Pipe robot control system and method for sewer inspection

Abstract

The application relates to the technical field of sewer pipeline detection, in particular to a pipeline robot control system and method for sewer pipeline detection. The system comprises a self-checking module for self-checking the control system and the pipeline robot; an image processing module for controlling the pipeline robot to collect image information in the pipeline, analyzing pipeline defects according to the image information, and grading the defects to obtain defect scores; a condition evaluation module for evaluating the pipeline damage level and the pipeline structural defect type according to the pipeline defects and the defect scores; a positioning module for obtaining the position of the pipeline robot and combining sensors to obtain the current terrain; a robot control module for controlling the operations of the pipeline robot based on the image information, the pipeline damage level and the pipeline structural defect type and combining the current terrain; and a communication module for data transmission and command interaction with the pipeline robot. The technical scheme can improve the efficiency and accuracy of sewer pipeline detection.

Description

Technical Field

[0001] This invention relates to the field of drainage pipeline inspection technology, specifically to a pipeline robot control system and method for drainage pipeline inspection. Background Technology

[0002] Urban underground drainage pipes are essential infrastructure for water pollution control, flood drainage, and flood prevention, playing a vital role in the normal operation of cities. The working environment of these pipes is extremely harsh. Domestic waste, factory debris, and construction mud accumulate in the pipes, and with the passage of time and neglect, the urban drainage load continues to increase. Over long periods of operation, damage such as blockages, corrosion, cracks, dents, or deformation can occur, necessitating regular inspection and cleaning to ensure their proper functioning. Because drainage pipes are either deeply buried underground or have confined internal spaces, manual inspection with instruments is difficult, labor-intensive, inefficient, and poses a significant threat to personal safety.

[0003] Therefore, pipeline robots are often used for pipeline work. Pipeline robots generally have functions such as detecting the accumulation of sludge in pipelines and breaking up sludge. Pipeline robots move inside drainage pipes via tracks and are equipped with monitoring devices consisting of cameras, searchlights, and sensors, as well as sludge-breaking impellers and high-pressure nozzles. They can observe the environment inside the pipeline and break up sludge so that it can be carried away by the water flow.

[0004] With the acceleration of urbanization, the number of underground drainage pipes is constantly increasing, which means that more effective inspection and maintenance are needed to ensure the normal life of urban residents and public safety. The requirements for inspection efficiency and accuracy are also increasing. Summary of the Invention

[0005] The purpose of this invention is to propose a pipeline robot control system and method for drainage pipeline inspection, which can improve the efficiency and accuracy of drainage pipeline inspection.

[0006] To achieve the above objectives, in a first aspect, embodiments of this disclosure provide a pipeline robot control system for drainage pipeline inspection, comprising:

[0007] The self-test module is used to perform self-tests on the control system and the pipeline robot.

[0008] The image processing module is used to control the pipeline robot to collect image information inside the pipeline, analyze pipeline defects based on the image information, rate the degree of defects, and obtain defect scores.

[0009] The condition assessment module is used to assess the level of pipeline damage and the type of pipeline structural defects based on pipeline defects and defect scores.

[0010] The positioning module is used to obtain the location of the pipeline robot and, in conjunction with sensors, obtain the current terrain.

[0011] The robot control module is used to control various operations of the pipeline robot based on image information, pipeline damage level and pipeline structural defect type, and in combination with the current terrain.

[0012] The communication module is used for data transmission and command interaction with the pipeline robot.

[0013] The beneficial effects of the basic solution are as follows: The self-inspection module can perform self-inspections on the control system and pipeline robot, identifying problems before formal inspection, improving the stability and reliability of the system and pipeline robot, reducing the failure rate during operation, and increasing inspection efficiency. The image processing module can monitor and record the pipeline's internal environment in real time, acquiring image information collected by the pipeline robot, and analyzing the image information to obtain image analysis results, thereby better understanding the pipeline's internal conditions, obtaining pipeline inspection data, and providing a reliable basis for subsequent operations. The condition assessment module can obtain and assess the specific situation of pipeline defects, obtaining the pipeline damage level and the type of pipeline structural defect, also providing a reference for subsequent pipeline robot operations. The positioning module can obtain the position of the pipeline robot, more accurately locating the defect location. Simultaneously, it provides more accurate position information to the robot control module. Based on image information, the pipeline damage level and structural defect type, and combined with the current terrain obtained by sensors, the robot control module precisely controls the pipeline robot's various operations in the pipeline, ensuring the stability of the pipeline robot, avoiding jamming due to pipeline defects, and preventing further damage to the pipeline, thereby improving inspection efficiency. The communication module supports data transmission and command interaction between the system and the pipeline robot, enabling remote monitoring and control. This facilitates the management and operation of the pipeline robot, ensuring the normal operation of the solution. By uniformly transmitting pipeline robot data back for analysis and then sending control commands based on the analysis, the accuracy of the analysis can be improved. At the same time, the power consumption of the pipeline robot is reduced, making the pipeline robot's operation more stable.

[0014] As a feasible preferred solution, the self-test module is used to check whether each device is operating normally, whether the pipeline robot is powered normally, whether the battery power is sufficient, whether the camera shooting effect meets the standard, and to diagnose the fault type and issue an alarm when abnormal data is detected.

[0015] As a feasible and preferred option, the condition assessment module includes a damage condition assessment submodule for calculating the pipeline damage condition parameter S, as shown in the following formula:

[0016]

[0017] In the formula, Smax This is the highest score among all pipeline defect scores; n is the number of structural defects in the pipeline; n1 is the number of defects with a longitudinal clearance greater than 1.5m; n2 is the number of defects with a longitudinal clearance greater than 1.0m and not greater than 1.5m; P i1 This is the defect score for a longitudinal clearance greater than 1.5m; P i2 It is the defect score for longitudinal clearance greater than 1.0m and not greater than 1.5m; α is the structural defect influence coefficient.

[0018] As a feasible and preferred option, the condition assessment module also includes a defect level assessment submodule for calculating the pipeline structural defect parameter F, as shown in the following formula:

[0019]

[0020] The defect level assessment submodule assesses the pipeline damage level based on the obtained defect parameters.

[0021] As a feasible and preferred option, the condition assessment module also includes a defect density assessment submodule for calculating the structural defect density S. M The formula is as follows:

[0022]

[0023] In the formula, L is the pipe length; i1 The length of a structural defect with a longitudinal clearance greater than 1.5m; L i2 The length of a structural defect is greater than 1.0m and not greater than 1.5m in longitudinal clearance. The defect density assessment submodule assesses the type of structural defect in the pipeline based on the obtained structural defect density.

[0024] As a feasible preferred solution, it also includes a sludge detection module, which is used to determine whether there is sludge blockage in front of the pipeline robot, analyze the sludge thickness and density, and issue instructions for the pipeline robot to clear sludge or detour based on the analysis results.

[0025] As a feasible preferred option, it also includes a maintenance assessment module, which is used to analyze the importance parameters of the pipeline, the regional importance parameters of the area where the pipeline is located, and the soil quality impact parameters of the pipeline location. Based on the above parameters, the pipeline repair index is obtained, and the corresponding pipeline repair level is obtained.

[0026] Secondly, embodiments of this disclosure also provide a pipeline robot control method for drainage pipeline inspection, which utilizes the aforementioned pipeline robot control system for drainage pipeline inspection. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the architecture of a pipeline robot control system used for drainage pipeline inspection.

[0028] Figure 2 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0029] To make the technical solution and advantages of this application clearer, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only some embodiments of the present invention, and are only used to explain this application, not to limit it. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated; they can be combined with each other to achieve better technical effects. The same reference numerals appearing in the accompanying drawings of the following embodiments represent the same features or components, and can be applied to different embodiments.

[0030] Furthermore, unless otherwise defined, the technical or scientific terms used in this invention description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains.

[0031] Furthermore, it should be noted that in the description of this invention, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0032] The present invention will now be described in further detail with reference to the accompanying drawings:

[0033] Explanation of reference numerals in the attached drawings: Electronic device 500, processor 501, communication interface 502, memory 503, bus 504.

[0034] Reference Figure 1 A pipeline robot control system for drainage pipeline inspection includes:

[0035] The self-test module performs self-checks on the control system and pipeline robot, including verifying the normal operation of all components and the proper power supply to the robot. For independently powered pipeline robots, the module also monitors battery level to promptly alert for battery replacement or recharging when power is low. It also checks the camera's image quality to ensure smooth operation of subsequent inspections. When abnormal data is detected, the self-test module diagnoses the fault type and issues an alarm to facilitate repair and maintenance.

[0036] The image processing module controls the cameras and searchlights equipped on the pipeline robot to monitor and record the internal environment of the pipeline in real time, and acquires the image information collected by the pipeline robot. Image analysis technology is used to analyze the image information to determine the pipeline diameter and existing defects, and a rating is assigned based on Tables 1-3 and the degree of defect, recording the score and defect code.

[0037] Table 1

[0038]

[0039]

[0040] Table 2

[0041]

[0042]

[0043] Table 3

[0044]

[0045]

[0046] The condition assessment module is used to evaluate pipeline structural defects through calculation and analysis, and to obtain the pipeline damage level and pipeline structural defect type. It includes a damage condition assessment submodule, a defect level assessment submodule, and a defect density assessment submodule.

[0047] The damage assessment submodule is used to calculate the pipeline damage condition parameter S, using the following formula:

[0048]

[0049] In the formula, S max P is the highest score among all pipeline defect scores (i.e., the score of the most severely damaged part of the pipeline structural defects); n is the number of pipeline structural defects; n1 is the number of defects with a longitudinal clearance greater than 1.5m; n2 is the number of defects with a longitudinal clearance greater than 1.0m and not greater than 1.5m; i1 This is the defect score for a longitudinal clearance greater than 1.5m; P i2 α is the defect score for a longitudinal clearance greater than 1.0m and not greater than 1.5m; α is the structural defect influence coefficient, which is related to the defect clearance. In this embodiment, when the longitudinal clearance of the defect is greater than 1.0m and not greater than 1.5m, α = 1.1.

[0050] The defect level assessment submodule is used to calculate the structural defect parameter F of the pipeline, using the following formula:

[0051]

[0052] Based on Table 4, assess the pipeline damage level using the obtained defect parameters.

[0053] Table 4

[0054]

[0055]

[0056] The defect density assessment submodule is used to calculate the structural defect density S. M The formula is as follows:

[0057]

[0058] In the formula, L is the pipe length (m); L i1 The length (m) of structural defects with a longitudinal clearance greater than 1.5m; L i2 It is the length (m) of a structural defect with a longitudinal clearance greater than 1.0m and not greater than 1.5m.

[0059] Based on Table 5, the types of structural defects in the pipeline are assessed according to the obtained structural defect density.

[0060] Table 5

[0061] Types of pipe structural defects Local defects Partial or overall defects Overall defects

[0062] The silt detection module is used to determine whether there is silt blockage in front of the pipeline robot based on the data returned by the sensors configured on the pipeline robot and combined with image information. It also analyzes information such as silt thickness and density, and issues instructions to the pipeline robot to clear silt or detour based on the analysis results, so as to deal with the silt situation more effectively.

[0063] The positioning module is used to obtain the location of the pipeline robot, facilitating the determination of defect locations, acquisition of regional importance parameters, and management and control of the pipeline robot. It determines the pipeline robot's geographical location by receiving signals from the Global Positioning System (GPS) or other positioning technologies. By combining location information with data from other sensors, regional importance parameters and terrain information can be obtained.

[0064] The robot control module includes an operation control submodule, which controls various operations of the pipeline robot in the pipeline, including movement and dredging. It is also used to adjust the speed of the pipeline robot and control the pipeline robot to bypass defective parts according to the pipeline damage level and the type of pipeline structural defects, so as to avoid further damage to the defective parts during inspection or to prevent the pipeline robot from getting stuck in the pipeline due to defects. It is also used to adjust the power output of the pipeline robot according to the terrain, so that the pipeline robot can maintain stable operation in the pipeline.

[0065] The communication module is used for data transmission and command interaction with the pipeline robot, enabling remote monitoring and control. The communication module can also transmit the pipeline robot's status information and sensor data back to the control system to provide real-time feedback and control decision support.

[0066] Example 2

[0067] The key technical difference between this embodiment and Embodiment 1 is that it also includes a maintenance assessment module. Pipeline defects mean repair is necessary, but efficiency is paramount in pipeline repair, requiring a well-defined repair plan. The maintenance assessment module, after determining the pipeline damage level and the type of structural defect, assesses the urgency of pipeline repair. This includes sub-modules for regional importance assessment, pipeline importance assessment, and soil impact assessment.

[0068] The regional importance assessment submodule is used to determine the region where the pipeline is located based on the location of the images collected by the pipeline robot, and to analyze the regional importance parameter K of the region according to Table 6.

[0069] Table 6

[0070] Central business districts and areas with Class A civil building projects nearby. 10 Main traffic arteries and areas near Class B civil building projects 6 Other roads and areas nearby with Class C civil building projects. 3 All other regions or when F < 4 0

[0071] The pipeline importance assessment submodule is used to analyze the importance parameter D of the pipeline based on the pipeline diameter and in conjunction with Table 7.

[0072] Table 7

[0073] D > 1500mm 10 1000mm<D≤1500mm 6 600mm≤D≤1000mm 3 D < 600mm or F < 4 0

[0074] The soil impact assessment submodule is used to analyze the soil impact parameter T based on the soil conditions at the pipeline location and Table 8. The soil conditions at the pipeline location can be determined by on-site sampling or by obtaining soil information recorded during pipeline installation based on location information.

[0075] Table 8

[0076]

[0077] The maintenance assessment module is also used to set dynamic weight values ​​for pipeline defect parameters, regional importance parameters, pipeline importance parameters, and soil impact parameters. The dynamic weight values ​​for pipeline defect parameters are dynamically adjusted according to the type of pipeline structural defect, regional importance parameters are dynamically adjusted according to the water supply situation in the region, pipeline importance parameters are dynamically adjusted according to the pipeline installation years and terrain conditions, and soil impact parameters are dynamically adjusted according to the current weather and future weather trends. The maintenance assessment ultimately yields a pipeline repair index, and the pipeline repair level is obtained according to Table 9.

[0078] Table 9

[0079] Ⅰ RI≤1 The structure is basically intact and will not be repaired. Ⅱ 1 < RI ≤ 4 The structure is unlikely to fail in the short term, but a repair plan should be developed. Ⅲ 4<RI≤7 The structure may be damaged in the short term and should be repaired as soon as possible. IV RI > 7 The structure has already been damaged or is about to be damaged; it should be repaired immediately.

[0080] Example 3

[0081] The technical difference between this embodiment and embodiment two is that drainage pipes are generally multi-node and multi-branch structures. This system also includes a path planning module, which is used to plan the path for the pipe robot to inspect the drainage pipe, so as to improve the inspection efficiency of the pipe robot.

[0082] The path planning module includes a task setting submodule, a path generation submodule, and a pheromone update submodule.

[0083] The task setup submodule is used to import drainage pipe data and set the target pipe for detection, as well as the detection start and end points. The drainage pipe data includes the distribution of each pipe, its length, and its diameter, and designates branch points as nodes.

[0084] The path generation submodule is used to initialize ant colony algorithm parameters, including the number of ants, initial pheromone concentration, pheromone volatility, and number of iterations. It places the ant colony at the source node and allows the ants to sequentially select the next node until all ants reach the destination node. It also allows ants to select the next node according to a path node selection function, which is as follows:

[0085]

[0086] In the formula: k represents the k-th ant, i and j represent the starting point and ending point, respectively; τ ij (t) represents the pheromone concentration from i to j at time t, and η ij (t) represents the visibility of the ant from i to j; allowed k Let be the list of feasible nodes that ant k can access. Based on the current power percentage, randomly select a number of feasible nodes corresponding to the current percentage in the list and add the remaining feasible nodes to the tabu list to optimize the convergence speed according to the actual power of the pipeline robot; α is the pheromone factor and β is the heuristic function factor.

[0087]

[0088] Where: N i (m) is the set of neighboring nodes of node i. Let d be the frequency of historical detections of all neighboring nodes of node i. ij h is the distance between nodes i and j. j The frequency of historical detections of node i's neighbor node j is used to enhance the coverage of drainage pipe detection over undetected pipes.

[0089] The pheromone update submodule is used to update the pheromone concentration on all paths using the pheromone update function.

[0090] The pheromone update function is:

[0091]

[0092] In the formula: L k Let ω be the path length of the ant from i to j, Q be a fixed increase in pheromone concentration, ω be the path length weighting coefficient, and σ be the weighting coefficient for the regional importance parameter; Δτ ij (k) represents the change in pheromone between nodes i and j for the k-th ant during this iteration. In this embodiment, ρ is a constant between (0, 1) representing the pheromone evaporation rate, and y is the number of ants.

[0093] The path planning module then checks whether the iteration termination condition is met. If so, the iteration terminates, and the path with the highest pheromone concentration is selected as the optimal solution. Otherwise, the iteration and judgment are repeated.

[0094] This disclosure also provides a pipeline robot control method for drainage pipeline inspection, which utilizes the pipeline robot control system for drainage pipeline inspection in any of the above embodiments.

[0095] This disclosure also provides a storage medium storing a computer program, which, when executed by a processor, can implement all the steps of the pipeline robot control method for drainage pipeline inspection in any of the above embodiments.

[0096] Those skilled in the art will understand that implementing all or part of the processes in the pipeline robot control method for drainage pipeline inspection can be accomplished by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of various embodiments of the pipeline robot control method for drainage pipeline inspection. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0097] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the pipeline robot control method for drainage pipeline inspection described in any of the above embodiments. In this application embodiment, the processor is the control center of the computer system; it can be a physical machine processor or a virtual machine processor.

[0098] Reference Figure 2 The electronic device 500 includes at least one processor 501, at least one communication interface 502, at least one memory 503, and at least one bus 504. The bus 504 is used for communication between these components, the communication interface 502 is used for signaling or data communication with other node devices, and the memory 503 stores machine-readable instructions executable by the processor 501. When the electronic device 500 is running, the processor 501 communicates with the memory 503 via the bus 504. When the machine-readable instructions are invoked by the processor 501, they execute the steps of the pipeline robot control method for drainage pipeline inspection as described in any of the above embodiments.

[0099] The above content is merely an embodiment of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can improve and implement this solution based on the guidance provided in this application and their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A pipeline robot control system for drainage pipeline inspection, characterized in that: include: The self-test module is used to perform self-tests on the control system and the pipeline robot. The image processing module is used to control the pipeline robot to collect image information inside the pipeline, analyze pipeline defects based on the image information, rate the degree of defects, and obtain defect scores. The condition assessment module is used to assess the level of pipeline damage and the type of pipeline structural defects based on pipeline defects and defect scores. The positioning module is used to obtain the location of the pipeline robot and, in conjunction with sensors, obtain the current terrain. The robot control module is used to control various operations of the pipeline robot based on image information, pipeline damage level and pipeline structural defect type, and in combination with the current terrain. The communication module is used for data transmission and command interaction with the pipeline robot. It includes a path planning module, which is used to plan the path for the pipeline robot to inspect drainage pipelines, so as to improve the inspection efficiency of the pipeline robot. The path planning module includes a task setting submodule, a path generation submodule, and a pheromone update submodule; The task setting submodule is used to import drainage pipe data and set the target detection pipe, as well as the detection start and end points; the drainage pipe data includes the distribution of each pipe, as well as the pipe length and pipe diameter, and the bifurcation points are used as nodes; The path generation submodule is used to initialize the ant colony algorithm parameters, including the number of ants, initial pheromone concentration, pheromone volatility, and number of iterations. It then places the ant colony at the source node, allowing the ants to sequentially select the next node until all ants reach the destination node. It is also used for ants to select the next node according to a path node selection function, which is as follows: In the formula: k represents the kth ant, and i and j represent the starting point and the ending point, respectively; Let i be the pheromone concentration from i to j at time t. Let i be the visibility of the ant from i to j; Given a list of feasible nodes that ant k can access, randomly select a number of feasible nodes with the corresponding percentage based on the current battery percentage, and add the remaining feasible nodes to the taboo list. For pheromone factors, Heuristic function factor; In the formula: Let i be the set of neighboring nodes. The frequency of historical detections for all neighboring nodes of node i. Let be the distance between nodes i and j. The frequency of historical detections of node j, a neighbor of node i; The pheromone update submodule is used to update the pheromone concentration on all paths using the pheromone update function; The pheromone update function is: In the formula: Let be the length of the path the ant takes from i to j. For a fixed increase in pheromone concentration, The path length weighting factor is... Weighting coefficients for regional importance parameters; Let represent the change in pheromone between nodes i and j for the k-th ant during this iteration. y is a constant between (0, 1), representing the volatile degree of pheromone; y is the number of ants; K is the regional importance parameter. The path planning module determines whether the iteration termination condition is met. If so, the iteration is terminated, and the path with the highest pheromone concentration is selected as the optimal solution. Otherwise, the iteration and judgment are repeated.

2. The pipeline robot control system for drainage pipeline inspection according to claim 1, characterized in that: The self-test module is used to check whether each device is operating normally, whether the pipeline robot is powered normally, whether the battery power is sufficient, whether the camera shooting effect meets the standard, and to diagnose the fault type and issue an alarm when abnormal data is detected.

3. A pipeline robot control system for drainage pipeline inspection according to claim 1, characterized in that: The condition assessment module includes a damage condition assessment submodule, used to calculate pipeline damage condition parameters. S The formula is as follows: In the formula, S max It is the highest score among all the defects in the pipeline. It refers to the number of structural defects in the pipeline; It refers to the number of defects with a longitudinal clearance greater than 1.5m; It refers to the number of defects with a longitudinal clearance greater than 1.0m and not greater than 1.5m; It is the defect score for a longitudinal clearance greater than 1.5m; It is the defect score for longitudinal clearance greater than 1.0m and not greater than 1.5m; It is the structural defect influence coefficient.

4. A pipeline robot control system for drainage pipeline inspection according to claim 3, characterized in that: The condition assessment module also includes a defect level assessment submodule, used to calculate pipeline structural defect parameters. The formula is as follows: The defect level assessment submodule assesses the pipeline damage level based on the obtained defect parameters.

5. A pipeline robot control system for drainage pipeline inspection according to claim 4, characterized in that: The condition assessment module also includes a defect density assessment submodule for calculating structural defect density. The formula is as follows: In the formula, L is the pipe length; i1 The length of a structural defect with a longitudinal clearance greater than 1.5m; L i2 The length of a structural defect is greater than 1.0m and not greater than 1.5m in longitudinal clearance. The defect density assessment submodule assesses the type of structural defect in the pipeline based on the obtained structural defect density.

6. A pipeline robot control system for drainage pipeline inspection according to any one of claims 1-5, characterized in that: It also includes a sludge detection module, which is used to determine whether there is sludge blockage in front of the pipeline robot, analyze the thickness and density of the sludge, and issue instructions for the pipeline robot to clear the sludge or detour based on the analysis results.

7. A pipeline robot control system for drainage pipeline inspection according to claim 1, characterized in that: It also includes a maintenance assessment module, which is used to analyze the importance parameters of the pipeline, the regional importance parameters of the area where the pipeline is located, and the soil quality impact parameters of the pipeline location. Based on the above parameters, the pipeline repair index is obtained, and the corresponding pipeline repair level is obtained.

8. A pipeline robot control method for drainage pipeline inspection, characterized in that: This method utilizes a pipeline robot control system for drainage pipeline inspection as described in any one of claims 1-7.

Images