19世纪和20世纪的管道基础设施 20世纪初，随着其预期寿命的结束，公用事业现在面临着挑战 决定如何为未来再投资和更新他们的系统。虽然 使用传统的挖掘解决方案完全替换管道基础设施是一种可行的方法 选项，这种方法可能非常耗时，并且会对交通、公民和社会造成严重破坏 环境。如今，许多公用事业公司都意识到这些问题很容易解决 避免使用非开挖压力管道衬砌技术。 几个市政当局已经利用这种技术修复了小城镇 直径分配管道。虽然这些衬里技术在美国并不新鲜 在全球范围内拥有超过7000英里的经验，这一过程以前一直是 由于挖掘工作正在进行，因此在水管修复中适度使用 每个服务连接都需要。然而，最近的技术发展 允许机器人内部密封和维修连接的恢复， 从而消除不必要的干扰，增加挖掘成本。 本文详细介绍了两种已开发的衬砌技术 利用。本文重点介绍了一种用于机器人的特定机器人技术 服务连接的内部密封和恢复。通过遥控器 操作员在地面上，独特的过程发生在管道内部；利用 机器人技术、涡流传感器技术和专门设计的铣削钻头，用于安装 每个维修连接处的机械密封。包括5个参考文献。

With piping infrastructure from the 19th and early 20th century reaching the end of it's life expectancy, utilities are now challenged with the decision of how to reinvest in and renovate their systems for the future. Although complete replacement of the piping infrastructure using conventional dig solutions is an option, this approach can be time consuming and very disruptive to traffic, citizens and the environment. Today, many utilities are now realizing that these problems can easily be avoided by the use of trenchless pressure pipe lining technologies. Several municipalities have utilized such technologies for rehabilitating small diameter distribution piping. Although these lining technologies are not new to the USA and have over 7,000 miles of experience worldwide, the process has previously been used in moderation in water main rehabilitation due to the fact that excavations were required at each service connection. However, recent technology developments have allowed for the robotic internal sealing and reinstatement of the service connections, thereby eliminating the unnecessary disruption and added costs of excavations. This paper provides specifics of two lining technologies that have been utilized. The paper focuses on one specific robotic technology used for the internal sealing and reinstatement of service connections. By way of a remote operator above ground, the unique process takes place inside the pipe; utilizing robotics, eddy current sensor technology, and specially designed milling bits to install a mechanical seal at each service connection. Includes 5 references.