Drainage box culvert detection system and installation method

Abstract

The application discloses a drainage box culvert detection system and a mounting method, and the detection system comprises two suspension devices, a guide structure, a walking mechanism, a SLAM three-dimensional laser scanning device and two positioning targets. The two suspension devices are respectively arranged at two inspection well mouths of a drainage box culvert to be detected, and the suspension devices have extension parts extending downward into the drainage box culvert. The guide structure is connected between the extension parts of the two suspension devices. The walking mechanism is arranged on the guide structure and is used for walking along the guide structure. The SLAM three-dimensional laser scanning device is arranged on the walking mechanism. The two positioning targets are respectively connected with the extension parts of the two suspension devices, and target surfaces of the two positioning targets are parallel. The application suspends and builds the guide structure in the drainage box culvert, so that the SLAM three-dimensional laser scanning device detects the inside of the drainage box culvert through an aerial mounting remote control operation mode, thereby solving the problem of applying the SLAM three-dimensional laser scanning technology to the unmanned in-culvert detection of the drainage box culvert.

Description

Technical Field

[0001] This invention relates to the field of municipal technology, specifically to a drainage culvert detection system and its installation method. Background Technology

[0002] With urban development and planning adjustments, urban rivers are being encroached upon and replaced by box culverts, or large-sized box culverts are being built to account for industrial and domestic drainage volumes when passing through industrial or residential areas. In order to comprehensively and accurately grasp the condition of drainage box culverts and ensure their structural stability and normal function, it is necessary to use technical means to regularly inspect their internal condition.

[0003] Drainage culverts are enclosed or semi-enclosed confined spaces with complex environments, presenting problems such as silt accumulation, poor natural ventilation, foul odors, accumulation of harmful gases, and insufficient oxygen levels. Manual inspections pose hidden and unpredictable dangers. Currently, alternative methods for manual inspections are broadly categorized into QV inspection (Pipe Quick View Inspection) and CCTV inspection (Closed Circuit Inspection). Pipeline television inspection, also known as pipeline television inspection, involves several methods. One method, pipeline periscope inspection, uses a telescopic pole to send a camera into the manhole being inspected to assess various complex pipeline conditions via video. However, this method suffers from several drawbacks, including difficulty in ensuring complete coverage of the pipe section, numerous blind spots, and inaccurate or impossible positioning. Another method, pipeline television inspection, uses a remotely controlled robot consisting of a tractor and a camera to move through the pipe section for inspection. However, when inspecting drainage culverts with blockages, the siltation can obstruct the tractor's movement, causing wheeled, tracked, ship-like, and amphibious vehicles to sink, overturn, or become stuck, resulting in difficulties in movement. Furthermore, pipeline television inspection suffers from poor image quality due to its low-profile approach, severely impacting inspection efficiency and sometimes rendering it impossible to implement.

[0004] 3D laser scanning technology, as an effective means of acquiring full-element information data in closed or semi-closed limited spaces, can provide 3D point cloud data of the scanned object surface. This data can be used to obtain high-precision, high-resolution digital terrain models. Therefore, applying 3D laser scanning technology to the field of drainage culvert inspection offers significant advantages compared to the two traditional inspection methods mentioned above. It provides richer data information, facilitating the analysis, identification, and extraction of elements within the culvert. Among these, SLAM (Simultaneous Localization and Mapping) scanning, or 3D mobile laser scanning, can achieve self-localization based on location and maps while moving in unknown environments, enabling self-localization and incremental 3D mapping. The application advantages of SLAM 3D laser scanning technology are particularly evident in underground or indoor unknown environments.

[0005] Currently, SLAM 3D laser scanning inspection either involves manual handheld scanning or mobile robots. However, when applied to drainage culverts, manual handheld scanning is susceptible to harmful gases and oxygen deficiency, posing a risk to human health. On the other hand, mobile robots face the problem of blockages preventing their movement. Therefore, how to apply SLAM 3D laser scanning technology to drainage culverts for unmanned inspection has become a new challenge. Summary of the Invention

[0006] The purpose of this invention is to provide a drainage culvert inspection system and method. By suspending a guide structure inside the drainage culvert, a SLAM three-dimensional laser scanning device can be remotely operated from above to inspect the interior of the drainage culvert, thereby solving the problem of applying SLAM three-dimensional laser scanning technology to drainage culverts for unmanned inspection.

[0007] The technical solution of this invention is: a drainage culvert inspection system, comprising two suspension devices, a guide structure, a walking device, a SLAM three-dimensional laser scanning device, and two positioning targets; the two suspension devices are respectively installed at two adjacent inspection well openings of the drainage culvert section to be inspected, and each suspension device has an extension extending downward into the drainage culvert; the guide structure is located inside the drainage culvert and connected between the extensions of the two suspension devices; the walking device is installed on the guide structure for walking along the guide structure; the SLAM three-dimensional laser scanning device is installed on the walking device for acquiring three-dimensional data inside the drainage culvert; the two positioning targets are installed inside the drainage culvert and are respectively connected to the extensions of the two suspension devices, and the target surfaces of the two positioning targets are parallel, for realizing absolute positioning coordinate conversion of the three-dimensional data acquired by the three-dimensional laser scanning device.

[0008] Preferably, as a further improvement of the present invention, the suspension device includes two sleeves arranged concentrically, with connecting lugs fixed on the outer walls of the same side of the two sleeves, and the two connecting lugs are connected by adjusting bolts. A retaining plate is fixed on the outer walls of the same side of the two sleeves respectively. A vertically arranged mounting rod passes through the two sleeves, and each sleeve is connected to the mounting rod by a locking structure. Two positioning targets are respectively arranged at the lower ends of the mounting rods in the two suspension devices, and the guide structure is arranged between the mounting rods in the two suspension devices.

[0009] Preferably, as a further improvement of the present invention, the guiding structure includes a tensioner and two rope guides; the tensioner is disposed on the side wall of the sleeve in one of the suspension devices, the rope is wound on the tensioner, and a hook portion is connected to the end of the rope away from the tensioner; a hanging ring for engaging with the hook portion is fixed on the side wall of the sleeve in the other suspension device; the two rope guides are respectively disposed at the lower ends of the two mounting rods, for guiding the rope and keeping the rope in a horizontal state; the two positioning targets are respectively connected to the two rope guides and are perpendicular to the rope.

[0010] Preferably, as a further improvement of the present invention, the rope guide includes a U-shaped housing with the opening facing downwards. The top of the housing is connected to the bottom of the mounting rod. Three pulleys are connected side by side inside the opening of the housing. A base plate is connected to the opening of the housing and can be opened and closed. The top of the base plate has three arc-shaped grooves, which are aligned with the grooves of the three pulleys. The rope is a double-rail steel rope, which includes two parallel first steel ropes. The two ends of the two first steel ropes are fixedly connected by bow-shaped connectors. A second steel rope is provided on the outside of each bow-shaped connector. The ends of the two second steel ropes facing the bow-shaped connector are connected to the middle of the bow-shaped connector. One end of the second steel rope facing away from the bow-shaped connector is connected to the tensioning pulley, and the other end of the second steel rope facing away from the bow-shaped connector is fixed to the hook portion. The double-rail steel rope passes through a limiting groove formed by the three arc-shaped grooves and the grooves of the three pulleys. The positioning target is connected to the bottom of the housing.

[0011] Preferably, as a further improvement of the present invention, a triangular support frame is provided on the upper outer side of each inspection well opening. The triangular support frame includes a top cover, which is in the shape of an equilateral triangle. A circular tube is vertically provided in the center of the top cover for passing through the mounting rod. A fastening bolt is provided at one corner of the top cover for fixing the mounting rod. A circular level is provided on the upper part of the top cover. Three support legs are respectively hinged to the three sides of the top cover. The upper part of the support legs is a leg tube. A telescopic leg for adjusting the length of the support legs is installed inside the leg tube. A locking screw is provided at the connection between the end of the leg tube and the telescopic leg. A reinforcing rod is installed on the leg tube. The reinforcing rod and the leg tube are respectively connected by three damping fixing rings. The other end of the three reinforcing rods is connected to the same fixing ring. There are scale marks on the three leg tubes. A GNSS receiver or a reflecting prism is connected to the top of the mounting rod.

[0012] Preferably, as a further improvement of the present invention, the walking device includes a pod, a motor, two drive shafts, and two sets of belt drive assemblies; the pod is mounted on the double-rail steel cable, and the SLAM three-dimensional laser scanning device is mounted at the bottom of the pod; the motor is fixed inside the pod; the two drive shafts are horizontally mounted inside the pod, and each drive shaft has two ends extending outside the pod with a fixed walking wheel, each walking wheel having a wheel groove, and the four walking wheels are paired up and slidably mounted on the two second steel cables through the wheel grooves; one set of belt drive assemblies is connected to the output shaft of the motor and one of the drive shafts respectively, and the other set of belt drive assemblies is connected to the two drive shafts respectively.

[0013] Preferably, as a further improvement of the present invention, the bottom of the pod is provided with a four-axis gimbal, and the SLAM three-dimensional laser scanning device is fixed on the four-axis gimbal.

[0014] This invention discloses an installation method for the drainage culvert detection system described above, comprising the following steps:

[0015] S1, Select two adjacent inspection well openings in the section of the drainage culvert to be inspected;

[0016] S2, thread the rope through one manhole into the drainage culvert, and guide the rope through the other manhole using a guiding device, so that the two ends of the rope pass through the inside of the drainage culvert and protrude from the ground of the two manholes respectively.

[0017] S3, the rope is horizontally suspended inside the drainage culvert at the section to be tested through the suspension device to form a guide structure, and two positioning targets with parallel target surfaces are installed on the two suspension devices.

[0018] S4. Install the SLAM 3D laser scanning equipment onto the walking device and place the walking device on the guide structure.

[0019] Preferably, as a further improvement of the present invention, the guiding device in step S2 includes a target plate and a launching mechanism. The target plate is set inside a drainage culvert at one of the manhole openings; the launching mechanism is set inside a drainage culvert at the other manhole opening. The output end of the launching mechanism is connected to a traction needle, and the tail of the traction needle is connected to one end of the rope via lead wires with progressively increasing diameters. The launching mechanism is used to launch the traction needle onto the target plate. The launching mechanism includes a launching platform, a winding device, multiple first springs, and a clamping assembly. The launching platform is set inside the drainage culvert, and the launching platform is fixed to the manhole opening of the drainage culvert by a fixing assembly. A slide rail is fixed to the top of the launching platform, and a slider is slidably connected to the slide rail. The output end of the device is connected to a first rope for winding and unwinding the first rope. The end of the first rope away from the winder is connected to the rear side wall of the slider. A plurality of first springs are horizontally arranged below the launch platform. One end of the plurality of first springs is fixed to the bottom rear side of the launch platform, and the other end of the plurality of first springs is fixed to a connecting plate. A second rope is connected to the side wall of the connecting plate opposite to the first springs. The end of the second rope away from the connecting plate extends to the top of the launch platform and is connected to the front side wall of the slider. A clamping assembly is arranged on the slider for clamping the traction needle. When the slider is pulled by the first rope, the clamping assembly clamps the traction needle. When the slider is pulled by the second rope, the clamping assembly releases the traction needle.

[0020] Preferably, as a further improvement of the present invention, the clamping assembly includes two first connecting rods, two second connecting rods, and two third connecting rods; the two first connecting rods are L-shaped and horizontally symmetrically arranged on both sides of the front of the slider, and each first connecting rod has an arc-shaped clamping plate fixed at its vertical end for clamping the traction needle; there are two second ropes, and the end of each second rope away from the connecting plate is respectively fixed to the front side wall of each first connecting rod; the two second connecting rods are symmetrically arranged on both sides of the slider, one end of the second connecting rod is hinged at the top of the angle between it and the first connecting rod, and the other end of the second connecting rod is hinged to the top of the slider; the two third connecting rods are symmetrically arranged on both sides of the slider and located behind the two second connecting rods, one end of the two third connecting rods is respectively hinged to the horizontal end of the two first connecting rods, the middle part of the two third connecting rods is hinged to the top of the slider, and a second spring is connected between the other ends of the two third connecting rods.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. A suspended guide structure is built inside the drainage culvert using a suspension device, and a walking device equipped with SLAM 3D laser scanning equipment is placed on the guide structure. The SLAM 3D laser scanning equipment moves along the guide structure and performs inspections in an aerial remote control mode. This enables unmanned inspection of the culvert, reduces personnel safety risks, and is not affected by siltation sections. It effectively applies SLAM 3D laser scanning technology to drainage culverts for unmanned inspection, providing a new technical solution for drainage culvert inspection.

[0023] 2. By coordinating the launching mechanism with the target plate and adopting the "small rope pulling a large rope" approach, the rope is pulled from one manhole to another adjacent manhole. The rope is then horizontally erected inside the drainage culvert using a suspension device, thus achieving a clever installation of the rope track without anyone entering the culvert.

[0024] 3. The SLAM 3D laser scanning equipment on board can perform full-view 360°×360° data acquisition of the unobstructed area inside the drainage culvert through the four-axis gimbal at the bottom of the pod. This solves the problem of low data acquisition success rate for drainage culverts with extremely similar internal structures and ensures complete acquisition of element information inside the culvert. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure during scanning and detection according to the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the tripod and suspension device used in combination in this invention;

[0027] Figure 3 This is a schematic diagram of the tripod and suspension device in this invention;

[0028] Figure 4 This is a schematic diagram of the tensioner in the present invention;

[0029] Figure 5 This is a schematic diagram of the tripod in the present invention when it is in the open position;

[0030] Figure 6 This is a schematic diagram of the tripod in the present invention when it is folded.

[0031] Figure 7 This is a schematic diagram of the double-track rope structure in this invention;

[0032] Figure 8 This is a schematic diagram of the rope guide in this invention;

[0033] Figure 9 This is a schematic diagram of the pod structure in this invention;

[0034] Figure 10This is a front view schematic diagram of the pod structure in this invention;

[0035] Figure 11 This is a cross-sectional view of the internal structure of the pod in this invention;

[0036] Figure 12 This is a front view schematic diagram of the positioning target in this invention;

[0037] Figure 13 This is a three-dimensional structural diagram of the positioning target in this invention;

[0038] Figure 14 This is a schematic diagram of an optimized installation method according to the present invention;

[0039] Figure 15 This is a schematic diagram of another optimized installation configuration of the present invention;

[0040] Figure 16 This is a schematic diagram of the launching mechanism and target disk in this invention;

[0041] Figure 17 This is a three-dimensional structural diagram of the launching mechanism in this invention;

[0042] Figure 18 This is a partially enlarged structural schematic diagram of the launching mechanism in this invention;

[0043] Figure 19 This is a schematic diagram of the traction needle in the present invention;

[0044] Figure 20 This is a top view of the triangular clamp in this invention. Detailed Implementation

[0045] The following is in conjunction with the appendix Figures 1 to 20 The specific embodiments of the present invention will be described in detail below. In the description of the invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0046] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0047] Example 1

[0048] like Figures 1 to 13 As shown, this embodiment of the invention provides a drainage culvert inspection system, including two suspension devices, a guide structure, a walking device, a SLAM three-dimensional laser scanning device, and two positioning targets 73. The two suspension devices in the inspection system are respectively installed at two inspection well openings of the drainage culvert section to be inspected. Each suspension device has an extension extending downwards into the drainage culvert. The guide structure is connected between the extensions of the two suspension devices, allowing the guide structure to be suspended within the drainage culvert. The walking device is installed on the guide structure and can be remotely controlled to move along the guide structure. This arrangement prevents the walking device from being interfered with by clogging sections during movement. By installing the SLAM three-dimensional laser scanning device on the walking device, it is possible to scan and measure the interior of the drainage culvert while moving, thereby acquiring three-dimensional coordinate point cloud data of the drainage culvert. The two positioning targets 73 are installed inside the drainage culvert and are respectively connected to the extensions of the two suspension devices, allowing the two... The target surfaces of the two positioning targets 73 are parallel. The absolute positioning coordinates of the three-dimensional coordinate point cloud data collected by the three-dimensional laser scanning equipment are converted using two positioning targets 73. This allows for subsequent processing by the corresponding software to generate a three-dimensional data model. The data acquisition and data processing modeling process is existing technology and will not be described in detail here. In this embodiment, a suspended guide structure is mainly used to guide the walking device to drive the SLAM three-dimensional laser scanning equipment to inspect the drainage culvert. This eliminates the need for manual hand-held movement of the SLAM three-dimensional laser scanning equipment, avoiding the impact of harmful gases and oxygen deficiency on the inspectors. At the same time, the suspended guide structure can prevent the walking device from being interfered with by the siltation section, which would prevent it from moving and affect the scanning acquisition process of the SLAM three-dimensional laser scanning equipment. This application effectively applies SLAM three-dimensional laser scanning technology to drainage culverts for unmanned culvert inspection, providing a new technical solution for drainage culvert inspection.

[0049] Example 2

[0050] This embodiment, based on embodiment 1, specifies the specific structure of the suspension device, such as... Figure 2 and Figure 3As shown, the suspension device includes two concentrically arranged sleeves 51. Connecting lugs are fixed to the outer walls of the two sleeves 51 on the same side. Adjusting bolts 52 connect the two connecting lugs. Clamping plates 53 are fixed to the outer walls of the two sleeves 51 on the same side. Vertically arranged mounting rods 54 pass through the two sleeves 51. Each sleeve 51 is connected to the mounting rod 54 via a locking structure, which is a locking bolt. Two positioning targets 73 are respectively positioned at the lower ends of the mounting rods 54 in the two suspension devices. A guide structure is positioned between the mounting rods 54 in the two suspension devices. In this embodiment, when installing the two suspension devices... The vertical distance between the two sleeves 51 is adjusted by adjusting bolt 52, thereby adjusting the distance between the two clamping plates 53 to adapt to the distance between the top of the culvert and the ground. The two clamping plates 53 are clamped to the inner and outer walls of the top of the drainage culvert. Then, an installation rod 54 is vertically inserted into every two adjacent sleeves 51. The height of the installation rod 54 is adjusted so that its lower end extends into the drainage culvert. The installation rod 54 is then fixed to the two sleeves 51 by the friction force of the locking bolt. A positioning target 73 is installed at the lower end of each installation rod 54, and a guide structure is connected between the two installation rods 54 so that it is suspended inside the drainage culvert.

[0051] Example 3

[0052] This embodiment, based on embodiment 1, specifies the specific structure of the guide structure, such as... Figures 1 to 3 As shown, the guide structure includes a tensioner 55 and two rope guides. The tensioner 55 is mounted on the side wall of the sleeve 51 in one of the suspension devices, and a rope 101 is wound around the tensioner 55. A hook portion 56 is connected to the end of the rope 101 away from the tensioner. A hanging ring 57 for engaging with the hook portion 56 is fixed to the side wall of the sleeve 51 in the other suspension device. The two rope guides are respectively mounted on the lower ends of the two mounting rods 54, used to thread the guide rope 101 and keep the rope 101 horizontal. Two positioning targets 73 are respectively connected to the two rope guides. Perpendicular to rope 101, during installation, the end of rope 101 away from tensioner 55 is inserted into the current inspection well opening and exited through another inspection well opening with the help of a guiding device. The middle part of rope 101 is inserted into two rope guides. A fixed hook portion 56 is installed at the end of rope 101 away from tensioner 55 and hooked to hanging ring 57. Then, rope 101 is tightened by tensioner 55, so that it is in a horizontal taut state under the action of two rope guides, thereby forming a guide structure for steel rope guide rail, so that the traveling device can travel smoothly along the steel rope guide rail.

[0053] Among them, as an optional specific implementation of the tensioner 55, such as Figure 4As shown, the tensioner includes a mounting frame 551, a tensioning wheel 552, and a handwheel 553. The mounting frame 551 is U-shaped with its opening facing away from the sleeve 51, and is connected to the side wall of the sleeve 51. The tensioning wheel 552 is located inside the opening of the mounting frame 551, and its two ends are rotatably connected to the inner wall of the opening of the mounting frame 551. The rope 101 is wound around the tensioning wheel 552. The handwheel 553 is located on the outside of the mounting frame 551, and is fixedly connected to one end of the axle of the tensioning wheel 552. The handwheel 553 is a self-locking hand. By using the handwheel 553, the tensioning wheel 552 can be rotated, thereby achieving the functions of releasing the rope 101 and tightening the rope 101 in the opposite direction. After the rope 101 is horizontally taut, the self-locking structure on the handwheel 553 fixes the current rotation angle of the tensioning wheel 552, thereby keeping the rope 101 in a horizontally taut state throughout the testing process.

[0054] One possible specific implementation scheme for the rope guide is, for example... Figure 3 and Figure 8As shown, the rope guide includes a U-shaped housing 61 with its opening facing downwards. The top of the housing 61 is connected to the bottom of the mounting rod 54. Three pulleys 62 are connected side-by-side inside the opening of the housing 61. A base plate 63 is connected to the opening of the housing 61 and can be opened and closed. The top of the base plate 63 has three arc-shaped grooves 64, which are aligned with the grooves of the three pulleys 62. The rope 101 is a double-rail steel rope, which includes two parallel first steel ropes 102. Both ends of cable 102 are fixedly connected by bow-shaped connectors 103. Each bow-shaped connector 103 has a second steel rope 104 on its outer side. The ends of the two second steel ropes 104 facing the bow-shaped connector 103 are connected to the middle of the bow-shaped connector 103. One second steel rope 104, with its end facing away from the bow-shaped connector 103, is connected to the tensioning reel 552. The other second steel rope 104, with its end facing away from the bow-shaped connector 103, is fixed to the hook portion 56. The double-rail steel rope is threaded through a structure consisting of three arc-shaped grooves 64. Within the limiting groove formed by the grooves of the three pulleys 62, the positioning target 73 is detachably connected to the bottom thread of the housing 61. In this embodiment, the rope 101 is a double-rail steel rope, which ensures that the two second steel ropes 104 are under equal stress after being tightened. This facilitates the installation of the hook portion 56 of the double-rail steel rope and the tightening device 55, ensuring that the two first steel ropes 102 of the track section are under equal stress and have the same sag when installed. The grooves of the three pulleys 62 arranged side by side and the grooves of the base plate 63 are also connected to the positioning target 73. The three arc-shaped grooves 64, when combined, form a limiting groove, which facilitates the installation of the double-rail steel rope, guides it at the corners, and also fixes the double-rail steel rope to prevent derailment. At the same time, the pulley 62 in the middle serves as a spare pulley and increases the distance between the two first steel ropes 102 to increase track stability. There are through round holes on both sides of the lower part of the opening of the housing 61. The bottom plate 64 is connected to the housing by the rope guide opening and closing bolts. The openable bottom plate 64 makes it easy to install the double-rail steel rope.

[0055] Furthermore, in order to improve the accuracy of SLAM 3D laser scanning equipment in measuring 3D coordinate data, such as... Figure 1 , Figure 5 , Figure 6As shown, a triangular support frame is provided on the outer side above each inspection well opening. The tripod support frame includes a top cover 74, which is an equilateral triangle. A circular tube is vertically installed in the center of the top cover 74 for passing through the mounting rod 4. A fastening bolt is provided at one corner of the top cover 74 for fixing the mounting rod 4. A circular level 75 is provided on the upper part of the top cover 74. Three legs 76 are hinged to the three sides of the top cover 74. The upper part of the legs 76 is a leg tube. A telescopic leg for adjusting the length of the legs is installed inside the leg tube. There is a locking screw at the connection between the end of the leg tube and the telescopic leg. A reinforcing rod 77 is installed on the leg tube of the legs 76. The reinforcing rod 77 is connected to the leg tube by three damping fixing rings 78. The other end of the three reinforcing rods 77 is connected to the same fixing ring 79. There are scale marks on the three leg tubes. A GNSS receiver 71 or a reflecting prism 72 is connected to the top of the mounting rod 4.

[0056] In this embodiment, when installing the tripod support frame, loosen the locking screw, pull the telescopic legs out of the tripod support frame leg tubes to a suitable length. Once the extended length of the telescopic legs is approximately equal, tighten the locking screw to separate the three leg tubes to a suitable angle. The three leg tubes have graduated markings; refer to these markings to ensure that the damping fixing rings on the leg tubes are adjusted to the same position, so that the separation angle of the three leg tubes is consistent during installation. Ensure that the installation rod 54 is on the vertical line when the bubble of the circular level 75 is centered. Place the tripod support frame at a suitable position at the box culvert well opening, and insert the installation rods 54 sequentially into the top cover of the tripod support frame. In the circular tube and fixing ring 79, tighten the fastening bolt at one corner of the top cover to fix the vertical main rod. Adjust the position of the tripod support frame to be close to the direction that the box culvert needs to be scanned, so that the mounting rod 54 is close to the well wall, maintaining a distance that allows for the installation of two clamping plates 53. Loosen the locking screw at the bottom of the leg tube, and finely adjust the extension length of each telescopic leg until the bubble of the circular level 75 is centered. At this time, the mounting rod 54 is on the vertical line. Then, install the positioning target 73 at the bottom of each housing 61, making the target surface of the positioning target 73 perpendicular to the rope track, and the target surfaces of the two positioning targets 73 parallel. The positioning target 73 is as follows: Figure 12 and Figure 13As shown, the structure and principle of the positioning target 73 are the same as those of the existing patent with publication number CN219244545U. It consists of n×n double-sided rhombus targets, where n≥2 and n is a positive integer. A GNSS receiver 71 or a reflecting prism 72 is installed on the top of each mounting rod 54. The GNSS receiver 71 or reflecting prism 72 acquires three-dimensional coordinate values ​​on the ground. These coordinate values ​​are projected onto the n×n-th double-sided rhombus target through the vertical mounting rod 54. The planar coordinate values ​​of the n×n-th double-sided rhombus target are the same as those of the GNSS receiver 71 or reflecting prism 72. The elevation coordinate values ​​are obtained by projecting the GNSS receiver 71 or reflecting prism 72 onto the vertical mounting rod 54. The length of rod 54 and the diagonal length of the double-sided rhombus target are converted to the center of the n×n double-sided rhombus target. The coordinates of the centers of the remaining target surfaces are calculated by selecting the known coordinates of the center of the n×n double-sided rhombus target at two wellheads and the known distance from the point to be calculated to the center of the n×n double-sided rhombus target. The principle of constructing a right triangle as close as possible is adopted to calculate the coordinates of the centers of the remaining target surfaces in turn. This setting can verify the accuracy of the coordinates of the centers of the remaining target surfaces by using spatial geometric relationships, and can also increase the selection leeway of coordinate conversion points, thereby realizing absolute positioning continuous measurement, realizing absolute positioning coordinate conversion of scanning data, and ensuring measurement accuracy.

[0057] like Figure 1 As shown, if the satellite signals at both manholes of the box culvert section to be inspected are unobstructed and the signal reception is good, then GNSS receivers will be installed on the mounting rods 54 at both manholes.

[0058] like Figure 14 As shown, if the satellite signals at both manholes of the box culvert section to be inspected are blocked or the signals are poor, then reflective prisms are installed on the mounting rods 54 of both manholes.

[0059] like Figure 15 As shown, if the satellite signal is blocked or poor at the manhole opening of only one of the box culvert sections to be tested, a reflecting prism is installed on the mounting rod 54 at the location with poor satellite signal, and a GNSS receiver is installed on the mounting rod 54 at the location with good satellite signal.

[0060] Furthermore, as an alternative specific implementation of the walking device, such as Figures 9 to 11The walking device shown includes a pod 8, a motor 81, two drive shafts 82, and two sets of belt drive assemblies 84. The pod 8 is mounted on a double-rail steel cable, and the SLAM three-dimensional laser scanning equipment is mounted at the bottom of the pod 8. The motor 81 is fixed inside the pod 8. The two drive shafts 82 are horizontally mounted inside the pod 8, and each drive shaft 82 extends to the outside of the pod 8 at both ends, with a walking wheel 83 fixed thereon. Each walking wheel 83 has a groove, and the four walking wheels 83 are paired up and slidably mounted on two second steel cables 104 through the grooves. One set of belt drive assemblies 84 is connected to the output shaft of the motor 81 and one of the drive shafts 82, respectively, and the other set of belt drive assemblies 84 is connected to the two drive shafts 82, respectively.

[0061] The pod 8 is equipped with a power module and a controller. The controller is electrically connected to both the power module and the motor 81. The controller is also equipped with a wireless communication module that connects to an external remote control. The wireless communication module can be Bluetooth or Wi-Fi. In this embodiment, the operator sends a signal through the external remote control, receives it through the wireless communication module on the controller, and controls the motor 81 to rotate. During the rotation of the motor 81, two sets of belt drive components 84 drive two drive shafts 82 to rotate. The rotation of the drive shafts 82 simultaneously drives the traveling wheels 83 to rotate, thereby using the traveling wheels 83 to propel the pod 8 along the double-rail steel cable, enabling the SLAM 3D laser scanning equipment to perform scanning and detection while moving.

[0062] Furthermore, in order to adjust the scanning angle and position of the SLAM 3D laser scanning equipment during the scanning and inspection process, such as... Figure 1 As shown, a four-axis gimbal 9 is therefore installed at the bottom of the pod 8. A three-dimensional laser scanning device is fixed on the four-axis gimbal 9. The scanning angle of the three-dimensional laser scanning device can be adjusted by the four-axis gimbal 9 to avoid scanning blind spots. Specifically, as shown... Figure 9 and Figure 10As shown, the four-axis gimbal 9 includes a first motor 91, a first arc-shaped plate 92, a second motor 93, a third motor 95, a second arc-shaped plate 96, a fourth motor 97, and a mounting platform 98. The first motor 91 is fixed to the bottom of the gondola 8, and its output shaft is vertically arranged. The opening of the first arc-shaped plate 92 faces away from the first motor 91, and the back of the opening of the first arc-shaped plate 92 is fixedly connected to the output shaft of the first motor 91. The second motor 93 is fixed to one side wall of the opening of the first arc-shaped plate 92, and the output shaft of the second motor 93 is fixedly arranged... A first rotating shaft 94 is horizontally positioned, with its other end rotatably connected to the other side wall of the opening of the first arc-shaped plate 92. A third motor 95 is fixed to the side wall of the first rotating shaft 94, and its output shaft is perpendicular to the first rotating shaft 94. The opening of the second arc-shaped plate 96 faces away from the third motor 95, and the back of the opening of the second arc-shaped plate 96 is fixedly connected to the output shaft of the third motor 95. A fourth motor 97 is fixed to one side wall of the opening of the second arc-shaped plate 96, and its output shaft... The axis is horizontally set; the mounting platform 98 is set at the opening of the second arc plate 96. One side wall of the mounting platform 98 is fixedly connected to the output shaft of the fourth motor 97. The side wall of the mounting platform 98 facing away from the fourth motor 97 is rotatably connected to the second arc plate 96 through the horizontally set third rotating shaft 98. U-bolts 99 are installed on the mounting platform 98 to fix the SLAM three-dimensional laser scanning equipment. In this embodiment, the first motor 91, the second motor 93, the third motor 95 and the fourth motor 97 can drive the mounting platform 98 to rotate at four angles. By controlling the first motor 91 to drive the first arc plate 92 to rotate 90°, and by controlling the second motor 93 to drive the first rotating shaft 94 to rotate 90°, the three-dimensional laser scanning equipment can extend to the side of the pod body 1. The gimbal can be rotated through the other axes, and the area of ​​the box culvert at the top of the pod 8 that is blocked can be scanned. Therefore, the four-axis gimbal 9 has a 360°×360° scanning field of view, which can effectively scan the inside of the drainage box culvert.

[0063] Example 3

[0064] Considering the difficulty of threading rope 101 through the section of the drainage culvert to be inspected between two inspection wells, and the vulnerability of manually pulling rope 101 into the culvert to harmful gases and oxygen deficiency, this embodiment discloses an installation method for the drainage culvert inspection system, including the following steps:

[0065] S1, select two adjacent inspection well openings in the section of the drainage culvert to be inspected.

[0066] S2, the rope 101 is threaded into the drainage culvert from one manhole, and then guided through the guide device to exit the rope 101 from the other manhole, so that the two ends of the rope 101 pass through the inside of the drainage culvert and protrude on the ground of the two manholes respectively.

[0067] Specifically, such as Figures 16 to 19As shown, the guiding device includes a target plate 2 and a launching mechanism. The target plate 2 is installed in a drainage culvert at one of the manhole openings; the launching mechanism is installed in a drainage culvert at the other manhole opening. The output end of the launching mechanism is connected to a traction needle 1, and the tail of the traction needle 1 is connected to one end of a rope 101 via a lead wire with progressively increasing diameter. The launching mechanism is used to launch the traction needle 1 onto the target plate 2. The launching mechanism includes a launching platform 3, a winding device 33, multiple first springs 35, and a clamping assembly. The launching platform 3 is installed in the drainage culvert and is fixed to the manhole opening of the drainage culvert by a fixing assembly. A slide rail is fixed to the top of the launching platform 3. 31. A slider 32 is slidably connected to the slide rail 31; the output end of the winder 33 is connected to a first rope 34 for winding and unwinding the first rope 34, and the end of the first rope 34 away from the winder is connected to the rear side wall of the slider 32; a plurality of first springs 35 are horizontally arranged below the launch platform 3, one end of the plurality of first springs 35 is fixed to the bottom rear side of the launch platform 3, and the other end of the plurality of first springs 35 is fixed to a connecting plate 36, and a second rope 37 is connected to the side wall of the connecting plate 36 opposite to the first springs 35, and the end of the second rope 37 away from the connecting plate 36 extends to the top of the launch platform 3 and is connected to the front side wall of the slider 32;A clamping assembly is mounted on the slider 32 to clamp the traction needle 1. When the slider 32 is pulled by the first rope 34, the clamping assembly clamps the traction needle 1. When the slider 32 is pulled by the second rope 37, the clamping assembly releases the traction needle 1. When launching the traction needle 1 using the launching mechanism, the tail of the traction needle 1 is first connected to one end of the rope 101 through lead wires with progressively increasing diameters. The traction needle 1 is then installed into the clamping assembly on the launching platform 3. The launching platform 3 is then placed into the drainage culvert and fixed to the drainage culvert using a fixing assembly. At the manhole opening of the culvert, the target plate 2 is simultaneously extended into the drainage culvert from another adjacent manhole opening via a boom. Then, the first rope 34 is wound up using a winding device. During the winding process, the first rope 34 pulls the slider 32 to move along the guide rail 21 and towards the rear of the launch platform 3. At this time, the traction pin 5 is clamped and fixed by the clamping assembly. As the slider 32 moves towards the rear of the launch platform 3, it pulls the connecting plate 36 via the second rope 37, causing the connecting plate 36 to move towards the front of the launch platform 3, and thus moving multiple first ropes into the target plate 3. When a spring 35 is stretched, and the winder is wound to a certain extent, it controls the release of the first rope 34. At this time, the first rope 34 no longer applies tension to the slider 32. Therefore, under the elastic force of multiple first springs 35, the connecting plate 36 will move towards the rear of the launch platform 3, and the second rope 37 will pull the slider 32, causing the slider 32 to move towards the front of the launch platform 3. At this time, the clamping assembly will release the traction pin 1 as it moves with the slider 32, thereby ejecting the traction pin 1 and inserting it into the target plate 2, thus removing the target plate 2 from the inspection. The rope is retrieved from the manhole and pulled from one adjacent manhole using a "small rope pulling a large rope" approach. This ensures that both ends of rope 101 pass through the drainage culvert and emerge above the ground in both manholes. Finally, the lead wire and traction pin 1 connected to rope 101 are removed. This setup allows rope 101 to be automatically threaded through the drainage culvert between the two manholes without manual pulling, ensuring both ends of rope 101 are exposed above the ground in both manholes, facilitating subsequent installation of the steel cable guide rail.

[0068] Among them, fixed components such as Figure 17 and Figure 20As shown, it includes two triangular clamps 30 symmetrically arranged on the inner and outer walls of the culvert opening. The triangular clamps 30 are formed by three clamp pieces 301 connected end to end by bolts. Multiple pairs of mounting ears 302 are fixed around the inner walls of the two triangular clamps 301. A mounting bolt 303 passes through each pair of mounting ears 302. The two triangular clamps 301 are connected by the mounting bolt 303. Multiple vertically arranged connecting shafts 304 are connected to the inner wall of the upper triangular clamp 301. The lower ends of the multiple connecting shafts 304 are fixed to the top of the launch platform 3. By disassembling the triangular clamps 30 into three clamp pieces 301, it is easy to assemble. It is convenient to pass the lower triangular clamps 30 in the opening as disassembled parts and assemble them inside the drainage culvert. The spacing between the upper and lower triangular clamps 30 can be adjusted by the mounting bolts 303, so that the triangular clamps 30 are held at the top opening of the culvert.

[0069] The clamping assembly includes two first connecting rods 41, two second connecting rods 43, and two third connecting rods 44. The two first connecting rods 41 are L-shaped and horizontally symmetrically arranged on both sides of the front of the slider 22. Each first connecting rod 41 has an arc-shaped clamping plate 42 fixed to its vertical end for clamping the traction needle 1. There are two second ropes 37, and the end of each second rope 37 away from the connecting plate 36 is fixed to the front side wall of each first connecting rod 41. The two second connecting rods 43 are symmetrically arranged on both sides of the slider 32. One end of the second connecting rod 43 is hinged to the top of the angle between it and the first connecting rod 41, and the other end of the second connecting rod 43 is hinged to the top of the slider 32. The two third connecting rods 44 are symmetrically arranged on the slider 32. On both sides, and behind the two second connecting rods 43, one end of each of the two third connecting rods 44 is hinged to the horizontal end of the two first connecting rods 41 respectively, and the middle of the two third connecting rods 44 is hinged to the top of the slider 32. The other ends of the two third connecting rods 44 are connected by a second spring 45. When the traction needle 1 is placed between the two arc-shaped clamps 42, when the first rope 34 pulls the slider 32 backward, it will drive the second connecting rods 43 and the third connecting rods 44 to move backward. Since the first connecting rod 41 is pulled by the second rope 37, the second rope 37 will give the first connecting rod 41 a forward force, thereby reducing the distance between the two arc-shaped clamps 42, thus clamping the traction needle 1. This process is described in reference to Figure 5 As shown; when the first rope 34 no longer applies tension, and the second rope 37 pulls the slider 32 forward, the transmission principle is reversed, which increases the distance between the two arc-shaped clamps 42, so that the traction needle 1 is no longer clamped, and the traction needle 1 can be launched. The entire clamping and releasing process is related to the launching mechanism driving the slider to move and launch, and does not require the help of other power sources.

[0070] S3, the rope 101 is horizontally suspended inside the drainage culvert at the section to be tested by the suspension device to form a guide structure, and two positioning targets 73 with parallel target surfaces are installed on the two suspension devices.

[0071] The specific operation involves adjusting the vertical distance between the two sleeves 51 and the two clamping plates 53 using adjusting bolts 52, and then using the two clamping plates 53 to clamp the inner and outer walls of the top of the drainage culvert. Next, an installation rod 54 is vertically inserted into each pair of adjacent sleeves 51, and the height of the installation rod 54 is adjusted so that its lower end extends into the drainage culvert. The installation rod 54 is then fixed to the two sleeves 51 using locking bolts and friction. A rope guide is connected to the lower end of each installation rod 54, and a positioning target 73 is installed at the bottom of the housing 61 of the rope guide. This allows a suspension device to be installed at the opening of a manhole. Repeat the above steps to install another suspension device at another inspection well opening. Install a tensioner 55 on the side wall of the casing 51 in one of the suspension devices, and fix a hanging ring 57 on the side wall of the casing 51 in the other suspension device. Connect one end of the rope 101 to the tensioner 55, install a fixed hook 56 on the other end of the rope 101, and pass the middle part of the rope 101 through the two rope guides. Use the hook 56 to hook and fix it to the hanging ring 57, and then tighten the rope 101 through the tensioner 55 so that it is in a horizontal taut state under the action of the two rope guides.

[0072] S4. Install the SLAM 3D laser scanning equipment onto the walking device, and set the walking device on the guide structure.

[0073] The specific operation involves fixing the SLAM 3D laser scanning equipment to the mounting platform 98 in the four-axis gimbal 9 using U-bolts 99, and then placing the pod 8 onto the rope 101 so that the traveling wheel 83 contacts the rope 101.

[0074] When using this invention for scanning and detection, a camera system and a lighting system are installed on the front side of the gondola 8. The camera system and lighting system are electrically connected to the ground control station. After all systems are installed, the operator remotely operates from the ground, turning on the power to the gondola 8, camera system, lighting system, and SLAM 3D laser scanning equipment, and waiting 3 to 5 minutes for environmental adaptation preheating. Based on the brightness inside the drainage culvert, the operator adjusts the appropriate brightness of the lighting and the clarity of the camera via the ground control station, allowing for adjustments as needed during operation. The operator observes the inside of the drainage culvert through the camera system. If there are no foreign objects affecting the operation of the SLAM 3D laser scanning equipment, the operator remotely adjusts the first rotating shaft 94 of the four-axis gimbal 9 at the bottom of the gondola 8, tilting it forward at a certain angle. Under the self-balancing effect of the fourth motor 97, the mounted SLAM 3D laser scanning equipment automatically maintains a horizontal position, and the first arc-shaped rotating plate 92 initially remains in its current state. The operator then starts the gondola 8 to move autonomously along the guide rail of the rope 101 at a uniform speed, simultaneously starting the SLAM 3D laser scanning... The scanning and imaging system begins collecting and storing point cloud and image data. During the journey, if incomplete data acquisition angles or other abnormalities are observed through the ground control station, the field of view angle of the first rotating shaft 94 and the first arc-shaped rotating plate 92 can be adjusted at any time via the angle adjustment mechanism at the bottom of the gondola 8. Data acquisition during the journey, from the start to the end of recording, constitutes one measurement segment, during which the gondola 8 can only move forward and cannot move backward. If data acquisition is needed while the gondola 8 is moving backward, the direction of the 3D laser scanning equipment needs to be adjusted via the four-axis gimbal 9 at the bottom of the gondola 8. The section is the backward direction; during the data acquisition process, if any data is found to be missing on the route after the journey, the scanning field of view of the missing area can be readjusted afterward to fill in the gaps; after checking that there are no missing data, wait for the box culvert of the inspection section to finish scanning, first turn off the power of the SLAM three-dimensional laser scanning equipment, if the pod 8 is not at the planned manhole exit, then remotely move the pod 8 to the planned manhole exit, then adjust each mechanism in the pod 8 to the storage state, finally turn off all other power, disassemble the entire system in sequence, clean up the site, and this is the end.

[0075] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A drainage culvert detection system, characterized in that, include: Two suspension devices are respectively set at the two inspection well openings of the section to be inspected in the drainage box culvert. The suspension device has an extension extending downward into the drainage box culvert. The suspension device includes two sleeves (51) arranged concentrically. Connecting ear plates are fixed on the outer side wall of the same side of the two sleeves (51). The two connecting ear plates are connected by adjusting bolts (52). Clamping plates (53) are fixed on the outer side wall of the same side of the two sleeves (51). Vertically arranged mounting rods (54) are inserted in the two sleeves (51). Each sleeve (51) is connected to the mounting rod (54) by a locking structure. The lower end of the mounting rod (54) extends into the drainage box culvert. A guide structure is connected between the two mounting rods (54). Two positioning targets (73) are respectively connected to the lower ends of the two mounting rods (54). A guide structure, located inside the drainage culvert, is connected between the extensions of two suspension devices, so that the guide structure is suspended inside the drainage culvert. The guide structure includes: a tensioner (55), which is set on the side wall of the sleeve (51) in one of the suspension devices. A rope (101) is wound on the tensioner (55). A hook (56) is connected to one end of the rope (101) away from the tensioner (55). A hanging ring (57) for hooking with the hook (56) is fixed on the side wall of the sleeve (51) in the other suspension device; two rope guides, which are respectively set at the lower ends of the two mounting rods (54) for threading and guiding the rope (101) and keeping the rope (101) in a horizontal state; and two positioning targets (73) are respectively connected to the two rope guides and are perpendicular to the rope (101). A walking device, mounted on the guide structure, is used to walk along the guide structure; A SLAM three-dimensional laser scanning device is installed on the walking device to collect three-dimensional data of the interior of the drainage culvert. Two positioning targets (73) are set inside the drainage culvert and are respectively connected to the extensions of two suspension devices. The target surfaces of the two positioning targets (73) are parallel and are used to realize the absolute positioning coordinate conversion of the three-dimensional data collected by the three-dimensional laser scanning device.

2. The drainage culvert detection system according to claim 1, characterized in that, The rope guide includes a U-shaped housing (61) with its opening facing downwards. The top of the housing (61) is connected to the bottom of the mounting rod (54). Three pulleys (62) are connected side-by-side inside the opening of the housing (61). A base plate (63) is connected to the opening of the housing (61). The top of the base plate (63) has three arc-shaped grooves (64), which are directly opposite to the grooves of the three pulleys (62). The rope (101) is a double-rail steel rope, which includes two parallel first steel ropes (102). The two ends of the two first steel ropes (102) are respectively connected by bow-shaped connectors (10). 3) Fixed connection: Each bow-shaped connector (103) is provided with a second steel rope (104) on its outer side. The two second steel ropes (104) are connected to the middle of the bow-shaped connector (103) at one end facing the bow-shaped connector (103). One of the second steel ropes (104) is connected to the tensioning wheel (552) at one end facing away from the bow-shaped connector (103). The other second steel rope (104) is fixed to the hook part (56) at one end facing away from the bow-shaped connector (103). The double-rail steel rope is passed through the limiting groove formed by the grooves of three arc-shaped grooves (64) and three pulleys (62). The positioning target (73) is connected to the bottom of the housing (61).

3. The drainage culvert detection system according to claim 1, characterized in that, Each inspection well opening is equipped with a tripod support frame on its outer upper side. The tripod support frame includes a top cover (74), which is an equilateral triangle. A circular tube is vertically installed at the center of the top cover (74) for passing through the mounting rod (54). A fastening bolt is located at one corner of the top cover (74) for fixing the mounting rod (54). A circular level (75) is installed on the upper part of the top cover (74). Three support legs (76) are hinged to the three sides of the top cover (74). The upper part of the support legs (76) is... Leg tubes, with telescopic legs installed inside for adjusting the length of the legs, and locking screws at the connection between the end of the leg tube and the telescopic legs. The leg tubes of the legs (76) are equipped with reinforcing rods (77), and the reinforcing rods (77) are connected to the leg tubes by three damping fixing rings (78). The other ends of the three reinforcing rods (77) are connected to the same fixing ring (79). The three leg tubes have scale markings. The top of the mounting rod (54) is connected to a GNSS receiver (71) or a reflecting prism (72).

4. The drainage culvert detection system according to claim 2, characterized in that, The walking device includes: The pod (8) is mounted on the double-track steel cable, and the SLAM three-dimensional laser scanning device is mounted at the bottom of the pod (8); The motor (81) is fixed inside the pod (8); Two drive shafts (82) are horizontally mounted inside the pod (8). Both ends of each drive shaft (82) extend to the outside of the pod (8) and are fixed with a traveling wheel (83). Each traveling wheel (83) has a wheel groove. The four traveling wheels (83) are paired up and slidably mounted on the two second steel ropes (104) through the wheel grooves. Two sets of belt drive assemblies (84), one set of belt drive assemblies (84) is connected to the output shaft of the motor (81) and one of the drive shafts (82) respectively, and the other set of belt drive assemblies (84) is connected to the two drive shafts (82) respectively.

5. The drainage culvert detection system according to claim 4, characterized in that, The bottom of the pod (8) is equipped with a four-axis gimbal (9), and the SLAM three-dimensional laser scanning device is fixed on the four-axis gimbal (9).

6. The installation method of the drainage culvert detection system according to any one of claims 1-5, characterized in that, Includes the following steps: S1, Select two adjacent inspection well openings in the section of the drainage culvert to be inspected; S2, the rope (101) is threaded into the drainage culvert from one manhole and then threaded out from the other manhole through the guiding device, so that the two ends of the rope (101) pass through the inside of the drainage culvert and protrude on the ground of the two manholes respectively. S3, the rope (101) is horizontally suspended in the section to be tested inside the drainage culvert by the suspension device to form a guide structure, and two positioning targets (73) with parallel target surfaces are installed on the two suspension devices. S4. Install the SLAM 3D laser scanning equipment onto the walking device and place the walking device on the guide structure.

7. The installation method of the drainage culvert detection system according to claim 6, characterized in that, The guiding device in step S2 includes: The target plate (2) is installed in the drainage culvert at one of the inspection well openings; The launching mechanism is located in a drainage culvert at another inspection well opening. The output end of the launching mechanism is connected to a traction needle (1). The tail of the traction needle (1) is connected to one end of the rope (101) through a lead wire with an increasing diameter. The launching mechanism is used to launch the traction needle (1) onto the target plate (2). The launching mechanism includes: Launching platform (3) is set inside the drainage box culvert. The launching platform (3) is fixed to the wellhead of the drainage box culvert by a fixing component. A slide rail (31) is fixed on the top of the launching platform (3), and a slider (32) is slidably connected on the slide rail (31). The winder (33) has a first rope (34) connected to its output end for winding and unwinding the first rope (34). The end of the first rope (34) away from the winder is connected to the rear sidewall of the slider (32). Multiple first springs (35) are horizontally arranged below the launch platform (3). One end of the multiple first springs (35) is fixed to the rear bottom of the launch platform (3), and the other end of the multiple first springs (35) is fixed to a connecting plate (36). A second rope (37) is connected to the side wall of the connecting plate (36) opposite to the first springs (35). The end of the second rope (37) away from the connecting plate (36) extends to the top of the launch platform (3) and connects to the front side wall of the slider (32). A clamping assembly is provided on the slider (32) for clamping the traction needle (1). When the slider (32) is pulled by the first rope (34), the clamping assembly clamps the traction needle (1). When the slider (32) is pulled by the second rope (37), the clamping assembly releases the traction needle (1).

8. The installation method of the drainage culvert detection system according to claim 7, characterized in that, The clamping assembly includes: Two first connecting rods (41) are L-shaped and are horizontally symmetrically arranged on both sides of the front of the slider (32). Each first connecting rod (41) has an arc-shaped clamp (42) fixed at its vertical end for holding the traction needle (1). There are two second ropes (37), and the end of each second rope (37) away from the connecting plate (36) is fixed to the front side wall of each first connecting rod (41). Two second connecting rods (43) are symmetrically arranged on both sides of the slider (32). One end of the second connecting rod (43) is hinged at the top of the angle between it and the first connecting rod (41), and the other end of the second connecting rod (43) is hinged to the top of the slider (32). Two third links (44) are symmetrically arranged on both sides of the slider (32) and located behind the two second links (43). One end of the two third links (44) is respectively hinged to the horizontal end of the two first links (41), and the middle part of the two third links (44) is hinged to the top of the slider (32). A second spring (45) is connected between the other ends of the two third links (44).

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