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CN-121992860-A - Pipeline upgrading optimization method and system suitable for old building

CN121992860ACN 121992860 ACN121992860 ACN 121992860ACN-121992860-A

Abstract

The application relates to a pipeline upgrading optimization method suitable for old buildings, which is characterized by comprising the following steps of S1, pretreatment and three-dimensional digital scanning diagnosis, S2, intelligent planning of a spraying path and a strategy, S3, intelligent spraying operation based on real-time feedback, and S4, quick solidification and digital acceptance.

Inventors

  • HE DAN
  • YANG CHENGJUN
  • LONG JIANG
  • Pan Yingtai
  • SHI BIN
  • Wang Rongmiao

Assignees

  • 黔东南州建筑设计院有限责任公司

Dates

Publication Date
20260508
Application Date
20251231

Claims (10)

  1. 1. The pipeline upgrading optimization method suitable for the old building is characterized by comprising the following steps of: S1, preprocessing and three-dimensional digital scanning diagnosis, namely cleaning the drainage pipeline, and collecting pipeline internal data by using a detection robot carrying a vision and laser scanning module to generate a pipeline three-dimensional digital model with defect type, position and size labels; S2, intelligent planning of a spraying path and a strategy, namely, automatically planning an optimal travelling path of a spraying robot according to the severity level and distribution of defects through a planning algorithm of a control system based on the three-dimensional digital model, and generating different spraying thickness strategies for different defect areas; S3, intelligent spraying operation based on real-time feedback, wherein the spraying robot advances according to a planned path, a spray head at the tail end of a mechanical arm sprays a polymer composite material, a sensing unit integrated on the spray head simultaneously monitors spraying state parameters in real time, and the parameters are fed back to a control system to dynamically adjust spraying operation parameters so as to realize closed-loop control of coating quality; and S4, quick curing and digital acceptance checking, namely after spraying is finished, curing the polymer composite material in situ in the pipeline, then scanning after repairing by using the detection robot to generate a repaired three-dimensional model, and performing comparison analysis with the model before repairing to finish digital acceptance checking.
  2. 2. The method of claim 1, wherein the creating a differentiated spray thickness strategy in step S2 comprises planning a continuous spray of a first standard thickness T1 for a corroded, leaky defect area, planning a localized thickened spray area centered on the defect and having a width greater than the defect range for a structural crack, hole or dislocation defect area, the second target thickness T2 of the area satisfying T2 > T1.
  3. 3. The method of claim 2, wherein the localized thickening spray area is generated by automatically generating a "back" or spiral thickening path that covers the contour of the critical defect after the control system identifies the contour, and wherein the calculation of the second target thickness T2 is positively correlated with the depth, width, and pipeline operating pressure of the defect.
  4. 4. The method according to claim 1, wherein the real-time monitored spraying state parameters in step S3 include a coating wet film thickness and a material rheological viscosity, the dynamically adjusted spraying operation parameters include a traveling speed V of the spraying robot, a rotating speed R of the spray head and a pumping flow Q of the polymer composite, and the closed-loop control is dynamically adjusted by a function relation that the control system synchronously decreases V and/or increases Q when the measured thickness h_actual is smaller than the target thickness h_target, and adjusts R to optimize the atomization effect when the material viscosity exceeds a preset range.
  5. 5. The method of claim 1, wherein the polymer composite material in step S3 is a two-component field mixed material, the a component of the polymer composite material comprises a flexible modified epoxy resin matrix, an ultraviolet tracer and toughening fibers, the B component comprises a curing agent, a nano silica reinforcing filler and a permeable crystallization type active master batch, the initial setting time of the mixed material can be adjusted within 15-45 minutes, and the bonding strength of the final consolidated body and the concrete pipe wall is not lower than 2.5MPa.
  6. 6. The method according to claim 1, further comprising the step of generating and storing a digital repair profile, said profile being a structured data package, the contents of which include at least a three-dimensional contrast model before/after repair, a defect labeling list, a spray path planning map, time series data of key construction parameters (V, R, Q), and a thickness distribution cloud of the final coating.
  7. 7. The method according to claim 1, wherein the specific way of generating the three-dimensional digitized model of the pipeline in the step S1 is to reconstruct the three-dimensional real model of the interior of the pipeline with color and texture information in real time by fusing the 360-degree panoramic high-definition video stream acquired by the detection robot and the point cloud data acquired by the laser radar and adopting a synchronous positioning and map construction algorithm.
  8. 8. The method of claim 1, wherein the spray robot body is integrated with a six-degree-of-freedom mechanical arm, the spray head is a high-speed centrifugal rotary spray head, and the spray head is internally embedded with a non-contact infrared thickness measuring sensor and a miniature rotary viscometer to jointly form the sensing unit.
  9. 9. The method according to claim 1, wherein when step S3 is performed, if the three-dimensional digital model shows that there is an elbow or pipe diameter mutation of more than 90 °, the control system marks the section as a special process section, instructs the spraying robot to automatically switch to a low-speed high-precision spraying mode before entering the section, and starts an anti-collision interference detection algorithm of the mechanical arm.
  10. 10. A system for performing the method of any one of claims 1-9, comprising: a detection robot unit for performing the scan diagnosis and acceptance in steps S1 and S4; The spraying robot unit is used for executing the spraying operation in the step S3 and comprises a walking module, a mechanical arm, an intelligent spray head and a sensing unit; The central control unit is used for executing intelligent planning in the step S2, receiving feedback data of the sensing unit to implement closed-loop control, and comprises a data processor, a planning algorithm module and a man-machine interaction interface; And the material supply unit is used for storing, proportionally mixing and pumping the polymer composite material to the spraying robot unit at constant temperature.

Description

Pipeline upgrading optimization method and system suitable for old building Technical Field The application relates to the technical field of pipeline repair, in particular to a pipeline upgrading optimization method and system suitable for old buildings. Background The old district drainage pipeline system generally faces the problem of pipe ageing due to long construction time, and mainly adopts cast iron or concrete materials, and the materials are easy to generate chemical corrosion, physical abrasion and structural degradation in the long-term service process. The defects in the pipeline show high complexity, including corrosion pits, leakage points, structural cracks, holes, pipeline staggering and the like, and the defects have randomness and density in space distribution, often accompany environmental constraints such as narrow working space, staggered winding of pipelines and the like, so that the repair difficulty is greatly increased. The traditional excavation replacement repair method needs to break the pavement and the building structure on a large scale, not only generates high direct construction cost, but also causes social cost problems such as traffic blocking, resident life interference, secondary environmental pollution and the like, and has long overall implementation period and obvious disturbance. In the existing trenchless repairing technology, the integral lining method such as CIPP technology has extremely strict requirements on the cleanliness of the interior of the pipeline, and all sediments, rust layers and attachments must be thoroughly removed, otherwise, the adhesion failure of the lining layer and the pipeline wall is caused, meanwhile, the technology has poor adaptability to the geometric shape of the pipeline, the sections with small bending radius or serious deformation are difficult to process, and the integral wrapping type repairing strategy is adopted, so that the differential treatment cannot be implemented for local defects, and the excessive use of materials and the waste of repairing resources are caused. The traditional spray repair method is highly dependent on manual operation, workers manually control spray equipment in a limited space, is limited by factors such as shielding of sight, insufficient operation stability and the like, is difficult to uniformly control the spray thickness, has large fluctuation of coating quality, is easy to cause defects such as missing spray, accumulation or insufficient adhesive force, and in addition, lacks a real-time state monitoring and dynamic adjustment mechanism, cannot optimize spray parameters according to the actual working condition of a pipeline, leads to low repair efficiency and prolonged construction period, and is difficult to meet the accurate repair requirement of complex defects. In summary, the prior art has obvious limitations in coping with comprehensive challenges such as multi-type defects, narrow space, efficient repair and the like of drainage pipelines of old and old buildings, and development of a non-excavation repair scheme capable of intelligently diagnosing defect distribution, adaptively planning repair paths, realizing accurate spraying as required and rapidly completing solidification is needed. In view of the above, there is a need in the art for improvements. Disclosure of Invention The application aims to provide a pipeline upgrading optimization method and system suitable for old buildings, and the method and system have the advantages of high-efficiency restoration, accurate control and construction interference reduction. The application provides a pipeline upgrading optimization method suitable for old buildings, which has the following technical scheme: a pipeline upgrading optimization method suitable for old buildings comprises the following steps: S1, preprocessing and three-dimensional digital scanning diagnosis, namely cleaning a drainage pipeline, and collecting data in the pipeline by using a detection robot carrying a vision and laser scanning module to generate a pipeline three-dimensional digital model with defect type, position and size labels; S2, intelligent planning of a spraying path and a strategy, namely, automatically planning an optimal travelling path of a spraying robot according to the severity level and distribution of defects through a planning algorithm of a control system based on a three-dimensional digital model, and generating differentiated spraying thickness strategies for different defect areas; S3, intelligent spraying operation based on real-time feedback, wherein the spraying robot moves according to a planned path, a spray head at the tail end of the mechanical arm sprays high polymer composite materials, a sensing unit integrated on the spray head simultaneously monitors spraying state parameters in real time, and the parameters are fed back to a control system so as to dynamically adjust the spraying operation parameters and realize closed-loop c