Underground pipe detection device for sewer network and method thereof

Abstract

The application discloses a sewer pipe network underground pipe detection device, belongs to the technical field of underground pipe detection, and comprises a detection device main body, a positioner and a multispectral camera, the positioner is fixedly installed on the upper surface of the detection device main body, the multispectral camera is fixedly installed at the rear end of the detection device main body, an inner cavity is formed in the detection device main body, a bidirectional servo motor is fixedly installed on the inner wall of the inner cavity, a transmission rod is fixedly connected to the output end of the bidirectional servo motor, and the transmission rod penetrates through the inner wall of the inner cavity and extends to the outside of the detection device main body. The underground pipe detection device has the functions of cleaning the sundries and sludge in front of the underground pipe detection device and cleaning the sludge adhered to the outer surface of the wheel body, the sludge in front of the underground pipe detection device and the sludge adhered to the outer surface of the wheel body are cleaned, the normal movement of the underground pipe detection device is prevented from being affected, and thus the normal underground pipe detection work is ensured.

Description

Technical Field

[0001] This invention belongs to the field of underground pipeline inspection technology, specifically, it relates to an underground pipeline inspection device and method for drainage pipe networks. Background Technology

[0002] Urban drainage is a drainage system, also known as a drainage pipe network, that collects, transports, treats, and discharges urban sewage and rainwater. After the urban drainage system is built, it is necessary to inspect the inside of the cement pipes that make up the pipeline. When inspecting the underground pipes of the drainage network, underground pipe inspection devices are required. Most existing underground pipe inspection devices have wheels directly mounted on the outside of the device to provide power. This design makes it easy for debris and silt from the underground pipes to stick to the outer surface of the wheels during operation, which can affect the normal operation of the underground pipe inspection device and thus affect the normal progress of the underground pipe inspection work.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows:

[0005] An underground pipeline inspection device for drainage networks includes a main body, a locator, and a multispectral camera. The locator is fixedly installed on the upper surface of the main body, and the multispectral camera is fixedly installed at the rear end of the main body. The main body has an internal cavity, and a bidirectional servo motor is fixedly installed on the inner wall of the cavity. A transmission rod is fixedly installed at the output end of the bidirectional servo motor. The transmission rod penetrates the inner wall of the cavity and extends to the outside of the main body. A mounting plate is fixedly installed on the outer surface of the transmission rod outside the main body, and a wheel is fitted onto the outer surface of the transmission rod. One side of the mounting plate... A fixing screw is fixed to the wall, a fixing plate is fitted on the outer surface of the fixing screw, a connecting rod is installed on one side wall of the fixing plate, a nut is fitted on the outer surface of the fixing screw, an installation frame is fixed to the outer surface of the main body of the detection device, an installation groove is opened on the outer surface of the main body of the detection device, an installation plate is slidably connected to the inner wall of the installation groove, a fixing block is fixed to the inner wall of the installation groove, a brush bristle is installed on one side wall of the installation plate, a fixing frame is fitted on the outer surface of the installation frame, a slider is installed on the inner wall of the fixing frame, a scraper is fixedly installed on the inner wall of the fixing frame, and a fixing bolt is rotatably connected to the outer surface of the fixing frame.

[0006] As a further embodiment of the present invention: a mounting cone is fixedly installed at the front end of the main body of the detection device, a mounting cavity is opened inside the mounting cone, a drive motor is fixedly installed inside the mounting cavity, a drive rod is fixedly installed at the output end of the drive motor, the drive rod passes through the inner wall of the mounting cavity and extends to the outside of the mounting cone, a turntable is fixedly installed at the end of the drive rod away from the mounting cone, a cleaning nail is installed on the side wall of the turntable away from the drive rod, and a scraper is fixedly installed on the outer surface of the turntable.

[0007] As a further embodiment of the present invention: a fixing hole is provided on one side wall of the wheel body, the fixing screw passes through the fixing hole through one side of the wheel body and extends to the other side of the wheel body, the two ends of the transmission rod are provided with connecting holes, the connecting rod is inserted into the connecting hole, and the fixing screw is threadedly connected to the nut.

[0008] As a further embodiment of the present invention: a fixing groove is provided on one side wall of the mounting plate, the fixing block is slidably connected to the inner wall of the fixing groove, the fixing frame is in contact with the side wall of the mounting plate away from the mounting groove, a sliding groove is provided on the outer surface of the mounting frame, the slider is slidably connected to the inner wall of the sliding groove, the fixing bolt passes through the outer surface of the fixing frame and extends to the inner wall of the fixing frame, and a positioning hole is provided on the outer surface of the mounting frame for insertion of the fixing bolt.

[0009] As a further aspect of the present invention: a floating assembly is provided inside the main body of the detection device. The floating assembly includes a fixed cavity, a receiving cavity, an electrically controlled air pump, an air extraction pipe, a ventilation pipe, an air bag, an air outlet pipe, a solenoid valve, a fixing rod, a rotating block, a sealing plate, and a torsion spring. The fixed cavity is located inside the main body of the detection device, and the receiving cavity is located at the bottom of the main body of the detection device. The electrically controlled air pump is fixedly installed inside the fixed cavity, and the air extraction pipe is fixedly installed at the air extraction port of the electrically controlled air pump. The air extraction pipe penetrates the inner wall of the fixed cavity and extends to the main body of the detection device. On the upper surface, the vent pipe is fixed to the air outlet of the electrically controlled air pump. The vent pipe penetrates the inner wall of the fixed cavity and extends into the interior of the receiving cavity. The airbag is disposed inside the receiving cavity. The air outlet pipe is connected to the upper surface of the airbag. The air outlet pipe penetrates the inner wall of the receiving cavity and extends into the upper surface of the main body of the detection device. A solenoid valve is fixedly installed on the outer surface of the air outlet pipe. The fixing rod is fixedly installed on the inner wall of the receiving cavity. The rotating block is sleeved on the outer surface of the fixing rod. The sealing plate is fixedly installed on the lower surface of the rotating block. The torsion spring is sleeved on the outer surface of the fixing rod.

[0010] As a further embodiment of the present invention: one end of the torsion spring is fixedly connected to the rotating block, the other end of the torsion spring is fixedly connected to the inner wall of the receiving cavity, the mud shield is fixedly installed on the upper surface of the main body of the detection device, and the top ends of the suction pipe and the exhaust pipe are both inside the mud shield.

[0011] As a further embodiment of the present invention: a propulsion assembly is provided at the rear end of the main body of the detection device. The propulsion assembly includes a drive rod, bevel gear A, bevel gear B, a fixed plate, a blade, and an outer frame. The drive rod is rotatably connected to the rear end of the main body of the detection device. The drive rod passes through the outer surface of the main body of the detection device and extends into the interior of the inner cavity. The bevel gear A is fixedly installed on the outer surface of the drive rod. The bevel gear B is fixedly installed at one end of the drive rod located inside the inner cavity. The bevel gear A and the bevel gear B mesh with each other. The fixed plate is fixedly installed inside the inner cavity. The blade is fixedly installed at the end of the drive rod away from the main body of the detection device. The outer frame is fixedly installed at the end of the blade away from the drive rod.

[0012] As a further embodiment of the present invention: the fixed plate has a support hole inside, and the transmission rod and the driving rod are both disposed inside the support hole.

[0013] As a further embodiment of the present invention: a protective assembly is provided at the rear end of the main body of the detection device. The protective assembly includes a transparent protective cover, a connecting ring, a positioning rod, a rubber ring, a threaded cylinder, a connecting groove, and a second brush. The transparent protective cover is disposed on the outer surface of the rear end of the main body of the detection device and is disposed outside the multispectral camera. The connecting ring is fixedly mounted on the outer surface of the transparent protective cover. The positioning rod is mounted on one side wall of the connecting ring. The rubber ring is sleeved on the outer surface of the positioning rod. The threaded cylinder is fixedly mounted on the side of the connecting ring near the main body of the detection device. The connecting groove is formed on the outer surface of the main body of the detection device. The inner wall of the connecting groove has a threaded groove. The threaded cylinder engages with the threaded groove. The second brush is fixedly mounted on the side of the blade near the main body of the detection device.

[0014] An underground pipeline inspection device and method for drainage pipe networks, comprising the following steps:

[0015] S1: The method of using an underground pipeline inspection device to inspect underground pipelines. The underground pipeline inspection device is equipped with a multispectral camera. Through multispectral imaging, it is used to detect the soil density, humidity and material type around the underground pipeline. At the same time, computer vision algorithms are used to compare the collected images with an underground pipeline database to discover potential leaks, corrosion or other problems.

[0016] S2: When the underground pipeline inspection device is inside an underground pipeline, the main body of the device is placed inside the pipeline. The bidirectional servo motor runs in the forward direction, driving the transmission rod to rotate, which in turn rotates the wheel, thus moving the entire main body of the inspection device inside the underground pipeline. During the movement of the main body of the inspection device, the drive motor is activated, which drives the turntable to rotate via the drive rod, thereby rotating the cleaning nails and scrapers to clean debris in the underground pipeline. At the same time, it initially cleans the silt in front of the main body of the inspection device. During the rotation of the wheel, the first brush set on the mounting plate and the scraper set on the inner wall of the fixed frame work together to clean the silt adhering to the outer surface of the wheel. After the underground pipeline inspection device is used, the fixed frame, wheel, and mounting plate can be removed from the main body of the inspection device in sequence for further cleaning or replacement of the wheel, the first brush, and the fixed frame. When the bidirectional servo motor runs in the reverse direction, the entire underground pipeline inspection device can be moved backward.

[0017] S3: When the underground pipeline detection device encounters a location with excessively deep water inside the underground pipeline, it first moves the detection device to the water location. Then, the electrically controlled air pump is activated. When the electrically controlled air pump is running, air is injected into the airbag, causing the airbag to inflate. At this time, the airbag bulges from the inside of the storage chamber to the bottom of the detection device body, allowing the underground pipeline detection device to float in the water. Meanwhile, the bidirectional servo motor is still running. When the transmission rod rotates, it drives the bevel gear A to rotate. When bevel gear A rotates, it drives the bevel gear B to rotate, causing the drive rod to rotate, which in turn causes the blades to rotate. When the blades rotate in the water, they generate a propulsive force on the entire underground pipeline detection device, allowing the entire device to move in the water.

[0018] S4: The transparent protective cover set on the main body of the detection device protects the multispectral camera, which can effectively prevent sewage and silt from contaminating the multispectral camera. At the same time, during the rotation of the blades, the second brush bristles brush and clean the outer surface of the transparent protective cover, removing the sewage and silt stuck to the transparent protective cover, thereby avoiding affecting the shooting effect of the multispectral camera.

[0019] Beneficial effects:

[0020] The underground pipeline inspection device proposed in this solution can clean debris and silt in front of the device and remove silt adhering to the outer surface of the wheel. By cleaning debris and silt in front of the device and silt on the outer surface of the wheel, the normal operation of the underground pipeline inspection device can be prevented, thus ensuring the normal progress of underground pipeline inspection work.

[0021] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0022] In the attached diagram:

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a cross-sectional view of the mounting cone of the present invention;

[0025] Figure 3 For the present invention Figure 2 Side view;

[0026] Figure 4 This is an exploded view of the present invention;

[0027] Figure 5 For the present invention Figure 4 Top view;

[0028] Figure 6 For the present invention Figure 4 A bottom view;

[0029] Figure 7 This is a partial structural cross-sectional view of the present invention;

[0030] Figure 8 This is a cross-sectional structural diagram of the present invention;

[0031] Figure 9 This is a partial structural schematic diagram of the present invention;

[0032] Figure 10 For the present invention Figure 8 Side view;

[0033] Figure 11 This is an exploded view of part of the structure of the present invention.

[0034] In the diagram: 1. Main body of the detection device; 2. Positioner; 3. Multispectral camera; 4. Mounting cone; 5. Mounting cavity; 6. Drive motor; 7. Drive rod; 8. Turntable; 9. Cleaning nail; 10. Scraper; 11. Inner cavity; 12. Bidirectional servo motor; 13. Transmission rod; 14. Mounting plate; 15. Wheel; 16. Fixing rod; 17. Fixing plate; 18. Connecting rod; 19. Nut; 20. Mounting frame; 21. Mounting groove; 22. Mounting plate; 23. Fixing block; 24. No. 1 brush bristle; 25. Fixing frame; 26. Slider; 27. Scraper block; 2 8. Fixing bolt; 29. ​​Fixing cavity; 30. Storage cavity; 31. Electrically controlled air pump; 32. Suction pipe; 33. Ventilation pipe; 34. Airbag; 35. Air outlet pipe; 36. Solenoid valve; 37. Fixing rod; 38. Rotating block; 39. Sealing plate; 40. Torsion spring; 41. Mud guard; 42. Driving rod; 43. Bevel gear A; 44. Bevel gear B; 45. Fixing plate; 46. Paddle blade; 47. Outer frame; 48. Transparent protective cover; 49. Connecting ring; 50. Positioning rod; 51. Rubber ring; 52. Threaded cylinder; 53. Connecting groove; 54. No. 2 brush bristles. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention.

[0036] like Figures 1 to 6As shown, the underground pipeline inspection device for the drainage network includes a main body 1, a locator 2, and a multispectral camera 3. The locator 2 is fixedly installed on the upper surface of the main body 1, and the multispectral camera 3 is fixedly installed at the rear end of the main body 1. An installation cone 4 is fixedly installed at the front end of the main body 1. An installation cavity 5 is formed inside the installation cone 4. A drive motor 6 is fixedly installed inside the installation cavity 5. A drive rod 7 is fixedly installed at the output end of the drive motor 6. The drive rod 7 penetrates the inner wall of the installation cavity 5 and extends to the outside of the installation cone 4. A turntable 8 is fixedly installed at the end of the drive rod 7 away from the installation cone 4. A turntable 8 is fixedly installed at the end of the turntable 8 away from the drive rod 7. The sidewalls are fitted with cleaning nails 9, and the outer surface of the turntable 8 is fixedly fitted with a scraper 10. An inner cavity 11 is formed inside the main body 1 of the detection device. A bidirectional servo motor 12 is fixedly installed on the inner wall of the inner cavity 11. A transmission rod 13 is fixedly installed at the output end of the bidirectional servo motor 12. The transmission rod 13 penetrates the inner wall of the inner cavity 11 and extends to the outside of the main body 1 of the detection device. A mounting plate 14 is fixedly installed on the outer surface of the transmission rod 13 outside the main body 1 of the detection device. A wheel 15 is sleeved on the outer surface of the transmission rod 13. A fixing screw 16 is fixedly installed on one sidewall of the mounting plate 14. A fixing plate 17 is sleeved on the outer surface of the fixing screw 16. A connecting rod is installed on one sidewall of the fixing plate 17. The outer surface of the rod 18 and the fixing screw 16 is fitted with a nut 19. A fixing hole is opened on one side wall of the wheel body 15. The fixing screw 16 passes through the fixing hole, passes through one side of the wheel body 15, and extends to the other side of the wheel body 15. The two ends of the transmission rod 13 are provided with connecting holes. The connecting rod 18 is inserted into the connecting holes. The fixing screw 16 is threadedly connected to the nut 19. The outer surface of the detection device body 1 is fixedly mounted with a mounting frame 20. The outer surface of the detection device body 1 is provided with a mounting groove 21. The inner wall of the mounting groove 21 is slidably connected with a mounting plate 22. A fixing block 23 is fixedly mounted on the inner wall of the mounting groove 21. A first-order brush bristle 24 is installed on one side wall of the mounting plate 22. The mounting frame 20... A fixing frame 25 is fitted on the outer surface of the mounting frame 20. A slider 26 is installed on the inner wall of the fixing frame 25. A scraper 27 is fixedly installed on the inner wall of the fixing frame 25. A fixing bolt 28 is rotatably connected to the outer surface of the fixing frame 25. A fixing groove is opened on one side wall of the mounting plate 22. The fixing block 23 is slidably connected to the inner wall of the fixing groove. The fixing frame 25 is in contact with the side wall of the mounting plate 22 away from the mounting groove 21. A sliding groove is opened on the outer surface of the mounting frame 20. The slider 26 is slidably connected to the inner wall of the sliding groove. The fixing bolt 28 passes through the outer surface of the fixing frame 25 and extends to the inner wall of the fixing frame 25. A positioning hole is opened on the outer surface of the mounting frame 20 to be inserted into the fixing bolt 28.

[0037] The detection device, consisting of a main body 1, locator 2, multispectral camera 3, mounting cone 4, mounting cavity 5, drive motor 6, drive rod 7, turntable 8, cleaning nail 9, scraper 10, inner cavity 11, bidirectional servo motor 12, transmission rod 13, mounting plate 14, wheel 15, fixing rod 16, fixing plate 17, connecting rod 18, nut 19, mounting frame 20, mounting groove 21, mounting plate 22, fixing block 23, first brush bristle 24, fixing frame 25, slider 26, scraper 27, and fixing bolt 28, effectively cleans debris and silt in front of the underground pipeline detection device and removes silt adhering to the outer surface of the wheel 15. By cleaning debris and silt in front of the underground pipeline detection device and silt on the outer surface of the wheel 15, the device's normal operation is prevented from being affected, thus ensuring the normal progress of underground pipeline detection work.

[0038] Specifically, such as Figures 7 to 9As shown, the main body 1 of the detection device has a floating assembly inside. The floating assembly includes a fixed cavity 29, a receiving cavity 30, an electrically controlled air pump 31, an air extraction pipe 32, a ventilation pipe 33, an airbag 34, an air outlet pipe 35, a solenoid valve 36, a fixing rod 37, a rotating block 38, a sealing plate 39, and a torsion spring 40. The fixed cavity 29 is located inside the main body 1 of the detection device, and the receiving cavity 30 is located at the bottom of the main body 1 of the detection device. The electrically controlled air pump 31 is fixedly installed inside the fixed cavity 29, and the air extraction pipe 32 is fixedly installed at the air extraction port of the electrically controlled air pump 31. The air extraction pipe 32 penetrates the inner wall of the fixed cavity 29 and extends to... On the upper surface of the main body 1 of the detection device, a vent pipe 33 is fixedly installed at the outlet of the electrically controlled air pump 31. The vent pipe 33 penetrates the inner wall of the fixed cavity 29 and extends into the interior of the receiving cavity 30. An air bag 34 is disposed inside the receiving cavity 30. An air outlet pipe 35 is connected to the upper surface of the air bag 34. The air outlet pipe 35 penetrates the inner wall of the receiving cavity 30 and extends into the upper surface of the main body 1 of the detection device. A solenoid valve 36 is fixedly installed on the outer surface of the air outlet pipe 35. A fixing rod 37 is fixedly installed on the inner wall of the receiving cavity 30. A rotating block 38 is sleeved on the outer surface of the fixing rod 37. A sealing plate 39 is fixedly installed on the lower surface of the rotating block 38. A torsion spring 40 is sleeved on the outer surface of the fixed rod 37. One end of the torsion spring 40 is fixedly connected to the rotating block 38, and the other end of the torsion spring 40 is fixedly connected to the inner wall of the receiving cavity 30. A mud shield 41 is fixedly installed on the upper surface of the main body 1 of the detection device. The top ends of the suction pipe 32 and the exhaust pipe 35 are both inside the mud shield 41. A propulsion assembly is provided at the rear end of the main body 1 of the detection device. The propulsion assembly includes a driving rod 42, a bevel gear A 43, a bevel gear B 44, a fixed plate 45, a blade 46, and an outer frame 47. The driving rod 42 is rotatably connected to the rear end of the main body 1 of the detection device and passes through... The outer surface of the main body 1 of the detection device extends into the inner cavity 11. The bevel gear A43 is fixedly installed on the outer surface of the transmission rod 13. The bevel gear B44 is fixedly installed on one end of the drive rod 42 located inside the inner cavity 11. The bevel gear A43 and the bevel gear B44 mesh with each other. The fixing plate 45 is fixedly installed inside the inner cavity 11. The fixing plate 45 has a support hole inside. The transmission rod 13 and the drive rod 42 are both installed through the support hole. The blade 46 is fixedly installed on the end of the drive rod 42 away from the main body 1 of the detection device. The outer frame 47 is fixedly installed on the end of the blade 46 away from the drive rod 42.

[0039] By incorporating a fixed cavity 29, a storage cavity 30, an electrically controlled air pump 31, an air extraction pipe 32, a ventilation pipe 33, an airbag 34, an air outlet pipe 35, a solenoid valve 36, a fixing rod 37, a rotating block 38, a sealing plate 39, a torsion spring 40, and a mud shield 41, the underground pipeline detection device is able to move freely even in areas with deep water, further expanding its applicability and practicality compared to its original design.

[0040] Specifically, such as Figures 9 to 11As shown, a protective assembly is provided at the rear end of the main body 1 of the detection device. The protective assembly includes a transparent protective cover 48, a connecting ring 49, a positioning rod 50, a rubber ring 51, a threaded cylinder 52, a connecting groove 53, and a second brush bristle 54. The transparent protective cover 48 is located on the outer surface of the rear end of the main body 1 of the detection device and is located outside the multispectral camera 3. The connecting ring 49 is fixedly installed on the outer surface of the transparent protective cover 48. The positioning rod 50 is installed on one side wall of the connecting ring 49. The rubber ring 51 is sleeved on the outer surface of the positioning rod 50. The threaded cylinder 52 is fixedly installed on the side of the connecting ring 49 near the main body 1 of the detection device. The connecting groove 53 is opened on the outer surface of the main body 1 of the detection device. The inner wall of the connecting groove 53 has a threaded groove. The threaded cylinder 52 meshes with the threaded groove. The second brush bristle 54 is fixedly installed on the side of the blade 46 near the main body 1 of the detection device.

[0041] The transparent protective cover 48, connecting ring 49, positioning rod 50, rubber ring 51, threaded cylinder 52, connecting groove 53, and second brush bristles 54 are designed to protect the multispectral camera 3, effectively preventing sewage and sludge from contaminating the multispectral camera 3. At the same time, the transparent protective cover 48 can be cleaned to ensure the shooting effect of the multispectral camera 3.

[0042] An underground pipeline inspection device and method for drainage pipe networks, comprising the following steps:

[0043] S1: The method of using an underground pipeline inspection device to inspect underground pipelines involves using an underground pipeline inspection device equipped with a multispectral camera 3 to detect the soil density, humidity and material type around the underground pipeline through multispectral imaging. At the same time, computer vision algorithms are used to compare the collected images with an underground pipeline database to discover potential leaks, corrosion or other problems.

[0044] S2: When the underground pipeline inspection device is inside the underground pipeline, the main body 1 of the inspection device is placed inside the underground pipeline. The bidirectional servo motor 12 runs in the forward direction, driving the transmission rod 13 to rotate, causing the wheel 15 to rotate, thereby moving the entire main body 1 of the inspection device inside the underground pipeline. During the movement of the main body 1 of the inspection device, the drive motor 6 is started. The drive motor 6 drives the turntable 8 to rotate through the drive rod 7, thereby causing the cleaning nails 9 and scraper 10 to rotate, thus cleaning the debris in the underground pipeline and initially cleaning the silt in front of the main body 1 of the inspection device. During the rotation of the wheel 15, the first brush 24 set on the mounting plate 22 and the scraper 27 set on the inner wall of the fixed frame 25 work together to clean the silt stuck to the outer surface of the wheel 15. After the underground pipeline inspection device is used, the fixed frame 25, the wheel 15 and the mounting plate 22 can be removed from the main body 1 of the inspection device in sequence for further cleaning or replacement of the wheel 15, the first brush 24 and the fixed frame 25. When the bidirectional servo motor 12 runs in reverse, the underground pipeline inspection device can be moved backward as a whole.

[0045] S3: When the underground pipeline detection device encounters a location with excessively deep water inside the underground pipeline, it first controls the device to move to the water location. Then, the electrically controlled air pump 31 is activated. When the electrically controlled air pump 31 is running, it injects air into the airbag 34, causing the airbag 34 to inflate. At this time, the airbag 34 bulges from inside the storage cavity 30 to the bottom of the main body 1 of the detection device, allowing the underground pipeline detection device to float in the water. Meanwhile, the bidirectional servo motor 12 is still running. When the transmission rod 13 rotates, it drives the bevel gear A43 to rotate. When the bevel gear A43 rotates, it drives the bevel gear B44 to rotate, causing the drive rod 42 to rotate, which in turn causes the blade 46 to rotate. When the blade 46 rotates in the water, it generates a propulsive force on the entire underground pipeline detection device, thus enabling the entire device to move in the water.

[0046] S4: The transparent protective cover 48 set on the main body 1 of the detection device protects the multispectral camera 3, which can effectively prevent sewage and silt from contaminating the multispectral camera 3. At the same time, during the rotation of the blade 46, the second brush bristle 54 brushes and cleans the outer surface of the transparent protective cover 48, removing the sewage and silt stuck on the transparent protective cover 48, thereby avoiding affecting the shooting effect of the multispectral camera 3.

Claims

1. An underground pipeline detection device for drainage pipe networks, comprising a detection device body (1), a locator (2), and a multispectral camera (3), characterized in that, The locator (2) is fixedly installed on the upper surface of the detection device body (1), and the multispectral camera (3) is fixedly installed at the rear end of the detection device body (1). The detection device body (1) has an inner cavity (11) inside. A bidirectional servo motor (12) is fixedly installed on the inner wall of the inner cavity (11). A transmission rod (13) is fixedly installed at the output end of the bidirectional servo motor (12). The transmission rod (13) passes through the inner wall of the inner cavity (11) and extends to the outside of the detection device body (1). A mounting plate (14) is fixedly installed on the outer surface of the transmission rod (13) outside the detection device body (11). A wheel (15) is sleeved on the outer surface of the transmission rod (13). A fixing screw (16) is fixedly installed on one side wall of the mounting plate (14). A fixing screw (16) is sleeved on the outer surface of the fixing screw (16). The fixed plate (17) has a connecting rod (18) on one side wall, a nut (19) on the outer surface of the fixing screw (16), a mounting frame (20) fixedly mounted on the outer surface of the main body (1) of the detection device, a mounting groove (21) opened on the outer surface of the main body (1) of the detection device, a mounting plate (22) slidably connected to the inner wall of the mounting groove (21), a fixing block (23) fixedly mounted on the inner wall of the mounting groove (21), a first brush bristle (24) mounted on one side wall of the mounting plate (22), a fixing frame (25) on the outer surface of the mounting frame (20), a slider (26) mounted on the inner wall of the fixing frame (25), a scraper (27) fixedly mounted on the inner wall of the fixing frame (25), and a fixing bolt (28) rotatably connected to the outer surface of the fixing frame (25). The main body (1) of the detection device has a floating assembly inside. The floating assembly includes a fixed cavity (29), a storage cavity (30), an electrically controlled air pump (31), an air extraction pipe (32), a ventilation pipe (33), an airbag (34), an air outlet pipe (35), a solenoid valve (36), a fixed rod (37), a rotating block (38), a sealing plate (39), and a torsion spring (40). The fixed cavity (29) is located inside the main body (1) of the detection device, and the storage cavity (30) is located at the bottom of the main body (1) of the detection device. The electrically controlled air pump (31) is fixedly installed inside the fixed cavity (29), and the air extraction pipe (32) is fixedly installed at the air extraction port of the electrically controlled air pump (31). The air extraction pipe (32) penetrates the inner wall of the fixed cavity (29) and extends to the upper surface of the main body (1) of the detection device. The ventilation pipe (33) is fixed to the outlet of the electric air pump (31). The ventilation pipe (33) penetrates the inner wall of the fixed cavity (29) and extends to the inside of the receiving cavity (30). The air bag (34) is set inside the receiving cavity (30). The air outlet pipe (35) is connected to the upper surface of the air bag (34). The air outlet pipe (35) penetrates the inner wall of the receiving cavity (30) and extends to the upper surface of the detection device body (1). The outer surface of the air outlet pipe (35) is fixedly equipped with a solenoid valve (36). The fixed rod (37) is fixedly installed on the inner wall of the receiving cavity (30). The rotating block (38) is sleeved on the outer surface of the fixed rod (37). The sealing plate (39) is fixedly installed on the lower surface of the rotating block (38). The torsion spring (40) is sleeved on the outer surface of the fixed rod (37).

2. The underground pipeline detection device for drainage pipe networks according to claim 1, characterized in that, The front end of the main body (1) of the detection device is fixedly installed with an installation cone (4). An installation cavity (5) is opened inside the installation cone (4). A drive motor (6) is fixedly installed inside the installation cavity (5). A drive rod (7) is fixedly installed at the output end of the drive motor (6). The drive rod (7) passes through the inner wall of the installation cavity (5) and extends to the outside of the installation cone (4). A turntable (8) is fixedly installed at the end of the drive rod (7) away from the installation cone (4). A cleaning nail (9) is installed on the side wall of the turntable (8) away from the drive rod (7). A scraper (10) is fixedly installed on the outer surface of the turntable (8).

3. The underground pipeline detection device for drainage pipe networks according to claim 2, characterized in that, A fixing hole is provided on one side wall of the wheel body (15). The fixing screw (16) passes through the fixing hole, passes through one side of the wheel body (15), and extends to the other side of the wheel body (15). Connection holes are provided at both ends of the transmission rod (13). The connecting rod (18) is inserted into the connection hole. The fixing screw (16) is threadedly connected to the nut (19).

4. The underground pipeline detection device for drainage pipe networks according to claim 3, characterized in that, A fixing groove is provided on one side wall of the mounting plate (22), the fixing block (23) is slidably connected to the inner wall of the fixing groove, the fixing frame (25) is in contact with the side wall of the mounting plate (22) away from the mounting groove (21), the outer surface of the mounting frame (20) is provided with a sliding groove, the slider (26) is slidably connected to the inner wall of the sliding groove, the fixing bolt (28) passes through the outer surface of the fixing frame (25) and extends to the inner wall of the fixing frame (25), and the outer surface of the mounting frame (20) is provided with a positioning hole for insertion with the fixing bolt (28).

5. The underground pipeline detection device for drainage pipe networks according to claim 4, characterized in that, One end of the torsion spring (40) is fixedly connected to the rotating block (38), and the other end of the torsion spring (40) is fixedly connected to the inner wall of the receiving cavity (30). The mud cover (41) is fixedly installed on the upper surface of the main body (1) of the detection device. The top ends of the suction pipe (32) and the exhaust pipe (35) are both inside the mud cover (41).

6. The underground pipeline detection device for drainage pipe networks according to claim 5, characterized in that, The rear end of the main body (1) of the detection device is provided with a propulsion assembly, which includes a drive rod (42), bevel gear A (43), bevel gear B (44), a fixing plate (45), a blade (46), and an outer frame (47). The drive rod (42) is rotatably connected to the rear end of the main body (1) of the detection device. The drive rod (42) penetrates the outer surface of the main body (1) of the detection device and extends into the interior of the inner cavity (11). The bevel gear A (43) is fixedly installed on the outer surface of the transmission rod (13). The bevel gear B (44) is fixedly installed at one end of the drive rod (42) located inside the inner cavity (11). The bevel gear A (43) meshes with the bevel gear B (44). The fixing plate (45) is fixedly installed inside the inner cavity (11). The blade (46) is fixedly installed at one end of the drive rod (42) away from the main body (1) of the detection device. The outer frame (47) is fixedly installed at one end of the blade (46) away from the drive rod (42).

7. The underground pipeline detection device for drainage pipe networks according to claim 6, characterized in that, The fixed plate (45) has a support hole inside, and the transmission rod (13) and the drive rod (42) are both installed inside the support hole.

8. The underground pipeline detection device for drainage pipe networks according to claim 7, characterized in that, The rear end of the main body (1) of the detection device is provided with a protective component, which includes a transparent protective cover (48), a connecting ring (49), a positioning rod (50), a rubber ring (51), a threaded cylinder (52), a connecting groove (53), and a second brush bristle (54). The transparent protective cover (48) is provided on the outer surface of the rear end of the main body (1) of the detection device. The transparent protective cover (48) is provided on the outside of the multispectral camera (3). The connecting ring (49) is fixed on the outer surface of the transparent protective cover (48). The positioning rod... (50) is installed on one side wall of the connecting ring (49), the rubber ring (51) is sleeved on the outer surface of the positioning rod (50), the threaded cylinder (52) is fixedly installed on the side of the connecting ring (49) near the main body (1) of the detection device, the connecting groove (53) is opened on the outer surface of the main body (1) of the detection device, the inner wall of the connecting groove (53) is provided with a threaded groove, the threaded cylinder (52) meshes with the threaded groove, and the second brush bristle (54) is fixedly installed on the side of the blade (46) near the main body (1) of the detection device.

9. A method for detecting underground pipelines in a drainage network, comprising the underground pipeline detection device for a drainage network according to claim 8, characterized in that, Includes the following steps: S1: The method of using an underground pipeline detection device to detect underground pipelines is to use an underground pipeline detection device equipped with a multispectral camera (3) to detect the soil density, humidity and material type around the underground pipeline through multispectral imaging. At the same time, computer vision algorithms are used to compare the collected images with the underground pipeline database to discover potential leakage and corrosion problems. S2: When the underground pipeline inspection device is inside the underground pipeline, the main body (1) of the inspection device is placed inside the underground pipeline. The bidirectional servo motor (12) runs in the forward direction, driving the transmission rod (13) to rotate, causing the wheel (15) to rotate, thereby driving the main body (1) of the inspection device to move inside the underground pipeline. During the movement of the main body (1) of the inspection device, the drive motor (6) is started. The drive motor (6) drives the turntable (8) to rotate through the drive rod (7), thereby causing the cleaning nail (9) and scraper (10) to rotate, thereby cleaning the debris in the underground pipeline and initially cleaning the silt in front of the main body (1) of the inspection device. During the rotation of the wheel (15), the first brush (24) set on the mounting plate (22) and the scraper (27) set on the inner wall of the fixed frame (25) work together to clean the silt stuck to the outer surface of the wheel (15). After the underground pipeline detection device is used, the fixed frame (25), the wheel (15) and the mounting plate (22) can be removed from the main body (1) of the detection device in sequence for further cleaning or replacement of the wheel (15), the first brush (24) and the fixed frame (25). When the bidirectional servo motor (12) runs in reverse, the underground pipeline detection device can be moved backward as a whole. S3: When the underground pipeline detection device encounters a location with excessively deep water inside the underground pipeline, first control the underground pipeline detection device to move to the water location, then start the electric control air pump (31). When the electric control air pump (31) is running, it injects air into the airbag (34), causing the airbag (34) to inflate. At this time, the airbag (34) bulges from the inside of the storage cavity (30) to the bottom of the detection device body (1), so that the underground pipeline detection device can float in the water. At this time, the bidirectional servo motor (12) is still running. When the transmission rod (13) rotates, it drives the bevel gear A (43) to rotate. When the bevel gear A (43) rotates, it drives the bevel gear B (44) to rotate, causing the drive rod (42) to rotate, thus causing the blade (46) to rotate. When the blade (46) rotates in the water, it generates a propulsive force on the entire underground pipeline detection device, thus causing the entire underground pipeline detection device to move in the water. S4: The transparent protective cover (48) set on the main body (1) of the detection device protects the multispectral camera (3), which can effectively prevent sewage and silt from getting on the multispectral camera (3). At the same time, during the rotation of the blade (46), the second brush (54) brushes and cleans the outer surface of the transparent protective cover (48), removing the sewage and silt stuck on the transparent protective cover (48), thereby avoiding affecting the shooting effect of the multispectral camera (3).

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