Pipeline detection device and pipeline detection method

Abstract

The present application provides a pipeline detection device and a pipeline detection method. The pipeline detection device includes a sub-vehicle and a mother vehicle. The sub-vehicle includes a first vehicle body, a detection component, and a cleaning component. Both the detection component and the cleaning component are installed on the first vehicle body. The cleaning component is used to clean the pipeline to be detected, and the detection component is used to detect the pipeline to be detected. The mother vehicle includes a second vehicle body and a plugging member. The plugging member is installed on the second vehicle body and is used to plug the upstream pipeline of the pipeline to be detected. A parking area is provided on the second vehicle body. The sub-vehicle can enter and exit the parking area, and the parking area is movably arranged. The pipeline detection method includes steps such as plugging the upstream pipeline of the pipeline to be detected, identifying the location of pipeline diseases through an infrared camera, identifying the size of pipeline diseases through an optical camera, and performing non-destructive detection on the voids in the base cushion of the pipeline to be detected through a vibrator and a vibration sensor, etc.

Description

Technical Field

[0001] This application relates to the technical field of pipeline detection, in particular to a pipeline detection device and a pipeline detection method. Background Art

[0002] Pipelines are important infrastructure in modern society. Pipelines can be used for the transmission of substances such as tap water, rainwater, wastewater, and petroleum. However, due to reasons such as service life or transported substances, defects and obstacles are likely to appear inside the pipelines, affecting their safety and working performance. Therefore, it is necessary to detect, maintain, and clean the pipelines in a timely and effective manner.

[0003] In some related technologies, pipeline detection is carried out manually. For example, inspectors will patrol along the pipeline route to observe whether there are problems such as cracks, corrosion, and water leakage on the pipeline surface. However, manual detection requires technicians to have relatively rich experience and is time-consuming and laborious. Especially for pipelines buried deep underground or difficult to access, it is more difficult to carry out manual detection.

[0004] Some related technologies also propose to clean pipelines through pipeline detection devices. However, on the one hand, the sediment and flowing liquid in the pipeline will block the recognition system of the pipeline detection device, making it difficult for the pipeline detection devices in related technologies to comprehensively detect pipelines with sediment and liquid flow; on the other hand, the pipeline detection devices in related technologies need to be manually transferred when detecting some pipelines with inspection wells, which is time-consuming and laborious, resulting in low pipeline detection efficiency. Summary of the Invention

[0005] This application aims to at least solve one of the technical problems existing in the prior art. For this reason, this application proposes a pipeline detection device and a pipeline detection method, which can prevent pollutants and liquids such as sediment in the pipeline to be detected from interfering with the detection, and can improve the pipeline detection efficiency.

[0006] The pipeline detection device provided by this application includes: a sub-vehicle, the sub-vehicle includes a first vehicle body, a detection component, and a cleaning component. The detection component and the cleaning component are both installed on the first vehicle body. The cleaning component is used to clean the pipeline to be detected, and the detection component is used to detect the pipeline to be detected; a mother vehicle, the mother vehicle includes a second vehicle body and a blocking member. The blocking member is installed on the second vehicle body. The blocking member is used to block the upstream pipeline of the pipeline to be detected. A parking area is provided on the second vehicle body. The sub-vehicle can enter and exit the parking area, and the parking area is movably arranged.

[0007] The pipeline detection device provided by the present application has at least the following technical effects: the cleaning component can clean pollutants such as sediment in the pipeline to be detected to prevent interference with the pipeline detection by the detection component; the blocking component can block the upstream pipeline of the pipeline to be detected and drain the liquid in the pipeline to be detected, so as to detect the pipeline to be detected and prevent the liquid in the pipeline to be detected from interfering with the detection; through the mobile parking area, the position of the sub-vehicle can be adjusted to align the parking area with the pipe orifice of the pipeline to be detected, so that the sub-vehicle can easily enter the pipeline to be detected without manual transfer, which saves time and effort and can improve the pipeline detection efficiency.

[0008] According to some embodiments of the present application, the detection component includes a camera, the camera is movably arranged, and the camera is used to identify pipeline diseases.

[0009] According to some embodiments of the present application, the camera includes an optical camera and an infrared camera, and the optical camera is connected to the YOLO image recognition system.

[0010] According to some embodiments of the present application, the detection component further includes a vibrator and a vibration sensor, the vibrator is used to strike the pipeline to be detected to generate an impact elastic wave signal, and the vibration sensor is used to receive the impact elastic wave signal.

[0011] According to some embodiments of the present application, the cleaning component includes a high-pressure water gun and a water source, the high-pressure water gun is communicated with the water source, and the high-pressure water gun is movably arranged.

[0012] According to some embodiments of the present application, the second vehicle body includes a base and a cabin, the cabin is connected to the base through a lifting turntable, the blocking component is arranged on the cabin, the parking area is arranged in the cabin, the cabin is provided with a hatch, the sub-vehicle enters and exits the parking area through the hatch, and a lifting point is arranged on the second vehicle body, and the lifting point is used to lift the mother vehicle.

[0013] According to some embodiments of the present application, the blocking component is an airbag, and the mother vehicle further includes an inflation device, and the inflation device is communicated with the airbag.

[0014] According to some embodiments of the present application, the first vehicle body is provided with a first driving mechanism, the first driving mechanism is used to drive the first vehicle body to move forward, the second vehicle body is provided with a second driving mechanism, and the second driving mechanism is used to drive the second vehicle body to move forward.

[0015] According to some embodiments of the present application, the first driving mechanism includes a first driving component, a power gear, and a crawler. The first driving component is connected to the power gear to drive the power gear to rotate. The crawler is sleeved outside the power gear, and the power gear is connected to the crawler to drive the crawler to rotate, thereby driving the first vehicle body to move forward. A limiting plate is arranged outside the power gear. The second driving mechanism includes a second driving component and a driving wheel. The second driving component is connected to the driving wheel to drive the driving wheel to rotate, thereby driving the second vehicle body to move forward.

[0016] The pipeline detection method provided by the present application includes the following steps: blocking the upstream pipeline of the pipeline to be detected through a blocking member, and the sub-vehicle enters the pipeline to be detected from the parking area; identifying the position of the pipeline disease through an infrared camera, and identifying the size of the pipeline disease through an optical camera; performing non-destructive detection on the base cushion cavity of the pipeline to be detected through a vibrator and a vibration sensor, and analyzing and processing the impact elastic wave signal obtained by the vibration sensor to determine the position, size, and shape of the cavity.

[0017] The additional aspects and advantages of the present application will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0019] Figure 1 is a schematic structural diagram of the pipeline detection device in an embodiment of the present application;

[0020] Figure 2 is a schematic structural diagram of the mother vehicle in an embodiment of the present application;

[0021] Figure 3 is a schematic structural diagram of the sub-vehicle in an embodiment of the present application;

[0022] Figure 4 is another schematic structural diagram of the sub-vehicle in an embodiment of the present application;

[0023] Figure 5 is a schematic structural diagram of the pipeline detection device detecting a pipeline in an embodiment of the present application.

[0024] Reference numerals:

[0025] Sub-vehicle 100, first vehicle body 110, power gear 111, crawler 112, limit plate 113, optical camera 121, infrared camera 122, lighting lamp 123, vibrator 124, vibration sensor 125, high-pressure water gun 131, high-pressure water pipe 132, integrated pipe 140, first housing 150, gimbal pan-tilt 160; mother vehicle 200, second vehicle body 210, base 211, cabin 212, hatch 2121, parking area 2122, lifting turntable 213, hook 214, drive wheel 215, plugging member 220; pipeline to be detected 310, upstream pipeline 320, liquid 321, pipeline inspection entrance 330. Detailed implementation manners

[0026] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0027] In the description of the present application, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0028] In the description of the present application, the meaning of "several" is one or more, the meaning of "multiple" is two or more, "greater than", "less than", "exceeding", etc. are understood not to include the present number, and "above", "below", "within", etc. are understood to include the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0029] In the description of the present application, it should be understood that in terms of orientation description, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0030] In the description of this application, unless otherwise clearly defined, terms such as "setting", "installation", and "connection" should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in this application in combination with the specific content of the technical solution.

[0031] An embodiment of this application provides a pipeline detection device, which can prevent pollutants and liquids such as sediment in the pipeline 310 to be detected from interfering with the detection, and can improve the pipeline detection efficiency.

[0032] Exemplarily, refer to Figures 1 to 3 , the pipeline detection device includes a sub-vehicle 100 and a mother vehicle 200. The sub-vehicle 100 includes a first vehicle body 110, a detection component, and a cleaning component. The detection component and the cleaning component are both installed on the first vehicle body 110. The cleaning component is used to clean the pipeline 310 to be detected, and the detection component is used to detect the pipeline 310 to be detected; the mother vehicle 200 includes a second vehicle body 210 and a blocking member 220. The blocking member 220 is installed on the second vehicle body 210. The blocking member 220 is used to block the upstream pipeline 320 of the pipeline 310 to be detected. A parking area 2122 is provided on the second vehicle body 210. The sub-vehicle 100 can enter and exit the parking area 2122, and the parking area 2122 is movably arranged.

[0033] Through the cleaning component, pollutants such as sediment in the pipeline 310 to be detected can be cleaned to prevent interfering with the pipeline detection by the detection component. Through the blocking member 220, the upstream pipeline 320 of the pipeline 310 to be detected can be blocked, and the liquid in the pipeline 310 to be detected can be drained to detect the pipeline 310 to be detected, which can prevent the liquid in the pipeline 310 to be detected from interfering with the detection; by moving the parking area 2122, the position of the sub-vehicle 100 can be adjusted so that the parking area 2122 is aligned with the pipe orifice of the pipeline 310 to be detected, so as to facilitate the sub-vehicle 100 to enter the pipeline 310 to be detected without manual transfer, which saves time and effort and can improve the pipeline detection efficiency.

[0034] Optionally, in some embodiments, the detection component includes a camera, the camera is movably arranged, and the camera is used to identify pipeline diseases. By moving the camera, the angle of the camera can be appropriately adjusted to facilitate the identification of pipeline diseases. Optionally, the camera can be a waterproof camera.

[0035] Optionally, refer to Figure 3 , the detection component further includes a lighting lamp 123, and the lighting lamp 123 can be arranged near the camera, which can provide lighting for the camera and facilitate the operation of the camera.

[0036] Optionally, in some embodiments, refer to Figure 3, the camera includes an optical camera 121 and an infrared camera 122. The optical camera 121 is connected to the YOLO image recognition system. The infrared camera 122 can detect the pipe wall of the pipeline 310 to be detected by using infrared thermal imaging technology, and can use the thermal imaging results combined with the deep learning model of local leakage diseases of the drainage pipeline to locate the specific damaged position. The internal part of the pipeline 310 to be detected can be detected in real time through the optical camera 121, and the optical camera 121 is connected to the YOLO image recognition system, which can recognize pipeline diseases (such as cracks, breakages, etc.) in real time. In other words, the position of the pipeline disease can be recognized through the infrared camera 122, and the size of the pipeline disease can be recognized through the optical camera 121.

[0037] Optionally, in some embodiments, refer to Figure 3 and Figure 4 , the detection component further includes an exciter 124 and a vibration sensor 125. The exciter 124 is used to strike the pipeline 310 to be detected to generate an impact elastic wave signal, and the vibration sensor 125 is used to receive the impact elastic wave signal. Optionally, the exciter 124 is installed in front of the first vehicle body 110 along the driving direction of the first vehicle body 110, and the vibration sensor 125 is installed behind the first vehicle body 110 along the driving direction of the first vehicle body 110. Optionally, the exciter 124 is swingably arranged, and by swinging the exciter 124, the exciter 124 can strike the pipeline 310 to be detected. Optionally, the exciter 124 can be an impact hammer.

[0038] The exciter 124 and the vibration sensor 125 can be used to perform non-destructive detection of the void in the pipeline base cushion by using the impact echo method. Exemplarily, the exciter 124 strikes the pipeline to generate an impact elastic wave signal (the propagation laws of the impact elastic wave in the pipeline base cushion and different types of voids are different), the vibration sensor 125 receives the impact elastic wave signal, and the high-resolution spectrum analysis method (MEM analysis) is used to process the impact elastic wave signal received by the vibration sensor 125, and information such as frequency, amplitude, and time delay reflecting the characteristics of the void in the pipeline base cushion is extracted. Three-dimensional profile slices are generated through the spectrum data, and then the contour cloud map of the debonding index is generated, which can intuitively display the void distribution of the pipeline base cushion and can determine the position, size, and shape of the void.

[0039] Optionally, in some embodiments, the cleaning component includes a high-pressure water gun 131 and a water source. The high-pressure water gun 131 is connected to the water source, and the high-pressure water gun 131 is movably arranged. By moving the high-pressure water gun 131, the impact direction of the high-pressure water gun 131 can be adjusted to clean the silt at different positions.

[0040] Optionally, the cleaning assembly further includes a high-pressure water pipe 132. The high-pressure water gun 131 is communicated with a water source through the high-pressure water pipe 132. The high-pressure water pipe 132 is used to provide water pressure and water flow for the high-pressure water gun 131. The high-pressure water gun 131 is used to eject high-pressure water flow to clean the sediment in the pipeline, so as to prevent the sediment from interfering with the detection of the pipeline. Optionally, the sub-vehicle 100 further includes a power supply line, and the power supply line is used to supply power to the sub-vehicle 100. Optionally, the power supply line and the high-pressure water pipe 132 are integrated to form an integrated pipe 140.

[0041] Optionally, the cleaning assembly may further include a suction device, and the sediment or other garbage that has separated from the pipe wall can be sucked into the accommodation cavity of the suction device through the suction device, which will not be elaborated here.

[0042] Optionally, referring to Figure 3 , the sub-vehicle 100 includes a first housing 150. The first housing 150 is connected above the first vehicle body 110 through a gimbal pan-tilt 160. The optical camera 121, the infrared camera 122, the high-pressure water gun 131 and the lighting lamp 123 are all installed on the first housing 150. The gimbal pan-tilt 160 can drive the first housing 150 to rotate in all directions, so that the focusing positions of the optical camera 121 and the infrared camera 122, the lighting direction of the lighting lamp 123 and the impact direction of the high-pressure water gun 131 can be adjusted.

[0043] Optionally, the optical camera 121, the infrared camera 122 and the lighting lamp 123 are all installed inside the first housing 150, and the infrared camera 122 is installed above the optical camera 121, and the lighting lamps 123 are installed on both sides of the optical camera 121. Optionally, the high-pressure water guns 131 are installed on both sides of the first housing 150. Arranging the optical camera 121, the infrared camera 122 and the lighting lamp 123 inside the first housing 150 can prevent the high-pressure water gun 131 or the residual liquid 321 in the pipeline from damaging the camera and can protect the optical camera 121, the infrared camera 122 and the lighting lamp 123.

[0044] Optionally, in some embodiments, referring to Figure 2, the second vehicle body 210 includes a base 211 and a cabin 212. The cabin 212 is connected to the base 211 through a lifting turntable 213. A sealing member 220 is provided on the cabin 212. A parking area 2122 is arranged inside the cabin 212. The cabin 212 is provided with a hatch 2121. The sub-vehicle 100 enters and exits the parking area 2122 through the hatch 2121. Lifting points are provided on the second vehicle body 210, and the lifting points are used to lift the mother vehicle 200. Optionally, a hook 214 is provided at the lifting point of the second vehicle body 210. Optionally, the lifting turntable 213 is a hydraulic lifting turntable 213. Through the lifting turntable 213, the cabin 212 can be lifted and rotated, so that the hatch 2121 can be aligned with the pipe orifice of the pipeline 310 to be detected, facilitating the sub-vehicle 100 to enter the pipeline 310 to be detected from the parking area 2122.

[0045] Optionally, a switchable hatch door is provided at the hatch 2121, and the hatch 2121 can be opened and closed by opening and closing the hatch door. It should be noted that when the upstream pipeline 320 of the pipeline 310 to be detected is not blocked, the hatch door can be in a closed state to prevent the liquid 321 in the pipeline from entering the sub-vehicle 100 and damaging the sub-vehicle 100.

[0046] Optionally, in some embodiments, the sealing member 220 is an airbag. The mother vehicle 200 further includes an inflation device, and the inflation device is communicated with the airbag. Optionally, the airbag is installed on the outer side wall of the cabin 212, and the inflation device can be arranged inside the cabin 212. Optionally, the inflation device can be an air pump.

[0047] It can be understood that the number and specific size of the airbags can be set according to actual needs, and no specific limitation is made here. Optionally, three airbags can be provided, and the three airbags are arranged at intervals along the circumferential direction of the cabin 212 on the outer side wall of the cabin 212.

[0048] Optionally, in some embodiments, the first vehicle body 110 is provided with a first driving mechanism for driving the first vehicle body 110 to move forward, and the second vehicle body 210 is provided with a second driving mechanism for driving the second vehicle body 210 to move forward.

[0049] Optionally, in some embodiments, refer to Figure 3 , the first driving mechanism includes a first driving component, a power gear 111 and a crawler 112. The first driving component is connected to the power gear 111 to drive the power gear 111 to rotate. The crawler 112 is sleeved outside the power gear 111, and the power gear 111 is connected to the crawler 112 to drive the crawler 112 to rotate, thereby driving the first vehicle body 110 to move forward. A limiting plate 113 is arranged outside the power gear 111, and the limiting plate 113 is used to position the power gear 111 to prevent the power gear 111 from being misaligned and running out of position. Refer to Figure 2, the second driving mechanism includes a second driving component and a driving wheel 215. The second driving component is connected to the driving wheel 215 to drive the driving wheel 215 to rotate, thereby driving the second vehicle body 210 to move forward. Optionally, both the first driving component and the second driving component can be driving motors. Optionally, the first driving component can be arranged inside the first vehicle body 110, and the second driving component can be arranged inside the base 211.

[0050] Other components and operations of the pipeline detection device according to the embodiments of the present application are known to those of ordinary skill in the art and will not be described in detail here.

[0051] The embodiments of the present application also provide a pipeline detection method, which mainly includes the following steps:

[0052] Step S100: Block the upstream pipeline 320 of the pipeline 310 to be detected through the blocking member 220, and the sub-vehicle 100 enters the pipeline 310 to be detected from the parking area 2122.

[0053] Optionally, in some embodiments, refer to Figure 5 , the pipeline detection device (i.e., the mother vehicle 200 loaded with the sub-vehicle 100) can be lifted by a hoisting device such as a winch, and the pipeline detection device is lifted and placed into the pipeline inspection entrance 330. Adjust the position of the hatch 2121 through the lifting turntable 213 so that the hatch 2121 is aligned with the entrance of the pipeline 310 to be detected, and the airbag is aligned with the upstream pipeline 320 of the pipeline 310 to be detected. Open the inflation device to inflate the airbag, so that the airbag expands to block the upstream pipeline 320, thereby intercepting the liquid 321 in the upstream pipeline 320, draining the liquid in the pipeline 310 to be detected, opening the hatch door, and the sub-vehicle 100 enters the pipeline 310 to be detected from the parking area 2122.

[0054] Step S200: Identify the location of the pipeline disease through the infrared camera 122, and identify the size of the pipeline disease through the optical camera 121.

[0055] It can be understood that the internal space of the pipeline is narrow and the light is insufficient. If only optical imaging is used, it is difficult to effectively identify diseases such as cracks, peeling, and rust in the pipeline lining that cause pipeline leakage. Therefore, the infrared camera 122 can adopt infrared thermal technology to identify the temperature difference areas caused by different water contents, and then identify the location of the pipeline disease. When the pipeline disease is located, a high-definition close-range optical camera 121 can be used to monitor the crack width and calculate the defect area to obtain the size of the pipeline disease.

[0056] Optionally, in some embodiments, if there are sediments or other debris in the pipeline 310 to be detected, cleaning components such as a high-pressure water gun 131 can be used for cleaning to prevent the sediments or other debris from interfering with the detection. At the same time, the pipeline can be purified and dredged.

[0057] Step S300: Non-destructively detect the voids in the base cushion of the pipeline 310 to be detected through the exciter 124 and the vibration sensor 125, and analyze and process the impact elastic wave signals obtained by the vibration sensor 125 to determine the position, size and shape of the voids.

[0058] Exemplarily, the exciter 124 knocks on the pipeline to generate impact elastic wave signals (there are differences in the propagation laws of impact elastic waves in the pipeline base cushion and different types of voids). The vibration sensor 125 receives the impact elastic wave signals. The high-resolution spectrum analysis method (MEM analysis) is used to process the impact elastic wave signals received by the vibration sensor 125, and information such as frequency, amplitude and time delay reflecting the characteristics of the voids in the pipeline base cushion is extracted. Three-dimensional profile slices are generated through the spectrum data, and then the contour cloud map of the delamination index is generated, which can visually display the void distribution in the pipeline base cushion and determine the position, size and shape of the voids.

[0059] It should be noted that the order of the above step S200 and step S300 can be reversed, or step S200 and step S300 can be performed simultaneously, and no specific limitation is made here.

[0060] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The disclosed method is not limited to the operation and logic flow presented herein. Alternative embodiments are contemplated, where the order of various operations is changed and where sub-operations described as part of a larger operation are performed independently.

[0061] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A pipeline detection device, characterized in that: include: A sub-cart, the sub-cart comprising a first car body, a detection component and a cleaning component, the detection component and the cleaning component are both mounted on the first car body, the cleaning component is used to clean the pipeline to be detected, and the detection component is used to detect the pipeline to be detected; A mother vehicle, the mother vehicle comprises a second vehicle body and a blocking member, the blocking member is mounted on the second vehicle body, the blocking member is used to block the upstream pipeline of the pipeline to be detected, a parking area is arranged on the second vehicle body, the sub-vehicle can enter and exit the parking area, the parking area is movably arranged, the blocking member is an airbag, the mother vehicle further comprises an inflating device, and the inflating device is connected to the airbag; Among them, the second vehicle body includes a base and a cabin body, the cabin body is connected to the base through a lifting turntable, the blocking piece is arranged on the cabin body, the parking area is arranged in the cabin body, the cabin body is provided with a hatch, the sub-vehicle enters and exits the parking area through the hatch, a lifting point is arranged on the second vehicle body, the lifting point is used to lift the mother vehicle, the hatch is provided with an openable and closable hatch door, and the hatch is opened and closed by opening and closing the hatch door.

2. The pipeline detection device according to claim 1, characterized in that: The detection component includes a camera, which is movably arranged and used for identifying pipeline diseases.

3. The pipeline detection device according to claim 2, characterized in that: The camera includes an optical camera and an infrared camera, and the optical camera is connected to the YOLO image recognition system.

4. The pipeline detection device according to claim 1, characterized in that: The detection component also includes a vibration exciter and a vibration sensor. The vibration exciter is used to knock the pipeline to be detected to generate an impact elastic wave signal, and the vibration sensor is used to receive the impact elastic wave signal.

5. The pipeline detection device according to claim 1, characterized in that: The cleaning component comprises a high-pressure water gun and a water source. The high-pressure water gun is connected to the water source and is movably arranged.

6. The pipeline detection device according to claim 1, characterized in that: The first vehicle body is provided with a first driving mechanism, and the first driving mechanism is used to drive the first vehicle body forward. The second vehicle body is provided with a second driving mechanism, and the second driving mechanism is used to drive the second vehicle body forward.

7. The pipeline detection device according to claim 6, characterized in that: The first driving mechanism includes a first driving component, a power gear and a crawler track. The first driving component is connected to the power gear to drive the power gear to rotate. The crawler track is mounted outside the power gear, and the power gear is connected to the crawler track to drive the crawler track to rotate, thereby driving the first vehicle body forward. A limiting plate is provided on the outer side of the power gear. The second driving mechanism includes a second driving component and a driving wheel. The second driving component is connected to the driving wheel to drive the driving wheel to rotate, thereby driving the second vehicle body forward.

8. A pipeline detection method, applied to the pipeline detection device according to any one of claims 1 to 7, characterized in that: The following steps are involved: The upstream pipeline of the pipeline to be inspected is blocked by a blocking piece, and the sub-vehicle enters the pipeline to be inspected from the parking area; Identify the location of pipeline defects by using an infrared camera, and identify the size of the pipeline defects by using an optical camera; The voids in the base cushion layer of the pipeline to be inspected are nondestructively inspected by means of a vibrator and a vibration sensor, and the impact elastic wave signals obtained by the vibration sensor are analyzed and processed to determine the position, size and shape of the voids.

Images