A sewer pipe dredging operation safety coordination device and method

Abstract

The application discloses a kind of drainage pipeline dredging operation safety coordination devices, including body mechanism, image measurement unit and safety monitoring unit;Also disclosed is a kind of drainage pipeline dredging operation safety coordination method, using drainage pipeline dredging operation safety coordination device is realized, still includes the following steps: S1: remote control coordination device;S2: drive coordination device water surface forward;S3: structure defect early warning;S4: gas concentration alarm.In the application, image measurement unit and safety monitoring unit are integrated on the body mechanism to form a complete structure of the coordination device, which can not only improve the accuracy and comprehensiveness of defect evaluation, but also achieve the purpose of drainage pipeline structure early warning, laying a foundation for the safety guarantee of pipeline dredging operation, and giving timely alarm feedback to the dredging personnel whether to evacuate, greatly improving the safety of dredging operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sewer dredging operation, in particular to a sewer dredging operation safety coordination device and method. BACKGROUND

[0002] At present, in order to improve the safety of dredging operation, it is generally necessary to survey the internal structural defects of the pipeline before the staff dives into the sewer. Whether it meets the safety operation requirements is judged. In the prior art, the detection of cracks and defects in the sewer is mainly realized by a CCTV detection robot. However, this detection method has the following shortcomings:

[0003] (1) The image obtained by surveying does not have a crack measurement function, and only manual interpretation is made according to the image, which has a large randomness, and the evaluation results of different evaluators according to the same image have a large difference, resulting in a lack of initiative and objectivity of the detection results;

[0004] (2) In the case of water in the pipeline, only the defect condition above the water surface can be judged through the image data, and the full-section defect condition cannot be reasonably inferred according to the distribution characteristics of the defects;

[0005] (3) Only before the dredging operation, the internal structural defect evaluation and early warning of the sewer can be realized, and the real-time safety protection demand of the subsequent dredging operation cannot be met.

[0006] Therefore, in view of this, it is urgent to provide a sewer dredging operation safety coordination device and method. SUMMARY

[0007] The sewer dredging operation safety coordination device and method provided by the present application can not only evaluate the structural defects more accurately, objectively and comprehensively, but also guarantee the safety demand of the dredging operation, and can solve at least one of the above technical problems.

[0008] In order to solve the above technical problems, the present application adopts the following technical scheme: a sewer dredging operation safety coordination device, comprising a body mechanism, an image measurement unit and a safety monitoring unit;

[0009] The body mechanism comprises a rack and a spiral roller, the spiral roller has at least two, respectively installed on both sides of the rack, and has a movement stroke for rotating and driving the rack to move;

[0010] The image measurement unit is installed on the rack and comprises a camera module for acquiring the image of the pipeline structural defect above the water surface, and a distance measuring module for assisting in correcting the camera module and measuring the crack width and length;

[0011] The safety monitoring unit is installed on the frame and includes a gas detection sensor for detecting the gas composition and concentration inside the pipeline, a positioning module for displaying the current position of the body mechanism in real time, and an audible and visual alarm for triggering an alarm.

[0012] Further, the body mechanism further includes a driving assembly having at least two driving assemblies installed on the two sides of the frame, each including a spiral roller and a motor, the motor being installed inside the spiral roller for driving the spiral roller to rotate and move forward along the water surface, the spiral roller being a smooth and closed ellipsoidal structure with a large middle and small ends, and the surface being provided with spiral convex ribs.

[0013] Further, a central control unit is installed on the frame and includes:

[0014] A control module is electrically connected to the image measurement unit and the safety monitoring unit for transmitting measurement signals and monitoring signals and performing arithmetic processing.

[0015] A wireless communication module is electrically connected to the control module for establishing a wireless channel for data signal transmission between the control module and a remote end.

[0016] A power module is electrically connected to the motor, the control module and the wireless communication module for providing power energy for the motor, the control module and the wireless communication module.

[0017] Further, the camera module includes at least a general camera for collecting image data of pipeline crack defects above the water surface and a high-precision camera for measuring crack characteristics through a calibration algorithm, and the distance measuring module is connected to the high-precision camera for measuring the distance between the body mechanism and the crack or measuring the horizontal projection distance and the vertical projection distance between the body mechanism and the crack.

[0018] Further, the image measurement unit further includes an illumination module, the illumination direction of the illumination module being consistent with the image acquisition direction of the camera module.

[0019] Further, the control module is built-in with an A / D converter and an edge computing module.

[0020] The A / D converter is connected to the gas detection sensor for converting the gas analog signal obtained by the gas detection sensor into a digital signal, analyzing and obtaining gas composition and concentration data in the control module, and uploading the data to a remote end through the wireless communication module.

[0021] The edge computing module is connected to the gas detection sensor, the positioning module and the audible and visual alarm, is used for monitoring the rising speed of the gas concentration in real time, and has a journey of calculating and judging whether the audible and visual alarm is triggered after the distance between the body mechanism and the well mouth position is calculated in combination with the positioning module.

[0022] A sewer dredging operation safety coordination method is realized by using a sewer dredging operation safety coordination device, and further includes the following steps:

[0023] S1: the on-well operator puts the coordination device into the sewer pipe, and establishes a wireless control relationship between the remote terminal and the coordination device through the wireless connection between the remote terminal and the wireless communication module;

[0024] S2: the remote terminal wirelessly controls the motor to rotate and drive the spiral drum to rotate, so as to realize the forward movement of the body mechanism on the water surface;

[0025] S3: the remote terminal wirelessly controls the image measurement unit to work, and the illumination module irradiates towards the shooting direction of the camera module; when a crack defect is found on the image data collected by the ordinary camera, a high-precision camera is started to measure the crack characteristics:

[0026] 1. Coordinate system conversion: convert the world coordinate system of the camera into the pixel coordinate system:

[0027]

[0028] (u0, v0) represents the coordinates of the image coordinate system origin in the pixel coordinate system, (u, v, 1) represents the principal point, that is, the coordinates of a point in the pixel coordinate system, represents the effective focal length in the X direction, represents the effective focal length in the Y direction, R represents a rotation vector matrix, T represents a point translation vector, R and T represent the spatial coordinates of a point in the world coordinate system, Z C is a scaling factor;

[0029] 2. Intrinsic parameter calibration:

[0030] The Zhang Zhengyou calibration method is used to process the corner coordinates of multiple standard calibration plate images in different postures to obtain n sets of 2D-3D mapping relationships, and equation groups are established by using n sets of point pairs formula (1) to solve the camera intrinsic parameters, and then the intrinsic parameters are optimized by the least square method, that is, formula (2) algebraic sum and minimum,

[0031]

[0032] wherein, X ijis the optimized value, X' is the value before optimization, A is an intrinsic matrix, R is an extrinsic rotation matrix, T is a translation matrix, k1 and k2 are camera distortion coefficients;

[0033] 3. Extrinsic calibration:

[0034] 1) Translation matrix T: when the body mechanism is directly below the crack during extrinsic calibration, considering that the origin of the camera world coordinate system and the origin of the camera coordinate system are on the same coordinate axis, the translation matrix T is simplified as T = [0, 0, T Z ], wherein T Z is the distance to the crack measured by the ranging module, when the body mechanism and the crack are in the same plane, the translation matrix T is simplified as T = [T X , T Y , 0], wherein T X is the horizontal projection distance to the crack measured by the ranging module, and T Y is the vertical projection distance to the crack measured by the ranging module;

[0035] 2) Rotation matrix R: a gimbal is mounted in the device, and the rotation angle of the gimbal is αβγ, then:

[0036] R = R X R Y R Z (3)

[0037]

[0038]

[0039]

[0040] 4. Crack processing and measurement:

[0041] After that, the functions in Open CV perform grayscale, median filtering and threshold extraction on the crack image, and then dilate and erode to eliminate the influence of crack points, and finally realize high-precision measurement of the crack in the image through the high-precision camera calibration algorithm;

[0042] S31: the structure defect is large, there is danger, and the dredging personnel do not need to enter the drainage pipe;

[0043] S32: the structure defect is small, there is no danger, and the dredging personnel can enter the drainage pipe;

[0044] S4: after the dredging personnel enter the drainage pipe, the operating personnel wirelessly control the body mechanism to follow the dredging personnel in real time;

[0045] S5: the remote end wirelessly controls the operation of the safety monitoring unit, the positioning module displays the current position of the body mechanism in real time and calculates the distance L from the wellhead position, the gas detection sensor collects the components of various gases in the drainage pipeline, mainly monitors the concentration of G H2S O2 CO CH4 NH3 , and the edge computing module calculates the rising speed V H2S O2 CO CH4 NH3 of the concentration of the above-mentioned various gases, the rising speed is positive, and the falling speed is negative, the edge computing module combines the gas concentration G, the concentration rising speed V, the distance L of the dredging personnel from the wellhead position, and the evacuation speed S of the dredging personnel, and judges whether the current dredging personnel is within the preset safety threshold range according to formula (7):

[0046]

[0047] S51: no, the sound and light alarm is not triggered;

[0048] S52: no, the sound and light alarm is triggered.

[0049] The beneficial effects of the present application are embodied in:

[0050] In the present application, the image measurement unit and the safety monitoring unit are integrated into the body mechanism to form a complete and cooperative device, on the one hand, it can be measured before the dredging personnel, lowered into the drainage pipeline to measure the pipeline defect image and specific crack characteristics, and the defect above the water surface can be used to estimate the defect below the water surface, which not only can improve the accuracy and comprehensiveness of defect evaluation, but also can realize the purpose of drainage pipeline structure early warning, lay the foundation for the safety guarantee of pipeline dredging operation, on the other hand, it can keep track of the dredging personnel behind at all times during the dredging operation, and monitor whether the gas concentration of the current operation position meets the operation safety threshold range in real time, at the same time, whether the dredging personnel evacuates is timely alarmed and fed back, which greatly improves the safety of the dredging operation. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application.

[0052] Figure 2 is a schematic diagram of the local structure of the embodiment of the present application. Figure 1

[0053] ​​​​​​​​​The labels of the components in the drawings are as follows: 1, body mechanism; 2, rack; 3, driving assembly; 4, spiral roller; 5, central control unit; 6, control module; 7, power module; 8, image measurement unit; 9, camera module; 901, ordinary camera; 902, high-precision camera; 10, distance measurement module; 11, illumination module; 12, safety monitoring unit; 13, positioning module; 14, gas detection sensor; 15, audible and visual alarm. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. It should be noted that if there is a directional indication (such as up, down, left, right, front, back, etc.) in the embodiments of the present application, the directional indication is only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture (as shown in the drawings), if the certain posture changes, the directional indication also changes accordingly. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. For example, "A and / or B" includes A solution, or B solution, or A and B solution. In addition, "multiple" means two or more. In addition, all the devices, electronic components and logic algorithms involved in the present application are prior art.

[0055] Reference Figures 1-2 The embodiments of the present application provide a drainage pipeline dredging operation safety coordination device, which comprises a body mechanism 1, an image measurement unit 8 and a safety monitoring unit 12.

[0056] The body mechanism 1 comprises a rack 2 and a spiral roller 4, the spiral roller 4 has at least two, respectively installed on both sides of the rack 2, having a movement stroke of rotating and driving the rack 2 to move;

[0057] The image measurement unit 8 is installed on the rack 2, comprising a camera module 9 for acquiring images of defects of pipeline structure above water surface, and a distance measurement module 10 for assisting in correcting the camera module 9 and measuring crack width and length;

[0058] The safety monitoring unit 12 is installed on the rack 2, comprising a gas detection sensor 14 for detecting gas composition and concentration inside the pipeline, a positioning module 13 for displaying the current position of the body mechanism 1 in real time, and an audible and visual alarm 15 for triggering alarm.

[0059] In the present application, the image measuring unit and the safety monitoring unit are integrated into the body mechanism to form a structurally complete cooperative device, which can be lowered into the drainage pipeline in advance of the dredging personnel to measure the pipeline defect image and specific crack features, and estimate the defects below the water surface by using the defects above the water surface, so as to not only improve the accuracy and comprehensiveness of defect evaluation, but also achieve the purpose of drainage pipeline structure early warning, laying a foundation for the safety guarantee of pipeline dredging operation, on the other hand, it can keep track of the dredging personnel behind at all times during the dredging operation, and monitor whether the gas concentration of the current operation position meets the operation safety threshold range in real time, and give timely alarm feedback to the dredging personnel whether to evacuate, greatly improving the safety of the dredging operation.

[0060] Referring to Figure 1 In the present embodiment, the body mechanism 1 further comprises a driving assembly 3, which has at least two driving assemblies 3 installed on both sides of the rack 2, each comprising a spiral drum 4 and a motor, the motor is installed inside the spiral drum 4, used to drive the spiral drum 4 to rotate and move forward along the water surface, the spiral drum 4 is a smooth and closed ellipsoidal structure with large middle and small ends, and the surface is distributed with spiral convex ribs. In this way, the rack 2 can adopt a structure that can float on the water surface, such as a frame and a floating plate, which is not limited in the present application, as long as it can achieve the functional target, the spiral drum 4 adopts a lightweight sealed plastic bucket structure that can float smoothly on the water surface, the length of the spiral drum 4 should be greater than or equal to the length of the rack 2, to ensure that the device has enough floating capacity, when the motor rotates, it drives the spiral drum 4 to rotate, and drives the rack 2 to move along the water surface, if the speed or direction of the motor changes, the speed and direction of the body mechanism 1 moving on the water surface will also change.

[0061] Referring to Figures 1-2 In the present embodiment, a central control unit 5 is further included, which is installed on the rack 2 and comprises:

[0062] A control module 6 is electrically connected with the image measuring unit 8 and the safety monitoring unit 12, used to transmit measurement signals and monitoring signals, and perform operation processing;

[0063] A wireless communication module is electrically connected with the control module 6, used to establish a wireless channel for data signal transceiving transmission between the control module 6 and the remote end;

[0064] A power module 7 is electrically connected with the motor, the control module 6 and the wireless communication module, used to provide power energy for the motor, the control module 6 and the wireless communication module.

[0065] In this way, the central control unit 5 establishes a data and instruction wireless transmission channel between the cooperative device and the remote terminal held by the operator on the well, realizing the wireless operation function of the cooperative device. The remote terminal in the application includes but is not limited to a remote control device, a mobile phone, a computer and the like, which is not limited here.

[0066] Referring to Figure 1 In the embodiment, the camera module 9 at least includes a general camera 901 for collecting image data of pipeline crack defects above the water surface and a high-precision camera 902 for measuring crack characteristics through a calibration algorithm. The distance measuring module 10 is connected to the high-precision camera 902 and is used to measure the distance between the body mechanism 1 and the crack or to measure the horizontal projection distance and the vertical projection distance between the body mechanism 1 and the crack. In this way, when the remote terminal receives the image data collected by the camera module 9, the defects of the visible roof and side wall above the water surface can be evaluated according to the "Urban Drainage Pipeline Detection and Evaluation Technical Specification Evaluation". Since the cooperative device is additionally provided with a distance measuring function compared with the traditional CCTV detection device, the evaluation accuracy is enhanced and the human subjectivity is reduced during the interpretation. Then, a rule table of pipeline defect distribution can be obtained to preliminarily deduce the defects of the bottom plate below the water surface from the identifiable defects of the roof and side wall above the water surface, so as to form a full-section defect estimation value. The rule table of pipeline defect distribution is as follows:

[0067] Rule table of pipeline defect distribution

[0068]

[0069]

[0070] Referring to Figure 1 In the embodiment, the image measuring unit 8 further includes an illumination module 11, and the illumination direction of the illumination module 11 is consistent with the image acquisition direction of the camera module 9. In this way, the illumination module 11 provides illumination conditions for the underground operation, which is convenient for image measurement of defects and also facilitates the smooth progress of subsequent dredging operation. The illumination module 11 includes but is not limited to a lighting lamp and the like having an illumination function, which is not limited here.

[0071] Referring to Figures 1-2 In the embodiment, the control module 6 is internally provided with an A / D converter and an edge computing module.

[0072] The A / D converter is connected to the gas detection sensor 14, used to convert the gas analog signal obtained by the gas detection sensor 14 into a digital signal, analyze and obtain the gas composition and concentration data in the control module 6, and upload to the remote terminal through the wireless communication module.

[0073] The edge computing module is connected to the gas detection sensor 14, the positioning module 13 and the audible and visual alarm 15, and is used for monitoring the rising speed of the gas concentration in real time, and has a journey of calculating the distance between the body mechanism 1 and the well mouth position in combination with the positioning module 13, and judging whether the audible and visual alarm 15 is triggered.

[0074] In this way, the remote end wirelessly controls the operation of the safety monitoring unit 12, the positioning module 13 displays the current position of the body mechanism 1 and calculates the distance L from the well mouth position in real time, the gas detection sensor 14 collects the components of various gases in the drainage pipeline, mainly monitors the concentrations of G H2S , G O2 , G CO , G CH4 and G NH3 , the edge computing module calculates the rising speeds V H2S , V O2 , V CO , V CH4 and V NH3 of the above-mentioned various gas concentrations, the rising speed is positive, and the falling speed is negative, the edge computing module judges whether the current dredging personnel is within the preset safety threshold range in combination with the gas concentration G, the concentration rising speed V, the distance L of the dredging personnel from the well mouth position and the evacuation speed S of the dredging personnel, if yes, the audible and visual alarm 15 is not triggered, and if no, the audible and visual alarm 15 is triggered.

[0075] Referring to Figures 1-2 , the embodiment of the present application also provides a drainage pipeline dredging operation safety cooperation method, which is realized by using the drainage pipeline dredging operation safety cooperation device and further includes the following steps:

[0076] S1: the well control personnel puts the cooperation device into the drainage pipeline in the well and establishes a wireless control relationship between the remote end and the cooperation device through wireless connection between the remote end and the wireless communication module;

[0077] S2: the remote end wirelessly controls the motor to rotate and drive the spiral drum 4 to rotate, so as to realize the forward movement of the body mechanism 1 on the water surface;

[0078] S3: the remote end wirelessly controls the image measurement unit 8 to operate, the illumination module 11 irradiates towards the shooting direction of the camera module 9, when the image data collected by the ordinary camera 901 finds that there is a crack defect, the high-precision camera 902 is started to measure the crack characteristics:

[0079] 1. Coordinate system conversion, converting the world coordinate system of the camera into the pixel coordinate system:

[0080]

[0081] (u0, v0) represents the coordinates of the origin of the image coordinate system in the pixel coordinate system, (u, v, 1) represents the principal point, that is, the coordinates of a point in the pixel coordinate system, represents the effective focal length in the X direction, represents the effective focal length in the Y direction, R represents the matrix of a rotation vector, T represents the vector of the translation of a certain point, R and T represent the spatial coordinates of a point in the world coordinate system, Z C is a scaling factor;

[0082] 2. Intrinsic calibration:

[0083] The Zhang Zhengyou calibration method is used to process the corner coordinates of multiple standard calibration board images in different postures to obtain n sets of 2D-3D mapping relationships. Equation groups are established using n sets of point pairs (1), and the camera intrinsic parameters are solved. Then the intrinsic parameters are optimized by the least square method, that is, the algebraic sum of formula (2) is minimized.

[0084]

[0085] wherein, X ij is the optimized value, X` is the value before optimization, A is the intrinsic matrix, R is the extrinsic rotation matrix, T is the translation matrix, and k1 and k2 are the camera distortion coefficients;

[0086] 3. Extrinsic calibration:

[0087] 1) Translation matrix T: when the body mechanism 1 is directly below the crack during extrinsic calibration, considering that the origin of the camera world coordinate system and the origin of the camera coordinate system are on the same coordinate axis, the translation matrix T is simplified as T = [0, 0, T Z ], wherein T Z is the distance to the crack measured by the ranging module 10, when the body mechanism 1 and the crack are in the same plane, the translation matrix T is simplified as T = [T X , T Y , 0], wherein T X is the horizontal projection distance to the crack measured by the ranging module 10, and T Y is the vertical projection distance to the crack measured by the ranging module 10;

[0088] 2) Rotation matrix R: a gimbal is mounted in the device, and the rotation angles of the gimbal are αβγ, then:

[0089] R = R X R Y R Z (3)

[0090]

[0091]

[0092]

[0093] 4. Crack processing and measurement:

[0094] After the function in Open CV, the crack image is grayed, the median filter processing and threshold extraction method are used for pre-processing the crack image, and then the influence of crack points is eliminated by using expansion and corrosion. Finally, the high-precision measurement of the crack in the image is realized through the high-precision camera 902 calibration algorithm;

[0095] S31: The structural defect is large, it is dangerous, and the dredging personnel do not need to enter the drainage pipe;

[0096] S32: The structural defect is small, it is not dangerous, and the dredging personnel can enter the drainage pipe;

[0097] S4: After the dredging personnel enter the drainage pipe, the operator wirelessly controls the body mechanism 1 to follow the dredging personnel in real time;

[0098] S5: The remote end wirelessly controls the safety monitoring unit 12 to operate, the positioning module 13 displays the current position of the body mechanism 1 and calculates the distance L from the wellhead position in real time, the gas detection sensor 14 collects the components of various gases in the drainage pipe, mainly monitors the concentration of G H2S , G O2 , G CO , G CH4 and G NH3 , the edge computing module calculates the rising speed V H2S , V O2 , V CO , V CH4 and V NH3 of the above-mentioned various gas concentrations, the rising speed is positive, and the falling speed is negative, the edge computing module combines the gas concentration G, the concentration rising speed V, the distance L of the dredging personnel from the wellhead position, and the evacuation speed S of the dredging personnel, and judges whether the current dredging personnel is within the preset safety threshold range according to formula (7):

[0099]

[0100] S51: No, the audible and light alarm 15 is not triggered;

[0101] S52: Yes, the audible and light alarm 15 is triggered.

[0102] Specifically, in the case of no water reduction in the drainage pipeline, first, the collaborative device is used to measure the defects, and when the estimated value of the defects is determined to be safe, the drainage pipeline is blocked for water reduction, then the on-site operator wirelessly controls the collaborative device to float on the sludge and follow the dredging personnel, and the gas concentration around the dredging personnel is monitored in real time, and real-time alarm is given.

[0103] In summary, in the present application, the image measuring unit and the safety monitoring unit are integrated into the body mechanism to form a complete collaborative device. On the one hand, the device can be lowered into the drainage pipeline before the dredging personnel to measure the pipeline defect image and specific crack features, and use the defect above the water surface to estimate the defect below the water surface, which can not only improve the accuracy and comprehensiveness of defect evaluation, but also achieve the purpose of early warning of the drainage pipeline structure, laying a foundation for the safety guarantee of the pipeline dredging operation. On the other hand, the device can keep track of the dredging personnel at all times during the dredging operation, and monitor whether the gas concentration at the current operation position meets the operation safety threshold range in real time, and give timely alarm feedback to the dredging personnel whether to evacuate, greatly improving the safety of the dredging operation.

[0104] It should be understood that the examples and embodiments described herein are only for illustration and are not intended to limit the present application, and those skilled in the art can make various modifications or changes based on it, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A sewer dewatering operation safety coordination method, characterized by, It comprises the following steps: S1: the well operator cooperates the device to be deeply lowered into the downhole drainage pipeline, and establishes a wireless control relationship between the remote end and the cooperative device through the wireless connection of the remote end and the wireless communication module; The cooperative device comprises a body mechanism (1), an image measurement unit (8), and a safety monitoring unit (12); The body mechanism (1) comprises a rack (2) and spiral rollers (4), the spiral rollers (4) are at least two, respectively installed on both sides of the rack (2), and have a movement stroke for rotating and driving the rack (2) to move; The image measurement unit (8) is installed on the rack (2) and comprises a camera module (9) for acquiring images of defects of the pipeline above the water surface, and a distance measurement module (10) for assisting in correcting the camera module (9) and measuring the width and length of the crack; The camera module (9) comprises at least a general camera (901) for collecting image data of the crack defect of the pipeline above the water surface and a high-precision camera (902) for measuring crack characteristics through a calibration algorithm, and the distance measurement module (10) is connected to the high-precision camera (902) and used for measuring the distance between the body mechanism (1) and the crack or measuring the horizontal projection distance and the vertical projection distance between the body mechanism (1) and the crack; The image measurement unit (8) further comprises an illumination module (11), and the irradiation direction of the illumination module (11) is consistent with the image acquisition direction of the camera module (9); The safety monitoring unit (12) is installed on the rack (2) and comprises a gas detection sensor (14) for detecting the gas composition and concentration in the pipeline, a positioning module (13) for displaying the current position of the body mechanism (1) in real time, and an audible and visual alarm (15) for triggering an alarm; The cooperative device further comprises a central control unit (5) installed on the rack (2), which comprises: A control module (6) electrically connected with the image measurement unit (8) and the safety monitoring unit (12) for transmitting measurement signals and monitoring signals and performing operation processing; The control module (6) is internally provided with an A / D converter and an edge computing module; A wireless communication module electrically connected with the control module (6) for establishing a wireless channel for transmitting and receiving data signals between the control module (6) and the remote end; S2: the remote end wirelessly controls the motor to rotate and drive the spiral roller (4) to rotate, so that the body mechanism (1) moves forward on the water surface; S3: the remote end wirelessly controls the image measurement unit (8) to work, the illumination module (11) irradiates towards the shooting direction of the camera module (9), when the image data collected by the general camera (901) shows that there is a crack defect, the high-precision camera (902) is started to measure the crack characteristics:

1. Coordinate system conversion: converting the world coordinate system of the camera into the pixel coordinate system; (u0, v0) denotes the coordinates of the origin of the image coordinate system in the pixel coordinate system, (u, v, 1) denotes the principal point, i.e. the coordinates of a point in the pixel coordinate system, denotes the effective focal length in the X direction, denotes the effective focal length in the Y direction, Z C is a scaling factor; 2. Intrinsic calibration: The Zhang Zhengyou calibration method is used to process corner point coordinates of multiple standard calibration board images in different postures to obtain n sets of 2D-3D mapping relationships, equations are established by using n sets of point pairs (1), camera intrinsic parameters are solved, and then the intrinsic parameters are optimized by the least square method, that is, the algebra of formula (2) and the minimum, wherein X ij is the optimized value, X' is the value before optimization, A is an intrinsic matrix, R is an extrinsic rotation matrix, T is a translation matrix, k1 and k2 are camera distortion coefficients; 3. External parameter calibration: 1) translation matrix T: when the body mechanism (1) is directly below the crack, considering that the origin of the camera world coordinate system and the origin of the camera coordinate system are on the same coordinate axis, the translation matrix T is simplified as T = [0, 0, T Z ], wherein T Z is the distance measured by the ranging module (10) to the crack, when the body mechanism (1) is in the same plane as the crack, the translation matrix T is simplified as T = [T X , T Y , 0], wherein T X is the horizontal projection distance measured by the ranging module (10) to the crack, and T Y is the vertical projection distance measured by the ranging module (10) to the crack; 2) Rotation matrix R: the device is equipped with a gimbal, and the rotation angles of the gimbal are αβγ, and: R = R X R Y R Z (3) 4. Crack processing and measurement: Then, the functions in Open CV are used to perform grayscale, median filter processing and threshold extraction on the crack image, the crack image is preprocessed, the effects of crack points are eliminated by expansion and corrosion, and finally high-precision measurement of the cracks in the image is realized by the high-precision camera (902) calibration algorithm. S31: the structure defect is large, and it is dangerous, so the dredging personnel do not need to enter the drainage pipe; S32: the structure defect is small, and it is not dangerous, so the dredging personnel can enter the drainage pipe; S4: after the dredging personnel enter the drainage pipe, the operator controls the body mechanism (1) to follow the dredging personnel in real time; S5: Remote wireless control of the safety monitoring unit (12) operation, positioning module (13) real-time display of the body mechanism (1) is currently located and measured with the wellhead position distance L, gas detection sensor (14) to collect the composition of various gases in the drainage pipeline, mainly monitoring G H2S , G O2 , G CO , G CH4 and G NH3 concentration, edge computing module to calculate the concentration of the above various gases rising speed V H2S , V O2 , V CO , V CH4 and V NH3 , the rising is positive, negative for the decline, the edge computing module combined with the gas concentration G, concentration rising speed V, the distance L and the evacuation speed of the dredging personnel from the wellhead position S, according to formula (7) to determine whether the current dredging personnel is in the preset safety threshold range: S51: no, the audible and light alarm (15) is not triggered; S52: yes, the audible and light alarm (15) is triggered.

2. The sewer dewatering operation safety coordination method of claim 1, wherein: The body mechanism (1) further comprises a driving assembly (3), the driving assembly (3) has at least two, respectively installed on both sides of the rack (2), and each comprises a spiral roller (4) and a motor, the motor is installed in the interior of the spiral roller (4), used to drive the spiral roller (4) to rotate and move forward along the water surface, the spiral roller (4) is a smooth and closed ellipsoid structure with a large middle and small ends, and the surface is distributed with spiral convex ribs.

3. The sewer dewatering operation safety coordination method of claim 2, wherein: The central control unit (5) further comprises: A power module (7) electrically connected with the motor, the control module (6) and the wireless communication module, used to provide power energy for the motor, the control module (6) and the wireless communication module.

4. The sewer dewatering operation safety coordination method of claim 1, wherein: The A / D converter is connected to the gas detection sensor (14), used to convert the gas analog signal obtained by the gas detection sensor (14) into a digital signal, analyze and obtain gas composition and concentration data in the control module (6), and upload to the remote end through the wireless communication module; The edge computing module is connected to the gas detection sensor (14), the positioning module (13) and the audible and light alarm (15), used to monitor the rising speed of the gas concentration in real time, and has a travel distance for calculating the distance between the body mechanism (1) and the wellhead position in combination with the positioning module (13), and then judging whether to trigger the audible and light alarm (15).

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