Detection device and method for diagnosing structural and functional defects in drainage pipe networks

Abstract

The present invention discloses a detection device and method for diagnosing structural and functional defects of drainage pipe networks, and relates to the technical field of intelligent detection and diagnosis of urban drainage systems; the detection device includes an electronic fish, an upstream positioning device, a signal receiving device, and a downstream recovery device; the electronic fish includes a fish-shaped shell, an integrated mainboard, a battery, a water quality sensor, a gas sensor, a motion signal component, and a signal storage and transmitting device; the electronic fish is used to move along the drainage pipe and collect data; the signal storage and transmitting device is matched with the upstream positioning device, and the upstream positioning device is used to obtain the motion signal during the movement of the electronic fish; the signal receiving device is used to receive the data signal sent by the electronic fish and send the data to an online data platform. The present invention performs data analysis through an online data platform to identify structural and functional defects such as obstacles, siltation, damage, infiltration and inflow, mixed connection of rainwater and sewage, and pollution emissions that appear inside the pipe network.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent detection and diagnosis of urban drainage systems, and in particular to a detection device and method for diagnosing structural and functional defects of drainage pipe networks. Background Art

[0002] Urban drainage networks generally have structural and functional defects, resulting in weak sewage collection and transportation capacity, substandard water quality at sewage treatment plants, and even serious problems such as overflow pollution. At present, the operation and maintenance control of drainage networks for unconventional operation problems is inefficient and difficult, mainly reflected in two aspects. First, the identification and diagnosis methods for common typical problems such as siltation, overflow, leakage, mixed connection, and illegal discharge are difficult to meet the technical requirements of refined and intelligent management. Second, there are no targeted and efficient innovative technologies and solutions for difficult problems such as pipeline disease detection and precise positioning under high water level operation conditions and early identification of pipeline collapse risks.

[0003] The relatively mature non-destructive testing technologies for sewage pipelines in China and abroad include closed-circuit television technology (CCTV), laser scanning technology, sonar ranging technology, ground penetrating radar technology, infrared thermal imaging technology, etc., which can obtain the physical properties of the pipeline, the soil around the pipe or the groundwater level information, etc., but can only obtain some parameters, the accuracy is not enough, and most of them belong to passive detection and post-diagnosis methods. At present, the domestic sewage pipe network has many reverse slopes, serious deterioration, a large proportion of old and old, and is susceptible to downstream support. The existing fault detection, problem investigation, and disease diagnosis technical means have obvious shortcomings in dynamic perception, risk assessment, intelligent analysis, positioning and tracing in complex environments, especially in high water level conditions. The defect positioning accuracy is poor, the multi-physical field coupling disaster perception ability is weak, the multi-source detection data interpretation efficiency is low, and the level of deep analysis of monitoring data is difficult to support intelligent management and control applications and services. The real-time perception technology of static and dynamic pipeline network based on online monitoring, the automatic identification and rapid diagnosis technology of diseases, and the precise positioning technology of water-carrying operation detection are the difficulties and hotspots of research and development at this stage, and are also the core and research trend of intelligent management and control of sewage pipe networks.

[0004] Based on this, the present invention proposes a detection device and method for diagnosing structural and functional defects in drainage pipe networks. The detection device collects motion data at a high frequency, monitors water quality and gas, and uses multivariate mathematical analysis to identify structural and kinetic defects in drainage pipes, providing technical support for engineering renovation and daily operation and maintenance. Summary of the invention

[0005] The purpose of the present invention is to provide a detection device and method for diagnosing structural and functional defects of drainage pipe networks, so as to solve the problems raised in the above background technology, such as the lack of online monitoring of pipe network static and dynamic real-time perception technology, automatic identification and rapid diagnosis technology of defects, and precise positioning technology for water-carrying operation detection.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] Detection devices for diagnosing structural and functional defects in drainage networks, including electronic fish, upstream positioning devices, signal receiving devices, and downstream recovery devices;

[0008] The electronic fish includes a fish-shaped housing, an integrated mainboard, a battery, a water quality sensor, a gas sensor, a motion signal component, and a signal storage and transmitting device; and is used to move along the drainage pipe and collect data;

[0009] The gas sensor is installed above the inner wall of the fish-shaped housing and is electrically connected to the integrated mainboard, and is used to detect changes in the concentration of toxic gases in the drainage pipe and convert them into gas signals for storage in the signal storage and transmission device;

[0010] The water quality sensor is installed below the inner wall of the fish-shaped housing and is electrically connected to the integrated mainboard, and is used to detect changes in the water quality of sewage in the drainage pipe and convert it into a water quality signal to be stored in the signal storage and transmission device;

[0011] The motion signal component is integrated above the integrated mainboard and electrically connected to the integrated mainboard, and is used to determine the speed, up and down movement, acceleration, and deceleration dynamic changes of the electronic fish during movement, and convert it into a motion signal and store it in the signal storage and transmission device;

[0012] The integrated mainboard is installed in the middle of the fish-shaped housing; the signal storage and transmitting device is located above the integrated mainboard and is electrically connected to the integrated mainboard, and the battery is located at the bottom of the fish-shaped housing below the integrated mainboard; a fisheye lens is connected to the head of the outer wall of the fish-shaped housing;

[0013] The upstream positioning device is located at the inlet of the drainage pipe; the signal storage and transmission device is matched with the upstream positioning device, and the upstream positioning device is used to obtain the motion signal of the electronic fish during movement and send the data to the online data platform;

[0014] The signal receiving device is located at the outlet of the drainage pipe and is used to receive the data signal sent by the signal storage and transmitting device, and send the data to the online data platform;

[0015] The downstream recovery device is located at the outlet of the drainage pipe and is used to capture and recover the electronic fish.

[0016] Preferably, the gas sensor comprises a methane sensor and a hydrogen sulfide sensor, and the methane sensor and the hydrogen sulfide sensor are both installed above the inner wall of the fish-shaped housing.

[0017] Preferably, the water quality sensor comprises a conductivity sensor, a pH sensor, a temperature sensor, and an oxidation-reduction potential sensor, and the conductivity sensor, pH sensor, temperature sensor, and oxidation-reduction potential sensor are all installed below the inner wall of the fish-shaped housing.

[0018] Preferably, the motion signal component includes an accelerometer, a high dynamic range gyroscope, a distance sensor, and a GPS locator, and the accelerometer, the high dynamic range gyroscope, the distance sensor, and the GPS locator are all integrated above the integrated mainboard;

[0019] The electronic fish also includes a flow rate sensor, which is integrated above the integrated mainboard.

[0020] Preferably, the bottom of the fish-shaped housing is filled with a non-falling material, and the non-falling material maintains a certain angle with the battery, so that the fish-shaped housing keeps its head in front and does not fall over during movement.

[0021] Preferably, it also includes a connecting rod, and a plurality of connecting rods are provided; the connecting rod is used to place the electronic fish, the upstream positioning device, the signal receiving device, and the downstream recovery device in the drainage pipe;

[0022] A fishing line hook is connected to the tail of the outer wall of the fish-shaped shell, and the connecting rod is connected to the fishing line hook through a fishing line.

[0023] The detection method for diagnosing structural and functional defects of a drainage network using the above detection device comprises the following steps:

[0024] S1. Install the detection device in the drainage network area to be detected;

[0025] Place the upstream positioning device and electronic fish at the inlet of the drainage pipe in the upstream inspection well; place the downstream recovery device and signal receiving device at the outlet of the drainage pipe in the downstream inspection well;

[0026] S2, releasing the electronic fish to collect data;

[0027] The electronic fish moves downstream along the drainage pipe, and records the GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, and video data in the drainage network area to be tested at a high frequency of 1 time per second;

[0028] S3. Diagnose structural and functional defects of drainage pipes;

[0029] Combining the motion signal sent by the upstream positioning device and the data signal sent by the signal receiving device, the online data platform processes and analyzes the data to determine the condition of the drainage pipe and diagnose defects in the drainage pipe;

[0030] S4. Recycle the electronic fish according to the condition of the drainage pipe.

[0031] Preferably, the condition of the drainage pipe is determined in S3 as follows:

[0032] If the electronic fish positioning continues to drop, the drainage pipe is judged to be a normal operating pipe;

[0033] If the electronic fish's positioning first rises briefly and then falls, it is determined that the drainage pipe is a pipe with a pipe obstacle;

[0034] If the electronic fish's positioning first rises and continues to move for a distance and then falls, it is determined that the drainage pipe is a pipe with a pipe siltation layer;

[0035] If the water quality signal fluctuates and the electronic fish positioning continues to rise and continues to move for a certain distance after the fluctuation, it is determined that the drainage pipe is a pipe with mixed connection and inflow infiltration.

[0036] Preferably, the defect diagnosis of the drainage pipe is performed in S3 as follows:

[0037] If the drainage pipe is judged to be a normally operating pipe, the online data platform will screen and analyze the data, record the normal status of the drainage pipe based on the data, and provide a comparative database for the analysis of drainage pipe network defect data;

[0038] If the drainage pipe is judged to have a pipe obstacle, the online data platform processes the data and compares and analyzes it with the normal state data to obtain the location and height of the pipe obstacle.

[0039] If the drainage pipe is determined to have a pipe siltation layer, the online data platform processes the data and compares and analyzes it with the normal state data to obtain information on the location, thickness and length of the pipe siltation layer;

[0040] If it is determined that the drainage pipe is a pipe with mixed connections and inflow and infiltration, the online data platform will process the data and compare and analyze it with the normal state data to obtain the location and flow information of the rain and sewage mixing points based on the water quality change information and movement change information.

[0041] Preferably, the implementation of S4 is as follows:

[0042] If it is determined in S3 that the drainage pipe is a pipe with a pipe obstacle, and the length of the fishing line between the connecting rod and the electronic fish does not increase, the electronic fish is recovered by using the connecting rod at the upstream positioning device;

[0043] Otherwise, the electronic fish is recovered using the downstream recovery device at the downstream inspection well.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) The present invention uses sensors to obtain water quality, gas signals and motion signals at different locations. The integrated sensor can be replaced and selected according to different monitoring indicators, and the water quality and gas data are stored together with the motion data inside the device. The electronic fish sends the internally stored signal to the online data platform, which analyzes the signal and can identify structural and functional defects such as obstacles, siltation, damage, infiltration, rainwater and sewage mixing, and pollution emissions inside the pipe network.

[0046] (2) The electronic fish of the present invention integrates a high dynamic range gyroscope, an acceleration sensor, a distance sensor, a GPS locator, a flow rate measurement sensor and other devices, which can detect the dynamic process of the electronic fish moving up and down and accelerating and decelerating along with the water flow and convert it into signal data for storage. Through data analysis, the inflow, infiltration, obstacles and siltation in the pipeline can be obtained, providing a convenient, fast and low-cost solution for the detection of drainage pipe networks.

[0047] (3) The electronic fish in the present invention integrates a variety of water quality sensors, including temperature, pH, conductivity and redox potential, which can obtain water quality conditions at different points. The big data intelligent analysis model can be used to identify problems such as mixed pipe connections and illegal drainage, providing technical support for the engineering transformation and daily operation and maintenance management of the pipe network.

[0048] (4) The electronic fish of the present invention integrates multiple gas sensors, including methane sensors and hydrogen sulfide sensors, which can obtain the concentration of toxic gases at different points and provide technical support for the daily operation and maintenance of the pipeline network.

[0049] (5) The electronic fish in the present invention has an ultra-wide-angle fisheye lens, which can obtain the status of the internal structure of the pipeline network at different locations, provide video data for defect identification, and provide technical support for the daily operation and maintenance management of the pipeline network.

[0050] (6) Compared with traditional drainage network monitoring methods, the present invention has the characteristics of high integration, portability, mobility, self-contained power supply, adaptability to different pipelines, and replaceable and optional sensors. It can accurately identify the internal morphology and defects of the drainage network while greatly reducing the detection cost, providing technical support for engineering measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic diagram of the structure of the electronic fish in the present invention;

[0052] Figure 2 This is a schematic diagram of a normally operating pipeline in a drainage network in Example 1 of the present invention;

[0053] Figure 3 It is a schematic diagram of the situation where there are obstacles in the drainage pipe network in Example 2 of the present invention;

[0054] Figure 4 It is a schematic diagram of the siltation in the drainage pipe network in Example 3 of the present invention;

[0055] Figure 5 This is a schematic diagram of the mixed connection and inflow infiltration in the drainage network in Example 4 of the present invention.

[0056] In the figure: 1. Fish-shaped shell; 2. Integrated main board; 3. Battery; 4. Conductivity sensor; 5. pH sensor; 6. Temperature sensor; 7. Redox potential sensor; 8. Fisheye lens; 9. Methane sensor; 10. Hydrogen sulfide sensor; 11. Acceleration sensor; 12. High dynamic range gyroscope; 13. Distance sensor; 14. GPS locator; 15. Flow rate sensor; 16. Indicator light; 17. Signal storage and transmission device; 18. Fish line hook; 19. Upstream inspection well; 20. Downstream inspection well; 21. Drainage pipe; 22. Upstream positioning device; 23. Downstream recovery device; 24. Branch pipe positioning device; 25. Pipeline obstacles; 26. Pipeline siltation layer; 27. Branch pipe inspection well; 28. Rainwater and sewage mixing point. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Embodiment 1:

[0059] The detection device for diagnosing structural and functional defects of drainage pipe network mainly includes: electronic fish, positioning device, downstream recovery device 23. The drainage pipe network includes upstream inspection well 19, downstream inspection well 20, drainage pipe 21, branch inspection well 27, and the drainage pipe 21 is connected with the upstream inspection well 19, downstream inspection well 20, and branch inspection well 27. There are pipe obstacles 25 or pipe siltation layer 26 in the drainage pipe 21. The electronic fish is used to move along the drainage pipe 21 to collect data for diagnosing structural and functional defects of the drainage pipe network. The positioning device is because the drainage pipe network is laid underground. When the electronic fish collects data in the drainage pipe 21, it is difficult to obtain the underground GPS signal in time. By pairing the electronic fish with the positioning device, the electronic fish positioning signal is obtained, and the signal data is transmitted to the online data platform on the ground. The online data platform can obtain more accurate electronic fish positioning signals, and then judge the situation in the drainage pipe 21.

[0060] In this embodiment, the positioning device includes an upstream positioning device 22 and a branch pipe positioning device 24. The upstream positioning device 22 is placed at the pipe inlet in the upstream inspection well 19 through a connecting rod, and the branch pipe positioning device 24 is placed in the branch pipe inspection well 27 through a connecting rod (since the drainage pipe network is a mesh structure, there are multiple branches converging into a drainage pipe 21, and the branch pipe positioning device 24 is used to study whether there is a mixed connection in the branches).

[0061] In this embodiment, a capture device is installed inside the downstream recovery device 23, and the downstream recovery device 23 is placed at the outlet of the pipe in the downstream inspection well 20 through a connecting rod, and the electronic fish is captured by the capture device for recovery. A trigger device can also be installed at the bottom of other connecting rods, and the electronic fish is loaded through the trigger device, and the bottom of the connecting rod is connected to the electronic fish through a fishing line.

[0062] In this embodiment, Figure 1 As shown, the electronic fish includes: a fish-shaped shell 1, an integrated mainboard 2, a battery 3, a water quality sensor, a fisheye lens 8, a gas sensor, an acceleration sensor 11, a high dynamic range gyroscope 12, a distance sensor 13, a GPS locator 14, a flow rate sensor 15, an indicator light 16, a signal storage and transmitting device 17, and a fishing line hook 18.

[0063] Outside the fish-shaped shell 1, a fisheye lens 8 is located at the head of the electronic fish to capture images recognized during the movement of the electronic fish and store them inside the electronic fish; a fishing line hook 18 is located at the tail of the electronic fish, and the hook position is set by the tail of the electronic fish. A fishing line is installed on the connecting rod to recover the electronic fish when the electronic fish encounters a pipe obstacle 25 and cannot move; an indicator light 16 is located in the middle of the electronic fish.

[0064] Inside the fish-shaped shell 1, the integrated mainboard 2 is installed in the middle of the fish-shaped shell 1; the gas sensor is located at the front side of the upper part of the fish-shaped shell 1, and the signal storage and transmitting device 17 is located at the rear side of the upper part of the fish-shaped shell 1; the water quality sensor is located at the lower part of the fish-shaped shell 1, and the battery 3 and the non-falling material are located at the bottom of the fish-shaped shell 1, and the non-falling material is made of plasticine or the like.

[0065] Specifically, the water quality sensor mainly includes a conductivity sensor 4, a pH sensor 5, a temperature sensor 6, and an oxidation-reduction potential sensor 7. The conductivity sensor 4, the pH sensor 5, the temperature sensor 6, and the oxidation-reduction potential sensor 7 are located at the bottom of the fish-shaped shell 1 and are used to detect changes in the water quality of sewage in the drainage pipe 21.

[0066] Furthermore, the water quality sensors can be replaced and selected based on the detected water quality parameters, and the integrated quantity can be adjusted based on the size of the electronic fish.

[0067] Specifically, the gas sensor mainly includes a methane sensor 9 and a hydrogen sulfide sensor 10 . The methane sensor 9 and the hydrogen sulfide sensor 10 are located on the upper part of the fish-shaped housing 1 and are used to detect changes in the concentration of poisonous gases in the drainage pipe 21 .

[0068] Furthermore, the gas sensor can be replaced and selected based on the detected toxic gas parameters, and the integrated quantity can be adjusted based on the size of the electronic fish.

[0069] Specifically, the acceleration sensor 11, the high dynamic range gyroscope 12, the distance sensor 13, and the GPS locator 14 are integrated on the integrated mainboard 2, and are used to determine the speed, up and down movement, acceleration, and deceleration dynamic changes of the electronic fish during walking, and convert them into signals for storage.

[0070] Specifically, the signal storage and transmitting device 17 is located above the inside of the fish-shaped housing 1 and is matched with the positioning device to send motion signals and water quality parameters during the movement.

[0071] Specifically, the battery 3 and the non-falling material are located at the bottom of the fish-shaped housing 1 and maintain a certain angle, so that the electronic fish can keep its head in front and will not fall over during the movement.

[0072] like Figure 2 As shown, if it is a normal operating pipeline. The detection method for diagnosing structural and functional defects of the drainage network specifically includes the following steps:

[0073] S1: Position and match the upstream positioning device 22 with the electronic fish, and then use a connecting rod to put the upstream positioning device 22 and the electronic fish into the inlet of the drainage pipe 21 in the upstream inspection well 19; connect the electronic fish with a fishing line;

[0074] A downstream recovery device 23 and a signal receiving device are placed at the downstream inspection well 20 to receive the data signal sent by the electronic fish and send the data to the online data platform.

[0075] S2: Then, the trigger device is used to release the electronic fish to collect data at a frequency of 1 time / second; the electronic fish moves downstream along the drainage pipe 21, and records the GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, video data, etc. in the drainage network area to be tested at a high frequency.

[0076] S3: After obtaining the signal data, the online data platform performs data screening and analysis, records the normal state in the drainage pipe 21 based on the data, and provides a comparative database for the analysis of pipe network defect data.

[0077] Embodiment 2:

[0078] like Figure 3 As shown, if there are obstacles in the pipe network. The detection method for diagnosing structural and functional defects of the drainage pipe network specifically includes the following steps:

[0079] S1: Position and match the upstream positioning device 22 with the electronic fish, and then use a connecting rod to put the upstream positioning device 22 and the electronic fish into the inlet of the drainage pipe 21 in the upstream inspection well 19; connect the electronic fish with a fishing line;

[0080] A capture device and a signal receiving device are placed at the downstream inspection well 20 to receive the data signal sent by the electronic fish and send the data to the online data platform.

[0081] S2: Then, the trigger device is used to release the electronic fish to collect data at a frequency of 1 time / second; the electronic fish moves downstream along the drainage pipe 21, and records the GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, video data, etc. in the drainage network area to be tested at a high frequency.

[0082] S3: When the electronic fish moves with the water flow in the drainage pipe 21, it will rise with the water level when it encounters the pipe obstacle 25. After crossing the pipe obstacle 25, it will fall with the water level. In this process, a short rise and fall data is recorded; if it is an obstacle such as a tree root, the electronic fish will stay at the pipe obstacle 25 and will not move. At this time, the length of the fishing line will not continue to increase. The electronic fish is retrieved from the upstream inspection well 19, and the location of the tree root can be roughly determined based on the positioning data and the length of the fishing line.

[0083] S4: After obtaining the signal data, the online data platform processes the data and compares and analyzes it with the normal state data to obtain the location and approximate height of the pipeline obstacle 25.

[0084] Embodiment 3:

[0085] like Figure 4 As shown, if there is siltation in the pipe network. The detection method for diagnosing structural and functional defects of the drainage pipe network specifically includes the following steps:

[0086] S1: Position and match the upstream positioning device 22 with the electronic fish, and then use a connecting rod to put the upstream positioning device 22 and the electronic fish into the inlet of the drainage pipe 21 in the upstream inspection well 19; connect the electronic fish with a fishing line;

[0087] A capture device and a signal receiving device are placed at the downstream inspection well 20 to receive the data signal sent by the electronic fish and send the data to the online data platform.

[0088] S2: Then, the trigger device is used to release the electronic fish to collect data at a frequency of 1 time / second; the electronic fish moves downstream along the drainage pipe 21, and records the GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, video data, etc. in the drainage network area to be tested at a high frequency.

[0089] S3: When the electronic fish moves with the water flow in the drainage pipe 21, when it encounters the pipe siltation layer 26, it will continue to move for a distance as the water level rises, and the length of the movement distance is closely related to the length of the siltation layer. After crossing the pipe siltation layer 26, it will descend as the water level drops, and then record a rise and fall data in this process.

[0090] S4: After obtaining the signal data, the online data platform processes the data and compares and analyzes it with the normal state data to obtain information such as the location, thickness, and length of the pipeline siltation layer 26.

[0091] Embodiment 4:

[0092] like Figure 5 As shown, if there is mixed connection and inflow infiltration in the pipe network. The detection method for diagnosing structural and functional defects of the drainage pipe network specifically includes the following steps:

[0093] S1: Position and match the upstream positioning device 22 with the electronic fish, and then use a connecting rod to put the upstream positioning device 22 and the electronic fish into the inlet of the drainage pipe 21 in the upstream inspection well 19; connect the electronic fish with a fishing line;

[0094] A capture device and a signal receiving device are placed at the downstream inspection well 20 to receive the data signal sent by the electronic fish and send the data to the online data platform.

[0095] S2: Then, the trigger device is used to release the electronic fish to collect data at a frequency of 1 time / second; the electronic fish moves downstream along the drainage pipe 21, and records the GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, video data, etc. in the drainage network area to be tested at a high frequency.

[0096] S3: When the electronic fish moves with the water flow in the drainage pipe 21, when it encounters the rainwater and sewage mixing point 28, the water quality data will show obvious fluctuations. After the confluence, the water quality will remain within a certain range and will no longer fluctuate significantly. In this process, an obvious water quality fluctuation data is recorded; the flow rate will increase at the rainwater and sewage mixing point 28, and the electronic fish will continue to move with the rising water level until it reaches the downstream inspection well 20.

[0097] S4: After obtaining the signal data, the online data platform processes the data and compares and analyzes it with the normal state data. Based on the water quality change information and movement change information, the location and flow rate of the rain and sewage mixing point 28 can be obtained.

[0098] The above description is only used to help understand the method of the present invention and its core essence, but the protection scope of the present invention is not limited thereto. For those skilled in the art in the art, equivalent replacement or change according to the technical solution and inventive concept of the present invention within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A detection device for diagnosing structural and functional defects of a drainage network, characterized in that: It includes an electronic fish, an upstream positioning device (22), a signal receiving device, and a downstream recovery device (23); The electronic fish comprises a fish-shaped housing (1), an integrated mainboard (2), a battery (3), a water quality sensor, a gas sensor, a motion signal component, and a signal storage and transmission device (17); the drainage pipe network comprises an upstream inspection well (19), a downstream inspection well (20), a drainage pipe (21), and a branch inspection well (27); the drainage pipe (21) is connected to the upstream inspection well (19), the downstream inspection well (20), and the branch inspection well (27); a pipe obstacle (25) or a pipe siltation layer (26) exists in the drainage pipe (21); the electronic fish is used to move along the drainage pipe (21) and collect data; The gas sensor is installed above the inner wall of the fish-shaped housing (1) and is electrically connected to the integrated mainboard (2), and is used to detect changes in the concentration of toxic gases in the drainage pipe (21) and convert them into gas signals for storage in the signal storage and transmission device (17); The water quality sensor is installed below the inner wall of the fish-shaped housing (1) and is electrically connected to the integrated mainboard (2) to detect changes in the water quality of sewage in the drainage pipe (21) and convert it into a water quality signal for storage in the signal storage and transmission device (17); The motion signal component is integrated above the integrated main board (2) and is electrically connected to the integrated main board (2), and is used to determine the speed, up and down movement, acceleration, and deceleration dynamic changes of the electronic fish during movement, and convert it into a motion signal for storage in the signal storage and transmission device (17); The motion signal component comprises an acceleration sensor (11), a high dynamic range gyroscope (12), a distance sensor (13), and a GPS locator (14); the acceleration sensor (11), the high dynamic range gyroscope (12), the distance sensor (13), and the GPS locator (14) are all integrated above the integrated mainboard (2); The electronic fish also includes a flow rate sensor (15), and the flow rate sensor (15) is integrated above the integrated main board (2); The integrated mainboard (2) is installed in the middle of the fish-shaped housing (1); the signal storage and transmission device (17) is located above the integrated mainboard (2) and is electrically connected to the integrated mainboard (2); the battery (3) is located at the bottom of the fish-shaped housing (1) below the integrated mainboard (2); the head of the outer wall of the fish-shaped housing (1) is connected to a fisheye lens (8); The upstream positioning device (22) is located at the inlet of the drainage pipe (21); the signal storage and transmission device (17) is matched with the upstream positioning device (22), and the upstream positioning device (22) is used to obtain the motion signal of the electronic fish during its movement and send the data to the online data platform; The signal receiving device is located at the outlet of the drainage pipe (21) and is used to receive the data signal sent by the signal storage and transmitting device (17) and send the data to the online data platform; The downstream recovery device (23) is located at the outlet of the drainage pipe (21) and is used to capture and recover the electronic fish.

2. The detection device for diagnosing structural and functional defects of a drainage network according to claim 1, characterized in that: The gas sensor comprises a methane sensor (9) and a hydrogen sulfide sensor (10), and the methane sensor (9) and the hydrogen sulfide sensor (10) are both installed above the inner wall of the fish-shaped housing (1).

3. The detection device for diagnosing structural and functional defects of a drainage network according to claim 1, characterized in that: The water quality sensor comprises a conductivity sensor (4), a pH sensor (5), a temperature sensor (6), and a redox potential sensor (7); the conductivity sensor (4), the pH sensor (5), the temperature sensor (6), and the redox potential sensor (7) are all installed below the inner wall of the fish-shaped housing (1).

4. The detection device for diagnosing structural and functional defects of a drainage network according to claim 1, characterized in that: The bottom of the fish-shaped housing (1) is filled with a non-falling material, and the non-falling material maintains a certain angle with the battery (3), so that the fish-shaped housing (1) keeps its head in front and does not fall over during movement.

5. The detection device for diagnosing structural and functional defects of a drainage network according to claim 1, characterized in that: It also includes a connecting rod, wherein a plurality of connecting rods are provided; the connecting rod is used to place the electronic fish, the upstream positioning device (22), the signal receiving device, and the downstream recovery device (23) in the drainage pipe (21); A fishing line hook (18) is connected to the tail of the outer wall of the fish-shaped housing (1), and the connecting rod is connected to the fishing line hook (18) via a fishing line.

6. A detection method for diagnosing structural and functional defects of a drainage network using the detection device according to any one of claims 1 to 5, comprising the following steps: S1. Install the detection device in the drainage network area to be detected; The upstream positioning device (22) and the electronic fish are placed at the inlet of the drainage pipe (21) in the upstream inspection well (19); the downstream recovery device (23) and the signal receiving device are placed at the outlet of the drainage pipe (21) in the downstream inspection well (20); S2, releasing the electronic fish to collect data; The electronic fish moves downstream along the drainage pipe (21), and records GPS positioning data, water depth data, speed data, distance data, water quality data, gas data, and video data in the drainage pipe network area to be detected at a high frequency, with a frequency of 1 time per second; S3, diagnosing structural and functional defects of the drainage pipe (21); Combining the motion signal sent by the upstream positioning device (22) and the data signal sent by the signal receiving device, the online data platform performs data processing and analysis to determine the condition of the drainage pipe (21) and perform defect diagnosis on the drainage pipe (21); S4. Recover the electronic fish according to the condition of the drainage pipe (21).

7. According to the detection method for diagnosing structural and functional defects of a drainage network according to claim 6, the condition of the drainage pipe (21) is determined in S3 as follows: If the positioning of the electronic fish continues to decrease, it is determined that the drainage pipe (21) is a normally operating pipe; If the positioning of the electronic fish first rises briefly and then falls, it is determined that the drainage pipe (21) is a pipe with a pipe obstacle (25); If the electronic fish first rises and continues to move for a certain distance and then falls, it is determined that the drainage pipe (21) is a pipe with a pipe siltation layer (26); If the water quality signal fluctuates and the electronic fish position continues to rise and continues to move for a certain distance after the fluctuation, it is determined that the drainage pipe (21) is a pipe with mixed connection and inflow infiltration.

8. According to the detection method for diagnosing structural and functional defects of a drainage network according to claim 7, the defect diagnosis of the drainage pipe (21) in S3 is specifically as follows: If it is determined that the drainage pipe (21) is a normally operating pipe, the online data platform performs data screening and analysis, records the normal state of the drainage pipe (21) based on the data, and provides a comparative database for analysis of drainage pipe network defect data; If it is determined that the drainage pipe (21) is a pipe with a pipe obstacle (25), the online data platform processes the data and compares and analyzes it with the normal state data to obtain the location and height of the pipe obstacle (25); If it is determined that the drainage pipe (21) is a pipe having a pipe siltation layer (26), the online data platform processes the data and compares and analyzes it with the normal state data to obtain information on the location, thickness and length of the pipe siltation layer (26); If it is determined that the drainage pipe (21) is a pipe with mixed connection and inflow and infiltration, the online data platform processes the data and compares and analyzes it with the normal state data, and obtains the location and flow information of the rain and sewage mixing point (28) based on the water quality change information and movement change information.

9. According to the detection method for diagnosing structural and functional defects of a drainage network according to claim 7, the implementation of S4 is as follows: If it is determined in S3 that the drainage pipe (21) is a pipe with a pipe obstacle (25), and the length of the fishing line between the connecting rod and the electronic fish does not increase any more, the electronic fish is recovered by using the connecting rod at the upstream positioning device (22); Otherwise, the electronic fish is recovered by using the downstream recovery device (23) at the downstream inspection well (20).

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