阅读说明：本技术 用于修复排水管道变形塌陷的非开挖装置及其修复方法 (Non-excavation device for repairing deformation collapse of drainage pipeline and repairing method thereof ) 是由 董宇 邓云蛟 潘潮峰 潘国乔 高志强 鄯毅 侯雨雷 曾达幸 于 2021-10-11 设计创作，主要内容包括：本发明提供一种用于修复排水管道变形塌陷的非开挖装置及其修复方法,其包括树脂板、顶板、多节伸缩筒和调姿底座组件,顶板第一端和树脂板连接,第二端和力传感器第一端连接,力传感器第二端和多节伸缩筒连接,调姿底座组件对称分布在主安装板下部两侧。修复方法的具体步骤为：进行非开挖变形修复准备工作,调节两自由度摄像头视野范围,启动多节伸缩筒将树脂板顶到管壁上方；采用单目视觉定位算法和圆拟合算法获取管壁上方待顶出差值,顶出差值小于一定值或压力超过一定值,则制动多节伸缩筒并加热固化树脂板,分段支撑待修复管道的变形塌陷位置,从而达到整圈修复。本发明安全性高,施工周期短,操作便捷,无需开挖,通用性强,修复效果好。(The invention provides a non-excavation device for repairing drainage pipeline deformation collapse and a repairing method thereof. The repairing method comprises the following specific steps: carrying out non-excavation deformation repair preparation work, adjusting the visual field range of the two-degree-of-freedom camera, and starting the multi-section telescopic cylinder to push the resin plate to the upper part of the pipe wall; and (3) acquiring a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, braking the multi-section telescopic cylinder and heating and curing the resin plate if the ejection difference value is smaller than a certain value or the pressure exceeds a certain value, and supporting the deformation and collapse positions of the pipeline to be repaired in a segmented manner so as to achieve the whole-circle repair. The method has the advantages of high safety, short construction period, convenience in operation, no need of excavation, strong universality and good restoration effect.)

1. A non-excavation device for repairing drainage pipeline deformation collapse comprises a resin plate, a top plate, a plurality of sections of telescopic barrels, a motor and a posture adjusting base assembly, and is characterized in that,

the resin plate is connected with the first end of the top plate, the second end of the top plate is connected with the first end of the force sensor, the second end of the force sensor is connected with the first end of the multiple sections of telescopic barrels, the second end of the multiple sections of telescopic barrels is connected with the first end of the outer ring of the external tooth rotation supporting body, and heating resistance wires are uniformly distributed between the resin plate and the top plate;

the shell of the motor is fixedly connected with the first end of the motor support, the output shaft of the motor is connected with the first end of the driving gear shaft through the coupler, the second end of the driving gear shaft is fixedly connected with the circular table of the driving gear, the cylindrical gear of the driving gear is meshed with the second end of the outer ring of the external tooth rotary support body, the inner ring of the external tooth rotary support body and the motor support are respectively and fixedly connected with the first end and the second end of the upper part of the main mounting plate, and the two-degree-of-freedom camera is fixedly connected with the third end of the upper part of the main mounting plate;

transfer appearance base subassembly symmetric distribution to be in the both sides of main mounting panel lower part, transfer appearance base subassembly including spacer pin, cardboard, spout, support and block rubber, the spout with the both sides of support are equipped with the recess respectively, the spacer pin is located in the recess, the cardboard with one side fixed connection who has the recess in the support, the first end of spout with the lower part fixed connection of main mounting panel, the first end of support pass through the spacer pin with the second end fixed connection of spout, the second end of support with block rubber fixed connection.

2. The trenchless assembly of claim 1, wherein the axes of the top plate, the force sensor, the plurality of sections of telescoping cylinders and the outer tooth slewing bearing body are arranged on a same straight line.

3. The trenchless repairing device for deformation and collapse of drainage pipelines as claimed in claim 1, wherein the axes of the motor, the motor bracket, the driving gear shaft and the shaft coupling are arranged on the same straight line.

4. The trenchless repairing device for deformed collapse of drainage pipelines according to claim 1, wherein the number of the posture adjusting base assemblies is 2, the posture adjusting base assemblies are symmetrically distributed about the vertical symmetry plane of the main mounting plate, and the axis of the two-degree-of-freedom camera is positioned on the vertical symmetry plane of the main mounting plate.

5. The trenchless repairing device for deformed collapse of drainage pipelines according to claim 1 or 4, wherein in the posture adjusting base assembly, the number of the limiting pins, the clamping plates and the sliding grooves is 2, the number of the supports is 1, and the limiting pins, the clamping plates and the sliding grooves are symmetrically distributed on two sides of the supports respectively relative to the central plane of the supports.

6. The trenchless repairing device for deformation and collapse of drainage pipelines as claimed in claim 1, wherein a circular truncated cone is arranged on one side of the driving gear, threaded holes are symmetrically formed in two sides of the circular truncated cone, a shaft shoulder is arranged on one side of the driving gear shaft, and the driving gear shaft is fixedly connected with the driving gear through a fastening screw.

7. The trenchless assembly of claim 1 wherein the resin plate is a fiberglass resin plate.

8. A method for repairing a deformed collapsed trenchless assembly of a drainage pipeline according to any of claims 1-7 comprising the steps of:

s1, carrying out trenchless deformation repair preparation: adjusting a support in the posture adjusting base assembly to a position corresponding to the sliding chute according to the diameter of the pipeline to be repaired, placing the non-excavation device in a contraction state into the pipeline to be repaired, and sending the non-excavation device to the position where the pipeline to be repaired deforms and collapses;

s2, adjusting the visual field range of the two-degree-of-freedom camera: adjusting the two-degree-of-freedom camera to rotate right above the pipe wall through a control system, and monitoring the visual field above the pipe wall to be repaired;

s3, starting the multi-section telescopic cylinder to push the resin plate to the upper part of the pipe wall: the motor drives the driving gear to further drive the external tooth rotary support body to start the multiple sections of telescopic cylinders in the trenchless device, when the resin plate is pushed above the pipe wall of the pipeline to be repaired, the force sensor positioned on the upper parts of the multiple sections of telescopic cylinders starts to feed back pressure signals, and the resin plate is continuously pushed upwards;

s4, obtaining a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, and specifically comprising the following steps:

s41, shooting frame flow above the pipe wall through a two-degree-of-freedom camera, acquiring three-dimensional coordinates above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface of a local range above the pipe wall, wherein the specific expression is as follows:

S_up＝[x,y,z] (1)

wherein S is_upA set of coordinates representing a three-dimensional curved surface; x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by the monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upward, and the y direction meets the right-hand rule;

s42, fitting to obtain a due three-dimensional curved surface coordinate set after the pipe wall is repaired based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of the local range above the pipe wall, wherein the specific expression is as follows:

S_n＝[x_n,y_n,z_n] (2)

wherein S is_nRepresenting a coordinate set of the three-dimensional curved surface obtained by fitting; x is the number of_n、y_n、z_nRepresenting coordinate value matrixes of each point on the three-dimensional curved surface obtained by fitting in the directions of x, y and z;

s43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in the local range above the pipe wall, and taking the maximum height difference as the difference value lambada h to be ejected, wherein the specific expression is as follows:

Λh＝max(z_n-z) (3)

wherein z is_nRepresenting a coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction, wherein z represents the coordinate value matrix of each point obtained by a monocular vision positioning algorithm in the z direction;

s5, if the difference value to be ejected is less than a certain value h₀Or the pressure exceeding a certain value F₀If yes, braking the multi-section telescopic cylinder and executing the step S6, otherwise, repeating the step S4;

s6, heating and curing the resin plate: starting heating resistance wires positioned on the top plate and the resin plate, heating the resin plate for ten minutes until the resin plate is cured, and stopping heating;

s7, supporting the deformed and collapsed position of the pipeline to be repaired in a segmented mode: restoring the multi-section telescopic cylinder from the working state to the initial state, withdrawing the trenchless device from the pipeline to be repaired, installing a resin plate on the upper part of the top plate again, sending the trenchless device to the position to be repaired behind the pipeline section repaired in the step S6, repeating the steps S2-S6, and supporting the deformation and collapse positions of the pipeline to be repaired in sections until the whole continuously deformed and collapsed pipeline section is supported;

s8, repairing the consolidated pipe section in a whole circle: and on the basis of the step S7, performing full circle repair on the pipe section propped up in the step S7 by using local ultraviolet curing repair equipment.

Technical Field

The invention relates to the field of pipeline repairing and dredging, in particular to a non-excavation device for repairing deformation and collapse of a drainage pipeline and a repairing method thereof.

Background

Urban municipal pipelines are important components of urban infrastructure, are the material foundation on which cities rely for survival and development, and are called urban blood vessels. After the drainage pipeline is put into use for years, due to the reasons of external load change, corrosion inside the pipeline, improper daily maintenance and the like, the structural defects of deformation, breakage, collapse and the like of the pipeline in different degrees occur, and the water passing capacity of the pipeline is greatly weakened. If not repaired in time, the deformation and collapse degree of the pipeline is increased, finally, the pipeline is blocked, sewage cannot be smoothly discharged, and then the sewage overflows the ground, so that the daily life of residents is influenced, and even the overflow pollution of the surface water body is caused.

For repairing the deformation and collapse of the drainage pipeline, local repair and integral repair are mainly adopted on the market; the local repair mainly comprises an embedding method and a local lining method, but the two methods only can be used for pipelines with light deformation and collapse, otherwise, equipment cannot enter the pipelines with deformation and collapse; the overall repair mainly comprises a penetration method, a normal position solidification (CIPP) method, a hose lining method and a pipe expansion method, but the methods generally have long construction period and high cost, and part of the methods also need to be matched with excavation of construction pits, and the methods are not economical and practical for pipelines which are mostly intact and have problems only in part of pipe sections. Therefore, the repair device which is free of excavation, short in construction period, low in cost, simple and convenient to operate and suitable for drainage pipelines with different pipe diameters is designed, and is very necessary for repairing and dredging the drainage pipelines.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an excavation-free device for repairing the deformation collapse of a drainage pipeline, which comprises a resin plate, a top plate, a plurality of sections of telescopic cylinders and a posture adjusting base assembly, wherein the first end of the top plate is connected with the resin plate, the second end of the top plate is connected with the first end of a force sensor, the second end of the force sensor is connected with the plurality of sections of telescopic cylinders, the posture adjusting base assembly is symmetrically distributed on two sides of the lower part of a main mounting plate, the repairing method comprises the steps of carrying out excavation-free deformation repairing preparation work, adjusting the visual field range of a camera with two degrees of freedom, starting the plurality of sections of telescopic cylinders to push the resin plate to the upper part of the pipe wall, obtaining the difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, braking the plurality of telescopic cylinders and heating and curing the resin plate if the difference value is smaller than a certain value or the pressure exceeds a certain value, and sectionally supporting the deformation collapse position of the pipeline to be repaired, and repairing the consolidated pipe section in a whole circle. The method has the advantages of high safety, short construction period, convenience in operation, no need of excavation, strong universality, low cost and good restoration effect.

The invention provides a non-excavation device for repairing drainage pipeline deformation collapse, which comprises a resin plate, a top plate, a force sensor, a plurality of sections of telescopic cylinders, a motor support, an external tooth rotary support body, a posture adjusting base assembly, a heating resistance wire, a driving gear shaft, a coupler, a main mounting plate, a two-degree-of-freedom camera and a fastening screw. The resin plate is connected with the first end of the top plate, the second end of the top plate is connected with the first end of the force sensor, the second end of the force sensor is connected with the first end of the multiple sections of telescopic barrels, the second end of the multiple sections of telescopic barrels is connected with the first end of the outer ring of the outer tooth rotary support body, and the heating resistance wires are uniformly distributed between the resin plate and the top plate. The shell of motor with the first end fixed connection of motor support, the output shaft of motor pass through the shaft coupling with the first end of driving gear axle is connected, the second end of driving gear axle pass through fastening screw with the round platform fixed connection of driving gear, the cylindrical gear of driving gear with the meshing of second end of external tooth gyration support outer lane, the inner circle of external tooth gyration support with motor support respectively with first end and the second end fixed connection on main mounting panel upper portion, two degree of freedom cameras with the third end fixed connection on main mounting panel upper portion, it is in to transfer appearance base subassembly symmetric distribution the both sides of main mounting panel lower part. The posture adjusting base assembly comprises a limiting pin, a clamping plate, a sliding groove, a support and a rubber block, grooves are formed in the two sides of the sliding groove and the two sides of the support respectively, the limiting pin is located in the grooves, one side of the clamping plate and one side of the support, provided with the grooves, are fixedly connected, a first end of the sliding groove is fixedly connected with the lower portion of a main mounting plate, a first end of the support is fixedly connected with a second end of the sliding groove through the limiting pin, and a second end of the support is fixedly connected with the rubber block.

Preferably, axes of the top plate, the force sensor, the multi-section telescopic cylinder, and the externally toothed slewing bearing body are arranged on the same straight line.

Preferably, the motor bracket, the driving gear shaft and the shaft coupling are arranged on the same straight line.

Preferably, the number of the posture adjusting base assemblies is 2, the posture adjusting base assemblies are symmetrically distributed about the vertical symmetry plane of the main mounting plate, and the axis of the two-degree-of-freedom camera is located on the vertical symmetry plane of the main mounting plate.

Preferably, in the posture-adjusting base assembly, the number of the limit pin, the clamp plate and the sliding groove is 2, the number of the support is 1, and the limit pin, the clamp plate and the sliding groove are symmetrically distributed on two sides of the support respectively about the central plane of the support.

Preferably, one side of the driving gear is provided with a circular truncated cone, threaded holes are symmetrically formed in two sides of the circular truncated cone, a shaft shoulder is arranged on one side of the driving gear shaft, and the driving gear shaft is fixedly connected with the driving gear through a fastening screw.

Further, the resin plate is a glass fiber resin sheet.

In another aspect of the invention, a repairing method for a trenchless device for repairing deformed collapse of a drainage pipeline is provided, which comprises the following specific operation steps:

s1, carrying out trenchless deformation repair preparation: adjusting a support in the posture adjusting base assembly to a position corresponding to the sliding chute according to the diameter of the pipeline to be repaired, placing the non-excavation device in a contraction state into the pipeline to be repaired, and sending the non-excavation device to the position where the pipeline to be repaired deforms and collapses;

s2, adjusting the visual field range of the two-degree-of-freedom camera: adjusting the two-degree-of-freedom camera to rotate right above the pipe wall through a control system, and monitoring the visual field above the pipe wall to be repaired;

s3, starting the multi-section telescopic cylinder to push the resin plate to the upper part of the pipe wall: the motor drives the driving gear to further drive the external tooth rotary support body to start the multiple sections of telescopic cylinders in the trenchless device, when the resin plate is pushed above the pipe wall of the pipeline to be repaired, the force sensor positioned on the upper parts of the multiple sections of telescopic cylinders starts to feed back pressure signals, and the resin plate is continuously pushed upwards;

s4, obtaining a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, and specifically comprising the following steps:

s41, shooting frame flow above the pipe wall through a two-degree-of-freedom camera, acquiring three-dimensional coordinates above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface of a local range above the pipe wall, wherein the specific expression is as follows:

S_up＝[x,y,z] (1)

wherein S is_upA set of coordinates representing a three-dimensional curved surface; x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by the monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upward, and the y direction meets the right-hand rule;

s42, fitting to obtain a due three-dimensional curved surface coordinate set after the pipe wall is repaired based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of the local range above the pipe wall, wherein the specific expression is as follows:

S_n＝[x_n,y_n,z_n] (2)

wherein S is_nRepresenting a coordinate set of the three-dimensional curved surface obtained by fitting; x is the number of_n、y_n、z_nRepresenting coordinate value matrixes of each point on the three-dimensional curved surface obtained by fitting in the directions of x, y and z;

s43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in the local range above the pipe wall, and taking the maximum height difference as the difference value lambada h to be ejected, wherein the specific expression is as follows:

Λh＝max(z_n-z) (3)

wherein z is_nRepresenting a coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction, wherein z represents the coordinate value matrix of each point obtained by a monocular vision positioning algorithm in the z direction;

s5, if the difference value to be ejected is less than a certain value h₀Or the pressure exceeding a certain value F₀If yes, braking the multi-section telescopic cylinder and executing the step S6, otherwise, repeating the step S4;

s6, heating and curing the resin plate: starting heating resistance wires positioned on the top plate and the resin plate, heating the resin plate for ten minutes until the resin plate is cured, and stopping heating;

s7, supporting the deformed and collapsed position of the pipeline to be repaired in a segmented mode: restoring the multi-section telescopic cylinder from the working state to the initial state, withdrawing the trenchless device from the pipeline to be repaired, installing a resin plate on the upper part of the top plate again, sending the trenchless device to the position to be repaired behind the pipeline section repaired in the step S6, repeating the steps S2-S6, and supporting the deformation and collapse positions of the pipeline to be repaired in sections until the whole continuously deformed and collapsed pipeline section is supported;

s8, repairing the consolidated pipe section in a whole circle: and on the basis of the step S7, performing full circle repair on the pipe section propped up in the step S7 by using local ultraviolet curing repair equipment.

Compared with the prior art, the invention has the following advantages:

1. the invention has high safety, and can finish the repair without the operation of a worker going into the well; the construction period is short, the process is simple and convenient, the road surface does not need to be excavated, and the influence on ground traffic and residents is zero.

2. The invention has strong universality and is suitable for pipelines with various specifications; the cost is low, and only the defective pipe section is repaired without damaging other intact pipes.

3. By adopting a monocular vision positioning algorithm and a circle fitting algorithm, the repair condition of the deformed pipeline can be acquired in real time, and the repair quality and reliability are ensured; the force sensor is used for feeding back the ejection pressure in real time, so that the safety and the reliability of the repairing device are guaranteed, and the device can be reversely optimized and the repairing effect can be improved by recording results.

Drawings

FIG. 1 is a schematic view of a first-view overall structure of a trenchless repairing apparatus for repairing deformed collapse of a drainage pipeline according to the present invention;

FIG. 2 is a schematic view of the whole structure of the trenchless repairing apparatus for repairing deformed collapse of drainage pipeline according to the present invention from a second perspective;

FIG. 3 is a schematic structural view of a posture adjusting base assembly of the trenchless apparatus for repairing drainage pipeline deformation collapse according to the present invention;

FIG. 4 is a schematic structural view of a driving gear of the trenchless apparatus for repairing deformed collapse of drainage pipeline according to the present invention;

FIG. 5 is a flow chart of a repairing method of the trenchless device for repairing the deformation and collapse of the drainage pipeline.

The main reference numbers:

the device comprises a resin plate 1, a top plate 2, a force sensor 3, a multi-section telescopic cylinder 4, a motor 5, a motor support 6, an external tooth rotary support body 7, a posture adjusting base assembly 8, a limiting pin 81, a clamping plate 82, a sliding groove 83, a support 84, a rubber block 85, a heating resistance wire 9, a driving gear 10, a cylindrical gear 101, a circular truncated cone 102, a driving gear shaft 11, a coupler 12, a main mounting plate 13, a two-degree-of-freedom camera 14 and a fastening screw 15.

Detailed Description

The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.

The trenchless device for repairing drainage pipeline deformation collapse is shown in fig. 1 and 2 and comprises a resin plate 1, a top plate 2, a force sensor 3, a multi-section telescopic cylinder 4, a motor 5, a motor support 6, an external tooth rotary support 7, a posture adjusting base assembly 8, a heating resistance wire 9, a driving gear 10, a driving gear shaft 11, a coupler 12, a main mounting plate 13, a two-degree-of-freedom camera 14 and a fastening screw 15. The force sensor 3 is used for measuring the working positive pressure, when the positive pressure is greater than a set value, the deformed and collapsed pipeline is restored, a feedback signal is used for braking the multi-section telescopic cylinder 4, and the multi-section telescopic cylinder 4 is prevented from excessively extending to damage the pipe wall of the drainage pipeline; the multi-section telescopic cylinder 4 is used as a power source for supporting the top plate 2 and can be a multi-stage hydraulic cylinder or a multi-stage screw thread driving cylinder driven by a motor; the resin plate 1 is used as a material for repairing the pipeline, the resin plate 1 can be adhered to the inner wall of the pipeline after being cured, the resin plate and the top plate 2 are separated and left in the pipeline to support the pipeline, and the main mounting plate 13 is a key component of the repairing device and is used for supporting each main component.

As shown in fig. 1, the resin plate 1 is connected to the first end of the top plate 2, the second end of the top plate 2 is connected to the first end of the force sensor 3, the second end of the force sensor 3 is connected to the first end of the multiple-section telescopic cylinder 4, the second end of the multiple-section telescopic cylinder 4 is connected to the first end of the outer ring of the external-tooth rotation support body 7, and the heating resistance wires 9 are uniformly distributed between the resin plate 1 and the top plate 2.

Specifically, as shown in fig. 4, the driving gear 10 includes a cylindrical gear 101 and a circular truncated cone 102, the circular truncated cone 102 is disposed on one side of the cylindrical gear 101, identical threaded holes are symmetrically formed in two sides of the circular truncated cone 102, the driving gear shaft 11 passes through the driving gear 10 and is fixedly engaged with the driving gear shaft through a fastening screw 15, and a shoulder is disposed on one side of the driving gear shaft 11 to clamp the cylindrical gear 101, so as to limit the position of the driving gear 10.

As shown in fig. 2, the housing of the motor 5 is fixedly connected to the first end of the motor bracket 6, the output shaft of the motor 5 is connected to the first end of the driving gear shaft 11 through the coupling 12, the second end of the driving gear shaft 11 is fixedly connected to the circular truncated cone 102 of the driving gear 10 through the fastening screw 15, the cylindrical gear 101 of the driving gear 10 is engaged with the second end of the outer ring of the external-tooth rotation support 7, the inner ring of the external-tooth rotation support 7 and the motor bracket 6 are fixedly connected to the first end and the second end of the upper portion of the main mounting plate 13, the two-degree-of-freedom camera 14 is fixedly connected to the third end of the upper portion of the main mounting plate 13, and the posture-adjusting base assemblies 8 are symmetrically distributed on both sides of the lower portion of the main mounting plate 13.

Motor 5 drive driving gear axle 11 drives driving gear 10 and rotates, and driving gear 10 can drive multisection telescopic cylinder 4 and roof 2 etc. of external tooth slewing bearing body 7 top and rotate, can be like this with roof 2 forward rotation 90 in order to avoid the interference with the pipe wall when prosthetic devices gets into the pipeline, treat that prosthetic devices falls the pipeline when, again with roof 2 reverse rotation 90 to operating condition.

As shown in fig. 3, the posture-adjusting base assembly 8 includes a limit pin 81, a catch plate 82, a sliding slot 83, a support 84 and a rubber block 85, the limit pin 81 is used to fix the position of the support 84 in the sliding slot 83, the catch plate 82 is used to prevent the limit pin 81 from sliding out of the groove, two ends of the support 84 are respectively installed in the two sliding slots 83, so that the support 84 can freely slide in the sliding slot 83, and the support 84 can also be a walking trolley with autonomous power, etc.; the resin plate 1 is used as a material for repairing the pipeline, is cured by heating or irradiating with ultraviolet rays, can be adhered to the inner wall of the pipeline after being cured, is separated from the top plate 2 and is left in the pipeline for supporting the pipeline; the rubber block 85 has good elasticity and wear resistance, and the contact between the rubber block 85 and the pipe wall is changed from line contact to surface contact by positive pressure in the operation process, so that the contact area is increased, and the lower wall of the original pipeline is prevented from being damaged.

The two sides of the sliding groove 83 and the support 84 are respectively provided with a groove, the sliding groove 83 is provided with a plurality of different grooves, positions corresponding to different pipe diameters are marked above the grooves, the support 84 is adjusted to the corresponding grooves according to pipelines with different pipe diameters, the transverse distance of the two supports 84 is increased, the repair device is prevented from being turned over, and the stability of the repair device in the operation process is improved.

The limit pin 81 is positioned in the groove, one side of the clamping plate 82 and one side of the support 84 with the groove are fixedly connected, the first end of the sliding groove 83 is fixedly connected with the lower part of the main mounting plate 13, the first end of the support 84 is fixedly connected with the second end of the sliding groove 83 through the limit pin 81, and the second end of the support 84 is fixedly connected with the rubber block 85.

Further, in order to ensure the stress stability of the device in the early use process, the axes of the top plate 2, the force sensor 3, the multi-section telescopic cylinder 4 and the external tooth rotary support body 7 are on the same straight line; the axes of the motor 5, the motor bracket 6, the driving gear 10, the driving gear shaft 11 and the coupling 12 are on the same straight line.

In a preferred embodiment of the present invention, as shown in fig. 2, the number of the posture adjustment base assemblies 8 is two, the posture adjustment base assemblies 8 are symmetrically distributed about the vertical symmetry plane of the main mounting plate 13, the axes of the two-degree-of-freedom cameras 14 are located on the vertical symmetry plane of the main mounting plate 13, the two degrees of freedom of the two-degree-of-freedom cameras 14 include adjusting the pitch angles of the cameras and the rotation thereof, so as to obtain a good viewing angle, and image data collected by the two-degree-of-freedom cameras 14 can be transmitted to the demonstrator for the operator to observe. Specifically, in the posture adjustment base assembly 8, the number of the limit pin 81, the catch plate 82 and the slide groove 83 is two, the number of the support 84 is one, and the limit pin 81, the catch plate 82 and the slide groove 83 are respectively and symmetrically distributed on both sides of the support 84 about the center plane of the support 84.

On the other hand, the repairing method of the trenchless installation for repairing the deformed collapse of the drainage pipeline comprises, as shown in fig. 5:

s1, carrying out trenchless deformation repair preparation: and adjusting a support 84 in the posture adjusting base assembly 8 to a position corresponding to the sliding groove 83 according to the diameter of the pipeline to be repaired, putting the non-excavation device in a contraction state into the pipeline to be repaired, and sending the non-excavation device into the position where the pipeline to be repaired deforms and collapses.

S2, adjusting the visual field range of the two-degree-of-freedom camera 14: the two-degree-of-freedom camera 14 is adjusted by the control system to rotate right above the pipe wall, and the view above the pipe wall to be repaired is monitored.

S3, starting the multi-section telescopic cylinder to push the resin plate to the upper part of the pipe wall: the driving gear 10 is driven by the motor, and then the external tooth rotary support body 7 is driven to start the multiple sections of telescopic cylinders 4 in the trenchless device, when the resin plate 1 is pushed to the upper part of the pipe wall of the pipeline to be repaired, the force sensor 3 positioned at the upper part of the multiple sections of telescopic cylinders 4 starts to feed back pressure signals, and the resin plate 1 is continuously pushed upwards.

S4, obtaining a difference value to be ejected above the pipe wall by adopting a monocular vision positioning algorithm and a circle fitting algorithm, and specifically comprising the following steps:

s41, shooting the frame flow above the pipe wall through the two-degree-of-freedom camera 14, acquiring three-dimensional coordinates above the pipe wall in each frame based on a monocular vision positioning algorithm, and establishing a three-dimensional curved surface of a local range above the pipe wall, wherein the specific expression is as follows:

S_up＝[x,y,z] (1)

wherein S is_upA set of coordinates representing a three-dimensional curved surface; and x, y and z represent coordinate value matrixes of each point in the x, y and z directions obtained by the monocular vision positioning algorithm, the x direction is the axial direction of the pipe wall, the z direction is vertical upward, and the y direction meets the right-hand rule.

S42, fitting to obtain a due three-dimensional curved surface coordinate set after the pipe wall is repaired based on a circle fitting algorithm and the obtained three-dimensional curved surface coordinate set of the local range above the pipe wall, wherein the specific expression is as follows:

S_n＝[x_n,y_n,z_n] (2)

wherein S is_nRepresenting a coordinate set of the three-dimensional curved surface obtained by fitting; x is the number of_n、y_n、z_nAnd representing coordinate value matrixes of each point on the three-dimensional curved surface obtained by fitting in the directions of x, y and z.

S43, calculating the maximum height difference between the repaired three-dimensional curved surface and the three-dimensional curved surface in the local range above the pipe wall, and taking the maximum height difference as the difference value lambada h to be ejected, wherein the specific expression is as follows:

Λh＝max(z_n-z) (3)

wherein z is_nAnd z represents a coordinate value matrix of each point on the three-dimensional curved surface obtained by fitting in the z direction, and the coordinate value matrix of each point in the z direction obtained by the monocular vision positioning algorithm.

S5, if the difference value to be ejected is less than a certain value h₀Or the pressure exceeding a certain value F₀Multi-section telescopic tube4 and performs step S6, otherwise repeats step S4.

S6, heating and curing the resin plate 1: and starting the heating resistance wires 9 positioned on the top plate 2 and the resin plate 1 to heat the resin plate 1, heating for ten minutes until the resin plate 1 is cured, and stopping heating to temporarily support the pipeline.

S7, supporting the deformed and collapsed position of the pipeline to be repaired in a segmented mode: and (4) restoring the multi-section telescopic cylinder 4 to the initial state from the working state, withdrawing the trenchless device from the pipeline to be repaired, installing the resin plate 1 on the upper part of the top plate 2 again, sending the trenchless device to the position to be repaired behind the pipeline section repaired in the step S6, repeating the steps S2-S6, and supporting the deformation and collapse positions of the pipeline to be repaired in sections until the whole continuously deformed and collapsed pipeline section is supported.

S8, repairing the consolidated pipe section in a whole circle: because the resin plate 1 of the trenchless device is not complete and is only temporarily supported, on the basis of the step S7, the pipe section supported in the step S7 is repaired in a complete circle by using local ultraviolet light curing repair equipment, so that the repair reliability is enhanced, and the trenchless repair is completed.

The following will further describe a trenchless repairing apparatus and a repairing method thereof for repairing the deformed collapse of the drainage pipeline according to the present invention with reference to the following embodiments:

in the repairing process, an operator can smoothly observe the real-time condition in the pipeline, and the pipeline cannot be directly observed due to the fact that the space of the drainage pipeline is narrow and the light is weak. A good visual angle needs to be obtained through the two-degree-of-freedom camera 14, image data collected by the two-degree-of-freedom camera 14 are transmitted to a demonstrator for an operator to observe, so that the operator can adjust the device in real time when the device is actually used for repairing, and the device of the invention is combined with a repairing method and has the following specific implementation steps:

and S1, replacing the corresponding top plate 2 on the repairing device according to the diameter of the pipeline to be repaired, pasting the corresponding resin plate 1 above the top plate 2, adjusting the support 84 in the posture-adjusting base component 8 to the position corresponding to the sliding groove 83, and locking the position by using the limit pin 81 and the clamping plate 82.

The trenchless device and the AGV trolley are placed into a pipeline to be repaired from an inspection wellhead together, and the trenchless device is conveyed to the position where the pipeline to be repaired deforms and collapses by the AGV trolley according to the real-time images of the pipeline transmitted by the two-degree-of-freedom camera 14.

And S2, adjusting the two-degree-of-freedom camera 14 to rotate right above the pipe wall through the control system, and monitoring the view above the pipe wall to be repaired.

S3, fine-adjusting the pose of the trenchless device according to the deformation collapse condition to enable the trenchless device to be placed in the best stress pose and then put down, the starting motor 5 drives the external tooth rotary support body 7 to rotate for 90 degrees to enable the top plate 2 to be in the working state, the multi-section telescopic cylinder 4 is started, the resin plate 1 supports the deformation collapse pipeline to be restored to the original shape, and the force sensor 3 located on the upper portion of the multi-section telescopic cylinder 4 feeds back signals to brake the multi-section telescopic cylinder 4 and keep the supporting pose.

And S4, acquiring the difference value to be ejected above the pipe wall by using a monocular vision positioning algorithm and a circle fitting algorithm according to the two-degree-of-freedom camera 14.

S5, repeating the step S4 until the difference value to be ejected is less than a certain value h₀Or the pressure exceeding a certain value F₀Then, the multi-stage telescopic cylinder 4 is braked and step S6 is executed.

And S6, starting the heating resistance wires 9 positioned on the top plate 2 and the resin plate 1, heating the resin plate 1 for ten minutes until the resin plate 1 is cured, and stopping heating to temporarily support the pipeline.

S7, retracting the multi-section telescopic cylinder 4 to an initial state, and starting the motor 5 to drive the external tooth rotary support body 7 to rotate reversely by 90 degrees, so that the top plate 2 avoids colliding with the inner wall of the pipeline along the axial direction of the pipeline; controlling the AGV trolley to convey the trenchless device out of the pipeline, adhering the resin plate 1 with the same specification on the top plate 2, controlling the AGV trolley again to convey the trenchless device to the 150mm deformation and collapse position behind the pipe section supported in the step, and repeating the operation steps to repair the pipe section; after the repair is finished, the AGV trolley is controlled to convey the trenchless device out of the pipeline, the resin plate 1 is adhered to the top plate 2, the operation steps are repeated again, the repair is carried out at intervals, and the trenchless device is separated from the AGV trolley until the whole continuously deformed and collapsed pipe section is supported.

S8, in order to enhance the repair reliability, the whole-circle repair is needed, local ultraviolet light curing repair equipment with the corresponding pipe diameter is installed in front of the AGV trolley, a glass fiber resin section is pasted on the outer ring of the ultraviolet light curing repair equipment, the equipment and the trolley are placed into a pipeline to be repaired from an inspection wellhead, and the local ultraviolet light curing repair equipment is conveyed to the deformed collapse position repaired in the above steps by the AGV trolley according to the real-time image of the pipeline transmitted by the two-degree-of-freedom camera 14.

Opening an air valve of the ultraviolet curing repair equipment for inflation, starting an ultraviolet lamp for irradiation after one minute, and closing the ultraviolet lamp and the air valve after seven minutes; and controlling the AGV trolley to convey the ultraviolet curing repair equipment out of the pipeline, so that all repair work is completed.

In conclusion, the device has high safety, and can finish repairing without the need of workers for downhole operation; the construction period is short, the process is simple and convenient, the road surface does not need to be excavated, and the influence on ground traffic and residents is zero; the universality is strong, and the device is suitable for pipelines with various specifications; the cost is low, only the defective pipe section is repaired, and other intact pipelines are not damaged; by adopting a monocular vision positioning algorithm and a circle fitting algorithm, the repair condition of the deformed pipeline can be acquired in real time, and the repair quality and reliability are ensured; the force sensor is used for feeding back the ejection pressure in real time, so that the safety and the reliability of the repairing device are guaranteed, and the device can be reversely optimized and the repairing effect can be improved by recording results.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.