阅读说明：本技术 管道机器人、排水管道的修复方法及存储介质 (Pipeline robot, repairing method of drainage pipeline and storage medium ) 是由 吴涵 吴兴华 于 2019-09-24 设计创作，主要内容包括：本发明公开了一种管道机器人包括牵引卡位、机械臂以及驱动装置；其中,牵引卡位用于固定高压注浆管道,以使所述管道机器人可以将所述高压注浆管道牵引至排水管道的破损位置；所述机械臂用于将所述高压注浆管道固定至所述破损位置,所述驱动装置用于驱动所述管道机器人在所述排水管道内移动。本发明还公开了一种排水管道修复方法及计算机可读存储介质,达成了提高排水管道修复时的安全性的效果。(The invention discloses a pipeline robot, which comprises a traction clamping position, a mechanical arm and a driving device, wherein the traction clamping position is arranged on the mechanical arm; the traction clamping position is used for fixing the high-pressure grouting pipeline so that the pipeline robot can pull the high-pressure grouting pipeline to the damaged position of the drainage pipeline; the arm is used for with high pressure slip casting pipeline is fixed to the damaged position, drive arrangement is used for the drive pipeline robot is in drainage pipe removes. The invention also discloses a drainage pipeline repairing method and a computer readable storage medium, which achieve the effect of improving the safety of the drainage pipeline during repairing.)

1. The pipeline robot is characterized by comprising a traction clamping position, a mechanical arm and a driving device; the traction clamping position is used for fixing the high-pressure grouting pipeline so that the pipeline robot can pull the high-pressure grouting pipeline to the damaged position of the drainage pipeline; the arm is used for with high pressure slip casting pipeline is fixed to the damaged position, drive arrangement is used for the drive pipeline robot is in drainage pipe removes.

2. The pipeline robot of claim 1, further comprising a drill for drilling the damaged location.

3. The pipe robot according to claim 1, further comprising a detection device, wherein the detection device comprises a video detection module and a sonar detection module.

4. A method for repairing a drainage pipeline, which is applied to the pipeline robot according to any one of claims 1 to 3, comprising the steps of:

when the traction clamping position is detected to be in a locking state, the pipeline robot is controlled to move to a damaged position of the drainage pipeline;

and fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm so as to perform high-pressure grouting on the damaged position through the high-pressure grouting pipeline.

5. The method for repairing a drainage pipeline according to claim 4, wherein before the step of fixing the high-pressure grouting pipeline on the draw-off clamp at the damaged position by the mechanical arm, the method further comprises:

drilling the damaged position through a drill bit to form a grouting hole in the damaged position;

the step of fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm comprises the following steps:

and fixing a grout outlet of the high-pressure grouting pipeline to the grouting hole through the mechanical arm so as to enable the cement grout in the high-pressure grouting pipeline to be poured to the damaged position through the grouting hole.

6. The method for repairing a drainage pipeline according to claim 4, wherein said step of controlling said pipeline robot to move to a damaged position of the drainage pipeline further comprises:

and detecting the breakage of the drainage pipeline through a detection device, and determining the breakage position according to the detection result.

7. The method for repairing a drainpipe according to claim 6, wherein the step of detecting the breakage of the drainpipe by a detecting device and determining the breakage position based on the detection result comprises:

acquiring detection video data of the drainage pipeline through the video detection module;

and carrying out image analysis on the detected video data to determine the damage position.

8. The method for repairing a drainpipe according to claim 7, wherein the step of performing image analysis on the detected video data to determine the damaged position further comprises:

scanning the damaged position through the sonar detection module, and determining the volume of the cavity according to the scanning result;

and determining the grouting amount corresponding to the damaged position according to the cavity volume, and sending the grouting amount to other terminals.

9. The method for repairing a drainage pipeline according to claim 4, wherein the pipeline robot is further provided with a waterproof paint storage device and a waterproof paint nozzle, and after the step of fixing the high-pressure grouting pipeline on the traction clamp to the damaged position by the robot arm, the method further comprises:

after the high-pressure grouting is completed for the damaged position, the waterproof paint stored in the waterproof paint storage device is sprayed to the damaged position through the waterproof paint nozzle.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a drain pipeline repairing program, which when executed by a processor implements the steps of the drain pipeline repairing method according to any one of claims 4 to 9.

Technical Field

The invention relates to the technical field of municipal engineering, in particular to a pipeline robot, a repairing method of a drainage pipeline and a computer readable storage medium.

Background

Urban drainage pipelines are important ways for removing urban sewage and rainwater, and vertically and horizontally staggered underground drainage pipelines in cities are extremely important municipal facilities and even become basic facilities for stable development of cities, and the normal operation of the underground drainage pipelines is an important guarantee for guaranteeing the normal order of urban production and life. Because the internal environment of the urban drainage pipeline is severe, pipeline faults such as pipeline damage, leakage and the like easily occur in the pipeline, and the normal drainage function of the urban drainage pipeline is influenced, so that the production and the life of people in the city are influenced.

In the traditional construction mode, when the pipeline breaks down, the high-pressure grouting pipeline needs to enter an underground drainage pipeline manually, is pulled to the damaged position of the drainage pipeline manually and is fixed. As various toxic gases exist in the drainage pipeline, the defect of low safety of pipeline repair exists.

Disclosure of Invention

The invention mainly aims to provide a pipeline robot, a repairing method of a drainage pipeline and a computer readable storage medium, aiming at achieving the effect of improving the pipeline repairing safety.

In order to achieve the above object, the present invention provides a pipeline robot, which comprises a traction clamp, a mechanical arm and a driving device; the traction clamping position is used for fixing the high-pressure grouting pipeline so that the pipeline robot can pull the high-pressure grouting pipeline to the damaged position of the drainage pipeline; the arm is used for with high pressure slip casting pipeline is fixed to the damaged position, drive arrangement is used for the drive pipeline robot is in drainage pipe removes.

Optionally, the pipeline robot further comprises a drill for drilling the damage location.

Optionally, the robot further comprises a detection device, wherein the detection device comprises a video detection module and a sonar detection module.

In addition, in order to achieve the above object, the present invention also provides a method for repairing a drain pipeline, the method being applied to the above pipeline robot, the method comprising the steps of:

when the traction clamping position is detected to be in a locking state, the pipeline robot is controlled to move to a damaged position of the drainage pipeline;

and fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm so as to perform high-pressure grouting on the damaged position through the high-pressure grouting pipeline.

Optionally, before the step of fixing the high-pressure grouting pipe on the traction clamping position at the damaged position by the mechanical arm, the method further includes:

drilling the damaged position through a drill bit to form a grouting hole in the damaged position;

the step of fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm comprises the following steps:

and fixing a grout outlet of the high-pressure grouting pipeline to the grouting hole through the mechanical arm so as to enable the cement grout in the high-pressure grouting pipeline to be poured to the damaged position through the grouting hole.

Optionally, before the step of controlling the pipeline robot to move to the damaged position of the drainage pipeline, the method further includes:

and detecting the breakage of the drainage pipeline through a detection device, and determining the breakage position according to the detection result.

Optionally, the step of detecting the breakage of the drainage pipeline by a detection device and determining the breakage position according to the detection result includes:

acquiring detection video data of the drainage pipeline through the video detection module;

and carrying out image analysis on the detected video data to determine the damage position.

Optionally, after the step of performing image analysis on the detected video data and determining the breakage position, the method further includes:

scanning the damaged position through the sonar detection module, and determining the volume of the cavity according to the scanning result;

and determining the grouting amount corresponding to the damaged position according to the cavity volume, and sending the grouting amount to other terminals.

Optionally, the pipeline robot is further provided with a waterproof paint storage device and a waterproof paint nozzle, and the step of fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position by the mechanical arm further includes:

after the high-pressure grouting is completed for the damaged position, the waterproof paint stored in the waterproof paint storage device is sprayed to the damaged position through the waterproof paint nozzle.

In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein a drain pipeline repairing program is stored on the computer readable storage medium, and when being executed by a processor, the drain pipeline repairing program realizes the steps of the drain pipeline repairing method as described above.

The embodiment of the invention provides a pipeline robot, a repairing method of a drainage pipeline and a computer readable storage medium, wherein the pipeline robot mainly comprises: the device comprises a traction clamping position, a mechanical arm, a detection device and a driving device; the traction clamping position is used for fixing the high-pressure grouting pipeline so that the pipeline robot can pull the high-pressure grouting pipeline to the damaged position of the drainage pipeline; the arm is used for with high pressure slip casting pipeline is fixed to the damaged position, drive arrangement is used for the drive pipeline robot is in drainage pipe removes.

Because pipeline robot is provided with pulls screens and drive arrangement, consequently, can pass through pipeline robot pulls the high pressure slip casting pipeline to drainage pipe's damaged position to mechanical arm on the pipeline robot will slip casting pipeline is fixed to the damaged position carries out high pressure slip casting to the damaged position. Therefore, workers are prevented from entering the drainage pipeline, and the effect of improving the safety of the drainage pipeline during repair is achieved.

Drawings

FIG. 1 is a schematic structural diagram of a pipeline robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a grout outlet end of a high-pressure grouting pipeline according to an embodiment of the invention;

FIG. 3 is a sectional view of a high pressure grouting pipe according to an embodiment of the present invention fixed to an inner wall of a drainage pipeline;

FIG. 4 is a schematic flow chart illustrating a method for repairing a drainpipe according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of another embodiment of the present invention;

FIG. 6 is a schematic flow chart of yet another embodiment of the present invention;

FIG. 7 is a flow chart illustrating another embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Because urban drainage pipelines are an important way for removing urban sewage and rainwater, the underground drainage pipelines which are criss-cross in cities are extremely important municipal facilities and even become basic facilities for stable development of the cities, and the normal operation of the underground drainage pipelines is an important guarantee for guaranteeing the normal order of production and life of the cities. Because the internal environment of the urban drainage pipeline is severe, pipeline faults such as pipeline damage, leakage and the like easily occur in the pipeline, and the normal drainage function of the urban drainage pipeline is influenced, so that the production and the life of people in the city are influenced.

In the traditional construction mode, when a pipeline breaks down, the pipeline needs to enter an underground drainage pipeline manually to repair the pipeline. This has the disadvantage of low safety in pipeline rehabilitation.

In order to solve the above-mentioned drawbacks, an embodiment of the present invention provides a pipeline robot, a method for repairing a drainage pipeline, and a computer-readable storage medium, where the pipeline robot mainly includes:

the device comprises a traction clamping position, a mechanical arm, a detection device and a driving device; the traction clamping position is used for fixing the high-pressure grouting pipeline so that the pipeline robot can pull the high-pressure grouting pipeline to the damaged position of the drainage pipeline; the arm is used for with high pressure slip casting pipeline is fixed to the damaged position, drive arrangement is used for the drive pipeline robot is in drainage pipe removes.

Because pipeline robot is provided with pulls screens and drive arrangement, consequently, can pass through pipeline robot pulls the high pressure slip casting pipeline to drainage pipe's damaged position to mechanical arm on the pipeline robot will slip casting pipeline is fixed to the damaged position carries out high pressure slip casting to the damaged position. Therefore, workers are prevented from entering the drainage pipeline, and the effect of improving the safety of the drainage pipeline during repair is achieved.

As shown in fig. 1, as an embodiment, the pipeline robot includes a traction block 10, and a slurry outlet end of a high-pressure slurry injection pipeline of the high-pressure slurry injector can be fixed on the traction block 10 by a plug-in connection manner. So that the slurry outlet end of the high-pressure grouting pipeline moves synchronously according to the pipeline robot. The pipe robot further includes a robot arm 20, the robot arm 20 including at least one revolute joint 21, and the robot arm 20 being rotatable based on the revolute joint 21. Wherein, the rotary joint 21 can be driven to rotate by a hydraulic device or a motor. The mechanical arm 20 is used for fixing the slurry outlet end of the high-pressure grouting pipeline to the damaged position of the drainage pipeline, so that high-pressure grouting is performed on the damaged position of the drainage pipeline through the high-pressure grouting pipe.

Specifically, as shown in fig. 2, a positioning plate 101 is disposed at a grout outlet end of the high-pressure grouting pipeline, and the positioning plate 101 may be rectangular, circular, or triangular. The edge of the positioning plate 101 is provided with a positioning hole 102. Wherein the positioning hole 102 is a through hole relative to the positioning plate. The grout outlet 103 of the high-pressure grouting pipeline is positioned inside the positioning plate 101. The grout outlet 103 may be fixed by the fixing plate 101.

When the positioning plate 101 is fixed by the mechanical arm 20, the positioning plate 101 may be attached to a damaged position of the drain pipe, and then the positioning plate may pass through the positioning hole 102 to perform a punching operation on the drain pipe. And after the punching is finished, the positioning plate 101 is fixed on the drainage pipeline through screws.

As shown in fig. 3, fig. 3 is a sectional view of the high-pressure grouting pipe and the drain pipe at the time of fixing the damaged position. Wherein, the screw 103 is connected with the drainage pipeline 105 after passing through the positioning hole 102, so that the positioning plate 101 can be locked on the inner wall of the drainage pipeline 105 by the screw. The outlet of the high-pressure grouting pipe 104 is disposed opposite to the damaged position 106 of the drainage pipe so that high-pressure grouting can be performed to the damaged position through the high-pressure grouting pipe 104.

The pipe robot further comprises a driving device 30, and the driving device 30 comprises wheels 31 arranged on both sides of the pipe robot, and a driving motor 32 in power connection with the wheels 31. When the driving motor 32 rotates, the wheel 31 is driven to rotate, so that the pipeline robot can be driven to move forward or backward in the drainage pipeline. The drive means 30 may also comprise an electric storage means 33. The power storage device 33 is electrically connected to the driving motor 32 and is used for providing power electricity for the driving motor 32.

Illustratively, the power storage device 33 may be a lithium ion battery pack.

Optionally, the pipeline robot further comprises a drill 40, and the drill 40 is used for drilling the damaged position of the drainage pipeline. So as to form a grouting hole on the inner wall of the drainage pipeline. Then the pipeline robot can fix the high-pressure grouting pipeline on the grouting hole so as to perform grouting operation into the cavity at the outer wall of the drainage pipeline through the grouting hole. Thereby filling the corresponding cavity of the outer wall of the drainage pipeline.

Optionally, the pipeline robot further includes a waterproof coating material storage device 50 and a waterproof coating material nozzle 60, the waterproof coating material nozzle 60 is connected with the waterproof coating material storage device 50 through a pipeline, and the waterproof coating material nozzle 60 is selectively opened or closed. When the waterproof coating material nozzle 60 is opened, the waterproof coating material stored in the waterproof coating material storage device 50 can be sprayed outward.

Optionally, the pipeline robot further comprises a detection device 70, wherein the detection device 70 comprises a video detection module 71 and a sonar detection device 72. The video detection module 71 can perform video shooting on the drainage pipeline to determine the damaged position in the drainage pipeline. The sonar detection module can scan the damaged position to determine the cavity volume at the damaged position.

In another embodiment, based on the above pipeline robot, the pipeline robot may further include a processor, a memory, and a drain pipeline repairing program stored in the memory and operable in the processor, and when the processor of the pipeline robot operates the drain pipeline repairing program, the pipeline robot is controlled to perform the following steps:

when the traction clamping position is detected to be in a locking state, the pipeline robot is controlled to move to a damaged position of the drainage pipeline;

and fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm so as to perform high-pressure grouting on the damaged position through the high-pressure grouting pipeline.

Further, when the pipeline robot executes the repair program of the drainage pipeline, the following steps are also executed:

drilling the damaged position through a drill bit to form a grouting hole in the damaged position;

the step of fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through the mechanical arm comprises the following steps:

and fixing a grout outlet of the high-pressure grouting pipeline to the grouting hole through the mechanical arm so as to enable the cement grout in the high-pressure grouting pipeline to be poured to the damaged position through the grouting hole.

Further, when the pipeline robot executes the repair program of the drainage pipeline, the following steps are also executed:

and detecting the breakage of the drainage pipeline through a detection device, and determining the breakage position according to the detection result.

Further, when the pipeline robot executes the repair program of the drainage pipeline, the following steps are also executed:

acquiring detection video data of the drainage pipeline through the video detection module;

and carrying out image analysis on the detected video data to determine the damage position.

Further, when the pipeline robot executes the repair program of the drainage pipeline, the following steps are also executed:

scanning the damaged position through the sonar detection module, and determining the volume of the cavity according to the scanning result;

and determining the grouting amount corresponding to the damaged position according to the cavity volume, and sending the grouting amount to other terminals.

Further, when the pipeline robot executes the repair program of the drainage pipeline, the following steps are also executed:

after the high-pressure grouting is completed for the damaged position, the waterproof paint stored in the waterproof paint storage device is sprayed to the damaged position through the waterproof paint nozzle.

Referring to fig. 4, in an embodiment of the repairing method of the drainage pipeline of the present invention, the repairing method of the drainage pipeline includes the following steps:

step S10, when the traction clamping position is detected to be in a locking state, controlling the pipeline robot to move to the damaged position of the drainage pipeline;

in this embodiment, the constructor can fix the grout outlet end of the high-pressure grouting pipeline on the traction clamping position of the pipeline robot. And a detection device can be further arranged on the traction clamping position of the pipeline robot. When detecting draw the screens when being in the lock-out condition, the pipeline robot judges present high pressure slip casting pipeline in order to fix draw on the screens to can control drive arrangement and start, move to the damaged position of drainage pipe with the drive pipeline robot. Since the high-pressure grouting pipe is fixed to the traction position of the pipe robot, the high-pressure grouting pipe can be pulled to the damaged position when the pipe robot moves to the damaged position.

When the traction clamping position is not in a locking state, the pipeline robot can output prompt information that the grouting pipeline is not locked so as to prompt a user to fix the high-pressure grouting pipeline to the traction clamping position.

Specifically, the mode of the pipeline robot outputting the prompt information includes displaying through a display panel, broadcasting the prompt information in a voice broadcasting mode and/or sending the prompt information to a third party terminal and the like. Wherein the pipe robot may be provided with a display panel when displaying through the display panel. When the prompt information is output in the voice broadcasting mode, the pipeline robot can be provided with a voice playing device such as a loudspeaker; when the prompt information is output in a mode of sending the prompt information to the third terminal, the pipeline robot can be further provided with a communication device for the pipeline robot to communicate with the third-party terminal, so that the purpose of sending the prompt information to the third-party terminal is achieved.

And S20, fixing the high-pressure grouting pipeline on the traction clamping position to the damaged position through a mechanical arm, and performing high-pressure grouting on the damaged position through the high-pressure grouting pipeline.

In this embodiment, after the pipeline robot moves to the damaged position, the stockholder at the grout outlet end of the high-pressure grouting pipeline can be located at the damaged position by the mechanical arm. And carrying out high-pressure grouting on the damaged position through the high-pressure grouting pipeline.

Specifically, when pipeline robot removes to behind the damaged position, can control earlier pull the screens and remove, so that the locating plate of the play thick liquid end of high pressure slip casting pipeline with the damaged position coincidence on drainage pipe's the inner wall.

It can be understood that the draw screens can also be set to be fixed and immovable, and when the draw screens are set to be fixed and immovable, the high-pressure grouting pipelines can be detached through the mechanical arm and moved to the state coinciding with the damaged position on the inner wall of the drainage pipeline.

Furthermore, after the drainage pipeline is overlapped with the damaged position on the inner wall of the drainage pipeline, the mechanical arm can be controlled to penetrate through the positioning hole in the positioning plate to punch the inner wall of the drainage pipeline, so that a fixing hole corresponding to the positioning hole in the positioning plate is formed in the inner wall of the drainage pipeline. And then, controlling a mechanical arm to penetrate through the positioning hole to screw a screw into the fixing hole so as to lock the positioning plate on the inner wall of the drainage pipeline.

It is understood that when the drainage pipeline is perforated to form the fixing hole, the perforating operation can also be directly performed through the fixing screw. This makes it possible to omit the step of screwing the screws into the positioning holes and the fixing holes.

It should be noted that the video detection device of the pipeline robot can capture the operation information of the pipeline robot in real time and then synchronously transmit the video data to other terminals. So as to output the operation video of the pipeline robot in real time through the other terminal.

The amount of movement of the robot arm and/or the traction clamp can be controlled by a control device provided separately from the pipeline robot. The control device and the pipeline robot are both provided with communication modules. The control operation of the user received by the control device can be transmitted to the pipeline robot in real time through the communication module, so that the pipeline robot moves the mechanical arm and/or the traction clamping position according to the control information of the control device.

Alternatively, as an implementation manner, the driving device of the pipeline robot can be remotely controlled by the control device. So that the user can control the position of the entire pipe robot through the control means.

When the pipeline robot fixes the high-pressure grouting pipeline to the damaged position, fixed prompt information of the high-pressure grouting pipeline can be sent to other terminals or control devices. And prompting a user to start a high-pressure grouting machine to perform high-pressure grouting operation on the damaged position.

In the technical scheme that this embodiment is disclosed, when detecting to pull the screens and be in the lock-out state, control pipeline robot removes to drainage pipe's damaged position, then will through the arm high pressure slip casting pipeline on pulling the screens is fixed extremely damaged position, with through high pressure slip casting pipeline is right damaged position carries out high pressure slip casting. Because can pull and fix high pressure slip casting pipeline through pipeline robot, reach the effect that improves drainage pipe prosthetic security like this.

Optionally, referring to fig. 5, based on the foregoing embodiment, in another embodiment, before the step S20, the method further includes:

step S30, drilling the damaged position through a drill to form a grouting hole at the damaged position;

in this embodiment, after the pipeline robot moves to the damaged position, the damaged position can be perforated by the drill bit first to form a grouting hole on the inner wall of the drainage pipeline. And then the mechanical arm and/or the traction clamping piece move the slurry outlet of the grouting pipeline to coincide with the grouting hole. And fixing the grout outlet on the grouting hole so as to enable the cement grout in the high-pressure grouting pipeline to be poured to the damaged position through the grouting hole.

Illustratively, when the inner wall of the drainage pipeline is slightly damaged, but soil layers combined with the outer wall of the drainage pipeline are greatly lost, a cavity is formed between the outer wall of the drainage pipeline and the soil layers, which may cause the drainage pipeline to be seriously damaged, so that a grouting hole may be first started on the inner wall to perform grouting operation on the outer cavity. Thereby filling the outer cavity of the drain pipe.

In the technical scheme disclosed in this embodiment, the grouting holes can be formed in the inner wall of the drainage pipeline, so that the external cavity can be filled by high-pressure grouting, and the effect of filling the external cavity of the drainage pipeline is achieved.

Optionally, referring to fig. 6, based on any one of the above embodiments, in a further embodiment, before the step S10, the method further includes:

and step S40, detecting the breakage of the drainage pipeline through a detection device, and determining the breakage position according to the detection result.

In this embodiment, the pipeline information of the drainage pipeline to be tested, such as pipeline distribution information, pipeline diameter information, and pipeline length information of the drainage pipeline to be tested, may be obtained first, where the pipeline diameter information includes a pipeline inner diameter and a pipeline outer diameter.

Specifically, the pipeline information may be transmitted to the pipeline robot through another terminal, where the another terminal may be a server or a PC or the like. When the other terminal is a server, the pipeline robot may further include a communication module to establish a communication connection with the server through the communication module. After the pipeline robot establishes communication connection with the server, the pipeline information can be downloaded from the server. When the other terminals are PCs, the pipeline robot can establish communication connection with the PCs through the USB data line, so that the PCs can send the pipeline information to the pipeline robot.

After the pipeline robot acquires the pipeline information, the current position of the pipeline robot can be acquired, and then the traveling route of the pipeline robot in the drainage pipeline is determined by combining the current position and the pipeline distribution information. So that the pipeline robot can traverse all the pipelines to be detected with the shortest travel distance to perform blockage detection on all the pipelines. When detecting the drainage pipeline corresponding to the current position, the pipeline robot can acquire the detection video data of the drainage pipeline through the video detection module, and the detection video data is subjected to image analysis to determine the damage position.

Optionally, after the damaged position is determined, the damaged position may be scanned by a sonar detection module, a cavity volume may be determined according to a scanning result, a grouting amount corresponding to the damaged position may be determined according to the cavity volume, and the grouting amount may be sent to another terminal.

Specifically, the cavity volume comprises the volume of a damaged space of the drainage pipeline and the volume of a space generated at the joint of the outer wall of the drainage pipeline and the soil layer due to soil layer loss.

Wherein the other terminal may output the grouting amount so that a user may determine the grouting amount of the high pressure grouting machine through the grouting amount.

In the technical scheme disclosed in this embodiment, pipeline robot can carry out the breakage detection to drainage pipe earlier, then confirms the breakage position according to the testing result. The effect of the efficiency of the damaged detection of promotion drainage pipe has been reached like this.

Optionally, referring to fig. 7, based on any one of the above embodiments, in a further embodiment, after step S20, the method further includes:

and step S50, after the high-pressure grouting is performed on the damaged position, spraying the waterproof paint stored in the waterproof paint storage device to the damaged position through the waterproof paint nozzle.

In this embodiment, the pipe robot may be provided with a waterproof paint storage means, wherein the waterproof paint stored in the waterproof paint storage means may be sprayed out through a waterproof paint nozzle.

After the high-pressure grouting is completed on the damaged position by the high-pressure grouting machine, waterproof paint may be sprayed to the damaged position to form a waterproof coating over the damaged position.

Alternatively, when the high pressure grouting is performed to the damaged location, only the grouting is performed to the damaged location. After the cement paste is poured into the damaged position, the adhesive material pouring duct is pulled to the damaged position again by the duct robot after the cement is to be set, and is fixed at the damaged position by the robot arm. So as to perform high-pressure infusion of the adhesive material to the damaged position through the adhesive material infusion pipe.

Illustratively, the epoxy resin infusion pipeline can be pulled to the damaged position by a pipeline robot, and fixed at the damaged position by a mechanical arm, so as to perform high-pressure infusion of epoxy resin to the damaged position. Wherein the pouring pressure of the epoxy resin is greater than that of the cement paste.

In the technical scheme disclosed in the embodiment, the waterproof coating can be formed on the damaged position, so that the damaged position is prevented from being damaged for the second time, and the effect of delaying the service life of the drainage pipeline is achieved.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a drain pipeline repairing program is stored on the computer-readable storage medium, and when the drain pipeline repairing program is executed by a processor, the steps of the drain pipeline repairing method according to the above embodiments are implemented.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention essentially or contributing to the prior art can be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device (e.g. a pipeline robot, etc.) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.