Unmanned aerial vehicle assisted sewage pipeline leakage inspection system and device

Abstract

The invention provides an unmanned aerial vehicle assisted sewage pipeline leakage inspection system and device, and relates to the field of sewage pipeline leakage inspection, an unmanned aerial vehicle inspection module is equipped with a flight control system and an autonomous obstacle avoidance system, and flexibly shuttles back and forth in a complex sewage pipeline environment; the multi-modal sensor array module is integrated with a visible light camera, an infrared thermal imager, a laser range finder, a gas sensor and an acoustic sensor and is used for multi-dimensional data acquisition. Through the unmanned aerial vehicle inspection module, the multi-mode sensor array module, the AI intelligent analysis engine module and the remote intelligent monitoring center module, the intelligent level and efficiency of sewage pipeline leakage inspection are remarkably improved, leakage is accurately recognized and positioned, inspection data are recorded in an omnibearing mode, and the inspection efficiency is improved. The inspection strategy can be automatically adjusted according to real-time data and environment information, and a more efficient and intelligent solution is provided for management and maintenance of urban sewage pipelines.

Description

Technical Field

[0001] The present invention relates to the field of sewage pipe leakage inspection, and in particular to a UAV-assisted sewage pipe leakage inspection system and device. Background Art

[0002] With the acceleration of urbanization, the operation of urban sewage pipe systems, as an important part of urban infrastructure, is directly related to the environmental quality of the city and the quality of life of residents. However, since sewage pipes are often affected by corrosive substances, groundwater pressure, geological changes and other factors, they are prone to leakage, blockage and other failures, which cause serious pollution to the urban environment and increase maintenance costs.

[0003] Traditional sewage pipe inspection methods mainly rely on manual ground inspections, but these methods have many limitations. Manual inspections are not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections. However, due to factors such as ground conditions and traffic conditions, the inspection efficiency and accuracy are low. Therefore, we have made improvements to this and proposed a drone-assisted sewage pipe leakage inspection system and device. Summary of the invention

[0004] The purpose of the present invention is to address the problem that the current manual inspection is not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections, and is limited by factors such as ground conditions and traffic conditions, resulting in low inspection efficiency and accuracy.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following drone-assisted sewage pipe leakage inspection system and device to improve the above-mentioned problem.

[0006] The specific application is as follows: A UAV-assisted sewage pipe leakage inspection system, comprising: UAV inspection module: equipped with a flight control system and autonomous obstacle avoidance system, it can flexibly navigate in complex sewage pipe environments; Multimodal sensor array module: integrates visible light camera, infrared thermal imager, laser rangefinder, gas sensor and acoustic sensor for multi-dimensional data collection; Edge computing module: installed on the drone, with data processing capabilities, to achieve data preprocessing and feature extraction, reducing data transmission pressure; AI intelligent analysis engine module: uses deep learning, computer vision and natural language processing technologies to conduct in-depth analysis of data uploaded by edge computing units to achieve intelligent identification and precise positioning of leaks; Remote intelligent monitoring center module: used to receive collected image data, monitor inspection progress in real time, and perform remote control and issue instructions; Predictive maintenance and early warning module: Through AI analysis of historical data and current trends, the possibility of pipeline leakage is predicted, and early warning is issued to provide a scientific basis for preventive maintenance.

[0007] As the preferred technical solution of this application, it includes autonomous decision-making and dynamic path planning modules: the drone is equipped with an autonomous decision-making module to dynamically adjust the inspection path according to real-time detection data and AI prediction results.

[0008] As the preferred technical solution of this application, it includes a drone cluster collaborative operation module: supporting collaborative inspections by multiple drones, allocating tasks and sharing data through distributed AI algorithms.

[0009] As a preferred technical solution of this application, the drone collaborative inspection includes the following steps: S1. Collaborative perception: Utilize the collaborative perception technology of drone clusters to achieve comprehensive monitoring and information sharing of the sewage pipe environment and multi-machine collaboration; S2. Collaborative decision-making: Based on the information of collaborative perception, the drone swarm performs behavior planning and task adjustment through collaborative decision-making algorithms; S3. Collaborative control: Based on the results of collaborative decision-making, the drone cluster achieves precise control of the drones through collaborative control technology.

[0010] As the preferred technical solution of this application, an emergency response mechanism is established. When the drone cluster encounters an emergency during the inspection process, including insufficient power and mechanical failure, emergency measures are taken quickly to ensure the safety of the drone and the inspection mission.

[0011] A UAV-assisted sewage pipe leakage inspection device, the UAV inspection module includes a UAV body, the bottom of the UAV body is connected to a repair mechanism, the repair mechanism includes a material box, the bottom of the material box is connected to a delivery pump, the bottom of the delivery pump is connected to an electric discharge valve, the top of the material box is penetrated by a vertical rod, the bottom of the vertical rod penetrates into the inner cavity of the material box, the surface of the vertical rod is connected to a stirring rod, and the top of the material box is connected to a feeding pipe.

[0012] As a preferred technical solution of the present application, the top threaded sleeve of the feeding tube is provided with a tube cover, the surface of the vertical rod is provided with a threaded sleeve, the surface of the vertical rod is provided with an external thread used in conjunction with the threaded sleeve, the threaded sleeve is threadedly connected to the vertical rod, the top of the vertical rod is connected to a limiting plate, the surface of the threaded sleeve is connected to a horizontal plate, and the top of the horizontal plate is connected to an electric push rod.

[0013] As a preferred technical solution of the present application, vertical plates are connected to both sides of the material box, a guide hole is provided on the surface of the vertical plate on the left, a flat plate is connected to the top of the vertical plate, card slots are provided on both sides of the flat plate, a card block is connected to the inner cavity of the card slot, a spring telescopic rod is connected to the side of the card block away from the flat plate, and the top of the spring telescopic rod is connected to the drone body.

[0014] As a preferred technical solution of the present application, an adjustment mechanism is provided on the surface of the vertical plate on the left, and the adjustment mechanism includes an inclined plate, the left side of the horizontal plate passes through a guide hole and is connected to the inclined plate through a rotating shaft, the surface of the vertical plate on the left is connected to a cross bar, the surface of the cross bar is sleeved with a spiral groove, the surface of the cross bar is sleeved with a sleeve, the surface of the sleeve is penetrated by a guide rod, the bottom of the guide rod extends to the inner cavity of the spiral groove, and the top of the guide rod is connected to the inclined plate through a rotating shaft.

[0015] As a preferred technical solution of the present application, an L-shaped plate is connected to the left side of the horizontal bar, a threaded pipe is connected to the bottom of the L-shaped plate, a monitoring device body is threadedly connected to the bottom of the threaded pipe, a connecting plate is connected to the right side of the right vertical plate, and a scraper is connected to the bottom of the connecting plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In order to solve the problem that manual inspection in the prior art is not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections, and is limited by factors such as ground conditions and traffic conditions, the inspection efficiency and accuracy are low, the present invention provides a drone-assisted sewage pipe leakage inspection system and device, which significantly improves the intelligence level and efficiency of sewage pipe leakage inspection through the drone inspection module, multimodal sensor array module, AI intelligent analysis engine module and remote intelligent monitoring center module, accurately identifies and locates leaks, records inspection data in all directions, and can autonomously adjust inspection strategies according to real-time data and environmental information, providing a more efficient and intelligent solution for the management and maintenance of urban sewage pipes; 2. The present invention can make the threaded sleeve move vertically by arranging an electric push rod, a horizontal plate, a threaded sleeve, a vertical rod and a stirring rod, so that the vertical rod drives the stirring rod to rotate, thereby stirring and mixing the repair paint in the inner cavity of the material box, avoiding the repair paint in the inner cavity of the material box from being precipitated and solidified for a long time, and facilitating the uniform mixing and processing of the repair agent. By arranging a delivery pump and an electric discharge valve, it is convenient to convey the repair paint in the inner cavity of the material box and discharge it to the leaking part of the pipeline, so as to perform a temporary and simple repair on the pipeline; 3. The present invention provides a spring telescopic rod, a clamping block and a clamping slot, so that the clamping block is clamped with the clamping slot to fix the plate, thereby positioning and installing the repair mechanism, and facilitating the disassembly of the repair mechanism, and facilitating the separation, storage and carrying of the drone body and the repair mechanism; 4. The present invention can rotate the L-shaped plate through the inclined plate, cross bar, spiral groove, sleeve, guide rod, L-shaped plate and threaded tube, so as to adjust the tilt angle of the drone body, which is convenient for adjusting the angle of the monitoring device body, facilitating monitoring of different positions, increasing the monitoring range, and facilitating the disassembly of the monitoring device body, and facilitating the replacement and maintenance of the monitoring device body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a principle block diagram of the UAV-assisted sewage pipe leakage inspection system in the present invention.

[0018] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 3 It is a bottom view structural schematic diagram of the present invention.

[0020] Figure 4 It is a schematic cross-sectional view of the local structure of the present invention.

[0021] Figure 5 It is a schematic diagram of the exploded view of the card slot and the card block in the present invention.

[0022] Figure 6 It is a cross-sectional schematic diagram of the sleeve and the guide rod in the present invention.

[0023] In the above drawings: 1. UAV body; 2. Repair mechanism; 20. Material box; 21. Delivery pump; 22. Electric discharge valve; 23. Vertical rod; 24. Stirring rod; 25. Feeding pipe; 26. Threaded sleeve; 27. Limit plate; 28. Horizontal plate; 29. ​​Electric push rod; 210. Vertical plate; 211. Guide hole; 212. Flat plate; 213. Spring telescopic rod; 214. Slot; 215. Block; 3. Adjustment mechanism; 30. Inclined plate; 31. Horizontal rod; 32. Spiral groove; 33. Sleeve; 34. Guide rod; 35. L-shaped plate; 36. Threaded pipe; 37. Monitoring device body; 4. Connecting plate; 5. Scraper. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] As described in the background art, manual inspection is not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections. However, due to factors such as ground conditions and traffic conditions, the inspection efficiency and accuracy are low.

[0026] In order to solve this technical problem, the present invention provides a UAV-assisted sewage pipe leakage inspection system and device, which is applied to the field of sewage pipe leakage inspection.

[0027] Specifically, please refer to Figure 1 , a UAV-assisted sewage pipe leakage inspection system, comprising: UAV inspection module: equipped with a flight control system and autonomous obstacle avoidance system, it can flexibly navigate in complex sewage pipe environments; Multimodal sensor array module: integrates visible light camera, infrared thermal imager, laser rangefinder, gas sensor and acoustic sensor for multi-dimensional data collection; Edge computing module: installed on the drone, with data processing capabilities, to achieve data preprocessing and feature extraction, reducing data transmission pressure; AI intelligent analysis engine module: uses deep learning, computer vision and natural language processing technologies to conduct in-depth analysis of data uploaded by edge computing units to achieve intelligent identification and precise positioning of leaks; Remote intelligent monitoring center module: used to receive collected image data, monitor inspection progress in real time, and perform remote control and issue instructions; Predictive maintenance and early warning module: Through AI analysis of historical data and current trends, the possibility of pipeline leakage is predicted, and early warning is issued to provide a scientific basis for preventive maintenance.

[0028] Including autonomous decision-making and dynamic path planning modules: The drone is equipped with an autonomous decision-making module to dynamically adjust the inspection path based on real-time detection data and AI prediction results.

[0029] Includes a drone cluster collaborative operation module: supports collaborative inspections by multiple drones, assigning tasks and sharing data through distributed AI algorithms.

[0030] Drone collaborative inspection includes the following steps: S1. Collaborative perception: Utilize the collaborative perception technology of drone clusters to achieve comprehensive monitoring and information sharing of the sewage pipe environment and multi-machine collaboration; S2. Collaborative decision-making: Based on collaborative perception information, the drone cluster uses collaborative decision-making algorithms to plan behavior and adjust tasks. When a drone finds a suspected leak point, it can share information and collaboratively confirm with other drones to improve the accuracy of detection; S3. Collaborative control: Based on the results of collaborative decision-making, the drone cluster achieves precise control of the drones through collaborative control technology.

[0031] Establish an emergency response mechanism. When the drone cluster encounters an emergency during the inspection process, including low battery and mechanical failure, take emergency measures quickly to ensure the safety of the drone and the inspection mission.

[0032] This application significantly improves the intelligence level and efficiency of sewage pipe leakage inspection by setting up drone inspection modules, multimodal sensor array modules, AI intelligent analysis engine modules and remote intelligent monitoring center modules. It can accurately identify and locate leaks, record inspection data in all directions, and can autonomously adjust inspection strategies based on real-time data and environmental information, providing a more efficient and intelligent solution for the management and maintenance of urban sewage pipes.

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0034] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] Example 1, please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 A UAV-assisted sewage pipe leakage inspection device, the UAV inspection module includes a UAV body 1, the bottom of the UAV body 1 is connected to a repair mechanism 2, the repair mechanism 2 includes a material box 20, the bottom of the material box 20 is connected to a delivery pump 21, the bottom of the delivery pump 21 is connected to an electric discharge valve 22, the top of the material box 20 is penetrated by a vertical rod 23, the bottom of the vertical rod 23 penetrates into the inner cavity of the material box 20, the surface of the vertical rod 23 is connected to a stirring rod 24, and the top of the material box 20 is connected to a feeding pipe 25.

[0037] By setting up a material box 20 for storing pipeline repair paint, it is used to temporarily provide repair paint to the pipeline leaking place, which is convenient for temporary repair of sewage pipelines. By setting up a delivery pump 21 and an electric discharge valve 22, it is convenient to transport the repair paint in the inner cavity of the material box 20 and discharge it to the pipeline leaking place, so as to perform temporary and simple repair on the pipeline.

[0038] The top threaded sleeve of the feeding tube 25 is provided with a pipe cover, the surface of the vertical rod 23 is provided with a threaded sleeve 26, the surface of the vertical rod 23 is provided with an external thread used in conjunction with the threaded sleeve 26, the threaded sleeve 26 is threadedly connected to the vertical rod 23, the top of the vertical rod 23 is connected to a limiting plate 27, the surface of the threaded sleeve 26 is connected to a horizontal plate 28, and the top of the horizontal plate 28 is connected to an electric push rod 29.

[0039] By providing a feeding pipe 25, it is convenient to add pipeline repair paint to the material box 20, and it is convenient to replenish the paint. By providing a pipe cover, the feeding pipe 25 can be sealed to avoid leakage here. By providing a limit plate 27, the upward movement distance of the threaded sleeve 26 is limited to avoid the threaded sleeve 26 from separating from the vertical rod 23 when moving vertically. By providing an electric push rod 29, a horizontal plate 28, a threaded sleeve 26, a vertical rod 23 and a stirring rod 24, the threaded sleeve 26 can be moved vertically, and the vertical rod 23 drives the stirring rod 24 to rotate, thereby stirring and mixing the repair paint in the inner cavity of the material box 20, avoiding the repair paint in the inner cavity of the material box 20 from precipitating and solidifying for a long time, and facilitating the uniform mixing and processing of the repair agent.

[0040] Both sides of the material box 20 are connected with vertical plates 210, a guide hole 211 is provided on the surface of the vertical plate 210 on the left, a flat plate 212 is connected to the top of the vertical plate 210, and slots 214 are provided on both sides of the flat plate 212. A card block 215 is connected to the inner cavity of the slot 214, and a spring telescopic rod 213 is connected to the side of the card block 215 away from the flat plate 212, and the top of the spring telescopic rod 213 is connected to the drone body 1.

[0041] By setting the guide hole 211, the horizontal plate 28 is guided to facilitate the vertical movement of the horizontal plate 28. By setting the spring telescopic rod 213, the block 215 and the slot 214, the block 215 is engaged with the slot 214 to fix the flat plate 212, thereby positioning and installing the repair mechanism 2, and at the same time facilitating the disassembly of the repair mechanism 2, and facilitating the separation, storage and carrying of the drone body 1 and the repair mechanism 2.

[0042] Example 2 further optimizes the drone-assisted sewage pipe leakage inspection device provided in Example 1. Specifically, Figure 4 and Figure 6 As shown, an adjustment mechanism 3 is provided on the surface of the vertical plate 210 on the left, and the adjustment mechanism 3 includes an inclined plate 30. The left side of the horizontal plate 28 passes through a guide hole 211 and is connected to the inclined plate 30 through a rotating shaft. The surface of the vertical plate 210 on the left is connected to a cross bar 31, and the surface of the cross bar 31 is sleeved with a spiral groove 32. The surface of the cross bar 31 is sleeved with a sleeve 33, and the surface of the sleeve 33 is penetrated and connected with a guide rod 34. The bottom of the guide rod 34 extends to the inner cavity of the spiral groove 32, and the top of the guide rod 34 is connected to the inclined plate 30 through a rotating shaft.

[0043] By setting the cross bar 31, the sleeve 33 is supported to facilitate the lateral movement of the sleeve 33. By setting the spiral groove 32, the guide rod 34 is guided. When the guide rod 34 moves laterally, the bottom squeezes the inner wall of the spiral groove 32, causing the cross bar 31 to rotate, and then drives the L-shaped plate 35 and the monitoring device body 37 to rotate, so as to facilitate the adjustment of the angle of the monitoring device body 37, facilitate monitoring of different positions, and increase the monitoring range.

[0044] The left side of the cross bar 31 is connected to an L-shaped plate 35, the bottom of the L-shaped plate 35 is connected to a threaded tube 36, the bottom of the threaded tube 36 is threadedly connected to a monitoring device body 37, the right side of the right vertical plate 210 is connected to a connecting plate 4, and the bottom of the connecting plate 4 is connected to a scraper 5.

[0045] By providing the L-shaped plate 35 and the threaded tube 36, it is convenient to connect and install with the monitoring device body 37, and it is also convenient to disassemble the monitoring device body 37, and it is convenient to replace and maintain the monitoring device body 37. By providing the connecting plate 4 and the scraper 5, after the repair paint is discharged to the pipeline leakage, the scraper 5 is driven to move by adjusting the drone body 1. The scraper 5 moves to scrape the paint flat, so that the paint and the pipeline leakage are evenly contacted and sealed, thereby improving the sealing effect.

[0046] The use process of the drone-assisted sewage pipe leakage inspection device provided by the present invention is as follows: S1, stirring: adding pipeline leakage repair agent to the inner cavity of the material box 20 through the feeding pipe 25, and driving the horizontal plate 28 to move vertically by controlling the operation of the electric push rod 29, and the horizontal plate 28 drives the threaded sleeve 26 to move vertically, and the threaded sleeve 26 is threadedly connected with the vertical rod 23, so that the vertical rod 23 drives the stirring rod 24 to rotate, and the repair agent is stirred and mixed to prevent the repair agent from settling and solidifying; S2. Adjusting the angle: by controlling the electric push rod 29 to run, the horizontal plate 28 is driven to move vertically, and the horizontal plate 28 drives the guide rod 34 and the sleeve 33 to move horizontally through the inclined plate 30. When the guide rod 34 moves, it squeezes the inner wall of the spiral groove 32, causing the horizontal rod 31 to rotate. The horizontal rod 31 drives the L-shaped plate 35, the threaded tube 36 and the monitoring device body 37 to rotate, so as to adjust the inclination angle of the monitoring device body 37; S3, repair: when a pipeline leak is detected, feedback is given to the remote intelligent monitoring center module, and the remote monitoring center suspends sewage discharge, controls the electric discharge valve 22 to open, controls the delivery pump 21 to run, and discharges the material in the inner cavity of the material box 20 through the electric discharge valve 22 to the pipeline leak. By controlling the movement of the drone body 1, the connecting plate 4 and the scraper 5 are driven to move, and the scraper 5 scrapes the repair paint flat to make the repair paint contact with the pipeline evenly; S4, disassembly: Move the block 215 to squeeze the spring telescopic rod 213, so that the block 215 is separated from the card slot 214, so that the drone body 1 is separated and disassembled from the flat plate 212, and then the repair mechanism 2 is disassembled, and the repair mechanism 2 and the drone body 1 are separated and carried.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A UAV-assisted sewage pipe leakage inspection system, characterized in that: include: UAV inspection module: equipped with a flight control system and autonomous obstacle avoidance system, it can flexibly navigate in complex sewage pipe environments; Multimodal sensor array module: integrates visible light camera, infrared thermal imager, laser rangefinder, gas sensor and acoustic sensor for multi-dimensional data collection; Edge computing module: installed on the drone, with data processing capabilities, to achieve data preprocessing and feature extraction, reducing data transmission pressure; AI intelligent analysis engine module: uses deep learning, computer vision and natural language processing technologies to conduct in-depth analysis of data uploaded by edge computing units to achieve intelligent identification and precise positioning of leaks; Remote intelligent monitoring center module: used to receive collected image data, monitor inspection progress in real time, and perform remote control and issue instructions; Predictive maintenance and early warning module: Through AI analysis of historical data and current trends, the possibility of pipeline leakage is predicted, and early warning is issued to provide a scientific basis for preventive maintenance.

2. The UAV-assisted sewage pipe leakage inspection system according to claim 1 is characterized in that: Including autonomous decision-making and dynamic path planning modules: The drone is equipped with an autonomous decision-making module to dynamically adjust the inspection path based on real-time detection data and AI prediction results.

3. The UAV-assisted sewage pipe leakage inspection system according to claim 2 is characterized in that: Includes a drone cluster collaborative operation module: supports collaborative inspections by multiple drones, assigning tasks and sharing data through distributed AI algorithms.

4. The UAV-assisted sewage pipe leakage inspection system according to claim 3 is characterized in that: The drone collaborative inspection includes the following steps: S1. Collaborative perception: Utilize the collaborative perception technology of drone clusters to achieve comprehensive monitoring and information sharing of the sewage pipe environment and multi-machine collaboration; S2. Collaborative decision-making: Based on the information of collaborative perception, the drone swarm performs behavior planning and task adjustment through collaborative decision-making algorithms; S3. Collaborative control: Based on the results of collaborative decision-making, the drone cluster achieves precise control of the drones through collaborative control technology.

5. The UAV-assisted sewage pipe leakage inspection system according to claim 4 is characterized in that: Establish an emergency response mechanism. When the drone cluster encounters an emergency during the inspection process, including low battery and mechanical failure, take emergency measures quickly to ensure the safety of the drone and the inspection mission.

6. A UAV-assisted sewage pipe leakage inspection device, using the UAV-assisted sewage pipe leakage inspection system as claimed in claim 5, characterized in that: The unmanned aerial vehicle inspection module comprises an unmanned aerial vehicle body (1), the bottom of the unmanned aerial vehicle body (1) is connected to a repair mechanism (2), the repair mechanism (2) comprises a material box (20), the bottom of the material box (20) is connected to a delivery pump (21), the bottom of the delivery pump (21) is connected to an electric discharge valve (22), a vertical rod (23) is installed through the top of the material box (20), the bottom of the vertical rod (23) passes through the inner cavity of the material box (20), the surface of the vertical rod (23) is connected to a stirring rod (24), and the top of the material box (20) is connected to a feeding pipe (25).

7. The UAV-assisted sewage pipe leakage inspection device according to claim 6 is characterized in that: The top threaded sleeve of the feeding pipe (25) is provided with a pipe cover, the surface of the vertical rod (23) is provided with a threaded sleeve (26), the surface of the vertical rod (23) is provided with an external thread for use with the threaded sleeve (26), the threaded sleeve (26) is threadedly connected to the vertical rod (23), the top of the vertical rod (23) is connected to a limit plate (27), the surface of the threaded sleeve (26) is connected to a horizontal plate (28), and the top of the horizontal plate (28) is connected to an electric push rod (29).

8. The UAV-assisted sewage pipe leakage inspection device according to claim 7 is characterized in that: Both sides of the material box (20) are connected to vertical plates (210), a guide hole (211) is provided on the surface of the vertical plate (210) on the left side, a flat plate (212) is connected to the top of the vertical plate (210), both sides of the flat plate (212) are provided with a card slot (214), a card block (215) is carded into the inner cavity of the card slot (214), a spring telescopic rod (213) is connected to the side of the card block (215) away from the flat plate (212), and the top of the spring telescopic rod (213) is connected to the drone body (1).

9. The UAV-assisted sewage pipe leakage inspection device according to claim 8 is characterized in that: An adjustment mechanism (3) is provided on the surface of the vertical plate (210) on the left side. The adjustment mechanism (3) comprises an inclined plate (30). The left side of the horizontal plate (28) passes through a guide hole (211) and is connected to the inclined plate (30) via a rotating shaft. The surface of the vertical plate (210) on the left side is connected to a cross bar (31). The surface of the cross bar (31) is sleeved with a spiral groove (32). The surface of the cross bar (31) is sleeved with a sleeve (33). The surface of the sleeve (33) passes through and is connected to a guide rod (34). The bottom of the guide rod (34) extends to the inner cavity of the spiral groove (32). The top of the guide rod (34) is connected to the inclined plate (30) via a rotating shaft.

10. The UAV-assisted sewage pipe leakage inspection device according to claim 9 is characterized in that: The left side of the cross bar (31) is connected to an L-shaped plate (35), the bottom of the L-shaped plate (35) is connected to a threaded tube (36), the bottom of the threaded tube (36) is threadedly connected to a monitoring device body (37), the right side of the right vertical plate (210) is connected to a connecting plate (4), and the bottom of the connecting plate (4) is connected to a scraper (5).

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