local wear of the tested pipe section from the high-stress area to the safe area, avoids premature pipe scrapping caused by local continuous wear, extends the overall service life of the pipeline, reduces construction downtime maintenance costs, and the low coupling between modules facilitates installation, maintenance and fault isolation, making it suitable for harsh construction site environments. Attached Figure Description

[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of an intelligent maintenance device for a slurry shield tunneling grout discharge pipe provided in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the interior of the vehicle body of the mobile load-bearing component provided in Embodiment 1 of this application; Figure 3 This is a bottom schematic diagram of the mobile bearing assembly provided in Embodiment 1 of this application; Figure 4 This is a schematic diagram of the ultrasound scanning assembly provided in Embodiment 1 of this application; Figure 5 This is a schematic diagram of the first connecting mechanism provided in Embodiment 1 of this application; Figure 6 This is a schematic diagram of the pipe rotation assembly provided in Embodiment 1 of this application; Figure 7 This is a schematic diagram of the clamping unit provided in Embodiment 1 of this application; Figure 8 This is an exploded view of the clamping unit provided in Embodiment 1 of this application; Figure 9 This is an exploded view of the pipe connection assembly provided in Embodiment 1 of this application; Figure 10 This is a flowchart illustrating an intelligent maintenance method for a slurry shield tunneling grouting pipe provided in Embodiment 2 of this application.

[0018] In the diagram: 1. Fixed pipe section; 2. Pipe section under test; 3. Moving load-bearing assembly; 31. Frame; 32. Chassis; 33. Housing; 34. Wheel; 35. Fourth motor; 36. Third encoder; 37. Limiting plate; 38. First slide rail; 39. Pulley; 4. Ultrasonic scanning assembly; 41. First motor; 42. Scanning drive gear; 43. Scanning driven gear; 45. Electromagnetic ultrasonic probe; 46. First encoder; 47. First slide rail; 48. First fixed rod; 49. First slider; 5. Pipe section rotation assembly; 51. Second motor; 52. Rotating drive gear; 53. Rotating driven gear; 55. Clamping unit; 551. Three motors; 552, lead screw; 553, coupling; 554, base plate; 555, side plate; 556, fixed seat; 557, nut seat; 558, second slide rail; 559, third slider; 5510, first hydraulic component; 5511, second hydraulic component; 5512, first clamping arm; 5513, second clamping arm; 5514, connecting shaft; 5515, laser rangefinder; 5516, connecting rod; 56, telescopic rod; 6, pipe section connecting assembly; 61, first flange; 62, second flange; 63, inner ring; 64, outer ring; 65, roller; 66, sealing ring; 7, central controller; 8, first controller; 9, second controller. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Example 1 Please refer to Figures 1-9This application provides an intelligent maintenance device for a slurry drainage pipe in a slurry shield tunnel. The slurry drainage pipe includes at least two fixed pipe sections 1 and a monitored pipe section 2 located between the two fixed pipe sections 1. The maintenance device includes: The movable bearing assembly 3 is movably mounted on the pipe section 2 under test and is used to move along the axial direction of the pipe section 2 under test. Ultrasonic scanning component 4 is mounted on mobile support component 3 and is used to perform circumferential scanning on the pipe section 2 under test in order to obtain the wall thickness value of each detection point. Pipe segment connection assembly 6 is disposed between the fixed pipe segment 1 and the pipe segment 2 to be tested, and is used to enable the pipe segment 2 to be tested to rotate circumferentially relative to the fixed pipe segment 1. Pipe segment rotation assembly 5 is mounted on the mobile bearing assembly 3 and is used to drive the tested pipe segment 2 to rotate circumferentially. The control module is electrically connected to the moving load-bearing assembly 3, the ultrasonic scanning assembly 4, and the pipe section rotation assembly 5, respectively. The control module is configured for: The axial position, wall thickness value and circumferential angle of each detection point are obtained, and the wall thickness dataset of the tested pipe section 2 is formed. The section containing the detection point with the smallest wall thickness value is selected from the wall thickness dataset as the most dangerous section. When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the control pipe section rotation component 5 will rotate the detection point with the smallest wall thickness value on the most dangerous section to the preset safe position. When there are no detection points with wall thickness values ​​below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, the target rotation angle is determined based on the detection points with wall thickness values ​​below the warning threshold, and the tested pipe section 2 is rotated based on the target rotation angle.

[0022] Specifically, such as Figure 1 As shown, the grout discharge pipe includes two fixed pipe sections 1 and a test pipe section 2 located between them. The fixed pipe section 1 is the main body of the grout discharge pipe and remains fixed during normal construction; the test pipe section 2 is a rotatable maintenance pipe section, and its two ends are connected to the two fixed pipe sections 1 through pipe section connection components 6 respectively.

[0023] In this embodiment, as Figure 9As shown, the pipe segment connection assembly 6 is used to achieve a rotatable connection between the tested pipe segment 2 and the fixed pipe segment 1, and includes: a first flange 61, a second flange 62, and a connector disposed between the two. The first flange 61 is fixedly connected to the end of the tested pipe segment 2, and the second flange 62 is fixedly connected to the end of the fixed pipe segment 1. The connector includes an inner ring 63, an outer ring 64, and multiple rollers 65 arranged between the inner ring 63 and the outer ring 64. The inner ring 63 is fixedly connected to the first flange 61, and the outer ring 64 is fixedly connected to the second flange 62, allowing the inner ring 63 to rotate freely with the first flange 61 and the tested pipe segment 2 relative to the outer ring 64 and the second flange 62, thereby achieving circumferential rotation of the tested pipe segment 2 relative to the fixed pipe segment 1. Therefore, when maintenance is required, the tested pipe segment 2 can be freely rotated without stopping the machine or emptying the pipe, while the fixed pipe segment 1 remains stationary. A sealing ring 66 is provided between the inner ring 63 and the first flange 61, and between the outer ring 64 and the second flange 62, to prevent slurry from leaking from the rotating joint and to ensure the sealing of the pipeline during rotation.

[0024] The mobile support assembly 3 serves as the walking platform for the entire device, movably mounted on the pipe segment 2 under test, and capable of stable movement along the axial direction of the pipe segment 2. The mobile support assembly 3 carries the ultrasonic scanning assembly 4 and the pipe segment rotation assembly 5, and moves along the pipe segment 2 under test during inspection and maintenance. During its movement, the mobile support assembly 3 acquires its own axial position information, which is used to determine the axial position of each inspection point.

[0025] The control module is the data processing and decision-making center of this device, and includes at least a first controller 8 and a central controller 7. The first controller 8 is communicatively connected to the central controller 7 via an industrial switch. The first controller 8 is electrically connected to the mobile bearing assembly 3, the ultrasonic scanning assembly 4, and the pipe segment rotation assembly 5, and is responsible for the underlying data acquisition and fusion processing. The first controller 8 acquires the axial position, wall thickness value, and circumferential angle of each detection point, and fuses these three data according to their spatial correspondence to form a wall thickness dataset of the tested pipe segment 2. Each detection point in the wall thickness dataset contains information in three dimensions: axial position, circumferential angle, and wall thickness value, comprehensively representing the wall thickness distribution of the entire pipe segment 2 in all directions. The first controller 8 uploads the wall thickness dataset to the central controller 7.

[0026] The central controller 7 makes intelligent maintenance decisions based on the wall thickness dataset. First, the central controller 7 selects the section containing the detection point with the smallest wall thickness value from the wall thickness dataset as the most dangerous section. The service life of a pipeline is determined by its weakest point, so maintenance is prioritized for the section containing the detection point with the smallest current wall thickness value. After selecting the most dangerous section, the control module performs a two-level decision on the wall thickness distribution on the most dangerous section.

[0027] If a detection point with a wall thickness value lower than the safety threshold exists on the most dangerous section, it indicates that the pipe wall at that location has worn down to near failure. The control module directly controls the pipe section rotation assembly 5 to rotate the pipe wall area containing the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. In this embodiment, the preset safe position is an area where the mud scouring effect is relatively weak, such as the top or upper side of the pipe, so that the weak area suffering from severe scouring and wear is transferred out of the high-stress zone, reducing the risk of further wear.

[0028] If there are no detection points below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, it indicates that the pipe wall has experienced a certain degree of wear but has not yet reached a dangerous state. The control module determines the target rotation angle based on the detection points on the most dangerous section with wall thickness values ​​below the warning threshold, and controls the pipe section rotation assembly 5 to rotate the tested pipe section 2 based on this target rotation angle. The specific method for determining the target rotation angle will be described in detail in Example 2. Through this two-level decision-making mechanism, the system can quickly respond to ensure safety in extremely dangerous situations, and perform rotational maintenance in normal wear situations, transferring the wear area to a safe area and extending the service life of the pipeline.

[0029] Working principle: This application realizes a closed-loop process from online detection and intelligent diagnosis to automatic rotation maintenance. It can actively transfer the local wear of the tested pipe section 2 from the high stress area to the safe area, avoid premature pipe scrapping caused by local continuous wear, extend the overall service life of the pipeline, reduce the construction downtime maintenance cost, and the low coupling between modules facilitates installation, maintenance and fault isolation, making it suitable for harsh construction site environments.

[0030] In some embodiments, the ultrasound scanning component 4 includes: The first motor 41 is installed inside the movable support assembly 3. The output end of the first motor 41 extends out of the movable support assembly 3 and is connected to the scanning drive gear 42. The first motor 41 is used to drive the scanning drive gear 42 to rotate. The scanning driven gear 43 is sleeved on the pipe section 2 under test. The scanning driven gear 43 is rotatably mounted on the movable bearing assembly 3 through the first connecting mechanism, and the scanning driven gear 43 meshes with the scanning active gear 42. Multiple electromagnetic ultrasonic probes 45 are arranged circumferentially on the inner wall of the scanning driven gear 43 to obtain the wall thickness value of the corresponding detection point. The first encoder 46 is located at the tail of the first motor 41 and is used to obtain the rotation angle of the output end of the first motor 41.

[0031] In this embodiment, as Figure 2 and Figure 4As shown, the first motor 41 is a stepper motor or servo motor, housed within the movable support assembly 3. Its output end extends out of the movable support assembly 3 and connects to the scanning drive gear 42, driving the scanning drive gear 42 to rotate. The scanning driven gear 43 is an annular structure, fitted around the outer circumference of the pipe segment 2 under test, and meshes with the scanning drive gear 42. Driven by the first motor 41, the scanning drive gear 42 drives the scanning driven gear 43 to rotate around the pipe segment 2 under test, enabling multiple electromagnetic ultrasonic probes 45 arranged circumferentially along the inner wall of the scanning driven gear 43 to perform a comprehensive circumferential scan of the pipe segment 2 under test, obtaining the wall thickness value at each detection point. In this embodiment, four electromagnetic ultrasonic probes 45 are equally spaced circumferentially along the inner wall of the scanning driven gear 43, with an included angle of 90 degrees between adjacent electromagnetic ultrasonic probes 45. Therefore, when the scanning driven gear 43 rotates 90 degrees, the measurement range of the four electromagnetic ultrasonic probes 45 can be combined to cover the entire circumference of the pipe segment 2 under test.

[0032] Specifically, the electromagnetic ultrasonic probe 45 operates based on the principle of electromagnetic ultrasound. The probe coil generates an alternating electromagnetic field under pulsed current excitation. This alternating electromagnetic field induces eddy currents on the metal surface of the tested pipe section 2. Under the influence of the bias magnetic field built into the probe, these eddy currents are subjected to Lorentz forces, causing high-frequency mechanical vibrations in the metal surface particles, thereby generating ultrasonic waves on the surface of the metal pipe wall of the tested pipe section 2. The ultrasonic waves propagate inward along the pipe wall thickness direction. When they reach the interface between the inner wall and the air, a reflected echo is generated due to the difference in acoustic impedance between the metal and the air. When the reflected echo returns to the outer surface of the pipe wall, it causes vibrations in the surface particles. These vibrations generate an induced current under the influence of the bias magnetic field, causing the probe to generate a corresponding echo signal. After receiving the echo signal, the probe calculates the wall thickness value at the corresponding detection point based on the round-trip flight time of the ultrasonic wave within the pipe wall and the known speed of sound. This detection method requires no coupling agent and no grinding of the pipe wall surface, enabling non-contact detection under normal pipeline operation. Multiple electromagnetic ultrasonic probes 45 are arranged at intervals along the circumference, so that when the scanning driven gear 43 rotates at a small angle, the electromagnetic ultrasonic probes 45 work together to cover the full circumferential detection range of the pipe section 2 under test and obtain the wall thickness value of each detection point on the axial section.

[0033] Specifically, both the first encoder 46 and the first motor 41 are electrically connected to the first controller 8. The first controller 8 is responsible for controlling the start and rotation of the first motor 41, driving the scanning driven gear 43 to rotate. At the same time, the first controller 8 collects the rotation angle of the first motor 41 output by the first encoder 46 in real time, calculates the rotation angle of the scanning driven gear 43 through the transmission relationship between the scanning driving gear 42 and the scanning driven gear 43, and then obtains the current angular position of each electromagnetic ultrasonic probe 45 in the circumferential direction of the pipe section under test, that is, the circumferential angle of each detection point; and receives the wall thickness value measured by each electromagnetic ultrasonic probe 45.

[0034] In some embodiments, the first connecting mechanism includes: The first slide rail 47 is circumferentially disposed on the side of the scanning driven gear 43 near the moving support component 3; a first slider 49 is slidably connected inside the first slide rail 47, and the first slider 49 slides back and forth along the first slide rail 47. The first fixed rod 48 has one end fixedly connected to the first slider 49 and the other end fixedly connected to the movable bearing assembly 3.

[0035] Specifically, such as Figure 5 As shown, when the scanning driven gear 43 rotates around the pipe section 2 under the drive of the first motor 41, the first slider 49 slides along the first slide rail 47 as the scanning driven gear 43 rotates. Since the two ends of the first fixed rod 48 are fixedly connected to the first slider 49 and the moving bearing assembly 3 respectively, the scanning driven gear 43 is constrained by the first fixed rod 48 during rotation and remains stable, without shifting or shaking due to rotation. Thus, the multiple electromagnetic ultrasonic probes 45 arranged on the inner wall of the scanning driven gear 43 maintain a constant detection distance from the pipe wall, ensuring the accuracy and reliability of the wall thickness detection.

[0036] In some embodiments, the pipe segment rotation assembly 5 includes: The second motor 51 is installed inside the movable bearing assembly 3. The output end of the second motor 51 extends out of the movable bearing assembly 3 and is connected to the rotary drive gear 52. The second motor 51 is used to drive the rotary drive gear 52 to rotate. A driven gear 53 is rotated and sleeved on the pipe section 2 being tested. The driven gear 53 is rotatably mounted on the movable bearing assembly 3 through a second connecting mechanism, and the driven gear 53 meshes with the driving gear 52. The clamping mechanism includes two sets of clamping units 55 symmetrically arranged on the inner wall of the rotating driven gear 53. The two sets of clamping units 55 are used to clamp the pipe section 2 to be tested, so as to drive the pipe section 2 to rotate when the rotating driven gear 53 rotates. The second encoder is located at the tail of the second motor 51 and is used to obtain the rotation angle of the output end of the second motor 51.

[0037] Specifically, such as Figure 6 As shown, the pipe segment rotation assembly 5 is used to drive the tested pipe segment 2 to perform circumferential rotation according to the rotation command of the control module.

[0038] The second motor 51 is a stepper motor or a servo motor, fixed inside the movable support assembly 3. Its output end extends out of the movable support assembly 3 and is connected to the rotary drive gear 52 to drive the rotary drive gear 52 to rotate. The rotary driven gear 53 is a ring structure, sleeved on the outer circumference of the pipe section 2 under test, rotatably mounted on the movable support assembly 3 through a second connecting mechanism, and meshes with the rotary drive gear 52. Driven by the second motor 51, the rotary drive gear 52 drives the rotary driven gear 53 to rotate around the pipe section 2 under test.

[0039] In this embodiment, the second connecting mechanism is used to ensure the stability of the rotary driven gear 53 during rotation. The second connecting mechanism includes: a second slide rail, a second slider, and a second fixed rod. The second slide rail is circumferentially arranged on the side of the rotary driven gear 53 near the movable bearing assembly 3; the second slider is slidably embedded in the second slide rail and slides back and forth along the second slide rail; one end of the second fixed rod is fixedly connected to the second slider, and the other end is fixedly connected to the movable bearing assembly 3. When the rotary driven gear 53 rotates around the tested pipe section 2 under the drive of the second motor 51, the second slider slides along the second slide rail as the rotary driven gear 53 rotates. Since both ends of the second fixed rod are fixedly connected to the second slider and the movable bearing assembly 3 respectively, the rotary driven gear 53 is constrained by the second fixed rod during rotation and always remains stable, without shifting or shaking due to rotation.

[0040] In this embodiment, two sets of clamping units 55 are arranged radially opposite to each other along the pipe section 2 under test, and are used to clamp the pipe section 2 under test from both sides. After the clamping unit 55 clamps the pipe section 2 under test, the rotation of the driven gear 53 is transmitted to the pipe section 2 under test through the clamping unit 55, causing the pipe section 2 under test to rotate together, thereby transferring the worn area of ​​the pipe (generally located at the bottom of the pipe) to a safe position.

[0041] Specifically, both the second encoder and the second motor 51 are electrically connected to the first controller 8. The first controller 8 receives rotation commands from the central controller 7, controls the start / stop and rotation angle of the second motor 51 according to the rotation commands, and collects the rotation angle at the output of the second motor 51 from the second encoder in real time. Based on the transmission relationship between the rotating drive gear 52 and the rotating driven gear 53, the first controller 8 calculates the actual rotation angle of the rotating driven gear 53, and then determines the rotation angle of the tested pipe segment 2. Closed-loop control ensures that the tested pipe segment 2 rotates precisely into position according to the specified rotation angle. After rotation is complete, the clamping unit 55 releases the tested pipe segment 2 and returns to its original position, and the second motor 51 stops rotating.

[0042] In this embodiment, multiple telescopic rods 56 are arranged circumferentially on the inner wall of the rotating driven gear 53. A protective pad is provided at the end of the telescopic rod 56 away from the rotating driven gear 53. When the two sets of clamping units 55 clamp the pipe section 2 under test, the telescopic rod 56 extends and the protective pad abuts against the outer wall of the pipe section 2 under test, providing auxiliary support for the pipe section 2 under test, enhancing the stability of the pipe section 2 under test during rotation, and preventing the pipe section from shaking due to its own weight or eccentricity. At the same time, the protective pad can prevent scratches on the outer wall of the pipe section 2 under test.

[0043] In some embodiments, the clamping unit 55 includes: The third motor 551 is mounted on the inner wall of the rotating driven gear 53. The output end of the third motor 551 is connected to the lead screw 552. The third motor 551 is used to drive the lead screw 552 to rotate. A fixed base is threadedly connected to a lead screw 552 and is used to move along the axial direction of the lead screw 552 when it rotates. A first hydraulic component 5510 and a second hydraulic component 5511 are respectively provided on both sides of the fixed base along a first direction. A first clamping arm 5512 is rotatably connected to the other end of the first hydraulic component 5510, and a second clamping arm 5513 is rotatably connected to the other end of the second hydraulic component 5511. The first clamping arm 5512 and the second clamping arm 5513 are rotatably connected by a connecting shaft 5514. The first direction is perpendicular to the axial direction of the lead screw 552. Connecting rod 5516, connecting shaft 5514 and fixed base are connected by connecting rod 5516; The clamping unit 55 has a first state and a second state. In the first state, the first clamping arm 5512 and the second clamping arm 5513 clamp the pipe segment 2 under the drive of the first hydraulic component 5510 and the second hydraulic component 5511, respectively. In the second state, the first clamping arm 5512 and the second clamping arm 5513 release the pipe segment 2 under the drive of the first hydraulic component 5510 and the second hydraulic component 5511, respectively.

[0044] Specifically, such as Figure 7 and Figure 8 As shown, to improve the support stability of the lead screw 552, the lead screw 552 is mounted on a support member, which includes a base plate 554 and side plates 555 located at both ends of the base plate 554. The lead screw 552 is mounted on the base plate 554, and its two ends are rotatably supported between the two side plates 555 via bearings; the output end of the third motor 551 passes through the corresponding side plate 555 and is connected to one end of the lead screw 552 via a coupling 553; the third motor 551 is used to drive the lead screw 552 to rotate. The fixed base includes a fixed base 556 and a nut seat 557. The nut seat 557 is threadedly connected to the lead screw 552. The fixed base 556 is a hollow cuboid structure. The nut seat 557 is located inside the fixed base 556, and the top of the nut seat 557 is fixedly connected to the fixed base 556. On the base plate 554, on both sides of the lead screw 552, there are also second slide rails 558 parallel to the lead screw 552. A third slider 559 is slidably connected to each of the two second slide rails 558. The third sliders 559 are fixedly connected to the fixed base 556. When the third motor 551 drives the lead screw 552 to rotate, the nut seat 557 moves along the axial direction of the lead screw 552, causing the fixed base 556 to slide along the second slide rails 558, realizing the radial feed movement of the clamping unit 55 as a whole towards or away from the pipe section 2 being measured.

[0045] A first hydraulic component 5510 and a second hydraulic component 5511 (both hydraulic components 5510 and 5511 are hydraulic rods in this embodiment) are respectively provided on both sides of the fixed base 556 along a first direction, with the first direction being perpendicular to the axial direction of the lead screw 552 (in this embodiment, the first direction is vertical). One end of the first hydraulic component 5510 is connected to the fixed base 556, and the other end is rotatably connected to the first clamping arm 5512 via a rotating shaft. One end of the second hydraulic component 5511 is connected to the fixed base 556, and the other end is rotatably connected to the second clamping arm 5513 via a rotating shaft. The first clamping arm 5512 and the second clamping arm 5513 are rotatably connected by a connecting shaft 5514, forming a scissor-type clamping arm structure. A connecting rod 5516 is disposed between the fixed base 556 and the connecting shaft 5514, providing stable positioning support for the connecting shaft 5514, enabling the first clamping arm 5512 and the second clamping arm 5513 to rotate stably around the connecting shaft 5514.

[0046] In this embodiment, the control module further includes a second controller 9, which is mounted on the fixed base 556 and is connected to the central controller 7 via an industrial switch. A laser rangefinder 5515 is mounted on the connecting rod 5516. The laser rangefinder 5515 and the third motor 551 are both electrically connected to the second controller 9. During the radial feeding of the clamping unit 55 toward the pipe section 2 under test, the laser rangefinder 5515 detects the distance between the end of the clamping arm and the pipe wall in real time and feeds the signal back to the second controller 9. When the distance reaches the specified position, the second controller 9 controls the third motor 551 to stop rotating, and then controls the first hydraulic component 5510 and the second hydraulic component 5511 to drive the first clamping arm 5512 and the second clamping arm 5513 to rotate around the connecting shaft 5514, so that the clamping ends come together and clamp the pipe section 2 under test. At this time, the clamping unit 55 is in the first state. When it is necessary to release, the first hydraulic component 5510 and the second hydraulic component 5511 drive the clamping arm to rotate in the opposite direction, so that the clamping ends move away from each other and release the pipe section 2 being tested. At this time, the clamping unit 55 is in the second state; then the third motor 551 drives the lead screw 552 in the opposite direction, causing the clamping unit 55 to return to the initial position.

[0047] In some embodiments, the mobile carrier component 3 includes: The vehicle body has wheels 34 rotatably mounted on its bottom, and the wheels 34 make rolling contact with the outer wall of the pipe section 2 being measured. A limiting mechanism is provided between two fixed pipe sections 1, and the vehicle body is slidably mounted on the limiting mechanism. The fourth motor 35 is mounted on the vehicle body, and its output end is connected to at least one wheel 34 to drive the wheel 34 to rotate. The third encoder 36 is located at the tail of the fourth motor 35 and is used to obtain the rotation angle of the output end of the fourth motor 35.

[0048] In this embodiment, as Figure 2 As shown, the first motor 41, the second motor 51, the first encoder 46, the second encoder, the first controller 8, the central controller 7, and the industrial switch are all housed within the vehicle body. The vehicle body consists of a frame 31, a chassis 32, and a housing 33. The chassis 32 is fixed to the lower part of the frame 31, and the housing 33 covers the outside of the frame 31 to protect the electrical components inside the vehicle body. Wheels 34 are rotatably mounted at the bottom of the vehicle body, and the outer edge of the wheels 34 rolls in contact with the outer wall of the tested pipe section 2, causing the vehicle body to move axially along the tested pipe section 2.

[0049] Specifically, such as Figure 3As shown, the fourth motor 35 is installed at the bottom of the vehicle body, and its output end is directly connected to a wheel 34 to drive the wheel 34 to rotate, thereby driving the mobile bearing assembly 3 to move axially along the pipe section 2 under test (in this embodiment, each wheel 34 is equipped with a corresponding fourth motor 35). The third encoder 36 is located at the tail of the fourth motor 35 and is used to acquire the rotation angle of the output end of the fourth motor 35 in real time. Both the fourth motor 35 and the third encoder 36 are electrically connected to the first controller 8. The first controller 8 drives the mobile bearing assembly 3 to move at a preset speed by controlling the start, stop and speed of the fourth motor 35, and at the same time acquires the rotation angle output by the third encoder 36 in real time. The travel distance of the mobile bearing assembly 3 is calculated based on the rotation angle to obtain the axial position of each detection point, and then fused with the wall thickness value and circumferential angle acquired by the ultrasonic scanning assembly 4 to form a three-dimensional wall thickness dataset.

[0050] A limiting mechanism is installed between two fixed pipe sections 1, and the vehicle body is slidably mounted on the limiting mechanism. The limiting mechanism is used to constrain the vehicle body to the pipe section 2 being tested, preventing the vehicle body from sliding or falling off due to the circular outer wall of the pipe during travel, while guiding the vehicle body to move stably along the axial direction of the pipe section 2 being tested.

[0051] In some embodiments, the limiting mechanism includes: Two limiting plates 37 are respectively fixed on two fixed pipe sections 1; The first slide rail 38 is disposed between the two limiting plates 37 and extends along the axial direction of the pipe section 2 being tested; the vehicle body is fitted onto the first slide rail 38, and a pulley 39 is provided inside the vehicle body, which is in rolling connection with the first slide rail 38.

[0052] Specifically, two limiting plates 37 are fixed to two fixed pipe sections 1 respectively. The first slide rail 38 extends along the axial direction of the pipe section 2 being tested, and its two ends are fixedly connected to the corresponding limiting plates 37. The pulley 39 is mounted on the frame 31 and is slidably connected to the first slide rail 38. The first slide rail 38 penetrates the housing 33 of the vehicle body, and the housing 33 has a through hole at a corresponding position for the first slide rail 38 to pass through. The vehicle body is fitted onto the first slide rail 38 by the pulley 39. When the moving bearing assembly 3 moves along the axial direction of the pipe section 2 being tested, the pulley 39 rolls along the first slide rail 38. Through the cooperation of the first slide rail 38 and the pulley 39, the vehicle body is guided to move stably along the axial direction of the pipe section 2 being tested, preventing the vehicle body from slipping or falling off due to the circular outer wall of the pipe during movement.

[0053] In this embodiment, the first slide rail 38 consists of two parallel steel rails. Correspondingly, the frame 31 is equipped with two sets of pulleys 39 that cooperate with the two steel rails. The two sets of pulleys 39 are respectively rolledly connected to the two steel rails, allowing the vehicle body to roll smoothly along the axial direction of the steel rails. Through the above structure, the moving limiting component provides reliable guidance and limiting during the movement of the moving bearing component 3, ensuring that the ultrasonic scanning component 4 can accurately detect the pipe section 2 under stable posture.

[0054] Example 2 Please refer to Figure 10 This application provides an intelligent maintenance method for the slurry drainage pipe of a slurry shield tunnel, which is implemented using the intelligent maintenance device for the slurry drainage pipe of the slurry shield tunnel provided in Example 1, and includes the following steps: S100: Obtain the axial position, wall thickness value and circumferential angle of each detection point, and form a wall thickness dataset of the pipe section under test; Specifically, during the testing process, the moving support assembly 3 travels axially along the tested pipe segment 2, while the ultrasonic scanning assembly 4 simultaneously performs a circumferential scan of the tested pipe segment 2. The control module acquires the rotation angle of the fourth motor 35 collected by the third encoder 36 and the rotation angle of the first motor 41 collected by the first encoder 46. Based on the rotation angle of the fourth motor 35, the moving support assembly 3 travels a certain distance, thus obtaining the axial position (i.e., the coordinates along the length of the tested pipe segment 2) at the current testing moment. Based on the rotation angle of the first motor 41, the scanning driven gear 34 is calculated, thus obtaining the circumferential angle (i.e., the angular position on the pipe cross-section, 0°~360°) at the current testing moment. Simultaneously, the control module receives the wall thickness value of the corresponding testing point measured by the ultrasonic scanning assembly 4.

[0055] For each ultrasonic test, the control module synchronously binds the axial position, circumferential angle, and wall thickness value corresponding to that test moment, forming a data point (i.e., a test point) containing three dimensions of information: axial position, circumferential angle, and wall thickness value. As the moving bearing component 3 continues to move along the pipe axis and the ultrasonic scanning component 4 continues to scan along the pipe circumference, the test point information accumulates continuously, eventually forming a wall thickness dataset covering the entire pipe segment 2 under test and its entire circumference. Each test point in this wall thickness dataset represents the pipe wall thickness at a specific location on the pipe segment 2 under test in the form of (axial position, circumferential angle, wall thickness value).

[0056] S200: Select the cross section containing the detection point with the smallest wall thickness value from the wall thickness dataset as the most dangerous cross section; Specifically, the wall thickness dataset contains wall thickness distribution information on all axial sections of the tested pipe segment 2. For example, if the tested pipe segment 2 has N axial sections, and each axial section has M detection points, then the wall thickness dataset is represented as follows: ,in For the first Axial position of each axial section ( ), For the first Circumferential angle of each detection point ( ), This represents the wall thickness value at the corresponding detection point.

[0057] The service life of a pipe section is determined by the weakest point in the entire section. The section with the smallest wall thickness is the most severely worn and closest to failure, and maintenance should be prioritized for this section. The selection process for the most dangerous section is as follows: First, the control module iterates through the wall thickness values ​​of all detection points on each axial section, and takes the minimum value as the minimum wall thickness value of that axial section, thus obtaining N minimum wall thickness values ​​corresponding to N axial sections.

[0058] Subsequently, the control module compares the minimum wall thickness values ​​of all axial sections to obtain the global minimum. If only one axial section has a minimum wall thickness value equal to this global minimum, then that axial section is determined as the most dangerous section.

[0059] If multiple axial sections have minimum wall thickness values ​​equal to the global minimum, the control module selects the unique most dangerous section according to a preset selection rule. This selection rule filters step by step based on indicators that reflect the wear condition of the section until a unique section is selected.

[0060] In this embodiment, the specific filtering method for the preferred rules is as follows: First, for each candidate axial section, the control module identifies all continuous regions on that section consisting of at least two adjacent detection points with wall thicknesses below the warning threshold. It calculates the circumferential angular span of each continuous region (i.e., the difference between the maximum and minimum circumferential angles within that region). Then, it sums the circumferential angular spans of all continuous regions to obtain the total circumferential span of the candidate axial section. The total circumferential span reflects the extent of wear coverage in the circumferential direction: a larger total circumferential span indicates a wider range of circumferential angles occupied by wall thickness reduction, and a weaker overall load-bearing capacity of the candidate axial section. Therefore, the candidate section with the largest total circumferential span is selected as the most critical section.

[0061] If the total circumferential span of multiple candidate axial sections is still the same, then the average wall thickness of the candidate axial sections with the same total circumferential span is further compared (the smaller the average wall thickness, the deeper the overall wear of the section), and the section with the smallest average wall thickness is selected as the most dangerous section.

[0062] Through the above selection process, the control module accurately identifies the section with the worst current wall thickness condition from all axial sections of the tested pipe section 2, providing a clear decision object for subsequent dual-threshold stratification judgment and rotation decision.

[0063] S300: When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the control pipe section rotation assembly rotates the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. Specifically, when a detection point on the most dangerous section has a wall thickness value lower than the safety threshold, it indicates that the pipe wall at that location has worn down to near its failure limit. If not addressed promptly, the pipe may wear through at any time. In this case, the control module directly controls the pipe section rotation component 5 to rotate the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. (Since the continuous scouring of the bottom of the pipe by solid particles in the slurry is the main cause of wear, the dangerous points are usually concentrated in a continuous area at the bottom of the tested pipe section 2, rather than scattered around the circumference of the pipe. Therefore, the selected detection point with the smallest wall thickness value represents the concentrated location of the most dangerous wear area.) In this embodiment, the safety threshold is determined based on the design wall thickness and safety factor of the slurry discharge pipe. For example, for a slurry discharge pipe with a design wall thickness of 20mm, the safety threshold value can be taken from the range of 4mm-6mm.

[0064] Specifically, the control module searches for all detection points with wall thickness values ​​below the safety threshold in the wall thickness distribution of the most dangerous section, and then identifies the detection point with the smallest wall thickness value. In actual testing, there may be multiple detection points with the same and minimum wall thickness values ​​on the most dangerous section (e.g., multiple consecutive points on the bottom wear zone). In this case, the control module can select any one of the detection points as the operation target, such as the detection point at the center of the area, or directly select any one of them; the rotation effect is the same, both achieving the purpose of moving the thinnest area out of the bottom.

[0065] After identifying the target object, the control module calculates the emergency rotation angle. The physical meaning of this angle is to directly rotate the selected detection point with the smallest wall thickness from its current position to a preset safe position. In this embodiment, the preset safe position is at a circumferential angle of 180°, i.e., the apex of the pipe. This is because the top of the pipe is the area with the weakest scouring effect from the mud; transferring the thinnest area to this location minimizes the risk of further wear. Emergency Rotation Angle The calculation formula is: ,in The current circumferential angle of the selected detection point with the smallest wall thickness value; This means that the calculation result will be rounded to the range of 0° to 360° (for example, when the calculation result is -20°, take 340°).

[0066] After the calculation is completed, the control module controls the pipe section rotation assembly 5 to clamp the tested pipe section 2 and drive it to rotate according to the emergency rotation angle. This moves the selected detection point with the smallest wall thickness value from its current position to the top of the pipe, allowing the weak area to avoid the high-stress area at the bottom. In this case, the control module directly executes the rotation according to the emergency rotation angle to complete the maintenance action as quickly as possible and ensure pipeline safety.

[0067] S400: When there are no detection points with wall thickness values ​​below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, determine the target rotation angle based on the detection points with wall thickness values ​​below the warning threshold, and rotate the tested pipe section based on the target rotation angle.

[0068] Specifically, when there are no detection points on the most dangerous section with wall thickness values ​​below the safety threshold, but there are detection points with wall thickness values ​​below the warning threshold, it indicates that the pipe wall has experienced a certain degree of wear. Although it has not reached the dangerous state of being about to be worn through, it has exceeded the normal range and requires rotational maintenance to improve the pipe wall thickness distribution. In this case, the control module determines the target rotation angle based on the wear distribution of the detection points with wall thickness values ​​below the warning threshold, and rotates the tested pipe section 2 based on the target rotation angle. In this embodiment, the warning threshold is 50%-60% of the designed wall thickness of the slurry discharge pipe. That is, for a slurry discharge pipe with a designed wall thickness of 20mm, the value of the warning threshold can be taken from the range of 10mm-12mm. In other words, the safety threshold should be less than the warning threshold, and the specific value should be set according to the actual situation.

[0069] The process of determining the target rotation angle based on detection points where the wall thickness is below the warning threshold includes the following steps: The area formed by continuous detection points on the most dangerous section with wall thickness values ​​lower than the warning threshold, and where the number of continuous detection points is greater than the preset threshold, is identified as a continuous warning area, and the continuous warning area with the largest sum of wear depth is taken as the main area. The wear centroid angle of the main region was calculated using the weighted average method. Determine the preset angle range on the opposite side of the wear center of gravity angle, and determine the target rotation angle based on the wear center of gravity angle and the preset angle range.

[0070] Specifically, the control module identifies all detection points on the most dangerous cross-section whose wall thickness values ​​are higher than the safety threshold but lower than the warning threshold. For ease of differentiation, these detection points that meet the aforementioned conditions are designated as warning points. The area formed by warning points with continuous circumferential angles and a number greater than a preset threshold (2 in this embodiment) is identified as a continuous warning area. If only one continuous warning area exists, it is directly used as the main area; if multiple continuous warning areas exist, the sum of the wear depths of each area is calculated. The wear depth of each warning point is defined as the warning threshold minus the actual wall thickness value of that warning point, and the sum of the wear depths is the cumulative value of the wear depths of all warning points in the continuous warning area. Then, the area with the largest sum of wear depths is selected as the main area. The largest sum of wear depths means that the overall wear amount in this area is the largest, and the wall thickness reduction is the most severe; it is a wear area that needs to be prioritized.

[0071] Subsequently, the control module uses a weighted average method to calculate the wear centroid angle of the main region. The calculation formula is: ; in, As the warning threshold, The circumferential angle within the main region is The formula calculates the wall thickness value at each warning point by weighting the wear depth at each warning point within the main area and then averaging the circumferential angles of all warning points to obtain the wear centroid angle. This calculation method ensures that the deeper the wear, the greater the contribution to the center of gravity, thus accurately reflecting the concentration of the entire wear area and avoiding biased rotation decisions based on isolated, accidental deep pits.

[0072] Subsequently, the control module determines the preset angle range on the opposite side of the wear center of gravity angle, and determines the target rotation angle based on the wear center of gravity angle and the preset angle range, and rotates the tested pipe segment 2 based on the target rotation angle.

[0073] The process of determining the target rotation angle based on the wear center of gravity angle and a preset angle range includes the following steps: Within the preset angle range, the continuous region with the most uniform wall thickness and the largest average wall thickness is selected as the healthy region, and its center angle is determined. The average wall thickness increase rate of the healthy region and the main region is calculated based on the wall thickness data of the most dangerous section. If the average wall thickness increase rate is greater than a preset threshold, the angle difference between the center angle and the wear center angle is taken as the target rotation angle; if the average wall thickness increase rate is not greater than the preset threshold, the target rotation angle is 0.

[0074] Specifically, the control module at the wear center angle Within the preset angle range on the opposite side (e.g., with Using a sliding window approach, a healthy region is selected by extending 80° outwards from the center of the critical section, finding the continuous area with the most uniform wall thickness distribution and the largest average wall thickness. Specifically, the preset angle range is divided into multiple consecutive candidate windows (each window has a fixed circumferential span, e.g., 30°), and the standard deviation and average value of the wall thickness within each window are calculated. The smallest standard deviation indicates the most uniform wall thickness distribution, and the largest average value indicates that the wall thickness is well preserved in that area. The window that simultaneously satisfies the minimum standard deviation and the maximum average value is selected as the healthy region, and the center angle β of this window is recorded.

[0075] The control module calculates the average wall thickness of the main region and the healthy region separately. The average wall thickness of the main region... The average wall thickness of all warning points within the region; the average wall thickness of the healthy region. This is the average wall thickness value of all detection points within the area; Then, the control module calculates the average wall thickness increase rate of the healthy region relative to the main region, using the following formula:

[0076] The average wall thickness improvement rate reflects the degree of wall thickness improvement at the original main area location after rotating the healthy area to the main area location. The greater the improvement rate, the more significant the benefits of rotation maintenance.

[0077] If the average wall thickness improvement rate is greater than the preset threshold (in this embodiment, the preset threshold is 5%), it indicates that the wall thickness of the current main area is significantly different from that of the healthy area on the opposite side. Rotation can bring about a significant improvement in wall thickness, so it is necessary and beneficial to perform rotation. The control module then controls the pipe segment rotation component 5 to perform rotation according to the target rotation angle.

[0078] If the average wall thickness increase rate is not greater than the preset threshold, it indicates that the wall thickness of the current main area is not significantly different from that of the healthy area on the opposite side, and the circumferential wear of the pipeline is relatively uniform. At this point, performing rotation is not very effective, and the pipeline can continue to be used for a period of time. The target rotation angle is 0 at this time, and the control module does not perform rotation.

[0079] Through the above steps, the control module can avoid unnecessary mechanical actions when the rotation benefit is not high. Rotation is only performed when the wall thickness of the main area (currently the weakest point) is substantially improved after rotation, thereby extending the pipeline life and reducing useless maintenance.

[0080] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An intelligent maintenance device for a slurry discharge pipe of a slurry shield tunnel, wherein the slurry discharge pipe comprises at least two fixed pipe sections (1) and a test pipe section (2) located between the two fixed pipe sections (1), characterized in that, include: The movable bearing component (3) is movably mounted on the pipe section (2) under test and is used to move along the axial direction of the pipe section (2) under test. An ultrasonic scanning component (4) is mounted on the mobile support component (3) and is used to perform circumferential scanning on the pipe section (2) under test to obtain the wall thickness value of each detection point. Pipe segment connection assembly (6) is disposed between the fixed pipe segment (1) and the pipe segment under test (2) to enable the pipe segment under test (2) to rotate circumferentially relative to the fixed pipe segment (1); The pipe section rotation assembly (5) is mounted on the mobile bearing assembly (3). The pipe section rotation assembly (5) is used to drive the pipe section under test (2) to rotate circumferentially, so as to adjust the posture of the pipe section under test (2) without stopping the machine or discharging slurry. The control module is electrically connected to the moving support assembly (3), the ultrasonic scanning assembly (4), and the pipe section rotation assembly (5), respectively. The control module is configured to: Obtain the axial position, wall thickness value and circumferential angle of each detection point, and form the wall thickness dataset of the tested pipe section (2); The cross section containing the detection point with the smallest wall thickness value is selected from the wall thickness dataset as the most dangerous cross section. When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the pipe section rotation assembly (5) is controlled to rotate the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position; When there are no detection points with wall thickness values ​​lower than the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​lower than the warning threshold, the target rotation angle is determined based on the detection points with wall thickness values ​​lower than the warning threshold, and the tested pipe section is rotated based on the target rotation angle (2). Specifically, determining the target rotation angle based on detection points where the wall thickness is below the warning threshold includes: The area formed by continuous detection points on the most dangerous section with wall thickness values ​​lower than the warning threshold, and where the number of continuous detection points is greater than the preset threshold, is identified as a continuous warning area, and the continuous warning area with the largest sum of wear depth is taken as the main area. The wear centroid angle of the main region was calculated using the weighted average method. Determine the preset angle range on the opposite side of the wear center of gravity angle, and determine the target rotation angle based on the wear center of gravity angle and the preset angle range.

2. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 1, characterized in that, The ultrasound scanning component (4) includes: The first motor (41) is disposed inside the mobile support assembly (3). The output end of the first motor (41) extends out of the mobile support assembly (3) and is connected to a scanning drive gear (42). The first motor (41) is used to drive the scanning drive gear (42) to rotate. A scanning driven gear (43) is sleeved on the pipe section (2) to be tested. The scanning driven gear (43) is rotatably mounted on the movable bearing assembly (3) through a first connecting mechanism, and the scanning driven gear (43) meshes with the scanning active gear (42). Multiple electromagnetic ultrasonic probes (45) are arranged circumferentially on the inner wall of the scanning driven gear (43) to obtain the wall thickness value of the corresponding detection point. The first encoder (46) is located at the tail of the first motor (41) and is used to obtain the rotation angle of the output end of the first motor (41).

3. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 2, characterized in that, The first connecting mechanism includes: The first slide rail (47) is circumferentially disposed on the side of the scanning driven gear (43) near the moving support assembly (3); a first slider (49) is slidably connected inside the first slide rail (47). The first fixed rod (48) has one end fixedly connected to the first slider (49) and the other end fixedly connected to the movable bearing assembly (3).

4. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 1, characterized in that, The pipe section rotation assembly (5) includes: The second motor (51) is disposed inside the movable bearing assembly (3). The output end of the second motor (51) extends out of the movable bearing assembly (3) and is connected to a rotary drive gear (52). The second motor (51) is used to drive the rotary drive gear (52) to rotate. A rotating driven gear (53) is sleeved on the pipe section (2) being tested. The rotating driven gear (53) is rotatably mounted on the movable bearing assembly (3) through a second connecting mechanism, and the rotating driven gear (53) meshes with the rotating driving gear (52). The clamping mechanism includes two sets of clamping units (55) symmetrically arranged on the inner wall of the rotating driven gear (53). The two sets of clamping units (55) are used to clamp the pipe section (2) to be tested, so as to drive the pipe section (2) to be tested to rotate when the rotating driven gear (53) rotates. The second encoder is located at the tail of the second motor (51) and is used to obtain the rotation angle of the output end of the second motor (51).

5. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 4, characterized in that, The clamping unit (55) includes: The third motor (551) is disposed on the inner wall of the rotating driven gear (53), and the output end of the third motor (551) is connected to the lead screw (552). The third motor (551) is used to drive the lead screw (552) to rotate. A fixed base is threadedly connected to the lead screw (552) and is used to move along the axial direction of the lead screw (552) when the lead screw (552) rotates; a first hydraulic component (5510) and a second hydraulic component (5511) are respectively provided on both sides of the fixed base along a first direction; a first clamping arm (5512) is rotatably connected to the other end of the first hydraulic component (5510), and a second clamping arm (5513) is rotatably connected to the other end of the second hydraulic component (5511); the first clamping arm (5512) and the second clamping arm (5513) are rotatably connected by a connecting shaft (5514); the first direction is perpendicular to the axial direction of the lead screw (552); A connecting rod (5516) is provided, and the connecting shaft (5514) is connected to the fixed base via the connecting rod (5516). The clamping unit (55) has a first state and a second state. In the first state, the first clamping arm (5512) and the second clamping arm (5513) clamp the pipe segment (2) under the drive of the first hydraulic component (5510) and the second hydraulic component (5511). In the second state, the first clamping arm (5512) and the second clamping arm (5513) release the pipe segment (2) under the drive of the first hydraulic component (5510) and the second hydraulic component (5511).

6. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 1, characterized in that, The mobile carrier component (3) includes: The vehicle body has wheels (34) rotatably mounted on its bottom, and the wheels (34) roll into contact with the outer wall of the pipe section (2) being tested; A limiting mechanism is provided between the two fixed pipe sections (1), and the vehicle body is slidably mounted on the limiting mechanism; A fourth motor (35) is mounted on the vehicle body. The output end of the fourth motor (35) is connected to at least one of the wheels (34) for driving the wheels (34) to rotate. The third encoder (36) is disposed at the tail of the fourth motor (35) and is used to obtain the rotation angle of the output end of the fourth motor (35).

7. The intelligent maintenance device for the slurry discharge pipe of a slurry shield tunneling machine according to claim 6, characterized in that, The limiting mechanism includes: Two limiting plates (37) are respectively fixed on the two fixed pipe sections (1); The first slide rail (38) is disposed between the two limiting plates (37) and extends along the axial direction of the pipe section (2) being tested; the vehicle body is fitted on the first slide rail (38), and a pulley (39) is provided inside the vehicle body, and the pulley (39) is tumblingly connected to the first slide rail (38).

8. A method for intelligent maintenance of a slurry shield tunneling grout discharge pipe, implemented using the intelligent maintenance device for the slurry shield tunneling grout discharge pipe provided in any one of claims 1-7, characterized in that, Includes the following steps: The axial position, wall thickness value and circumferential angle of each detection point are obtained, and a wall thickness dataset of the tested pipe section is formed. The cross section containing the detection point with the smallest wall thickness value is selected from the wall thickness dataset as the most dangerous cross section. When there is a detection point on the most dangerous section with a wall thickness value lower than the safety threshold, the pipe section rotation assembly is controlled to rotate the detection point with the smallest wall thickness value on the most dangerous section to a preset safe position. When there are no detection points with wall thickness values ​​below the safety threshold on the most dangerous section, but there are detection points with wall thickness values ​​below the warning threshold, the target rotation angle is determined based on the detection points with wall thickness values ​​below the warning threshold, and the tested pipe section is rotated based on the target rotation angle.

9. The intelligent maintenance method for the slurry discharge pipe of a slurry shield tunneling machine according to claim 8, characterized in that, The target rotation angle is determined based on detection points where the wall thickness is below the warning threshold, specifically including the following steps: The area formed by continuous detection points with wall thickness values ​​lower than the warning threshold on the most dangerous section, and where the number of continuous detection points is greater than the preset threshold, is identified as a continuous warning area, and the continuous warning area with the largest sum of wear depth is taken as the main area. The wear centroid angle of the main region was calculated using the weighted average method. Determine a preset angle range on the opposite side of the wear center of gravity angle, and determine the target rotation angle based on the wear center of gravity angle and the preset angle range.

10. The intelligent maintenance method for the slurry discharge pipe of a slurry shield tunneling machine according to claim 9, characterized in that, The target rotation angle is determined based on the wear center angle and the preset angle range, specifically including the following steps: Within the preset angle range, the continuous region with the most uniform wall thickness and the largest average wall thickness is selected as the healthy region, and its center angle is determined. The average wall thickness increase rate of the healthy region and the main region is calculated based on the wall thickness data of the most dangerous section. If the average wall thickness increase rate is greater than a preset threshold, the angle difference between the center angle and the wear center angle is taken as the target rotation angle; if the average wall thickness increase rate is not greater than the preset threshold, the target rotation angle is 0.

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