CN113211459A - Use method of water supply pipeline maintenance robot - Google Patents

Use method of water supply pipeline maintenance robot Download PDF

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Publication number
CN113211459A
CN113211459A CN202110481857.XA CN202110481857A CN113211459A CN 113211459 A CN113211459 A CN 113211459A CN 202110481857 A CN202110481857 A CN 202110481857A CN 113211459 A CN113211459 A CN 113211459A
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China
Prior art keywords
water supply
robot
supply pipeline
maintenance
maintenance robot
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CN202110481857.XA
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Chinese (zh)
Inventor
李质皓
邹知易
闻菲
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Liaoning Yifa Chenglin Urban Construction Engineering Co ltd
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Liaoning Yifa Chenglin Urban Construction Engineering Co ltd
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Priority to CN202110481857.XA priority Critical patent/CN113211459A/en
Publication of CN113211459A publication Critical patent/CN113211459A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention provides a use method of a water supply pipeline overhauling robot, which is applied to the overhauling robot to overhaul and repair a water supply pipeline, wherein the water supply pipeline is filled with water and is provided with at least two overhauling inlets, and the use method of the water supply pipeline overhauling robot comprises the following steps: confirming a maintenance inlet of the water supply line and confirming whether the water supply line can pass through the maintenance robot; installing a gate valve at the overhaul entrance, building an operation platform at the overhaul entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; after the to-be-overhauled robot enters the water supply pipeline, a power umbrella on the to-be-overhauled robot is opened, so that the to-be-overhauled robot flows in the water supply pipeline; and judging the position of the leakage point through an acoustic hydrophone on the maintenance robot.

Description

Use method of water supply pipeline maintenance robot
Technical Field
The invention relates to the technical field of water supply pipeline maintenance, in particular to a using method of a water supply pipeline maintenance robot.
Background
At present, in the related art, with the development of petroleum, chemical industry, natural gas and industry, and the need of pipeline robots for pipeline monitoring and maintenance, etc., the pipeline robots are also studied more deeply and widely used, and the safety detection and maintenance for the conveying pipelines (water, gas, oil, etc.) of various production equipment and special equipment (high-pressure pipelines, etc.) are important for developing a use method of a water supply pipeline maintenance robot.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
Therefore, the invention provides a using method of the water supply pipeline overhauling robot.
In view of the above, the present invention provides a method for using a water supply line maintenance robot, the method for using the water supply line maintenance robot is applied to a maintenance robot to maintain and repair a water supply line, the water supply line has water therein, the water supply line is provided with at least two maintenance inlets, and the method for using the water supply line maintenance robot comprises: confirming a maintenance inlet of the water supply line and confirming whether the water supply line can pass through the maintenance robot; installing a gate valve at the overhaul entrance, building an operation platform at the overhaul entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; after the to-be-overhauled robot enters the water supply pipeline, a power umbrella on the to-be-overhauled robot is opened, so that the to-be-overhauled robot flows in the water supply pipeline; judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; the method comprises the steps that environmental data of a water supply pipeline are collected through a high-definition camera on the overhaul robot, and the collected environmental data are transmitted to a ground station through an umbilical cable; determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through an umbilical cable, and marking the ground position; judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; the water in the water supply pipeline is emptied, the inner wall of the water supply pipeline is milled through a milling head on the maintenance robot, and then the pipeline is cleaned.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot or not, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and the low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged.
In addition, the use method of the water supply pipeline overhauling robot in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, preferably, the use method of the water supply line inspection robot further includes: when the water supply pipeline is damaged less, the lining pipe is folded into a U shape on the ground, the lining pipe is dragged into the water supply pipeline through one detection port by the maintenance robot, and the maintenance robot is recovered through the other detection port; introducing water or air into the liner tube to make the liner tube become round; and carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; when the water supply pipeline is damaged less, the lining pipe is folded into a U shape on the ground, the overhauling robot drags the lining pipe into the water supply pipeline through one detection port and recovers the overhauling robot through the other detection port, so that the damaged port can be repaired quickly, and the working efficiency of the equipment is improved; the liner tube is rounded by introducing water or air into the liner tube to ensure the smoothness of the liner tube; the water supply pipeline is subjected to final detection, pressure test and end head treatment, so that the equipment can be safely used.
In the above technical solution, preferably, the use method of the water supply line inspection robot further includes: when the pipeline repair is carried out on the bypass straight pipe of the water supply pipeline, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipeline through a first spray head on the maintenance robot, and the quality of polyurethane hard foam is checked through a maintenance device on the maintenance robot; coating an interface on a bypass straight pipe of the water supply pipeline through a second spray head of the maintenance robot; and finally inspecting the water supply pipeline, testing the pressure and processing the end head.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; when the bypass straight pipe of the water supply pipe is repaired, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipe through a first spray head on the overhauling robot, the quality of the hard polyurethane foam is checked through an overhauling device on the overhauling robot, and when the bypass straight pipe of the water supply pipe is repaired, repairing spraying is carried out through the first spray head of the overhauling robot, and the quality is checked; the interface is coated on the bypass straight pipe of the water supply pipeline through the second spray head of the overhauling robot, the water supply pipeline is subjected to final inspection, pressure test and end treatment, and the interface is coated and finally inspected, pressure test and end treatment are achieved through the second spray head of the overhauling robot.
In the above technical solution, preferably, the use method of the water supply line inspection robot further includes: when the damage condition of the water supply pipeline is large, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port; heating and pressurizing the liner tube to enable the liner tube to be tightly attached to the inner wall of the water supply pipeline; and cooling and molding the liner pipe, and performing port treatment.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; when the water supply pipeline is damaged greatly, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, the damaged port is repaired quickly, and the working efficiency of equipment is improved; the lining pipe is tightly attached to the inner wall of the water supply pipeline by heating and pressurizing the lining pipe, is cooled and formed, and is subjected to port treatment, so that the lining pipe and the inner wall of the water supply pipeline are fused together, and the service life of the water supply pipeline is prolonged.
In the above technical solution, preferably, the use method of the water supply line inspection robot further includes: when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port; putting the maintenance robot into the water supply pipeline again, carrying out ultraviolet curing on the inner sides of the three layers of lining pipes through the maintenance robot, and recovering the maintenance robot through another detection port; turning over a second layer of PE hose of the three-layer lining pipe, and performing steam curing on the second layer of PE hose of the three-layer lining pipe; and carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot or not, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and the low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged. When the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, so that the damaged structure can be quickly repaired, and the working efficiency of equipment is improved; put into the water supply line once more through overhauing the robot, carry out ultraviolet curing to the inboard of bushing pipe in the three-layer through overhauing the robot, and retrieve the robot through another detection mouth, the upset of the second floor PE hose of bushing pipe in messenger's three-layer, and carry out steam curing to the second floor PE hose of bushing pipe in the three-layer, carry out final detection to the water supply line, pressure test and end are handled, the realization carries out ultraviolet curing and final detection to the inboard of bushing pipe through overhauing the robot, pressure test and end are handled.
In the above technical solution, preferably, the use method of the water supply line inspection robot further includes: when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port; putting the maintenance robot into the water supply pipeline again, carrying out ultraviolet curing on the inner sides of the three layers of lining pipes through the maintenance robot, and recovering the maintenance robot through another detection port; turning over a second layer of PE hose of the three-layer lining pipe, and performing steam curing on the second layer of PE hose of the three-layer lining pipe; and carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In the technical scheme, firstly, the overhaul inlet of the water supply pipeline is judged by confirming the overhaul inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the overhaul robot; thirdly, installing a gate valve at the overhaul inlet, building an operation platform at the overhaul inlet, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform to enable the overhaul robot to pass through smoothly; thirdly, the maintenance robot is connected with the umbilical cable wound on the cable car and enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot to realize positioning of the position of the leakage point; thirdly, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable, so as to record the environment in the water pipeline through pictures; thirdly, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of a leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through the data collection according to the maintenance robot, judge the damaged condition of water supply line, with the water evacuation in the water supply line, mill the inner wall of water supply line through the milling head on the maintenance robot, then wash the pipeline to protect good equipment, improve equipment's life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; when the water supply pipeline is damaged less, the lining pipe is folded into a U shape on the ground, the overhauling robot drags the lining pipe into the water supply pipeline through one detection port and recovers the overhauling robot through the other detection port, so that the damaged port can be repaired quickly, and the working efficiency of the equipment is improved; the liner tube is rounded by introducing water or air into the liner tube to ensure the smoothness of the liner tube; the water supply pipeline is subjected to final detection, pressure test and end head treatment, so that the equipment can be safely used; when the bypass straight pipe of the water supply pipe is repaired, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipe through a first spray head on the overhauling robot, the quality of the hard polyurethane foam is checked through an overhauling device on the overhauling robot, and when the bypass straight pipe of the water supply pipe is repaired, repairing spraying is carried out through the first spray head of the overhauling robot, and the quality is checked; the interface is coated on the bypass straight pipe of the water supply pipeline through the second spray head of the overhauling robot, the water supply pipeline is subjected to final inspection, pressure test and end treatment, and the interface is coated and finally inspected, pressure test and end treatment are achieved through the second spray head of the overhauling robot. When the water supply pipeline is damaged greatly, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, the damaged port is repaired quickly, and the working efficiency of equipment is improved; the lining pipe is tightly attached to the inner wall of the water supply pipeline by heating and pressurizing the lining pipe, is cooled and formed, and is subjected to port treatment, so that the lining pipe and the inner wall of the water supply pipeline are fused together, and the service life of the water supply pipeline is prolonged. When the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, so that the damaged structure can be quickly repaired, and the working efficiency of equipment is improved; put into the water supply line once more through overhauing the robot, carry out ultraviolet curing to the inboard of bushing pipe in the three-layer through overhauing the robot, and retrieve the robot through another detection mouth, the upset of the second floor PE hose of bushing pipe in messenger's three-layer, and carry out steam curing to the second floor PE hose of bushing pipe in the three-layer, carry out final detection to the water supply line, pressure test and end are handled, the realization carries out ultraviolet curing and final detection to the inboard of bushing pipe through overhauing the robot, pressure test and end are handled.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic flow diagram of a method of use of a water supply line servicing robot in accordance with one embodiment of the invention;
FIG. 2 shows a schematic flow diagram of a method of using a water supply line servicing robot in accordance with another embodiment of the invention;
FIG. 3 shows a schematic flow diagram of a method of using a water supply line servicing robot in accordance with yet another embodiment of the invention;
FIG. 4 shows a schematic flow diagram of a method of using a water supply line servicing robot in accordance with yet another embodiment of the invention;
FIG. 5 shows a flow diagram of a method of using a water supply line servicing robot in accordance with yet another embodiment of the present invention;
FIG. 6 shows a flow diagram of a method of using a water supply line servicing robot in accordance with yet another embodiment of the present invention;
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A method of using the water supply line service robot according to some embodiments of the present invention will now be described with reference to fig. 1-6.
In an embodiment of the present invention, as shown in fig. 1, the present invention provides a method for using a water supply line maintenance robot, the method for using the water supply line maintenance robot is applied to a maintenance robot to maintain and repair a water supply line, the water supply line contains water, the water supply line is provided with at least two maintenance inlets, and the method for using the water supply line maintenance robot comprises: s101, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s102, installing a gate valve at an overhaul entrance, building an operation platform at the overhaul entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s103, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s104, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhauling robot to enable the overhauling robot to flow in the water supply pipeline; s105, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s106, acquiring environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the acquired environmental data to a ground station through an umbilical cable; s107, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through an umbilical cable, and marking the ground position; s108, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s109, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline.
In this embodiment, first, by S101, the inspection entry of the water supply line is confirmed, and whether the water supply line can be passed through by the inspection robot is confirmed, so that the inspection entry of the water supply line is pre-judged; thirdly, through S102, a gate valve is installed at the overhaul entrance, an operation platform is built at the overhaul entrance, and the receiving and sending cylinder cap is installed on the gate valve by using the operation platform, so that the overhaul robot can pass through the gate valve smoothly; thirdly, through S103, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap so as to be convenient for controlling the maintenance robot to detect in the water supply pipeline; thirdly, through S104, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S105, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S106, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, S107, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through the umbilical cable, and marking the ground position, thereby realizing the purpose of determining and recording the position of the leakage point through the tracking of the low-frequency beacon and the length of the umbilical cable; and thirdly, through S108, according to the collected data of the maintenance robot, judging the damage condition of the water supply pipeline, and thirdly, emptying the water in the water supply pipeline in S109 and the water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline to protect the equipment and prolong the service life of the equipment. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot or not, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and the low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged.
In one embodiment of the present invention, preferably, as shown in fig. 2, the method for using the water supply line service robot further includes: the use method of the water supply pipeline overhauling robot is applied to the overhauling robot to overhaul and repair the water supply pipeline, water is contained in the water supply pipeline, at least two overhauling inlets are arranged on the water supply pipeline, and the use method of the water supply pipeline overhauling robot comprises the following steps: s201, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s202, installing a gate valve at an overhaul entrance, building an operation platform at the overhaul entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s203, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s204, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhaul robot to enable the overhaul robot to flow in the water supply pipeline; s205, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s206, acquiring environmental data of the water supply pipeline through a high-definition camera on the maintenance robot, and transmitting the acquired environmental data to the ground station through an umbilical cable; s207, determining the position of the overhaul robot through a low-frequency beacon tracking signal on the overhaul robot, simultaneously sending the position of the length overhaul approved robot through an umbilical cable, and marking the ground position; s208, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s209, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline; s210, when the water supply pipeline is damaged less, folding the lining pipe into a U shape on the ground, dragging the lining pipe into the water supply pipeline through one detection port by the maintenance robot, and recovering the maintenance robot through the other detection port; s211, introducing water or air into the liner tube to make the liner tube become round; s212, carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In this embodiment, first, by S201, the inspection inlet of the water supply line is confirmed, and it is confirmed whether the water supply line can pass through the inspection robot, thereby realizing prejudgment of the inspection inlet of the water supply line; thirdly, through S202, a gate valve is installed at the overhaul entrance, an operation platform is built at the overhaul entrance, and the receiving and sending cylinder cap is installed on the gate valve by using the operation platform, so that the overhaul robot can pass through the gate valve smoothly; thirdly, through S203, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap so as to be convenient for controlling the maintenance robot to detect in the water supply pipeline; thirdly, through S204, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S205, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S206, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, through S207, a low-frequency beacon tracking signal on the maintenance robot determines the position of the maintenance robot, meanwhile, the position of the length maintenance approval robot is sent through the umbilical cable, and the ground position is marked, so that the leakage point is determined and recorded through low-frequency beacon tracking and the umbilical cable length; thirdly, through S208, according to the data acquisition of the maintenance robot, the damage condition of the water supply pipeline is judged, S209 is used for emptying water in the water supply pipeline, the inner wall of the water supply pipeline is milled through a milling head on the maintenance robot, and then the pipeline is cleaned, so that the equipment is protected, and the service life of the equipment is prolonged. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; through S210, when the water supply pipeline is damaged less, the lining pipe is folded into a U shape on the ground, the lining pipe is dragged into the water supply pipeline through one detection port by the maintenance robot, and the maintenance robot is recovered through the other detection port, so that the damaged port can be repaired quickly, and the working efficiency of the equipment is improved; through S211, water or air is introduced into the lining pipe to make the lining pipe become roundish so as to ensure the lining pipe to be smooth; the water supply line is subjected to final inspection, pressure testing and end treatment for safe use of the apparatus, via S212.
In one embodiment of the present invention, preferably, as shown in fig. 3, the method for using the water supply line service robot further includes: the use method of the water supply pipeline overhauling robot is applied to the overhauling robot to overhaul and repair the water supply pipeline, water is contained in the water supply pipeline, at least two overhauling inlets are arranged on the water supply pipeline, and the use method of the water supply pipeline overhauling robot comprises the following steps: s301, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s302, installing a gate valve at an overhaul entrance, building an operation platform at the overhaul entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s303, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s304, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhauling robot to enable the overhauling robot to flow in the water supply pipeline; s305, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s306, acquiring environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the acquired environmental data to a ground station through an umbilical cable; s307, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through an umbilical cable, and marking the ground position; s308, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s309, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline; s310, when the pipeline repair is carried out on the bypass straight pipe of the water supply pipeline, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipeline through a first spray head on the maintenance robot, and the quality of polyurethane hard foam is checked through a maintenance device on the maintenance robot; s311, brushing an interface on a bypass straight pipe of the water supply pipeline through a second spray head of the maintenance robot; s312, carrying out final inspection, pressure test and end head treatment on the water supply pipeline.
In this embodiment, first, by S301, the inspection inlet of the water supply line is confirmed, and whether the water supply line can be passed through by the inspection robot is confirmed, so that the inspection inlet of the water supply line is pre-judged; thirdly, through S302, a gate valve is installed at the overhaul entrance, an operation platform is built at the overhaul entrance, and the receiving and sending cylinder cap is installed on the gate valve by using the operation platform, so that the overhaul robot can pass through the gate valve smoothly; thirdly, through S303, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap so as to be convenient for controlling the maintenance robot to detect in the water supply pipeline; thirdly, through S304, after the robot to be overhauled enters the water supply pipeline, the power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S305, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S306, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, through S307, a low-frequency beacon tracking signal on the maintenance robot determines the position of the maintenance robot, meanwhile, the position of the length maintenance approval robot is sent through the umbilical cable, and the ground position is marked, so that the leakage point is determined and recorded through low-frequency beacon tracking and the umbilical cable length; thirdly, through S308, according to the collected data of the maintenance robot, the damage condition of the water supply pipeline is judged, the water in the water supply pipeline is drained, through S309, the milling head on the maintenance robot mills the inner wall of the water supply pipeline, and then the pipeline is cleaned, so that the equipment is protected, and the service life of the equipment is prolonged. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; through S310, when the bypass straight pipe of the water supply pipe is repaired, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipe through the first spray head on the overhauling robot, the quality of the polyurethane hard foam is checked through the overhauling device on the overhauling robot, and when the bypass straight pipe of the water supply pipe is repaired, repairing spraying is carried out through the first spray head of the overhauling robot and the quality is checked; and S311, the second spray head of the overhauling robot brushes the interface of the bypass straight pipe of the water supply pipeline, and S312, the water supply pipeline is finally inspected, pressure tested and processed at the end head, so that the second spray head of the overhauling robot brushes the interface, finally inspects, tests the pressure and processes the end head.
In one embodiment of the present invention, preferably, as shown in fig. 4, the method for using the water supply line service robot further includes: the use method of the water supply pipeline overhauling robot is applied to the overhauling robot to overhaul and repair the water supply pipeline, water is contained in the water supply pipeline, at least two overhauling inlets are arranged on the water supply pipeline, and the use method of the water supply pipeline overhauling robot comprises the following steps: s401, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s402, installing a gate valve at an inspection entrance, building an operation platform at the inspection entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s403, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s404, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhauling robot to enable the overhauling robot to flow in the water supply pipeline; s405, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s406, acquiring environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the acquired environmental data to a ground station through an umbilical cable; s407, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, and meanwhile, sending the position of the length maintenance approval robot through an umbilical cable and marking the ground position; s408, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s409, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline; s410, when the water supply pipeline is damaged greatly, softening the liner pipe, dragging the liner pipe into the water supply pipeline through one detection port by the overhaul robot, and recovering the overhaul robot through the other detection port; s411, heating and pressurizing the lining pipe to enable the lining pipe to be tightly attached to the inner wall of the water supply pipeline; s412, cooling and forming the lining pipe, and performing port treatment. And S413, carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In this embodiment, first, by S401, the inspection inlet of the water supply line is confirmed, and it is confirmed whether the water supply line can be passed through by the inspection robot, so that the inspection inlet of the water supply line is pre-judged; thirdly, through S402, a gate valve is installed at the inspection inlet, an operation platform is built at the inspection inlet, and the receiving and dispatching cylinder cap is installed on the gate valve by using the operation platform, so that the inspection robot can pass through the gate valve smoothly; thirdly, through S403, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap so as to be controlled to detect in the water supply pipeline; thirdly, through S404, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S405, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S406, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, through S407, a low-frequency beacon tracking signal on the maintenance robot determines the position of the maintenance robot, meanwhile, the position of the length maintenance approval robot is sent through the umbilical cable, and the ground position is marked, so that the leakage point is determined and recorded through low-frequency beacon tracking and the umbilical cable length; thirdly, through S408, according to the collected data of the maintenance robot, the damage condition of the water supply pipeline is judged, S409 is used for emptying water in the water supply pipeline, the inner wall of the water supply pipeline is milled through a milling head on the maintenance robot, and then the pipeline is cleaned, so that the equipment is protected, and the service life of the equipment is prolonged. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; through S410, when the damage condition of the water supply pipeline is large, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, the damaged port is repaired quickly, and the working efficiency of equipment is improved; through S411, the lining pipe is heated and pressurized to enable the lining pipe to be tightly attached to the inner wall of the water supply pipeline, and S412, the lining pipe is cooled and formed and subjected to port treatment, so that the lining pipe and the inner wall of the water supply pipeline are fused together, and the service life of the water supply pipeline is prolonged.
In one embodiment of the present invention, preferably, as shown in fig. 5, the method for using the water supply line service robot further includes: the use method of the water supply pipeline overhauling robot is applied to the overhauling robot to overhaul and repair the water supply pipeline, water is contained in the water supply pipeline, at least two overhauling inlets are arranged on the water supply pipeline, and the use method of the water supply pipeline overhauling robot comprises the following steps: s501, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s502, installing a gate valve at an inspection entrance, building an operation platform at the inspection entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s503, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s504, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline; s505, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s506, collecting environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the collected environmental data to a ground station through an umbilical cable; s507, determining the position of the maintenance robot through a low-frequency beacon tracking signal on the maintenance robot, simultaneously sending the position of the length maintenance approval robot through an umbilical cable, and marking the ground position; s508, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s509, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline; s510, when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port; s511, the maintenance robot is placed into the water supply pipeline again, ultraviolet light curing is carried out on the inner sides of the three layers of lining pipes through the maintenance robot, and the maintenance robot is recovered through another detection port; s512, turning over the second layer of PE hose of the three-layer lining pipe, and performing steam curing on the second layer of PE hose of the three-layer lining pipe; s513, carrying out final detection, pressure test and end head treatment on the water supply pipeline.
In this embodiment, first, through S501, the inspection inlet of the water supply line is confirmed, and it is confirmed whether the water supply line can be passed through by the inspection robot, so that the inspection inlet of the water supply line is pre-judged; thirdly, through S502, a gate valve is installed at the overhaul entrance, an operation platform is built at the overhaul entrance, and the receiving and sending cylinder cap is installed on the gate valve by using the operation platform, so that the overhaul robot can pass through the gate valve smoothly; thirdly, through S503, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap, so that the maintenance robot can be controlled to detect in the water supply pipeline; thirdly, through S504, after the robot to be overhauled enters the water supply pipeline, a power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S505, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S506, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, through S507, a low-frequency beacon tracking signal on the maintenance robot determines the position of the maintenance robot, meanwhile, the umbilical cable sends the position of the length maintenance approval robot, and the ground position is marked, so that the leakage point position is determined and recorded through the low-frequency beacon tracking and the umbilical cable length; thirdly, through S508, according to the data collection of overhauing the robot, judge the damaged condition of water supply line, with S509, the water evacuation in the water supply line mills the inner wall of water supply line through the milling head on the overhauing the robot, then washs the pipeline to protect equipment, improve equipment' S life. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot or not, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and the low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged. Through S510, when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, so that the damaged structure can be quickly repaired, and the working efficiency of equipment is improved; through S511, put into the water supply line once more with the maintenance robot, carry out ultraviolet curing through the inboard of lining pipe in the maintenance robot to the three-layer, and retrieve the maintenance robot through another detection mouth, make S512, the upset of the second floor PE hose of lining pipe in the three-layer, and carry out steam curing to the second floor PE hose of lining pipe in the three-layer, to S513, the water supply line carries out final detection, pressure test and end are handled, realize carrying out ultraviolet curing and finally detect through the inboard of lining pipe of maintenance robot, pressure test and end are handled.
In one embodiment of the present invention, preferably, as shown in fig. 6, the method for using the water supply line service robot further includes: the use method of the water supply pipeline overhauling robot is applied to the overhauling robot to overhaul and repair the water supply pipeline, water is contained in the water supply pipeline, at least two overhauling inlets are arranged on the water supply pipeline, and the use method of the water supply pipeline overhauling robot comprises the following steps: s601, confirming a maintenance inlet of a water supply pipeline and confirming whether the water supply pipeline can pass through a maintenance robot; s602, installing a gate valve at an inspection entrance, building an operation platform at the inspection entrance, and installing a receiving and sending cylinder cap on the gate valve by using the operation platform; s603, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap; s604, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhaul robot to enable the overhaul robot to flow in the water supply pipeline; s605, judging the position of a leakage point through an acoustic hydrophone on the maintenance robot; s606, collecting environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the collected environmental data to a ground station through an umbilical cable; s607, determining the position of the overhaul robot by tracking signals through a low-frequency beacon on the overhaul robot, simultaneously sending the position of the length overhaul approved robot through an umbilical cable, and marking the ground position; s608, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot; s609, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline; s610, when the damage condition of the water supply pipeline is small, folding the lining pipe into a U shape on the ground, dragging the lining pipe into the water supply pipeline through one detection port by the maintenance robot, and recovering the maintenance robot through the other detection port; s611, introducing water or air into the liner tube to enable the liner tube to be rounded; s612, performing final detection, pressure test and end head treatment on the water supply pipeline; s613, when the pipeline of the bypass straight pipe of the water supply pipeline is repaired, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipeline through a first spray head on the maintenance robot, and the quality of polyurethane hard foam is checked through a maintenance device on the maintenance robot; s614, brushing an interface on a bypass straight pipe of the water supply pipeline through a second spray head of the maintenance robot; s615, performing final detection, pressure test and end head treatment on the water supply pipeline; s616, when the water supply pipeline is damaged greatly, softening the liner pipe, dragging the liner pipe into the water supply pipeline through one detection port by the maintenance robot, and recovering the maintenance robot through the other detection port; s617, heating and pressurizing the lining pipe to enable the lining pipe to be tightly attached to the inner wall of the water supply pipeline; s618, cooling and forming the lining pipe, and carrying out port treatment; s619, carrying out final detection, pressure test and end treatment on the water supply pipeline; s620, when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port; s621, placing the maintenance robot into the water supply pipeline again, carrying out ultraviolet curing on the inner side of the three-layer lining pipe through the maintenance robot, and recovering the maintenance robot through another detection port; s622, turning over the second layer of PE hose of the three-layer lining pipe, and carrying out steam curing on the second layer of PE hose of the three-layer lining pipe; and S623, performing final detection, pressure test and end head treatment on the water supply pipeline.
In this embodiment, first, through S601, the inspection inlet of the water supply line is confirmed, and it is confirmed whether the water supply line can be passed through by the inspection robot, so that the inspection inlet of the water supply line is pre-judged; thirdly, through S602, a gate valve is installed at the overhaul entrance, an operation platform is built at the overhaul entrance, and the receiving and sending cylinder cap is installed on the gate valve by using the operation platform, so that the overhaul robot can pass through the gate valve smoothly; thirdly, through S603, the maintenance robot is connected with the umbilical cable wound on the cable car, and the maintenance robot enters the water supply pipeline through the receiving and sending cylinder cap so as to be convenient for controlling the maintenance robot to detect in the water supply pipeline; thirdly, through S604, after the robot to be overhauled enters the water supply pipeline, the power umbrella on the overhauling robot is opened, so that the overhauling robot flows in the water supply pipeline, and the overhauling robot descends into the water supply pipeline at a constant speed; thirdly, through S605, the acoustic hydrophone on the maintenance robot judges the position of the leakage point, and the position of the leakage point is positioned; thirdly, acquiring environmental data of the water supply pipeline by a high-definition camera on the maintenance robot through S606, and transmitting the acquired environmental data to the ground station through an umbilical cable to record the environment in the water pipeline through pictures; thirdly, through S607, a low-frequency beacon tracking signal on the maintenance robot determines the position of the maintenance robot, and simultaneously, the position of the length maintenance approval robot is sent through the umbilical cable and the ground position is marked, so that the position of the leakage point is determined and recorded through the tracking of the low-frequency beacon and the length of the umbilical cable; thirdly, through S608, according to the collected data of the maintenance robot, the damage condition of the water supply pipeline is judged, S609 is used for emptying water in the water supply pipeline, the inner wall of the water supply pipeline is milled through a milling head on the maintenance robot, and then the pipeline is cleaned, so that the equipment is protected, and the service life of the equipment is prolonged. The method is implemented by firstly confirming whether the water supply pipeline can pass through by the maintenance robot, connecting the maintenance robot with the umbilical cable wound on the cable car and entering the water supply pipeline, opening the power umbrella on the maintenance robot and flowing in the water supply pipeline after the maintenance robot enters the water supply pipeline, recording and positioning the environment of the water supply pipeline by the aid of the camera and a low-frequency beacon tracking signal to judge the damage condition of the water supply pipeline, and finally emptying water in the water supply pipeline and cleaning the pipeline, so that the service life of the pipeline is prolonged; through S610, when the water supply pipeline is damaged less, the lining pipe is folded into a U shape on the ground, the lining pipe is dragged into the water supply pipeline through one detection port by the maintenance robot, and the maintenance robot is recovered through the other detection port, so that the damaged port can be repaired quickly, and the working efficiency of the equipment is improved; through S611, water or air is introduced into the lining pipe to make the lining pipe become a circle again so as to ensure the lining pipe to be smooth; the water supply pipeline is subjected to final detection, pressure test and end head treatment, so that the equipment can be safely used; through S612, when the bypass straight pipe of the water supply line is repaired, through S613, polyurethane spraying is carried out on the bypass straight pipe of the water supply line through a first spray head on the maintenance robot, the quality of polyurethane hard foam is checked through a maintenance device on the maintenance robot, and when the bypass straight pipe of the water supply line is repaired, repairing spraying is carried out through the first spray head of the maintenance robot, and the quality is checked; and through S614, the second spray head of the overhauling robot brushes the interface of the bypass straight pipe of the water supply pipeline, and performs final inspection, pressure test and end treatment on the water supply pipeline, so that through S615, the second spray head of the overhauling robot brushes the interface, performs final inspection, pressure test and end treatment. By S616, when the water supply pipeline is damaged greatly, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, the damaged port is repaired quickly, and the working efficiency of the equipment is improved; through S617, the lining pipe is heated and pressurized to enable the lining pipe to be tightly attached to the inner wall of the water supply pipeline, and the lining pipe is cooled and molded and subjected to port treatment in S618, so that the lining pipe and the inner wall of the water supply pipeline are fused together, and the service life of the water supply pipeline is prolonged. Through S620, when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port, so that the damaged structure can be quickly repaired, and the working efficiency of equipment is improved; through putting into the water supply line once more with the maintenance robot, through S621, the maintenance robot carries out ultraviolet curing to the inboard of the interior bushing pipe of three-layer, and retrieve the maintenance robot through another detection mouth, the upset of the second floor PE hose of the interior bushing pipe of messenger' S three-layer, and carry out steam curing to the second floor PE hose of the interior bushing pipe of three-layer, carry out final detection to the water supply line, pressure test and end are handled, the realization carries out ultraviolet curing and carries out final detection to the inboard of interior bushing pipe through the maintenance robot, pressure test and end are handled.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides a method for using of water supply line inspection robot, the method for using of water supply line inspection robot is applied to the inspection robot and overhauls and restores the water supply line, has water in the water supply line, is provided with two at least maintenance entrances on the water supply line, its characterized in that, the method for using of water supply line inspection robot includes:
s1, confirming the maintenance inlet of the water supply pipeline and confirming whether the water supply pipeline can pass through the maintenance robot;
s2, installing a gate valve at the inspection entrance, building an operation platform at the inspection entrance, and installing the receiving and dispatching cylinder cap on the gate valve by using the operation platform;
s3, connecting the maintenance robot with an umbilical cable wound on the cable car, and enabling the maintenance robot to enter a water supply pipeline through a receiving and sending cylinder cap;
s4, after the robot to be overhauled enters the water supply pipeline, opening a power umbrella on the overhauling robot to enable the overhauling robot to flow in the water supply pipeline;
s5, judging the position of the leakage point through an acoustic hydrophone on the maintenance robot;
s6, acquiring environmental data of the water supply pipeline through a high-definition camera on the overhaul robot, and transmitting the acquired environmental data to the ground station through an umbilical cable;
s7, determining the position of the overhaul robot by tracking signals through a low-frequency beacon on the overhaul robot, and simultaneously sending the position of the length overhaul approved robot through an umbilical cable and marking the ground position;
s8, judging the damage condition of the water supply pipeline according to the collected data of the maintenance robot;
and S9, draining water in the water supply pipeline, milling the inner wall of the water supply pipeline through a milling head on the maintenance robot, and cleaning the pipeline.
2. The method of using a water supply line servicing robot of claim 1, further comprising:
s10, when the water supply pipeline is damaged less, folding the lining pipe into a U shape on the ground, dragging the lining pipe into the water supply pipeline through one detection port by the maintenance robot, and recovering the maintenance robot through the other detection port;
s11, introducing water or air into the liner tube to make the liner tube become round;
s12, final inspection, pressure testing and end treatment of the water supply line.
3. The method of using a water supply line servicing robot of claim 1, further comprising:
s13, when the pipeline of the bypass straight pipe of the water supply pipeline is repaired, polyurethane spraying is carried out on the bypass straight pipe of the water supply pipeline through a first spray head on the maintenance robot, and the quality of polyurethane hard foam is checked through a maintenance device on the maintenance robot;
s14, brushing an interface on a bypass straight pipe of the water supply pipeline through a second spray head of the maintenance robot;
s15, final inspection, pressure testing and end treatment of the water supply line.
4. The method of using a water supply line servicing robot of claim 1, further comprising:
s16, when the water supply pipeline is damaged greatly, the liner pipe is softened, so that the maintenance robot drags the liner pipe into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port;
s17, heating and pressurizing the lining pipe to make the lining pipe closely attached to the inner wall of the water supply pipeline;
s18, cooling and forming the lining pipe, and carrying out port treatment;
s19, final inspection, pressure testing and end treatment of the water supply line.
5. The method of using a water supply line servicing robot of claim 1, further comprising:
s20, when the water supply pipeline is seriously damaged and needs to be repaired in a full structure, the maintenance robot drags the three layers of lining pipes into the water supply pipeline through one detection port and recovers the maintenance robot through the other detection port;
s21, putting the maintenance robot into the water supply pipeline again, carrying out ultraviolet curing on the inner side of the three-layer lining pipe through the maintenance robot, and recycling the maintenance robot through another detection port;
s22, turning over the second layer of PE hose of the three-layer lining pipe, and carrying out steam curing on the second layer of PE hose of the three-layer lining pipe;
s23, final inspection, pressure testing and end treatment of the water supply line.
CN202110481857.XA 2021-04-30 2021-04-30 Use method of water supply pipeline maintenance robot Pending CN113211459A (en)

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Publication number Priority date Publication date Assignee Title
KR100923027B1 (en) * 2009-04-06 2009-10-22 동도기공 주식회사 Polyurea spray-repairing method of old water service pipe and its apparatus
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US20200300404A1 (en) * 2019-09-29 2020-09-24 Infrastructure Renewal Institute of Southern China Detecting and repairing method for external diseases of buried drainage pipeline
CN111750206A (en) * 2020-06-17 2020-10-09 上海懿诚市政工程有限公司 Ultraviolet light curing pipeline repairing method
CN112032466A (en) * 2020-09-10 2020-12-04 深圳市博铭维智能科技有限公司 Flexible multistage formula check out test set of pipeline
CN112628522A (en) * 2020-12-02 2021-04-09 成都龙之泉科技股份有限公司 Robot-based underground pipe network repairing method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100923027B1 (en) * 2009-04-06 2009-10-22 동도기공 주식회사 Polyurea spray-repairing method of old water service pipe and its apparatus
CN109868882A (en) * 2019-03-06 2019-06-11 北京普洛兰管道科技有限公司 A kind of drainage pipeline local route repair system and method
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