An unmanned aerial vehicle assisted sewage pipeline leakage inspection system and device

Abstract

The application provides a UAV-assisted sewage pipeline leakage inspection system and device, and relates to the field of sewage pipeline leakage inspection.The UAV inspection module is equipped with a flight control system and an autonomous obstacle avoidance system, and can flexibly shuttle in a complex sewage pipeline environment.The multi-modal sensor array module integrates a visible light camera, an infrared thermal imager, a laser range finder, a gas sensor and an acoustic sensor for multi-dimensional data acquisition.The UAV inspection module, the multi-modal sensor array module, the AI intelligent analysis engine module and the remote intelligent monitoring center module are provided, which significantly improves the intelligent level and efficiency of sewage pipeline leakage inspection, accurately identifies and locates the leakage, records inspection data in all directions, and can autonomously adjust the inspection strategy according to real-time data and environmental information, thereby providing a more efficient and intelligent solution for the management and maintenance of urban sewage pipelines.

Description

Technical Field

[0001] This invention relates to the field of sewage pipeline leak inspection, and more specifically, to a drone-assisted sewage pipeline leak inspection system and device. Background Technology

[0002] With the acceleration of urbanization, urban sewage pipeline systems, as an important component of urban infrastructure, directly affect the environmental quality and the quality of life of urban residents. However, due to the influence of various factors such as corrosive substances, groundwater pressure, and geological changes, sewage pipelines are prone to leaks, blockages, and other malfunctions, causing serious pollution to the urban environment and increasing maintenance costs.

[0003] Traditional sewage pipeline inspection methods mainly rely on manual ground inspections, but these methods have many limitations. Manual inspections are not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections. Furthermore, due to factors such as ground conditions and traffic conditions, the inspection efficiency and accuracy are low. Therefore, we have made improvements and proposed a drone-assisted sewage pipeline leak inspection system and device. Summary of the Invention

[0004] The purpose of this invention is to address the problems of existing manual inspections, which are not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections, and have low inspection efficiency and accuracy due to limitations such as ground conditions and traffic conditions.

[0005] To achieve the above-mentioned objectives, the present invention provides a drone-assisted sewage pipeline leak inspection system and device to improve the aforementioned problems.

[0006] The application is as follows:

[0007] A drone-assisted sewage pipeline leak inspection system includes:

[0008] Unmanned aerial vehicle (UAV) inspection module: Equipped with a flight control system and an autonomous obstacle avoidance system, it can flexibly navigate complex sewage pipe environments;

[0009] Multimodal sensor array module: integrates a visible light camera, an infrared thermal imager, a laser rangefinder, a gas sensor, and an acoustic sensor for multi-dimensional data acquisition;

[0010] Edge computing module: Installed on the drone, it has data processing capabilities, realizes data preprocessing and feature extraction, and reduces data transmission pressure;

[0011] AI Intelligent Analysis Engine Module: Employing deep learning, computer vision, and natural language processing technologies, it performs in-depth analysis on data uploaded by edge computing units to achieve intelligent identification and precise location of leaks;

[0012] Remote intelligent monitoring center module: used to receive collected video data, monitor the inspection progress in real time, and perform remote control and command issuance;

[0013] Predictive maintenance and early warning module: By analyzing historical data and current trends with AI, it predicts the possibility of pipeline leaks and issues early warnings, providing a scientific basis for preventive maintenance.

[0014] As a preferred technical solution of this application, it includes an autonomous decision-making and dynamic path planning module: the drone is equipped with an autonomous decision-making module, which dynamically adjusts the inspection path based on real-time detection data and AI prediction results.

[0015] As a preferred technical solution of this application, it includes a drone swarm collaborative operation module: supporting collaborative inspection of multiple drones, and allocating tasks and sharing data through distributed AI algorithms.

[0016] As a preferred technical solution of this application, the UAV collaborative inspection includes the following steps:

[0017] S1. Collaborative Perception: Utilizing the collaborative perception technology of drone swarms, comprehensive monitoring and information sharing of the sewage pipeline environment are achieved through multi-drone collaboration;

[0018] S2. Collaborative Decision-Making: Based on information from collaborative perception, the drone swarm uses collaborative decision-making algorithms to plan behavior and adjust tasks.

[0019] S3. Collaborative Control: Based on the results of collaborative decision-making, the drone swarm achieves precise control of the drones through collaborative control technology.

[0020] As a preferred technical solution of this application, an emergency response mechanism is established. When the drone swarm encounters an emergency during the inspection process, including insufficient power or mechanical failure, emergency measures are quickly taken to ensure the safety of the drones and the inspection mission.

[0021] A drone-assisted sewage pipeline leak inspection device includes a drone body. The drone inspection module includes a repair mechanism connected to the bottom of the drone body. The repair mechanism includes a material box. The bottom of the material box is connected to a conveying pump. The bottom of the conveying pump is connected to an electric discharge valve. A vertical rod is installed through the top of the material box. The bottom of the vertical rod extends into the inner cavity of the material box. A stirring rod is connected to the surface of the vertical rod. A feeding pipe is connected to the top of the material box.

[0022] As a preferred technical solution of this application, the top of the feeding pipe is threaded with a pipe cap, the surface of the vertical rod is fitted with a threaded sleeve, the surface of the vertical rod is provided with an external thread that cooperates with the threaded sleeve, the threaded sleeve is threadedly connected to the vertical rod, the top of the vertical rod is connected with a limit plate, the surface of the threaded sleeve is connected with a horizontal plate, and the top of the horizontal plate is connected with an electric push rod.

[0023] As a preferred technical solution of this application, both sides of the material box are connected to vertical plates. A guide hole is opened on the surface of the left vertical plate. A flat plate is connected to the top of the vertical plate. Both sides of the flat plate are provided with slots. A locking block is locked in the inner cavity of the slot. A spring telescopic rod is connected to the side of the locking block away from the flat plate. The top of the spring telescopic rod is connected to the drone body.

[0024] As a preferred technical solution of this application, an adjustment mechanism is provided on the surface of the left vertical plate. The adjustment mechanism includes an inclined plate. The left side of the horizontal plate passes through a guide hole and is connected to the inclined plate through a rotating shaft. A horizontal bar is connected to the surface of the left vertical plate. A spiral groove is sleeved on the surface of the horizontal bar. A sleeve is sleeved on the surface of the horizontal bar. A guide rod is connected through the surface of the sleeve. The bottom of the guide rod extends into the inner cavity of the spiral groove. The top of the guide rod is connected to the inclined plate through a rotating shaft.

[0025] As a preferred technical solution of this application, an L-shaped plate is connected to the left side of the crossbar, a threaded pipe is connected to the bottom of the L-shaped plate, and a monitoring device body is threadedly connected to the bottom of the threaded pipe. A connecting plate is connected to the right side of the vertical plate on the right side, and a scraper is connected to the bottom of the connecting plate.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1. To address the problems of high labor intensity and risk associated with manual inspections in existing technologies, which are difficult to fully cover all pipeline sections and suffer from low efficiency and accuracy due to limitations in ground conditions and traffic, this invention provides a drone-assisted sewage pipeline leak inspection system and device. Through the inclusion of a drone inspection module, a multimodal sensor array module, an AI intelligent analysis engine module, and a remote intelligent monitoring center module, this system significantly improves the intelligence and efficiency of sewage pipeline leak inspections. It enables accurate identification and location of leaks, comprehensive recording of inspection data, and autonomous adjustment of inspection strategies based on real-time data and environmental information, providing a more efficient and intelligent solution for the management and maintenance of urban sewage pipelines.

[0028] 2. This invention, by setting up an electric push rod, a horizontal plate, a threaded sleeve, a vertical rod, and a stirring rod, enables the threaded sleeve to move vertically, causing the vertical rod to drive the stirring rod to rotate, thereby stirring and mixing the repair coating in the inner cavity of the material box. This avoids the repair coating in the inner cavity of the material box from settling and solidifying over a long period of time, and at the same time facilitates the uniform mixing of the repair agent. By setting up a delivery pump and an electric discharge valve, the repair coating in the inner cavity of the material box can be easily delivered and discharged to the pipeline leak for temporary and simple repair of the pipeline.

[0029] 3. This invention uses a spring telescopic rod, a locking block, and a locking slot to fix the flat plate by engaging the locking block with the locking slot, thereby positioning and installing the repair mechanism. It also facilitates the disassembly of the repair mechanism and makes it easy to separate, store, and carry the UAV body and the repair mechanism.

[0030] 4. The present invention, through the setting of inclined plate, crossbar, spiral groove, sleeve, guide rod, L-shaped plate and threaded pipe, enables the L-shaped plate to rotate, thereby adjusting the tilt angle of the UAV body, which facilitates the adjustment of the angle of the monitoring device body, facilitates monitoring of different positions, increases the monitoring range, and at the same time facilitates the disassembly of the monitoring device body, making it easy to replace and maintain the monitoring device body. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the unmanned aerial vehicle (UAV) assisted sewage pipeline leak inspection system of the present invention.

[0032] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0033] Figure 3 This is a bottom-view structural diagram of the present invention.

[0034] Figure 4 This is a partial structural cross-sectional view of the present invention.

[0035] Figure 5 This is an exploded view of the card slot and card block in this invention.

[0036] Figure 6 This is a cross-sectional schematic diagram of the sleeve and guide rod in this invention.

[0037] In the above attached figures:

[0038] 1. UAV body; 2. Repair mechanism; 20. Material box; 21. Conveying pump; 22. Electric discharge valve; 23. Vertical rod; 24. Stirring rod; 25. Feeding pipe; 26. Threaded sleeve; 27. Limiting plate; 28. Horizontal plate; 29. ​​Electric push rod; 210. Vertical plate; 211. Guide hole; 212. Flat plate; 213. Spring telescopic rod; 214. Slot; 215. Locking block; 3. Adjustment mechanism; 30. Inclined plate; 31. Horizontal rod; 32. Spiral groove; 33. Sleeve; 34. Guide rod; 35. L-shaped plate; 36. Threaded pipe; 37. Monitoring device body; 4. Connecting plate; 5. Scraper. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0040] As described in the background section, manual inspection is not only labor-intensive and dangerous, but also difficult to fully cover all pipeline sections. However, due to factors such as ground conditions and traffic conditions, the inspection efficiency and accuracy are low.

[0041] To address this technical problem, the present invention provides a drone-assisted sewage pipeline leak inspection system and device, which is applied in the field of sewage pipeline leak inspection.

[0042] For details, please refer to Figure 1 A drone-assisted sewage pipe leak inspection system includes:

[0043] Unmanned aerial vehicle (UAV) inspection module: Equipped with a flight control system and an autonomous obstacle avoidance system, it can flexibly navigate complex sewage pipe environments;

[0044] Multimodal sensor array module: integrates a visible light camera, an infrared thermal imager, a laser rangefinder, a gas sensor, and an acoustic sensor for multi-dimensional data acquisition;

[0045] Edge computing module: Installed on the drone, it has data processing capabilities, realizes data preprocessing and feature extraction, and reduces data transmission pressure;

[0046] AI Intelligent Analysis Engine Module: Employing deep learning, computer vision, and natural language processing technologies, it performs in-depth analysis on data uploaded by edge computing units to achieve intelligent identification and precise location of leaks;

[0047] Remote intelligent monitoring center module: used to receive collected video data, monitor the inspection progress in real time, and perform remote control and command issuance;

[0048] Predictive maintenance and early warning module: By analyzing historical data and current trends with AI, it predicts the possibility of pipeline leaks and issues early warnings, providing a scientific basis for preventive maintenance.

[0049] Includes autonomous decision-making and dynamic path planning modules: The drone is equipped with an autonomous decision-making module that dynamically adjusts the inspection path based on real-time detection data and AI prediction results.

[0050] Includes a drone swarm collaborative operation module: supporting collaborative inspections by multiple drones, and allocating tasks and sharing data through distributed AI algorithms.

[0051] The drone-based collaborative inspection includes the following steps:

[0052] S1. Collaborative Perception: Utilizing the collaborative perception technology of drone swarms, comprehensive monitoring and information sharing of the sewage pipeline environment are achieved through multi-drone collaboration;

[0053] S2. Collaborative Decision-Making: Based on collaborative perception information, the drone swarm uses collaborative decision-making algorithms to plan behavior and adjust tasks. When a drone detects a suspected leak, it can share information and collaborate with other drones to confirm the leak, thereby improving the accuracy of detection.

[0054] S3. Collaborative Control: Based on the results of collaborative decision-making, the drone swarm achieves precise control of the drones through collaborative control technology.

[0055] Establish an emergency response mechanism so that when the drone swarm encounters unexpected situations during inspections, such as insufficient power or mechanical failure, emergency measures can be taken quickly to ensure the safety of the drones and the inspection mission.

[0056] This application significantly improves the intelligence level and efficiency of sewage pipeline leak inspection by setting up a drone inspection module, a multimodal sensor array module, an AI intelligent analysis engine module, and a remote intelligent monitoring center module. It can accurately identify and locate leaks, record inspection data in all aspects, and autonomously adjust inspection strategies based on real-time data and environmental information, providing a more efficient and intelligent solution for the management and maintenance of urban sewage pipelines.

[0057] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0058] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0059] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0060] Example 1, please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 A drone-assisted sewage pipeline leak inspection device is disclosed. The drone inspection module includes a drone body 1. A repair mechanism 2 is connected to the bottom of the drone body 1. The repair mechanism 2 includes a material box 20. A conveying pump 21 is connected to the bottom of the material box 20. An electric discharge valve 22 is connected to the bottom of the conveying pump 21. A vertical rod 23 is installed through the top of the material box 20. The bottom of the vertical rod 23 extends into the inner cavity of the material box 20. A stirring rod 24 is connected to the surface of the vertical rod 23. A feeding pipe 25 is connected to the top of the material box 20.

[0061] By setting up a material box 20 for storing pipe repair coating, it is used to temporarily provide repair coating to pipe leaks, facilitating temporary repairs of sewage pipes. By setting up a delivery pump 21 and an electric discharge valve 22, the repair coating inside the material box 20 is easily delivered and discharged to the pipe leak for temporary and simple repairs.

[0062] The top of the feeding pipe 25 is threaded with a pipe cap, the surface of the vertical rod 23 is fitted with a threaded sleeve 26, the surface of the vertical rod 23 is provided with an external thread that mates with the threaded sleeve 26, the threaded sleeve 26 is threadedly connected to the vertical rod 23, the top of the vertical rod 23 is connected with a limit plate 27, the surface of the threaded sleeve 26 is connected with a horizontal plate 28, and the top of the horizontal plate 28 is connected with an electric push rod 29.

[0063] By setting up the feeding pipe 25, it is easy to add pipe repair coating to the material box 20, and the coating is easy to replenish. By setting up the pipe cover, the feeding pipe 25 can be sealed to prevent leakage. By setting up the limiting plate 27, the upward movement distance of the threaded sleeve 26 is limited to prevent the threaded sleeve 26 from separating from the vertical rod 23 when moving vertically. By setting up the electric push rod 29, the horizontal plate 28, the threaded sleeve 26, the vertical rod 23 and the stirring rod 24, the threaded sleeve 26 can be moved vertically, and the vertical rod 23 drives the stirring rod 24 to rotate, thereby stirring and mixing the repair coating in the inner cavity of the material box 20, preventing the repair coating in the inner cavity of the material box 20 from settling and solidifying for a long time, and at the same time facilitating the uniform mixing and processing of the repair agent.

[0064] Both sides of the material box 20 are connected to vertical plates 210. The surface of the left vertical plate 210 is provided with a guide hole 211. The top of the vertical plate 210 is connected to a flat plate 212. Both sides of the flat plate 212 are provided with slots 214. The inner cavity of the slots 214 is fitted with a block 215. The side of the block 215 away from the flat plate 212 is connected to a spring telescopic rod 213. The top of the spring telescopic rod 213 is connected to the drone body 1.

[0065] By setting guide holes 211, the horizontal plate 28 is guided, which facilitates the vertical movement of the horizontal plate 28. By setting spring telescopic rods 213, locking blocks 215 and locking slots 214, the locking blocks 215 are engaged with the locking slots 214 to fix the plate 212, thereby positioning and installing the repair mechanism 2. At the same time, it is convenient to disassemble the repair mechanism 2, and to facilitate the separation, storage and carrying of the UAV body 1 and the repair mechanism 2.

[0066] Example 2 further optimizes the UAV-assisted sewage pipeline leak inspection device provided in Example 1, specifically, as follows: Figure 4 and Figure 6 As shown, an adjustment mechanism 3 is provided on the surface of the left vertical plate 210. The adjustment mechanism 3 includes an inclined plate 30. The left side of the horizontal plate 28 passes through the guide hole 211 and is connected to the inclined plate 30 through a rotating shaft. A horizontal bar 31 is connected to the surface of the left vertical plate 210. A spiral groove 32 is sleeved on the surface of the horizontal bar 31. A sleeve 33 is sleeved on the surface of the horizontal bar 31. A guide rod 34 is connected through the surface of the sleeve 33. The bottom of the guide rod 34 extends into the inner cavity of the spiral groove 32. The top of the guide rod 34 is connected to the inclined plate 30 through a rotating shaft.

[0067] By setting a crossbar 31 to support the sleeve 33, it is easy for the sleeve 33 to move laterally. By setting a spiral groove 32 to guide the guide rod 34, when the guide rod 34 moves laterally, the bottom of the guide rod 34 presses against the inner wall of the spiral groove 32, causing the crossbar 31 to rotate, which in turn drives the L-shaped plate 35 and the monitoring device body 37 to rotate, making it easy to adjust the angle of the monitoring device body 37, making it easier to monitor different positions and increasing the monitoring range.

[0068] An L-shaped plate 35 is connected to the left side of the crossbar 31, a threaded pipe 36 is connected to the bottom of the L-shaped plate 35, and a monitoring device body 37 is threadedly connected to the bottom of the threaded pipe 36. A connecting plate 4 is connected to the right side of the vertical plate 210, and a scraper 5 is connected to the bottom of the connecting plate 4.

[0069] By setting up the L-shaped plate 35 and the threaded pipe 36, it is convenient to connect and install with the monitoring device body 37, and at the same time, it is convenient to disassemble the monitoring device body 37 and replace and maintain it. By setting up the connecting plate 4 and the scraper 5, after the repair paint is discharged to the pipeline leak, the scraper 5 is moved by adjusting the drone body 1. The movement of the scraper 5 will scrape the paint evenly, so that the paint and the pipeline leak will make uniform contact and seal, thus improving the sealing effect.

[0070] The usage process of the drone-assisted sewage pipeline leak inspection device provided by this invention is as follows:

[0071] S1. Stirring: Pipe leak repair agent is added into the inner cavity of material box 20 through feeding pipe 25. The operation of electric push rod 29 is controlled to drive horizontal plate 28 to move vertically. Horizontal plate 28 drives threaded sleeve 26 to move vertically. Threaded sleeve 26 is threadedly connected to vertical rod 23, causing vertical rod 23 to drive stirring rod 24 to rotate, thus stirring and mixing the repair agent to prevent sedimentation and solidification.

[0072] S2. Adjusting the angle: By controlling the operation of the electric push rod 29, the horizontal plate 28 is moved vertically. The horizontal plate 28 drives the guide rod 34 and the sleeve 33 to move laterally through the inclined plate 30. When the guide rod 34 moves, it squeezes the inner wall of the spiral groove 32, causing the horizontal rod 31 to rotate. The horizontal rod 31 drives the L-shaped plate 35, the threaded tube 36 and the monitoring device body 37 to rotate, thereby adjusting the tilt angle of the monitoring device body 37.

[0073] S3, Repair: When a pipe leak is detected, feedback is sent to the remote intelligent monitoring center module. The remote monitoring center suspends sewage discharge, controls the electric discharge valve 22 to open, controls the conveying pump 21 to run, and discharges the material inside the material box 20 through the electric discharge valve 22 to the pipe leak. By controlling the movement of the drone body 1, the connecting plate 4 and scraper 5 are moved. The scraper 5 scrapes the repair coating evenly, so that the repair coating is in uniform contact with the pipe.

[0074] S4. Disassembly: The moving block 215 presses the spring telescopic rod 213, causing the block 215 to separate from the slot 214, thus separating and disassembling the drone body 1 from the flat plate 212, thereby disassembling the repair mechanism 2 and separating and carrying the repair mechanism 2 and the drone body 1.

[0075] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An unmanned aerial vehicle (UAV) assisted sewer pipeline leak inspection device, comprising: a UAV; a payload; a payload release mechanism; and a payload release mechanism control system. The unmanned aerial vehicle inspection module comprises an unmanned aerial vehicle body (1), a repairing mechanism (2) is connected to the bottom of the unmanned aerial vehicle body (1), the repairing mechanism (2) comprises a material box (20), a conveying pump (21) is communicated with the bottom of the material box (20), an electric discharge valve (22) is communicated with the bottom of the conveying pump (21), a vertical rod (23) is installed through the top of the material box (20), the bottom of the vertical rod (23) penetrates into the inner cavity of the material box (20), a stirring rod (24) is connected to the surface of the vertical rod (23), and a feeding pipe (25) is communicated with the top of the material box (20); both sides of the material box (20) are connected with vertical plates (210), the surface of the vertical plate (210) on the left side is provided with a guide hole (211), the top of the vertical plate (210) is connected with a flat plate (212), both sides of the flat plate (212) are provided with clamping grooves (214), the inner cavities of the clamping grooves (214) are clamped with clamping blocks (215), one side of the clamping block (215) away from the flat plate (212) is connected with a spring telescopic rod (213), and the top of the spring telescopic rod (213) is connected with the unmanned aerial vehicle body (1); the surface of the vertical plate (210) on the left side is provided with an adjusting mechanism (3), the adjusting mechanism (3) comprises an inclined plate (30), the left side of the horizontal plate (28) penetrates through the guide hole (211) and is connected with the inclined plate (30) through a rotating shaft, the surface of the vertical plate (210) on the left side is connected with a horizontal rod (31), the surface of the horizontal rod (31) is sleeved with a spiral groove (32), the surface of the horizontal rod (31) is sleeved with a sleeve pipe (33), the surface of the sleeve pipe (33) penetrates through and is connected with a guide rod (34), the bottom of the guide rod (34) extends into the inner cavity of the spiral groove (32), and the top of the guide rod (34) is connected with the inclined plate (30) through a rotating shaft; the left side of the horizontal rod (31) is connected with an L-shaped plate (35), the bottom of the L-shaped plate (35) is connected with a threaded pipe (36), the bottom of the threaded pipe (36) is threadedly connected with a monitoring device body (37), the right side of the vertical plate (210) on the right side is connected with a connecting plate (4), and the bottom of the connecting plate (4) is connected with a scraper (5).

2. The unmanned aerial vehicle assisted sewage pipeline leakage inspection device according to claim 1, characterized in that, The top of the feeding pipe (25) is threadedly sleeved with a pipe cover, the surface of the vertical rod (23) is sleeved with a threaded sleeve (26), the surface of the vertical rod (23) is provided with external threads matched with the threaded sleeve (26), the threaded sleeve (26) is threadedly connected with the vertical rod (23), the top of the vertical rod (23) is connected with a limiting plate (27), the surface of the threaded sleeve (26) is connected with a horizontal plate (28), and the top of the horizontal plate (28) is connected with an electric push rod (29).

3. A UAV-assisted sewer pipeline leak inspection system, characterized in that, The unmanned aerial vehicle auxiliary sewage pipeline leakage inspection device is applied to the unmanned aerial vehicle auxiliary sewage pipeline leakage inspection device in claim 1 or 2, comprising: an unmanned aerial vehicle inspection module: equipped with a flight control system and an autonomous obstacle avoidance system, and capable of flexibly shuttling in a complex sewage pipeline environment; a multi-modal sensor array module: integrated with a visible light camera, an infrared thermal imager, a laser range finder, a gas sensor and an acoustic sensor, and capable of multi-dimensional data acquisition; Edge computing module: installed on the UAV, with data processing capability, realizing data preprocessing and feature extraction, reducing data transmission pressure; AI intelligent analysis engine module: using deep learning, computer vision and natural language processing technology, deeply analyzing the data uploaded by the edge computing unit, realizing intelligent identification and accurate positioning of leakage; Remote intelligent monitoring center module: used for receiving collected picture data, real-time monitoring of inspection progress, remote control and instruction issuing; Predictive maintenance and early warning module: through AI analysis of historical data and current trends, predicting the possibility of pipeline leakage and issuing early warning in advance to provide scientific basis for preventive maintenance.

4. The unmanned aerial vehicle assisted sewer pipeline leak inspection system of claim 3, wherein, Including autonomous decision-making and dynamic path planning module: the UAV is equipped with autonomous decision-making module, which dynamically adjusts the inspection path according to real-time detection data and AI prediction results.

5. The unmanned aerial vehicle assisted sewer pipeline leak inspection system of claim 4, wherein, Including UAV cluster cooperative operation module: supporting multiple UAVs to cooperate in inspection, distributing tasks and sharing data through distributed AI algorithms.

6. The unmanned aerial vehicle assisted sewer pipeline leak inspection system of claim 5, wherein, The UAV cooperative inspection includes the following steps: S1, cooperative sensing: using the cooperative sensing technology of UAV cluster, realizing comprehensive monitoring and information sharing of sewage pipeline environment, multi-machine cooperation; S2, cooperative decision-making: based on the information of cooperative sensing, the UAV cluster adjusts the behavior planning and task through cooperative decision-making algorithm; S3, cooperative control: according to the result of cooperative decision-making, the UAV cluster realizes precise control of UAV through cooperative control technology.

7. The unmanned aerial vehicle assisted sewer pipeline leak inspection system of claim 5, wherein, Establish an emergency response mechanism, when the UAV cluster encounters an emergency during the inspection process, including low battery, mechanical failure, take emergency measures to ensure the safety of the UAV and the inspection task.

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