Drainage pipe detection device and method based on three-dimensional laser

Abstract

The embodiment of the present application provides a drainage pipe detection device and method based on three-dimensional laser, which relates to the field of drainage pipe detection. The drainage pipe detection device and method based on three-dimensional laser include: a trolley assembly and a detection assembly. The trolley assembly includes a crawler trolley and a crawler. When it is necessary to disassemble the mounting plate and the precision instrument connected to its upper part, the rotating part is rotated, and the screw is driven to rotate by the rotating part, so that the screw leaves the upper side of the crawler trolley, and then the mounting plate and the precision instrument connected to its upper part are removed, which is convenient for maintenance. When one of the screws cannot be completely unscrewed due to rust, the remaining screws on the mounting plate are removed, and then the rusted screw is loosened, and the mounting groove on the mounting plate is pulled out from the screw, and then the mounting plate and the precision instrument connected to its upper part can be removed, which is convenient for maintenance, and effectively improves the situation where individual bolts cannot be completely unscrewed due to rust, making it difficult to disassemble the high-definition camera and the three-dimensional laser scanner.

Description

Technical Field

[0001] The present application relates to the technical field of drainage pipe detection, and in particular, to a drainage pipe detection device and method based on three-dimensional laser. Background Art

[0002] In the related technology, a drainage pipe detection device based on three-dimensional laser is used, in which a driving trolley drives a high-definition camera and a three-dimensional laser scanner to detect the drainage pipe. The high-definition camera and the three-dimensional laser scanner are fixed to the upper side of the driving trolley by bolts. However, due to the influence of the environment inside the drainage pipe, some bolts are prone to rust, and it is easy for some bolts to rust and cannot be completely unscrewed, making it difficult to disassemble the high-definition camera and the three-dimensional laser scanner. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a drainage pipe detection device and method based on three-dimensional laser, which effectively improves the situation where individual bolts cannot be completely unscrewed due to rust, making it difficult to disassemble the high-definition camera and three-dimensional laser scanner.

[0004] According to the embodiment of the present application, the drainage pipe detection device and method based on three-dimensional laser include: a trolley component and a detection component.

[0005] The trolley assembly includes a crawler trolley and a crawler, and the crawler is arranged on both sides of the crawler trolley. The detection assembly includes a mounting platform, an anti-shake pan-tilt, a rotating platform and a detection component. The mounting platform includes a platform body and a mounting component. The platform body includes a mounting plate, and mounting grooves are arranged at both ends of the mounting plate. The mounting groove is arranged in a U shape. The mounting component includes a screw, a rotating part, a washer and an anti-skid pad. The screw passes through the mounting groove, one end of the screw is threadedly connected to the upper side of the crawler trolley, and the rotating part is fixedly connected to the other end of the screw. The washer and the anti-skid pad are both slidably sleeved on the screw, and the rotating part is pressed against the washer, and the washer presses the anti-skid pad against the upper side of the mounting plate, the anti-shake pan-tilt is fixedly connected to the upper side of the mounting plate, the rotating platform is arranged at the upper end of the anti-shake pan-tilt, and the detection component is fixedly connected to the upper side of the rotating platform.

[0006] According to some embodiments of the present application, the tracked vehicle is equipped with a built-in inertial navigation system and a GPS positioning system.

[0007] According to some embodiments of the present application, the rear portion of the crawler vehicle is fixedly connected to a pull ring, and a waterproof pull rope is tied to the pull ring.

[0008] According to some embodiments of the present application, the anti-slip pad is configured as a rubber pad.

[0009] According to some embodiments of the present application, anti-slip strips are evenly arranged around the periphery of the rotating part.

[0010] According to some embodiments of the present application, the rotating platform includes a first fixed plate, a rotating shaft, a fixed bracket and a driving motor, the rotating shaft is fixedly connected to the lower side of the first fixed plate, the rotating shaft is rotatably connected to the top of the anti-shake gimbal, the fixed bracket is fixedly connected to the lower side of the top of the anti-shake gimbal, the driving motor is fixedly connected to the fixed bracket, and the driving motor is constructed to be transmission-connected to the rotating shaft.

[0011] According to some embodiments of the present application, the detection component includes a high-definition camera and a three-dimensional laser scanner. The high-definition camera is fixedly connected to the upper side of the first fixed plate, and the three-dimensional laser scanner is fixedly connected to the top of the high-definition camera.

[0012] According to some embodiments of the present application, a water baffle is provided on the top of the high-definition camera, and the water baffle extends out of an end of the high-definition camera with a lens.

[0013] According to some embodiments of the present application, LED light sources are evenly arranged around the lens of the high-definition camera.

[0014] The detection method of the drainage pipe detection device based on three-dimensional laser is performed using the drainage pipe detection device based on three-dimensional laser, and comprises the following steps:

[0015] Open the anti-shake gimbal to ensure the stability of the mobile laser radar during operation. At the same time, the detachable mounting plate facilitates timely inspection and maintenance of the laser probe, reducing maintenance costs.

[0016] Turn on the high-definition camera and 3D laser scanner. The 3D laser scanner is equipped with two data acquisition modes, namely, stand-up laser scanning and mobile 3D laser scanning, the purpose of which is to obtain the pipeline point cloud model.

[0017] Place the crawler vehicle into the drainage pipe and control it to move forward. The built-in inertial navigation system and GPS system of the crawler vehicle are used to analyze the changes in the moving state, correct the point cloud collection trajectory, and retain the state information.

[0018] Using the stand-type 3D laser scanning method, the equipped target device is placed in the pipeline according to the triangulation principle to facilitate the splicing of the model.

[0019] Data is collected through high-definition cameras and 3D laser scanners and then processed.

[0020] The DBSCAN density clustering method is used for model classification, and the sparse point cloud is used as a noise filter to remove dust and water mist interference and retain the pipeline morphology category.

[0021] According to some embodiments of the present application, it also includes a vehicle driving wheel assembly, the vehicle driving wheel assembly is arranged in two groups, the two groups of vehicle driving wheel assemblies are respectively arranged on the crawler, the vehicle driving wheel assembly includes a swing arm, a transmission mechanism, an anti-skid wheel and a driving mechanism, the swing arm, the transmission mechanism and the anti-skid wheel are all arranged as two track wheels respectively arranged on the crawler, the swing arm includes a swing rod and a connecting plate, the connecting plate is fixedly connected to one side of the upper end of the swing rod, the transmission mechanism includes a first transmission shaft, a first bevel gear, two support plates, a second transmission shaft, two second bevel gears, a third transmission shaft and a third bevel gear, one end of the two first transmission shafts is fixedly connected to the two track wheels on the crawler, the other end of the first transmission shaft is rotatably connected to the upper end of the swing rod, The first bevel gear is fixedly sleeved on the first transmission shaft, the two support plates are respectively fixedly connected to the upper end and the lower end of the inner side wall of the swing rod, the two ends of the second transmission shaft rotate and pass through the two support plates, the two second bevel gears are respectively fixedly sleeved on the end parts at both ends of the second transmission shaft, the first bevel gear is meshed with one of the second bevel gears, the third transmission shaft rotates and passes through the lower end of the swing rod, the third bevel gear is fixedly sleeved on one end of the third transmission shaft, the third bevel gear is meshed with the other second bevel gear, the anti-skid wheel is fixedly sleeved on one end of the third transmission shaft extending from the outer side wall of the swing rod, the driving mechanism is constructed to be transmission-connected to the connecting plate, and the driving mechanism drives the two swing rods to swing around the first transmission shaft.

[0022] According to some embodiments of the present application, the third transmission shaft includes a shaft body, a baffle, a prismatic rod and a clamping nut. The shaft body rotates and passes through the lower end of the rocker arm. The baffle and the prismatic rod are fixedly sleeved on one end of the shaft body extending from the outer wall of the rocker arm. The prismatic rod is located on the side of the baffle away from the rocker arm. The clamping nut is threadedly sleeved on the end of the shaft body. The anti-skid wheel includes a wheel body. A prismatic hole is opened in the wheel body. The prismatic rod is inserted into the prismatic hole. The baffle can block one side of the wheel body, and the clamping nut can be clamped on the other side of the wheel body.

[0023] According to some embodiments of the present application, the driving mechanism includes a connecting member, two first connecting rods, two limiting members, a slide member, a transmission plate and a driving telescopic rod, the connecting member includes a second connecting rod and two slide slot plates, the two slide slot plates are respectively fixedly connected to the two ends of the lower side of the second connecting rod, a slide slot is arranged on the slide slot plate, one end of the two first connecting rods are respectively hinged to the end portions at the two ends of the second connecting rod, the other end of the two first connecting rods is hinged to the connecting plate, one end of the two limiting members is fixedly connected to one side of the crawler trolley, the two limiting members can slide along the two slide slots respectively, the slide member is fixedly connected to one side of the crawler trolley, the slide member is located at the lower side of the limiting member, the upper end of the transmission plate is hinged to the lower side of the second connecting rod, the lower end of the transmission plate is slidably connected to the slide member, the lower end of the transmission plate can rotate around the slide member, one end of the driving telescopic rod is hinged to one side of the crawler trolley, and the output end of the driving telescopic rod is hinged to the lower end of the side wall of the transmission plate.

[0024] According to some embodiments of the present application, the limiting member includes a connecting rod and two limiting rods, the end of the connecting rod can slide along the two sliding grooves, the two limiting rods are fixed and pass through the ends of the connecting rod, and the two limiting rods can respectively block the two sides of the sliding groove plate.

[0025] According to some embodiments of the present application, the slide member includes a second fixed plate and two slides, the two slides are respectively fixedly connected to the two ends of the upper side of the second fixed plate, the two sides of the lower end of the transmission plate are respectively slidably connected to the two slides, and the two sides of the lower end of the transmission plate can rotate around the slides.

[0026] The beneficial effects of the present application are as follows: when it is necessary to disassemble the mounting plate and the precision instrument connected to its upper part, the rotating part is rotated to drive the screw to rotate through the rotating part, so that the screw leaves the upper side of the crawler trolley, and then the mounting plate and the precision instrument connected to its upper part are removed, which is convenient for maintenance; when one of the screws cannot be completely unscrewed due to rust, the remaining screws on the mounting plate are removed, and then the rusted screw is loosened, and the mounting groove on the mounting plate is pulled out from the screw, and then the mounting plate and the precision instrument connected to its upper part can be removed, which is convenient for maintenance, and effectively improves the situation in which the high-definition camera and the three-dimensional laser scanner are difficult to disassemble due to the inability to completely unscrew due to rust.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a schematic diagram of the three-dimensional structure of a drainage pipe detection device and method based on three-dimensional laser according to an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the three-dimensional structure of a trolley assembly according to an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the three-dimensional structure of a detection component according to an embodiment of the present application;

[0032] Figure 4 is a schematic diagram of the three-dimensional structure of the installation platform according to an embodiment of the present application;

[0033] Figure 5 is a schematic diagram of the three-dimensional structure of the platform body according to an embodiment of the present application;

[0034] Figure 6 is a schematic diagram of the three-dimensional structure of a mounting member according to an embodiment of the present application;

[0035] Figure 7 is a schematic diagram of the three-dimensional structure of a rotating platform according to an embodiment of the present application;

[0036] Figure 8 is a schematic diagram of the three-dimensional structure of a detection element according to an embodiment of the present application;

[0037] Fig. 9 is a schematic diagram of the three-dimensional structure of a vehicle driving wheel assembly according to an embodiment of the present application;

[0038] Fig.10 is a schematic diagram of the three-dimensional structure of a swing arm according to an embodiment of the present application;

[0039] Fig.11 is a schematic diagram of a three-dimensional structure of a transmission mechanism according to an embodiment of the present application;

[0040] Fig.12 is a schematic diagram of the three-dimensional structure of an anti-skid wheel according to an embodiment of the present application;

[0041] Fig.13 is a schematic diagram of a three-dimensional structure of a driving mechanism according to an embodiment of the present application;

[0042] Fig.14is a schematic diagram of the three-dimensional structure of a connector according to an embodiment of the present application;

[0043] Fig.15 is a schematic diagram of the three-dimensional structure of a slide member according to an embodiment of the present application;

[0044] Fig.16 It is a schematic diagram of the three-dimensional structure of the limiting component according to an embodiment of the present application.

[0045] Icons: 100-trolley assembly; 110-tracked trolley; 120-tracks; 130-pull ring; 200-detection assembly; 210-installation platform; 211-platform body; 2111-installation plate; 2112-installation slot; 212-installation piece; 2121-screw; 2122-rotating part; 2123-washer; 2124-anti-skid pad; 2125-anti-skid strip; 220-anti-shake gimbal; 230-rotating platform; 231-first fixed plate; 232-rotating shaft; 233-fixed bracket; 234-drive motor; 240-detection piece; 241-HD camera; 242-3D laser scanner; 243-water retaining plate; 244-LED light source; 300-trolley drive wheel assembly; 310-swing arm; 311-swing rod; 312-connector Connecting plate; 320-transmission mechanism; 321-first transmission shaft; 322-first bevel gear; 323-support plate; 324-second transmission shaft; 325-second bevel gear; 326-third transmission shaft; 3261-axis body; 3262-baffle plate; 3263-prismatic rod; 3264-pressure nut; 327-third bevel gear; 330-anti-skid wheel; 331-wheel body; 332-prismatic hole; 340-driving mechanism; 341-connecting piece; 3411-second connecting rod; 3412-slide plate; 3413-slide; 342-first connecting rod; 343-limiting piece; 3431-connecting rod; 3432-limiting rod; 344-slideway piece; 3441-second fixing plate; 3442-slideway; 345-transmission plate; 346-driving telescopic rod. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0047] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in conjunction with the drawings in the implementation methods of this application. Obviously, the described implementation methods are part of the implementation methods of this application, not all of the implementation methods. Based on the implementation methods in this application, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0049] 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.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] In this application, 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 connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0054] The following describes a three-dimensional laser-based drainage pipe detection device and method according to an embodiment of the present application with reference to the accompanying drawings.

[0055] like Figure 1-Figure 16 As shown, the drainage pipe detection device based on three-dimensional laser according to the embodiment of the present application includes: a trolley component 100 and a detection component 200, the trolley component 100 is used to drive the detection component 200 to move along the drainage pipe, and the detection component 200 is used to detect the specific situation in the drainage pipe.

[0056] like Figure 2 As shown, the trolley assembly 100 includes a crawler trolley 110 and a crawler 120, and the crawler 120 is arranged on both sides of the crawler trolley 110. The specific connection method of the crawler 120 and the crawler trolley 110 is known to those skilled in the art and will not be described in detail here. The crawler wheels on the crawler 120 are driven by the crawler trolley 110, and the crawler trolley 110 is equipped with an inertial navigation system and a GPS positioning system. The specific setting methods of the inertial navigation system and the GPS positioning system are also known to those skilled in the art and will not be described in detail here. The inertial navigation system stabilizes the running trajectory of the robot, and the GPS positioning system is used to locate the position of the crawler trolley 110 in the pipeline, providing effective adjustment parameters for the inertial navigation system or the SLAM algorithm. The rear of the crawler trolley 110 is fixedly connected to the pull ring 130, wherein the pull ring 130 and the crawler trolley 110 are an integrated structure, and a waterproof pull rope is tied to the pull ring 130, and the crawler trolley 110 can be pulled by the waterproof pull rope to prevent the crawler trolley 110 from getting stuck in the pipeline.

[0057] like Figure 3 , Figure 4 and Figure 5 As shown, the detection component 200 includes a mounting platform 210, an anti-shake gimbal 220, a rotating platform 230 and a detection component 240. The mounting platform 210 includes a platform body 211 and a mounting component 212. The platform body 211 includes a mounting plate 2111. Both ends of the mounting plate 2111 are provided with mounting grooves 2112, and the mounting grooves 2112 are configured to be U-shaped.

[0058] like Figure 6As shown, the mounting member 212 includes a screw 2121, a rotating portion 2122, a washer 2123 and an anti-skid pad 2124. The screw 2121 passes through the mounting slot 2112. One end of the screw 2121 is threadedly connected to the upper side of the crawler trolley 110. The rotating portion 2122 is fixedly connected to the other end of the screw 2121. Preferably, the rotating portion 2122 and the screw 2121 are an integrated structure, and the washer 2123 and the anti-skid pad 2124 are both slidable. It is sleeved on the screw rod 2121, and the rotating part 2122 is pressed against the washer 2123. The washer 2123 presses the anti-skid pad 2124 against the upper side of the mounting plate 2111. The rotating part 2122 passes through the washer 2123 and presses the anti-skid pad 2124 to reduce the squeezing damage to the anti-skid pad 2124 when the rotating part 2122 rotates. The anti-skid pad 2124 can press the mounting plate 2111 when the rotating part 2122 is rotated to reduce the sliding between the two. The anti-shake platform 220 is fixedly connected to the upper side of the mounting plate 2111. The anti-shake platform 220 and the mounting plate 2111 are an integrated structure. The stability of the detection member 240 during movement is stabilized by the anti-shake platform 220. The rotating platform 230 is arranged at the upper end of the anti-shake platform 220. The detection member 240 is fixedly connected to the upper side of the rotating platform 230. Anti-slip strips 2125 are evenly arranged around the rotating part 2122 to facilitate the rotation of the rotating part 2122. When it is necessary to disassemble the mounting plate 2111 and the precision instrument connected to the upper part thereof, the rotating part 2122 is rotated, and the screw rod 2121 is driven to rotate by the rotating part 2122, so that the screw rod 2121 leaves the upper side of the crawler trolley 110, and then the mounting plate 2111 and the precision instrument connected to the upper part thereof are removed, which is convenient for maintenance. When one of the screw rods 2121 cannot be completely unscrewed due to rust, remove the remaining screw rods 2121 on the mounting plate 2111, loosen the rusted screw rod 2121, and pull the mounting groove 2112 on the mounting plate 2111 out of the screw rod 2121, and then remove the mounting plate 2111 and the precision instruments connected to the upper part thereof, so as to facilitate maintenance and effectively improve the situation in which it is difficult to disassemble the high-definition camera and the three-dimensional laser scanner because individual bolts cannot be completely unscrewed due to rust.

[0059] like Figure 7As shown, the rotating platform 230 includes a first fixed plate 231, a rotating shaft 232, a fixed bracket 233 and a driving motor 234. The rotating shaft 232 is fixedly connected to the lower side of the first fixed plate 231. When specifically configured, the rotating shaft 232 and the first fixed plate 231 are an integrated structure. The rotating shaft 232 is rotatably connected to the top of the anti-shake gimbal 220. The fixed bracket 233 is fixedly connected to the lower side of the top of the anti-shake gimbal 220. In this embodiment, the fixed bracket 233 and the top of the anti-shake gimbal 220 are an integrated structure. The driving motor 234 is fixedly connected to the fixed bracket 233. Preferably, the driving motor 234 is fixed to the fixed bracket 233 by screws. The driving motor 234 is configured to be transmission-connected to the rotating shaft 232. The output end of the driving motor 234 is fixedly connected to the rotating shaft 232. When it is necessary to adjust the detection angle of the detection member 240, turn on the drive motor 234, the drive motor 234 drives the rotating shaft 232 to rotate, the rotating shaft 232 drives the first fixed plate 231 to rotate, and the detection member 240 rotates with the first fixed plate 231, thereby changing the rotation angle of the detection member 240, and adjusting the detection angle of the detection member 240, so as to perform 360° scanning and monitoring.

[0060] like Figure 8 As shown, the detection part 240 includes a high-definition camera 241 and a three-dimensional laser scanner 242. The high-definition camera 241 is fixedly connected to the upper side of the first fixing plate 231, and the three-dimensional laser scanner 242 is fixedly connected to the top of the high-definition camera 241. Specifically, the three-dimensional laser scanner 242 is fixed to the high-definition camera 241 by screws. A water baffle 243 is arranged on the top of the high-definition camera 241. The water baffle 243 extends from the end of the high-definition camera 241 with a lens. The water baffle 243 can block the water droplets falling in the pipeline and reduce the water droplets from wetting the lens of the high-definition camera 241. LED light sources 244 are evenly arranged around the lens of the high-definition camera 241. The LED light sources 244 improve the brightness of the detection of the high-definition camera 241 and the three-dimensional laser scanner 242, so as to facilitate the clear view of the situation in the pipeline.

[0061] In this embodiment, the detection method based on the drainage pipe detection device of the three-dimensional laser is performed by the drainage pipe detection device based on the three-dimensional laser, and includes the following steps:

[0062] The anti-shake gimbal 220 is opened to ensure the stability of the mobile laser radar during operation. At the same time, the detachable mounting plate 2111 facilitates timely inspection and maintenance of the laser probe, thereby reducing maintenance costs.

[0063] The high-definition camera 241 and the three-dimensional laser scanner 242 are turned on. The three-dimensional laser scanner 242 is equipped with two data acquisition modes, namely, stand-type laser scanning and mobile three-dimensional laser scanning, the purpose of which is to obtain a pipeline point cloud model.

[0064] The crawler vehicle 110 is placed into the drainage pipe, and the crawler vehicle 110 is controlled to move forward. The built-in inertial navigation system and GPS system of the crawler vehicle 110 are used to analyze the change of the traveling state, correct the point cloud collection trajectory, and retain the state information.

[0065] Using the stand-type 3D laser scanning method, the equipped target device is placed in the pipeline according to the triangulation principle to facilitate the splicing of the model.

[0066] Data is collected by a high-definition camera 241 and a three-dimensional laser scanner 242 and then processed.

[0067] The DBSCAN density clustering method is used for model classification, and the sparse point cloud is used as a noise filter to remove dust and water mist interference and retain the pipeline morphology category.

[0068] like Fig. 9 and Fig.10 It is shown that in the related art, the drainage pipe detection device uses a tracked trolley to move the detection equipment, but the environment inside the drainage pipe is complex, the tracked trolley moves slower than the wheeled trolley, and the distance between the chassis of the tracked trolley and the contact surface is small and not easy to adjust. When the bottom of the tracked trolley is propped up by foreign objects, the tracked trolley needs a certain amount of time to overcome the influence of the foreign objects.

[0069] In order to solve the above technical problems, the present invention further adopts a technical solution: the drainage pipe detection device based on three-dimensional laser also includes a vehicle driving wheel assembly 300, which is provided in two groups, and the two groups of vehicle driving wheel assemblies 300 are respectively provided on the crawler 120. The vehicle driving wheel assembly 300 includes a swing arm 310, a transmission mechanism 320, an anti-skid wheel 330 and a driving mechanism 340, and the swing arm 310, the transmission mechanism 320 and the anti-skid wheel 330 are all provided as two crawler wheels respectively provided on the crawler 120. The swing arm 310 includes a swing rod 311 and a connecting plate 312, and the connecting plate 312 is fixedly connected to one side of the upper end of the swing rod 311, wherein the swing rod 311 and the connecting plate 312 are an integrated structure.

[0070] like Fig.11As shown, the transmission mechanism 320 includes a first transmission shaft 321, a first bevel gear 322, two support plates 323, a second transmission shaft 324, two second bevel gears 325, a third transmission shaft 326 and a third bevel gear 327. One end of the two first transmission shafts 321 is fixedly connected to the two track wheels on the crawler 120. Specifically, the two first transmission shafts 321 and the two track wheels on the crawler 120 are an integrated structure. The other end of the first transmission shaft 321 is rotatably connected to the upper end of the swing rod 311. It should be noted that the other end of the first transmission shaft 321 is rotatably connected to the upper end of the swing rod 311 through a bearing. The first bevel gear 322 is fixedly sleeved on the first transmission shaft 321. The two support plates 323 are respectively fixedly connected to the upper end and the lower end of the inner side wall of the swing rod 311. In this embodiment, the two support plates 323 are respectively fixedly connected to the upper end and the lower end of the inner side wall of the swing rod 311 by welding. The two ends of the second transmission shaft 324 rotate and penetrate the two support plates 323 respectively. It should be noted that the two ends of the second transmission shaft 324 are respectively connected to the two support plates 323 by rotation, and the two ends of the second transmission shaft 324 extend out of the support plates 323. The two second bevel gears 325 are respectively fixedly sleeved on the ends of the two ends of the second transmission shaft 324, and the first bevel gear 322 is meshed with one of the second bevel gears 325. The third transmission shaft 326 rotates and penetrates the lower end of the swing rod 311. When the third transmission shaft 326 is specifically set, 26 is rotatably connected to the lower end of the swing rod 311 through a bearing, the third transmission shaft 326 extends from the lower end of the swing rod 311, the third bevel gear 327 is fixedly sleeved on one end of the third transmission shaft 326, the third bevel gear 327 is meshed with another second bevel gear 325, the anti-skid wheel 330 is fixedly sleeved on one end of the third transmission shaft 326 extending from the outer wall of the swing rod 311, the driving mechanism 340 is constructed to be transmission-connected to the connecting plate 312, and the driving mechanism 340 drives the two swing rods 311 to swing around the first transmission shaft 321. When the speed of the tracked trolley needs to be increased, the driving mechanism 340 is turned on, and the driving mechanism 340 drives the two swing arms 311 to swing. During the swinging of the swing arm 311, the second bevel gear 325 rotates around the first bevel gear 322, and the swing arm 311 drives the anti-skid wheel 330 to fall on the bottom end of the inner wall of the drainage pipe. The two track wheels on the track 120 rotate, and the track wheels drive the first transmission shaft 321 and the first bevel gear 322 to rotate. Through the principle of gear meshing, the first bevel gear 322 drives the two second bevel gears 325 and the second transmission shaft 324 to rotate. Through the principle of gear meshing, the second bevel gear 325 drives the third bevel gear 327 to rotate, and the third bevel gear 327 drives the third transmission shaft 326 and the anti-skid wheel 330 to rotate. The anti-skid wheel 330 moves forward synchronously, driving the trolley forward, thereby achieving the purpose of converting the track into a roller.At the same time, the anti-skid wheel 330 lands first by swinging the swing rod 311 downward, and the swing rod 311 continues to swing. The swing rod 311 supports the tracked trolley 110, and changes the height of the tracked trolley 110 chassis relative to the contact surface. When the bottom of the tracked trolley is propped up by foreign objects, the height of the tracked trolley 110 chassis is increased to make the foreign objects leave the tracked trolley 110 chassis, so that the tracked trolley 110 can quickly overcome the interference of foreign objects.

[0071] like Fig.12 As shown, the third transmission shaft 326 includes a shaft body 3261, a baffle 3262, a prism rod 3263 and a clamping nut 3264. The shaft body 3261 rotates and penetrates the lower end of the swing rod 311. The baffle 3262 and the prism rod 3263 are fixedly sleeved on one end of the shaft body 3261 extending from the outer wall of the swing rod 311. When specifically configured, the shaft body 3261, the baffle 3262 and the prism rod 3263 are an integrated structure. The prism rod 3263 is located on the side of the baffle 3262 away from the swing rod 311. The clamping nut 3264 is threadedly sleeved on the end of the shaft body 3261. The anti-skid wheel 330 includes a wheel body 331. The wheel body 331 is provided with a prism hole 332. The prism rod 3263 is inserted into the prism hole 332. The baffle 3262 can block one side of the wheel body 331. The clamping nut 3264 can be pressed on the other side of the wheel body 331. When it is necessary to replace the anti-skid wheel 330 with a different material to improve the adaptability of the anti-skid wheel 330 to the environment inside the pipeline, rotate the clamping nut 3264 to separate the clamping nut 3264 from the shaft 3261 through the principle of thread transmission, and release the clamping nut 3264 from the wheel body 331. After replacing the wheel body 331, install the wheel body 331 in the reverse order. The replacement process is simple and quick.

[0072] like Fig.13 and Fig.14 It is shown that in the related art, the drainage pipe detection device based on three-dimensional laser is driven by converting the wheels into roller type and crawler type. However, in the process of converting the crawler into the roller type, it is not easy to adjust the rollers of the trolley synchronously, which may easily cause the rollers of the trolley to be not in the same plane, such as the rollers on one side are of different heights, which makes the trolley run unstably while moving forward, and easily causes bumps during the forward movement of the trolley, thereby affecting the detection results.

[0073] To this end, the inventor has solved the technical problem after a long period of practical research. Specifically, the driving mechanism 340 includes a connecting member 341, two first connecting rods 342, two limit members 343, a slide member 344, a transmission plate 345 and a driving telescopic rod 346. The connecting member 341 includes a second connecting rod 3411 and two slide slot plates 3412. The two slide slot plates 3412 are respectively fixedly connected to the two ends of the lower side of the second connecting rod 3411, wherein the slide slot plate 3412 and the second connecting rod 3411 are an integrated structure, and a slide slot 3413 is provided on the slide slot plate 3412. One end of the two first connecting rods 342 is respectively hinged to the end of the two ends of the second connecting rod 3411, and the other end of the two first connecting rods 342 is hinged to the connecting plate 31 2. One end of the two stoppers 343 is fixedly connected to one side of the crawler trolley 110. Specifically, one end of the two stoppers 343 is fixedly connected to one side of the crawler trolley 110 by welding. The two stoppers 343 can slide along the two slide grooves 3413 respectively. The slideway member 344 is fixedly connected to one side of the crawler trolley 110. The slideway member 344 is fixedly connected to one side of the crawler trolley 110 by bolts or welding. The slideway member 344 is located at the lower side of the stoppers 343. The upper end of the transmission plate 345 is hinged to the lower side of the second connecting rod 3411. The lower end of the transmission plate 345 is slidably connected to the slideway member 344. The lower end of the transmission plate 345 can rotate around the slideway member 344. One end of the driving telescopic rod 346 is hinged to one side of the crawler trolley 110. The output end of the driving telescopic rod 346 is hinged to the lower end of the side wall of the transmission plate 345. When the roller and the track are converted to each other, the driving telescopic rod 346 is opened, and the driving telescopic rod 346 pushes or pulls the lower end of the transmission plate 345 to slide along the slide member 344. At the same time, the lower end of the transmission plate 345 rotates in the slide member 344, and the upper end of the transmission plate 345 pushes the second connecting rod 3411. The second connecting rod 3411 drives the slide grooves 3413 on the two slide groove plates 3412 to slide along the limit member 343, so that the second connecting rod 3411 rises or falls synchronously in the horizontal position, and the second connecting rod 3411 drives the two first connecting rods 342. The first connecting rods 342 rotate relatively, and the first connecting rod 342 drives the swing rod 311 to swing. First, during the swinging process of the swing rod 311, the lower ends of the two swing rods 311 rise or fall to the same height through the limitation of the two slide plates 3412 and the two limit members 343, so that the two anti-skid wheels 330 on the same side of the crawler 110 rise or fall synchronously, achieving the purpose of synchronous adjustment of the two anti-skid wheels 330, reducing the situation where the rollers are not in the same plane, such as the rollers on the same side are of different heights, improving the stability of the crawler 110 when driven by the anti-skid wheels 330, reducing the bumping of the crawler 110, and improving the stability of the detection equipment. Second, in this driving mode, the driving telescopic rod 346 is located inside the crawler 120 and is protected by the crawler 120, which reduces the collision between the crawler 110 and foreign objects and the damage to the driving telescopic rod 346.

[0074] like Fig.15 As shown, the limiting member 343 includes a connecting rod 3431 and two limiting rods 3432. The end of the connecting rod 3431 can slide along the two slide grooves 3413. The two limiting rods 3432 are fixed and penetrate the end of the connecting rod 3431. The two limiting rods 3432 can respectively block the two sides of the slide groove plate 3412. The position of the slide groove plate 3412 is limited by the limiting rods 3432, so as to reduce the axial movement of the slide groove plate 3412 along the connecting rod 3431 when the slide groove plate 3412 slides along the connecting rod 3431.

[0075] like Fig.16 As shown, the slide member 344 includes a second fixed plate 3441 and two slides 3442, the two slides 3442 are respectively fixedly connected to the two ends of the upper side of the second fixed plate 3441, and the two sides of the lower end of the transmission plate 345 are respectively slidably connected to the two slides 3442, and the two sides of the lower end of the transmission plate 345 can rotate around the slides 3442. The two sides of the lower end of the transmission plate 345 slide along the slides 3442 and can rotate within the rotation of the slides 3442, thereby ensuring the stability of the movement of the transmission plate 345.

[0076] Specifically, the working principle of the drainage pipe detection device and method based on three-dimensional laser is as follows: when it is necessary to disassemble the mounting plate 2111 and the precision instrument connected to its upper part, the rotating part 2122 is rotated, and the screw rod 2121 is driven to rotate by the rotating part 2122, so that the screw rod 2121 leaves the upper side of the crawler trolley 110, and then the mounting plate 2111 and the precision instrument connected to its upper part are removed, which is convenient for maintenance. When one of the screw rods 2121 cannot be completely unscrewed due to rust, the remaining screw rods 2121 on the mounting plate 2111 are removed, and the rusted screw rod 2121 is loosened, and the mounting groove 2112 on the mounting plate 2111 is pulled out from the screw rod 2121, and then the mounting plate 2111 and the precision instrument connected to its upper part can be removed, which is convenient for maintenance, and effectively improves the situation where the high-definition camera and the three-dimensional laser scanner are difficult to disassemble due to the rust of individual bolts that cannot be completely unscrewed.

[0077] When it is necessary to adjust the detection angle of the detection member 240, turn on the drive motor 234, the drive motor 234 drives the rotating shaft 232 to rotate, the rotating shaft 232 drives the first fixed plate 231 to rotate, and the detection member 240 rotates with the first fixed plate 231, thereby changing the rotation angle of the detection member 240, and adjusting the detection angle of the detection member 240, so as to perform 360° scanning and monitoring.

[0078] When the speed of the tracked trolley needs to be increased, the driving mechanism 340 is turned on, and the driving mechanism 340 drives the two swing arms 311 to swing. During the swinging of the swing arm 311, the second bevel gear 325 rotates around the first bevel gear 322, and the swing arm 311 drives the anti-skid wheel 330 to fall on the bottom end of the inner wall of the drainage pipe. The two track wheels on the track 120 rotate, and the track wheels drive the first transmission shaft 321 and the first bevel gear 322 to rotate. Through the principle of gear meshing, the first bevel gear 322 drives the two second bevel gears 325 and the second transmission shaft 324 to rotate. Through the principle of gear meshing, the second bevel gear 325 drives the third bevel gear 327 to rotate, and the third bevel gear 327 drives the third transmission shaft 326 and the anti-skid wheel 330 to rotate. The anti-skid wheel 330 moves forward synchronously, driving the trolley forward, thereby achieving the purpose of converting the track into a roller. At the same time, the anti-skid wheel 330 lands first by swinging the swing rod 311 downward, and the swing rod 311 continues to swing. The swing rod 311 supports the tracked trolley 110, and changes the height of the tracked trolley 110 chassis relative to the contact surface. When the bottom of the tracked trolley is propped up by foreign objects, the height of the tracked trolley 110 chassis is increased to make the foreign objects leave the tracked trolley 110 chassis, so that the tracked trolley 110 can quickly overcome the interference of foreign objects.

[0079] When it is necessary to replace the anti-skid wheel 330 with a different material to improve the adaptability of the anti-skid wheel 330 to the environment inside the pipeline, rotate the clamping nut 3264 to separate the clamping nut 3264 from the shaft 3261 through the principle of thread transmission, and release the clamping nut 3264 from the wheel body 331. After replacing the wheel body 331, install the wheel body 331 in the reverse order. The replacement process is simple and quick.

[0080] When the roller and the track are converted to each other, the driving telescopic rod 346 is opened, and the driving telescopic rod 346 pushes or pulls the lower end of the transmission plate 345 to slide along the slide member 344. At the same time, the lower end of the transmission plate 345 rotates in the slide member 344, and the upper end of the transmission plate 345 pushes the second connecting rod 3411. The second connecting rod 3411 drives the slide grooves 3413 on the two slide groove plates 3412 to slide along the limit member 343, so that the second connecting rod 3411 rises or falls synchronously in the horizontal position, and the second connecting rod 3411 drives the two first connecting rods 342. The first connecting rods 342 rotate relatively, and the first connecting rod 342 drives the swing rod 311 to swing. First, during the swinging process of the swing rod 311, the lower ends of the two swing rods 311 rise or fall to the same height through the limitation of the two slide plates 3412 and the two limit members 343, so that the two anti-skid wheels 330 on the same side of the crawler 110 rise or fall synchronously, achieving the purpose of synchronous adjustment of the two anti-skid wheels 330, reducing the situation where the rollers are not in the same plane, such as the rollers on the same side are of different heights, improving the stability of the crawler 110 when driven by the anti-skid wheels 330, reducing the bumping of the crawler 110, and improving the stability of the detection equipment. Second, in this driving mode, the driving telescopic rod 346 is located inside the crawler 120 and is protected by the crawler 120, which reduces the collision between the crawler 110 and foreign objects and the damage to the driving telescopic rod 346.

[0081] It should be noted that the specific models and specifications of the anti-shake gimbal 220, inertial navigation system, GPS positioning system, drive motor 234, high-definition camera 241, three-dimensional laser scanner 242, LED light source 244 and drive telescopic rod 346 need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in the field, so it will not be repeated in detail.

[0082] The power supply and principles of the anti-shake gimbal 220, inertial navigation system, GPS positioning system, drive motor 234, high-definition camera 241, three-dimensional laser scanner 242, LED light source 244 and drive telescopic rod 346 are clear to those skilled in the art and will not be described in detail here.

[0083] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0084] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A drainage pipe detection device based on three-dimensional laser, characterized in that: include: A trolley assembly (100), the trolley assembly (100) comprising a crawler trolley (110) and crawler tracks (120), the crawler tracks (120) being arranged on both sides of the crawler trolley (110); A detection component (200), the detection component (200) comprising a mounting platform (210), an anti-shake gimbal (220), a rotating platform (230) and a detection member (240), the mounting platform (210) comprising a platform body (211) and a mounting member (212), the platform body (211) comprising a mounting plate (2111), both ends of the mounting plate (2111) being provided with mounting grooves (2112), the mounting grooves (2112) being arranged in a U shape, the mounting member (212) comprising a screw rod (2121), a rotating portion (2122), a washer (2123) and an anti-slip pad (2124), the screw rod (2121) passing through the mounting groove (2112), the screw rod (212 1) one end is threadedly connected to the upper side of the crawler trolley (110), the rotating part (2122) is fixedly connected to the other end of the screw rod (2121), the washer (2123) and the anti-skid pad (2124) are both slidably sleeved on the screw rod (2121), the rotating part (2122) is pressed against the washer (2123), the washer (2123) presses the anti-skid pad (2124) against the upper side of the mounting plate (2111), the anti-shake platform (220) is fixedly connected to the upper side of the mounting plate (2111), the rotating platform (230) is arranged at the upper end of the anti-shake platform (220), and the detection component (240) is fixedly connected to the upper side of the rotating platform (230); A vehicle drive wheel assembly (300), wherein the vehicle drive wheel assembly (300) is arranged in two groups, and the two groups of vehicle drive wheel assemblies (300) are respectively arranged on the crawler (120), and the vehicle drive wheel assembly (300) comprises a swing arm (310), a transmission mechanism (320), an anti-skid wheel (330) and a driving mechanism (340), wherein the swing arm (310), the transmission mechanism (320) and the anti-skid wheel (330) are all arranged as two crawler wheels (120) respectively arranged on the crawler (120), and the swing arm (310) comprises a swing rod (311 ) and a connecting plate (312), the connecting plate (312) being fixedly connected to one side of the upper end of the swing rod (311), the transmission mechanism (320) comprising a first transmission shaft (321), a first bevel gear (322), two support plates (323), a second transmission shaft (324), two second bevel gears (325), a third transmission shaft (326) and a third bevel gear (327), one end of the two first transmission shafts (321) being fixedly connected to the two track wheels (120) on the track (120), and the other end of the first transmission shaft (321) being rotatably connected to the track wheels (120) on the track (120). The first bevel gear (322) is fixedly sleeved on the upper end of the swing rod (311), the two support plates (323) are respectively fixedly connected to the upper end and the lower end of the inner wall of the swing rod (311), the two ends of the second transmission shaft (324) are respectively rotatable and penetrate the two support plates (323), the two second bevel gears (325) are respectively fixedly sleeved on the ends of the two ends of the second transmission shaft (324), the first bevel gear (322) is meshed with one of the second bevel gears (325), and the third transmission shaft (326) is The third bevel gear (327) is fixedly sleeved on one end of the third transmission shaft (326), and the third bevel gear (327) is meshed with another second bevel gear (325). The anti-skid wheel (330) is fixedly sleeved on one end of the third transmission shaft (326) extending out of the outer wall of the swing rod (311). The driving mechanism (340) is configured to be transmission-connected to the connecting plate (312), and the driving mechanism (340) drives the two swing rods (311) to swing around the first transmission shaft (321); The third transmission shaft (326) comprises a shaft body (3261), a baffle (3262), a prism rod (3263) and a clamping nut (3264); the shaft body (3261) rotatably passes through the lower end of the swing rod (311); the baffle (3262) and the prism rod (3263) are fixedly sleeved on one end of the shaft body (3261) extending out of the outer side wall of the swing rod (311); the prism rod (3263) is located on the baffle (3262) away from the swing rod (311). On one side of the swing rod (311), the clamping nut (3264) is threadedly sleeved on the end of the shaft body (3261), the anti-slip wheel (330) comprises a wheel body (331), a prism hole (332) is provided in the wheel body (331), the prism rod (3263) is inserted into the prism hole (332), the baffle (3262) can block one side of the wheel body (331), and the clamping nut (3264) can be pressed against the other side of the wheel body (331); The driving mechanism (340) comprises a connecting member (341), two first connecting rods (342), two limiting members (343), a slide member (344), a transmission plate (345) and a driving telescopic rod (346); the connecting member (341) comprises a second connecting rod (3411) and two slide slot plates (3412); the two slide slot plates (3412) are respectively fixedly connected to the two ends of the lower side of the second connecting rod (3411); the slide slots (3413) are provided on the slide slot plates (3412); one end of the two first connecting rods (342) is respectively hinged to the end portions at the two ends of the second connecting rod (3411); the other ends of the two first connecting rods (342) are hinged to the connecting plate (312); one end of the two limiting members (343) is fixedly connected to the second connecting rod (3411); The first connecting rod (345) is fixedly connected to one side of the crawler trolley (110), the two limiting members (343) can slide along the two slide grooves (3413) respectively, the slide member (344) is fixedly connected to one side of the crawler trolley (110), the slide member (344) is located at the lower side of the limiting member (343), the upper end of the transmission plate (345) is hinged to the lower side of the second connecting rod (3411), the lower end of the transmission plate (345) is slidably connected to the slide member (344), the lower end of the transmission plate (345) can rotate around the slide member (344), one end of the driving telescopic rod (346) is hinged to one side of the crawler trolley (110), and the output end of the driving telescopic rod (346) is hinged to the lower end of the side wall of the transmission plate (345); The limiting member (343) comprises a connecting rod (3431) and two limiting rods (3432), the end of the connecting rod (3431) can slide along the two slide grooves (3413), the two limiting rods (3432) are fixedly passed through the end of the connecting rod (3431), and the two limiting rods (3432) can respectively block the two sides of the slide groove plate (3412); The slide member (344) comprises a second fixed plate (3441) and two slides (3442), wherein the two slides (3442) are respectively fixedly connected to the two ends of the upper side of the second fixed plate (3441), and the two sides of the lower end of the transmission plate (345) are respectively slidably connected to the two slides (3442), and the two sides of the lower end of the transmission plate (345) can rotate around the slides (3442).

2. The drainage pipe detection device based on three-dimensional laser according to claim 1 is characterized in that: The crawler vehicle (110) is equipped with an inertial navigation system and a GPS positioning system.

3. The drainage pipe detection device based on three-dimensional laser according to claim 1 is characterized in that: The rear end of the crawler trolley (110) is fixedly connected to the pull ring (130), and a waterproof pull rope is tied to the pull ring (130).

4. The drainage pipe detection device based on three-dimensional laser according to claim 1 is characterized in that: The anti-slip pad (2124) is configured as a rubber pad.

5. The drainage pipe detection device based on three-dimensional laser according to claim 1, characterized in that: Anti-slip strips (2125) are evenly arranged around the periphery of the rotating portion (2122).

6. The drainage pipe detection device based on three-dimensional laser according to claim 1, characterized in that: The rotating platform (230) comprises a first fixed plate (231), a rotating shaft (232), a fixed bracket (233) and a driving motor (234); the rotating shaft (232) is fixedly connected to the lower side of the first fixed plate (231); the rotating shaft (232) is rotatably connected to the top of the anti-shake gimbal (220); the fixed bracket (233) is fixedly connected to the lower side of the top of the anti-shake gimbal (220); the driving motor (234) is fixedly connected to the fixed bracket (233); and the driving motor (234) is configured to be transmission-connected to the rotating shaft (232).

7. The drainage pipe detection device based on three-dimensional laser according to claim 6 is characterized in that: The detection component (240) comprises a high-definition camera (241) and a three-dimensional laser scanner (242); the high-definition camera (241) is fixedly connected to the upper side of the first fixing plate (231); and the three-dimensional laser scanner (242) is fixedly connected to the top of the high-definition camera (241).

8. The drainage pipe detection device based on three-dimensional laser according to claim 7 is characterized in that: A water baffle (243) is provided on the top of the high-definition camera (241), and the water baffle (243) extends from one end of the high-definition camera (241) with a lens.

9. The drainage pipe detection device based on three-dimensional laser according to claim 7, characterized in that: LED light sources (244) are evenly arranged around the lens of the high-definition camera (241).

10. A detection method for a drainage pipe detection device based on three-dimensional laser, characterized in that: The method is carried out using the drainage pipe detection device based on three-dimensional laser according to any one of claims 7 to 9, comprising the following steps: The anti-shake gimbal (220) is opened to ensure the stability of the mobile laser radar during operation. Meanwhile, the detachable mounting plate (2111) facilitates timely inspection and maintenance of the laser probe, thereby reducing maintenance costs; Turning on the high-definition camera (241) and the three-dimensional laser scanner (242), wherein the three-dimensional laser scanner (242) is equipped with two data acquisition modes, namely, a stand-type laser scanning and a mobile three-dimensional laser scanning, the purpose of which is to obtain a pipeline point cloud model; Putting the crawler trolley (110) into the drainage pipe, controlling the crawler trolley (110) to move forward, using the built-in inertial navigation system and GPS system of the crawler trolley (110) to analyze the change of the traveling state, calibrate the point cloud collection trajectory, and retain the state information; Using the stand-type 3D laser scanning method, the equipped target device is placed in the pipeline according to the triangulation principle to facilitate the splicing of the model; Collecting data through a high-definition camera (241) and a three-dimensional laser scanner (242), and then processing the data; The DBSCAN density clustering method is used for model classification, and the sparse point cloud is used as a noise filter to remove dust and water mist interference and retain the pipeline morphology category.

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