An intelligent detection system and method for underground pipelines based on artificial intelligence

Abstract

The present invention discloses an intelligent underground pipeline detection system and method based on artificial intelligence, which relates to the technical field of intelligent underground pipeline detection. The system includes: an intelligent underground pipeline detection module, an intelligent control module for an underground pipeline robot, a traveling speed control instruction analysis module, and an artificial review module; the output end of the intelligent underground pipeline detection module is connected to the input end of the intelligent control module for the underground pipeline robot; the intelligent control module for the underground pipeline robot is connected to the traveling speed control instruction analysis module; the output end of the traveling speed control instruction analysis module is connected to the input end of the artificial review module. The present invention can solve the power supply problem involved in using a cable-free robot during the underground pipeline detection process, reduce the energy loss caused by the sliding friction between the robot and the pipe wall at various corners, achieve adaptive speed adjustment, improve energy utilization efficiency, extend the working time of the robot, and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent detection of underground pipelines, and in particular to an intelligent detection system and method for underground pipelines based on artificial intelligence. Background Art

[0002] The health of underground pipeline lines is directly related to the normal operation of cities and the daily life of residents. Therefore, routine inspections to prevent the accumulation of defects and cause major safety hazards and economic losses have become an important part of urban development. With the development of artificial intelligence technology, the detection of underground pipelines in the industry has gradually changed from pure manual to semi-intelligent and semi-manual, that is, through an underground pipeline robot deep into the underground pipeline, using the multi-line lidar configured by the robot itself to form a push-scan drawing inside the underground pipeline, and feeding back the situation inside the underground pipeline to the ground, and then manually judging according to the feedback data image. However, in the whole process, the energy consumption problem of underground pipeline robots has always been difficult to solve. At present, the energy supply methods of pipeline robots mainly include cable-dragging and cable-free methods. Using the cable-dragging method, although it can effectively solve the problem of insufficient power supply and bring certain guarantee to the safe operation of pipeline robots, it increases the load of pipeline robots and limits the maximum travel range of pipeline robots; using the cable-free method, although it reduces the load constraint, the energy density is low, and the power supply situation gradually decreases as the robot goes deeper. Especially in the intricate pipeline interior with a large number of various corners, when passing through bends, due to the sliding friction between the robot and the pipe wall, a large amount of energy loss is caused. Therefore, how to adjust the speed according to the situation of different bends, reduce the energy loss caused by sliding friction, and improve the energy endurance of pipeline robots in the cable-free situation has become an urgent problem to be solved. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent detection system and method for underground pipelines based on artificial intelligence to solve the problems raised in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solution: An intelligent detection method for underground pipelines based on artificial intelligence, the method includes the following steps:

[0005] S1. Build an intelligent detection platform for underground pipelines, connect the underground pipeline robot, and form a data feedback interaction between the underground pipeline robot and the detection platform;

[0006] S2. The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, travels according to the detection path transmitted by the intelligent detection platform for underground pipelines, obtains the curvature information and path progress of different bends on the path, and feeds them back to the control platform of the underground pipeline robot;

[0007] S3. The underground pipeline robot is equipped with a traveling speed control instruction analysis module, which calls historical traveling data to form a traveling speed control instruction analysis model and outputs signals to control the traveling speed of the underground pipeline robot at different positions.

[0008] S4. The underground pipeline intelligent detection platform obtains the detection feedback information of the underground pipeline robot on the underground pipeline and transmits it to the manual review module for secondary manual detection.

[0009] According to the above technical solution, it further includes:

[0010] The underground pipeline robot realizes wireless two-way communication with the underground pipeline intelligent detection platform through a relay system.

[0011] A remote control platform is configured in the underground pipeline robot control platform for generating motion posture commands, and the motion posture commands include forward, backward, and turning.

[0012] The underground pipeline robot further includes: a laser rangefinder for detecting the distance between the underground pipeline robot and the bend ahead in the pipeline; a gyroscope for detecting the angular velocity of the underground pipeline robot; a camera for real-time collecting video data of the underground pipeline and uploading it.

[0013] The underground pipeline intelligent detection platform also issues a path map instruction. The system preferentially forms a detection path map for the path of the underground pipeline to be detected, guides the robot to travel according to the detection path based on the positioning system of the robot, and simultaneously obtains the path progress on the path. The path progress refers to the distance between the bend point to be passed and the next bend point.

[0014] According to the above technical solution, in steps S2 - S3, it further includes:

[0015] The historical traveling data includes bend monitoring data, and the bend monitoring data includes bend curvature information data, speed transformation data, and power consumption data.

[0016] The time point of the bend monitoring data starts from L meters in front of the bend point to be passed to L meters in front of the next bend point, where L is a constant term set by the system.

[0017] The power consumption data includes various power consumptions during the process of passing through the bend, and the specific calculation includes:

[0018]

[0019] Among them, represents the total power consumption; refers to the power consumption caused by deceleration in front of the bend point to be passed; refers to the power consumption caused by passing through the bend at the current speed. Refers to the power loss caused by the path process; if the path process is less than or equal to L, maintain the speed at the bend point and proceed with the path process. If the path process is greater than L, change to the speed before the bend point and proceed with the path process.

[0020] Set the forward speed of the underground pipeline robot at the bend to , and decelerate to at a distance of L meters before the bend point, and pass through the bend at a speed of , forming different total power losses based on the path process. When the path process is less than or equal to L, the total power loss is:

[0021]

[0022] Where refers to the power loss when the speed decelerates to ; refers to the power loss when passing through the bend at a speed of ; refers to the power loss when the speed passes through the bend; refers to the path process; refers to the unit one; , respectively refer to the power loss per unit one when traveling at speeds , ;

[0023] When the path process is greater than L, the total power loss is:

[0024]

[0025] Where refers to the power loss when the speed accelerates to ;

[0026] According to the above technical solution, it further includes:

[0027] Based on the speed change data in the historical travel data, where the speed change data refers to the data obtained by continuously changing the speed during testing on the test site. For any speed, take N groups of power loss data per unit one, and take the average as the power loss per unit one when traveling at any speed;

[0028] For any bend curvature, the system sets a fixed matching speed. Take N groups of different power loss data at the same speed, and take the average as the power loss data at this speed for any bend curvature;

[0029] The underground pipeline robot is used to collect power consumption change data by uniform acceleration or uniform deceleration from a stationary state, and the average value of N groups of data is taken as the power consumption data for each speed switching unit during the uniform acceleration or uniform deceleration process;

[0030] During the movement, the total power loss is calculated before the curve. If the total power loss is greater than 0, the robot passes at the original speed; if the total power loss is less than or equal to 0, the robot passes at a fixed matching speed set by the system; the output signal is used to control the movement speed of the underground pipeline robot at different positions.

[0031] An underground pipeline intelligent detection system based on artificial intelligence, the system comprises: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a travel speed control instruction analysis module and a manual review module;

[0032] The underground pipeline intelligent detection module is used to construct an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; the underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; the travel speed control instruction analysis module is used to call historical travel data, form a travel speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module; the manual review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline, and perform secondary manual inspection;

[0033] The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the travel speed control instruction analysis module; the output end of the travel speed control instruction analysis module is connected to the input end of the manual review module.

[0034] According to the above technical solution, the underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit;

[0035] The detection platform construction unit is used to construct an underground pipeline intelligent detection platform and connect the underground pipeline robot; the data feedback unit is used to form data feedback interaction between the underground pipeline robot and the detection platform;

[0036] The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

[0037] According to the above technical solution, the underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit;

[0038] The real-time scanning unit is used to control the underground pipeline robot to scan underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the traveling speed of the underground pipeline robot at different positions;

[0039] The output end of the real-time scanning unit is connected to the input end of the speed control unit.

[0040] According to the above technical solution, the traveling speed control instruction analysis module includes an instruction analysis unit and a feedback control unit;

[0041] The instruction analysis unit is used to call historical traveling data to form a traveling speed control instruction analysis model; the feedback control unit is used to form an output signal and feedback it to the intelligent control module of the underground pipeline robot;

[0042] The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

[0043] According to the above technical solution, the manual review module includes a detection receiving unit and a manual detection unit;

[0044] The detection receiving unit is used to receive the detection feedback information of the underground pipeline by the underground pipeline robot; the manual detection unit is used to identify the monitoring data of the underground pipeline and feedback it to the administrator for secondary manual detection;

[0045] The output end of the detection receiving unit is connected to the input end of the manual detection unit.

[0046] Compared with the prior art, the beneficial effects of the present invention are: the present invention can solve the power supply problem involved in using a cableless robot in the process of underground pipeline detection, reduce the load constraint, reduce the energy loss caused by the sliding friction between the robot and the pipe wall at various corners, realize adaptive speed adjustment, improve the energy utilization rate, extend the working time of the robot, and improve the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic flow chart of an intelligent underground pipeline detection method based on artificial intelligence according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] Embodiment: As Figure 1 shown, the present invention provides a technical solution. First, place the underground pipeline robot at the entrance of the underground pipeline, and use this entrance as the initial position of the robot. Record the initial position in the underground pipeline intelligent detection platform and draw a trajectory through the underground pipeline detection path map input by the system; start the underground pipeline robot. During the movement of the robot, video is collected in real time, and the collected video data is uploaded to the underground pipeline intelligent detection platform through the relay system;

[0050] The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, travels according to the detection path transmitted by the underground pipeline intelligent detection platform, and realizes wireless two-way communication between the underground pipeline robot and the underground pipeline intelligent detection platform through the relay system, obtains the curvature information and path progress of different bends on the path, and feeds them back to the underground pipeline robot control platform;

[0051] During the movement of the robot, the laser rangefinder and the gyroscope work simultaneously: the laser rangefinder continuously emits laser in the forward direction of the robot to detect the distance to the forward bend; the gyroscope real-time detects the angular velocity of the robot during movement; the controller receives the distance data detected by the laser rangefinder and the angular velocity detected by the gyroscope;

[0052] The underground pipeline intelligent detection platform also issues a path map instruction. The system preferentially forms a detection path map for the underground pipeline path to be detected, guides the robot to travel according to the detection path according to the positioning system of the robot, and at the same time obtains the path progress on the path. The path progress refers to the distance between the upcoming bend point and the next bend point.

[0053] The underground pipeline robot is configured with a travel speed control instruction analysis module, which calls historical travel data to form a travel speed control instruction analysis model, and outputs a signal to control the travel speed of the underground pipeline robot at different positions;

[0054] The historical travel data includes bend monitoring data, and the bend monitoring data includes bend curvature information data, speed transformation data, and power consumption data;

[0055] The time point of the bend monitoring data starts from L meters in front of the upcoming bend point to L meters in front of the next bend point, where L is a constant term set by the system;

[0056] The power loss data includes various power losses during the process of passing through a bend, and the specific calculation includes:

[0057]

[0058] Among them, represents the total power loss; refers to the power loss caused by deceleration before the bend point to be passed; refers to the power loss caused by passing through the bend at the current speed; refers to the power loss caused by the path progress; if the path progress is less than or equal to L, the vehicle travels along the path progress at the speed of the bend point, and if the path progress is greater than L, the vehicle changes to the speed before the bend point to travel along the path progress;

[0059] Set the forward speed of the underground pipeline robot before passing through the bend to , and decelerate to at a distance of L meters before the bend point, and pass through the bend at a speed of . Different total power losses are formed based on the path progress. When the path progress is less than or equal to L, the total power loss is:

[0060]

[0061] Among them, refers to the power loss when the speed decelerates to ; refers to the power loss when passing through the bend at a speed of ; refers to the power loss when passing through the bend at a speed of ; refers to the path progress; refers to unit one; , respectively refer to the power loss per unit one when traveling at speeds , ;

[0062] When the path progress is greater than L, the total power loss is:

[0063]

[0064] Among them, refers to the power loss when the speed accelerates to ;

[0065] Based on the speed transformation data in the historical travel data, where the speed transformation data refers to the data obtained by continuously changing the speed during the test on the test site. For any speed, N sets of power consumption data per unit one are taken, and the average value is used as the power consumption per unit one during travel at any speed.

[0066] For any bend curvature, the system sets a fixed matching speed. N sets of different power consumption data at the same speed are taken, and the average value is used as the power consumption data at this speed for any bend curvature.

[0067] The underground pipeline robot is used to collect the power consumption change data in a uniformly accelerated or uniformly decelerated manner from a stationary state. The average value of N sets of data is taken as the power consumption data per unit speed change during the uniformly accelerated or uniformly decelerated process.

[0068] During the travel process, the total power consumption is calculated before the bend. If the total power consumption is greater than 0, it passes at the original speed; if the total power consumption is less than or equal to 0, it passes at the fixed matching speed set by the system. The travel speed of the underground pipeline robot at different positions is controlled by outputting signals.

[0069] The underground pipeline intelligent detection platform obtains the detection feedback information of the underground pipeline robot on the underground pipeline and transmits it to the manual review module for secondary manual detection.

[0070] In this embodiment, an underground pipeline intelligent detection system based on artificial intelligence is also provided. The system includes: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a travel speed control instruction analysis module, and a manual review module.

[0071] The underground pipeline intelligent detection module is used to build an underground pipeline intelligent detection platform, connect to the underground pipeline robot, and form a data feedback interaction between the underground pipeline robot and the detection platform. The underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions. The travel speed control instruction analysis module is used to call the historical travel data, form a travel speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module. The manual review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline and perform secondary manual detection.

[0072] The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the traveling speed control instruction analysis module; the output end of the traveling speed control instruction analysis module is connected to the input end of the manual review module.

[0073] The underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit;

[0074] The detection platform construction unit is used to construct an underground pipeline intelligent detection platform and connect to the underground pipeline robot; the data feedback unit is used to form data feedback interaction between the underground pipeline robot and the detection platform;

[0075] The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

[0076] The underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit;

[0077] The real-time scanning unit is used to control the underground pipeline robot to scan underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the traveling speed of the underground pipeline robot at different positions;

[0078] The output end of the real-time scanning unit is connected to the input end of the speed control unit.

[0079] The traveling speed control instruction analysis module includes an instruction analysis unit and a feedback control unit;

[0080] The instruction analysis unit is used to call historical traveling data to form a traveling speed control instruction analysis model; the feedback control unit is used to form an output signal and feedback it to the underground pipeline robot intelligent control module;

[0081] The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

[0082] The manual review module includes a detection receiving unit and a manual detection unit;

[0083] The detection receiving unit is used to receive the detection feedback information of the underground pipeline by the underground pipeline robot; the manual detection unit is used to identify the monitoring data of the underground pipeline and feedback it to the administrator for secondary manual detection;

[0084] The output end of the detection receiving unit is connected to the input end of the manual detection unit.

[0085] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. An intelligent detection method for underground pipelines based on artificial intelligence, characterized in that: The method includes the following steps: S1. Build an intelligent underground pipeline detection platform, connect an underground pipeline robot, and form a data feedback interaction between the underground pipeline robot and the detection platform; S2. The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, travels according to the detection path transmitted by the intelligent underground pipeline detection platform, obtains the curvature information and path progress of different bends on the path, and feeds them back to the underground pipeline robot control platform; S3. An advancing speed control instruction analysis module is configured in the underground pipeline robot, which calls historical advancing data to form an advancing speed control instruction analysis model, and outputs a signal to control the advancing speed of the underground pipeline robot at different positions; S4. The intelligent underground pipeline detection platform obtains the detection feedback information of the underground pipeline by the underground pipeline robot and transmits it to the manual review module for secondary manual detection; It also includes: The underground pipeline robot realizes wireless two-way communication with the intelligent underground pipeline detection platform through a relay system; A remote control platform is configured in the underground pipeline robot control platform for generating motion posture commands, and the motion posture commands include forward, backward, and turning; The underground pipeline robot also includes: a laser rangefinder for detecting the distance between the underground pipeline robot and the bend in front of the pipeline; a gyroscope for detecting the angular velocity of the underground pipeline robot; a camera for real-time collecting video data of the underground pipeline and uploading it; The intelligent underground pipeline detection platform also issues a path map instruction. The system preferentially forms a detection path map for the underground pipeline path to be detected, guides the robot to travel according to the detection path according to the positioning system of the robot, and at the same time obtains the path progress on the path. The path progress refers to the distance between the bend point to be passed and the next bend point; In steps S2 - S3, it also includes: The historical advancing data includes bend monitoring data, and the bend monitoring data includes bend curvature information data, speed change data, and power consumption data; The time point of the bend monitoring data starts from L meters in front of the bend point to be passed to L meters in front of the next bend point, and L is a constant term set by the system; The power consumption data includes various power consumptions during the process of passing through the bend, and the specific calculation includes: Among them, represents the total power loss; refers to the power loss caused by deceleration before the upcoming bend point; refers to the power loss caused by passing the bend at the current speed; refers to the power loss caused by the path process; if the path process is less than or equal to L, the vehicle travels the path process at the speed of the bend point, and if the path process is greater than L, the vehicle changes to the speed before the bend point to travel the path process; Set the forward speed of the underground pipeline robot when moving forward on a bend to be , decelerate to at a point L meters before the bend point, and pass through the bend at a speed of . Different total power losses are formed based on the path process. When the path process is less than or equal to L, the total power loss is: Among them, refers to speed decelerating to the power loss; refers to the power loss when passing through a curve at speed ; refers to speed the power loss when passing through a curve; refers to the path process; refers to unit one; , respectively refer to the power loss per unit one when traveling at speeds , while going downhill. When the path progress is greater than L, the total power consumption is: Among them, refers to speed accelerate to power loss of It also includes: Based on the speed change data in the historical advancing data, the speed change data refers to the data obtained by continuously changing the speed for testing on the test site. For any speed, N sets of power consumption data per unit one are taken, and the average value is taken as the power consumption per unit one during traveling at any speed; For any bend curvature, the system sets a fixed matching speed. N sets of different power consumption data at the same speed are taken, and the average value is taken as the power consumption data at this speed under any bend curvature; The underground pipeline robot is used to collect power consumption change data in a uniformly accelerating or uniformly decelerating manner from a stationary state, and the average value of N sets of data is taken as the power consumption data per unit speed change during the uniformly accelerating or uniformly decelerating process; During the process of movement, calculate the total power loss before the bend. If the total power loss is greater than 0, pass through at the original speed; if the total power loss is less than or equal to 0, pass through at a fixed matching speed set by the system; control the traveling speed of the underground pipeline robot at different positions by outputting signals.

2. An intelligent underground pipeline detection system based on artificial intelligence, which uses an intelligent underground pipeline detection method based on artificial intelligence as described in claim 1, characterized in that: The system includes: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a traveling speed control instruction analysis module, and an artificial review module; The underground pipeline intelligent detection module is used to build an underground pipeline intelligent detection platform, connect to the underground pipeline robot, and form a data feedback interaction between the underground pipeline robot and the detection platform; the underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the traveling speed of the underground pipeline robot at different positions; the traveling speed control instruction analysis module is used to call historical traveling data, form a traveling speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module; the artificial review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline and conduct secondary manual detection; The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the traveling speed control instruction analysis module; the output end of the traveling speed control instruction analysis module is connected to the input end of the artificial review module.

3. An intelligent underground pipeline detection system based on artificial intelligence according to claim 2, characterized in that: The underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit; The detection platform construction unit is used to build an underground pipeline intelligent detection platform and connect to the underground pipeline robot; the data feedback unit is used to form a data feedback interaction between the underground pipeline robot and the detection platform; The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

4. An intelligent underground pipeline detection system based on artificial intelligence according to claim 2, characterized in that: The underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit; The real-time scanning unit is used to control the underground pipeline robot to scan underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the traveling speed of the underground pipeline robot at different positions; The output end of the real-time scanning unit is connected to the input end of the speed control unit.

5. An intelligent underground pipeline detection system based on artificial intelligence according to claim 2, characterized in that: The traveling speed control instruction analysis module includes an instruction analysis unit and a feedback control unit; The instruction analysis unit is used to call historical traveling data and form a traveling speed control instruction analysis model; the feedback control unit is used to form output signals and feedback to the underground pipeline robot intelligent control module; The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

6. The intelligent underground pipeline detection system based on artificial intelligence according to claim 2, characterized in that: The artificial review module includes a detection receiving unit and an artificial detection unit; The detection and reception unit is used to receive the detection feedback information of the underground pipeline robot for the underground pipeline; the manual detection unit is used to identify the monitoring data of the underground pipeline and feed it back to the administrator for secondary manual detection; The output end of the detection and reception unit is connected to the input end of the manual detection unit.

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