Pipeline endoscope lens, pipeline detection assembly and pipeline detection robot

Abstract

The invention discloses a pipeline endoscope lens, a pipeline detection assembly and a pipeline detection robotic.The pipeline endoscope lens comprises a shell and an imaging lens, an opening is formed in the front end of the shell, a lens is arranged at the opening in a sealed mode, the imaging lens is arranged in the shell, the lens end of the imaging lens is aligned to the lens, and the lens end of the imaging lens is aligned to the lens. An inflation port is further embedded in the shell, the inflation port is used for inflating the shell, and a wire of the imaging lens penetrates out of the shell in a sealed mode, so that the shell can be inflated through the inflation port. The pressure intensity in the shell is greater than the external pressure intensity, so that positive pressure protection is formed for electronic components in the shell to improve the waterproof performance of the electronic components.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline robots, and in particular relates to a pipeline endoscope lens, a pipeline detection assembly and a pipeline detection robot. Background Art

[0002] When the pipeline robot is detecting the inside of the pipeline, ground personnel will set up a camera on the pipeline robot to take pictures in order to obtain the real-time situation inside the pipeline. Currently, most pipeline robots are equipped with visible light camera lenses with fill lights, but the imaging effect is not good. In addition, the existing conventional imaging lenses usually have poor waterproof performance and are usually affected by moisture when running in the pipeline, which eventually leads to a short service life of the imaging lens. However, the imaging lenses with high protection levels on the market are too expensive. Summary of the invention

[0003] In order to solve the above technical problems, one of the objectives of the present invention is to provide a pipeline endoscope lens with good waterproof performance and low cost.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline endoscope lens, comprising a shell and an imaging lens, the front end of the shell is provided with an opening, and a lens is sealed at the opening, the imaging lens is placed in the shell, and its lens end is aligned with the lens, and an inflation port is also embedded on the shell, and the inflation port is used to inflate the shell, and the wire of the imaging lens is sealed and extended to the outside of the shell.

[0005] The beneficial effect of the above technical solution is that: in this way, air can be inflated into the shell through the inflation port, so that the pressure inside the shell is greater than the external pressure, thereby forming positive pressure protection for the electronic components in the shell to improve its waterproof performance.

[0006] In the above technical solution, there are multiple imaging lens settings and openings, and the multiple openings correspond to the multiple imaging lenses one by one. The lens is embedded in each opening, and the lens end of each imaging lens is aligned with the corresponding lens.

[0007] The beneficial effect of the above technical solution is that: in this way, multiple imaging lenses can be used together to photograph the inside of the pipeline to obtain more comprehensive image data inside the pipeline.

[0008] In the above technical solution, two imaging lenses are provided, one of which is an infrared thermal imaging lens, and the other is a visible light lens.

[0009] The beneficial effect of the above technical solution is that the infrared thermal imaging lens and the visible light lens can be used together to take pictures of the inside of the pipeline.

[0010] The second object of the present invention is to provide a pipeline detection assembly which has a simple structure, can use geological radar and imaging lens to detect pipelines, and has better waterproof performance.

[0011] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline detection assembly, comprising a mounting seat, a fixed shaft, a sleeve, a rotating drive member, a geological radar and the pipeline endoscope lens as described above, the mounting seat is vertically arranged, the fixed shaft is horizontally arranged along the front-to-back direction, and the rear end of the fixed shaft is fixedly connected to the mounting seat, the rear end of the shell is connected to the front end of the fixed shaft, the sleeve is coaxially rotatably sleeved on the fixed shaft, the geological radar is installed on the sleeve through a first lifting member, the first lifting member is used to adjust the radial distance between the geological radar and the fixed shaft, the rotating drive member is installed on the mounting seat, and its driving end is transmission-connected to the sleeve, and the rotating drive member is used to drive the sleeve to drive the geological radar to rotate around the fixed shaft.

[0012] The beneficial effect of the above technical solution is that the geological radar can rotate synchronously with the shaft sleeve on the shaft sleeve, and the distance between it and the fixed axis can be adjusted by the first lifting frame.

[0013] The pipeline endoscope head in the above technical solution also includes an aviation plug connector, which includes an aviation plug female end and an aviation plug male end. The aviation plug female end is arranged at the rear end of the shell, and the wire of the imaging lens is electrically connected to the wiring terminal of the aviation plug female end. The aviation plug male end is installed at the front end of the fixed shaft, and the aviation plug female end and the aviation plug male end are plugged into each other.

[0014] The beneficial effect of the above technical solution is that the pipeline endoscope lens can be detachably installed on the front end of the fixed shaft. When the pipeline detection assembly is not in use, the pipeline endoscope lens can be removed except for the male end of the aviation plug and stored independently for protection.

[0015] The mounting seat in the above technical solution is hollow inside, the rotating drive member is installed in the mounting seat, and the rear ends of the fixed shaft and the sleeve are both inserted into the mounting seat, and the sleeve is rotatably connected to the mounting seat, and the driving end of the rotating drive member is transmission-connected to the rear end of the sleeve.

[0016] The beneficial effect of the above technical solution is that it makes the structure of the entire pipeline detection assembly more compact and beautiful.

[0017] In the above technical solution, a control board is also arranged in the mounting seat, the fixed shaft is a tubular shaft, and the wire of the imaging lens penetrates into the mounting seat through the inner hole of the fixed shaft and is electrically connected to the control board.

[0018] The beneficial effect of the above technical solution is that it can further improve the aesthetics of the entire pipeline detection assembly.

[0019] The above technical solution also includes an electronic slip ring, an annular gap is provided between the middle part of the sleeve and the fixed shaft, the electronic slip ring is placed in the annular gap, the electronic slip ring has a stator ring and a rotor ring which rotate coaxially with each other and are electrically connected, the stator ring is coaxially fixedly sleeved on the fixed shaft, the rotor ring is coaxially fixedly embedded in the inner hole of the sleeve, the wires of the geological radar and the first lifting member are electrically connected to the rotor ring, the wires of the stator ring are inserted into the inner hole of the fixed shaft and introduced into the mounting seat to be electrically connected to the control board.

[0020] The beneficial effect of the above technical solution is that the geological radar and the first lifting frame can be flexibly rotated along with the shaft sleeve without worrying about the problem of wire winding.

[0021] The second object of the present invention is to provide a pipeline detection robot which has a simple structure, can use geological radar and imaging lens to detect pipelines, and has good waterproof performance.

[0022] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline detection robot, comprising a mobile chassis, a second lifting member and the pipeline detection assembly as described above, wherein the second lifting member is installed at the upper end of the mobile chassis, the mounting seat is installed at the front lower end of the lifting end of the lifting frame, and the second lifting member is used to adjust the height of the pipeline detection assembly.

[0023] The beneficial effects of the above technical solution are: its structure is simple, and the second lifting frame can be used to flexibly adjust the coaxial distribution of the fixed axis and the axis of the pipeline.

[0024] The above technical solution also includes two gas springs. The front end of the mobile chassis is aligned with the front end of the second lifting member. The two gas springs are vertically installed on both sides of the front end of the mobile chassis, and the upper ends of the two gas springs are respectively connected to the corresponding sides of the lifting end of the second lifting member.

[0025] The beneficial effect of the above technical solution is that the stability of the second lifting frame on the mobile chassis can be improved.

[0026] The above technical solution also includes a long-distance communication module and a control assembly arranged on the mobile chassis. The long-distance communication module, pipeline detection assembly, mobile chassis and second lifting member are all electrically connected to the control assembly, and the long-distance communication module is used to communicate with the terminal device.

[0027] The beneficial effect of the above technical solution is that: in this way, the pipeline detection robot can communicate with the terminal equipment on the ground over long distances, and its signal transmission has good stability, which is conducive to improving the quality and efficiency of pipeline detection.

[0028] The above technical solution also includes a coaxiality measuring device arranged on the fixed shaft and electrically connected to the control assembly, wherein the coaxiality measuring device is used to measure the coaxiality of the fixed shaft relative to the pipeline in the pipeline, and the control assembly controls the movable chassis and the second lifting device to operate in coordination to correct the coaxiality of the fixed shaft relative to the pipeline.

[0029] The beneficial effect of the above technical solution is that: when the movable chassis moves in the pipeline, it can automatically calibrate and correct the coaxiality of the fixed axis relative to the pipeline.

[0030] The coaxiality measuring part in the above technical solution includes three ranging probes which are arranged at annular intervals and distributed in the same circle and are all electrically connected to the control assembly, and the axis of the circle where the three ranging probes are located is coaxially distributed with the fixed axis, the detection part of one of the ranging probes is arranged vertically upward, and the remaining two ranging probes are arranged horizontally, and their detection parts are away from each other.

[0031] The beneficial effect of the above technical solution is that: when the distances measured by the three distance measuring probes to the inner wall of the pipeline are consistent and equal to the inner diameter of the pipeline, it can be assumed that the fixed axis and the pipeline are coaxially distributed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a vertical view of the pipeline endoscope lens according to Embodiment 1 of the present invention;

[0033] Figure 2 is a cross-sectional view of the pipeline endoscope lens of Embodiment 1 of the present invention;

[0034] Figure 3 It is a side view of the pipeline detection assembly described in Example 2 of the present invention;

[0035] Figure 4 A partial cross-sectional view of the pipeline detection assembly according to Embodiment 2 of the present invention;

[0036] Figure 5 It is a front view of the fixed shaft, the shaft sleeve and the mounting seat described in Example 2 of the present invention;

[0037] Figure 6 This is a side view of the pipeline robot described in Example 3 of the present invention;

[0038] Figure 7 This is a schematic diagram of the arrangement of the distance measuring probe on the fixed axis in Example 3 of the present invention.

[0039] In the figure: 1 pipeline detection assembly; 11 pipeline endoscope lens; 112 imaging lens; 1111 opening; 1112 lens; 113 charging port; 114 aviation plug connector; 1141 aviation plug female end; 1142 aviation plug male end; 12 mounting seat; 121 LED lighting lamp; 13 fixed shaft; 14 bushing; 15 rotating drive member; 16 geological radar; 17 first lifting member; 18 control board; 19 electronic slip ring; 191 stator ring; 192 rotor ring; 2 mobile chassis; 3 second lifting member; 4 gas spring; 5 long-distance communication module; 6 control assembly; 7 coaxiality measurement member; 71 ranging probe. DETAILED DESCRIPTION

[0040] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. According to the following description and claims, the advantages and features of the present invention will be more clearly described. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0041] Example 1

[0042] like Figure 1 and Figure 2 As shown, this embodiment provides a pipeline endoscope lens, including a shell 111 and an imaging lens 112, the front end of the shell 111 is provided with an opening 1111, and the opening 1111 is sealed with a lens 1112, the imaging lens 112 is placed in the shell 111, and its lens end is aligned with the lens 1112, and the shell 111 is also embedded with an inflation port 113, the inflation port 113 is used to inflate the shell 111, the wire of the imaging lens 112 is sealed and extended to the outside of the shell 111, so that the shell can be inflated through the inflation port, so that the pressure in the shell is greater than the external pressure, thereby forming positive pressure protection for the electronic components in the shell to improve its waterproof performance.

[0043] In the above technical solution, there are multiple imaging lenses 112 and openings 1111, and the multiple openings 1111 correspond to the multiple imaging lenses 112 one by one. Each opening 1111 is embedded with the lens 1112, and the lens end of each imaging lens 112 is aligned with the corresponding lens 1112. In this way, multiple imaging lenses can be used together to photograph the inside of the pipeline to obtain more comprehensive image data inside the pipeline.

[0044] In the above technical solution, two imaging lenses 112 are provided, one of which is an infrared thermal imaging lens, and the other is a visible light lens, so that the infrared thermal imaging lens and the visible light lens can jointly take pictures of the inside of the pipeline.

[0045] The air port in this embodiment may be a valve core (such as a valve core on a bicycle tire or a valve core on a basketball).

[0046] The protection level of the pipeline endoscope lens in this embodiment can reach IP68.

[0047] Example 2

[0048] like Figure 3 and Figure 4 As shown, this embodiment provides a pipeline detection assembly, including a mounting seat 12, a fixed shaft 13, a sleeve 14, a rotating drive member 15, a geological radar 16 and the pipeline endoscope lens 11 as described above, wherein the mounting seat 12 is vertically arranged, the fixed shaft 13 is horizontally arranged along the front-to-back direction, and the rear end of the fixed shaft 13 is fixedly connected to the mounting seat 12, the rear end of the housing 111 is connected to the front end of the fixed shaft 13, the sleeve 14 is coaxially rotatably sleeved on the fixed shaft 13, and the geological radar 16 is rotated by The first lifting member 17 is installed on the sleeve 14, and the first lifting member 17 is used to adjust the radial distance between the geological radar 16 and the fixed axis 13. The rotating driving member 15 is installed on the mounting seat 12, and its driving end is transmission-connected with the sleeve 14. The rotating driving member 15 is used to drive the sleeve 14 to drive the geological radar 16 to rotate around the fixed axis 13, so that the geological radar can rotate synchronously with the sleeve on the sleeve, and the distance from the geological radar to the fixed axis can also be adjusted by the first lifting frame.

[0049] The pipeline endoscope lens 11 in the above technical solution also includes an aviation plug connector 114, which includes an aviation plug female end 1141 and an aviation plug male end 1142. The aviation plug female end 1141 is arranged at the rear end of the shell 111, and the wire of the imaging lens 112 is electrically connected to the wiring terminal of the aviation plug female end 1141, and the aviation plug male end 1142 is installed at the front end of the fixed shaft 13. The aviation plug female end 1141 and the aviation plug male end 1142 are plugged into each other, so that the pipeline endoscope lens can be detachably installed at the front end of the fixed shaft. When the pipeline detection assembly is not in use, the pipeline endoscope lens except the aviation plug male end is removed and stored independently for protection.

[0050] In the above technical solution, the interior of the mounting seat 12 is hollow, the rotating drive member 15 is installed in the mounting seat 12, and the rear ends of the fixed shaft 13 and the sleeve 14 are both inserted into the mounting seat 12, and the sleeve 14 is rotatably connected to the mounting seat 12, and the driving end of the rotating drive member 15 is transmission-connected to the rear end of the sleeve 14, so that the structure of the entire pipeline detection assembly is more compact and beautiful.

[0051] In the above technical solution, a control board 18 is also provided in the mounting seat 12, and the fixed shaft 13 is a tubular shaft. The wire of the imaging lens 112 passes through the inner hole of the fixed shaft 13 into the mounting seat 12 and is electrically connected to the control board 18, which can further improve the aesthetics of the entire pipeline detection assembly.

[0052] The above technical solution also includes an electronic slip ring 19, an annular gap is provided between the middle part of the sleeve 14 and the fixed shaft 13, the electronic slip ring 19 is placed in the annular gap, the electronic slip ring 19 has a stator ring 191 and a rotor ring 192 which rotate coaxially and are electrically connected to each other, the stator ring 191 is coaxially fixedly sleeved on the fixed shaft 13, the rotor ring 192 is coaxially fixedly embedded in the inner hole of the sleeve 14, the wires of the geological radar 16 and the first lifting member 17 are electrically connected to the rotor ring 192, The wire of the stator ring 191 is inserted into the inner hole of the fixed shaft 13 and introduced into the mounting seat 12 to be electrically connected to the control board 18, so that the geological radar and the first lifting frame can rotate flexibly with the sleeve (that is, they can rotate continuously in the same direction) without worrying about the problem of wire winding (wherein, the sleeve and the fixed shaft have holes for the wire to pass through at the positions corresponding to the annular gaps, especially the holes on the sleeve need to be sealed and waterproofed after the wire passes through, such as setting a waterproof wire sleeve for waterproofing or filling with silicone for sealing).

[0053] The rotary drive member in this embodiment can be a reduction brake motor, which is directly mounted in the mounting seat, and the driving end and the rear end of the sleeve are both provided with mutually meshing gears for transmission connection.

[0054] In this embodiment, the first lifting frame can be a double scissor-type electric lifting platform.

[0055] The rotating connections between the sleeve and the fixed shaft and the mounting seat in this embodiment can all be sealed (such as using seals for rotating connections). At this time, similar to the pipeline endoscope lens, a valve core can be set on the mounting seat for inflation to create a positive pressure inside the mounting seat, thereby improving its waterproof level.

[0056] like Figure 5As shown, LED lighting lamps 121 can be arranged on both sides of the front end of the mounting base in this embodiment, which occupy a small volume and can illuminate the front to supplement the visible light lens.

[0057] in, Figure 4 The dotted line portion in the middle represents a schematic diagram of the wire entering and exiting the shaft sleeve, the fixed shaft and the mounting seat (the threading points are all sealed).

[0058] In order to improve the application scope and functions of the pipeline detection assembly provided by this embodiment, the pipeline endoscope lens 11 described in this embodiment can also be removed and other detection heads can be plugged into the male end of the aviation plug (other detection heads are also provided with plug connectors that match the male end of the aviation plug. Specifically, other detection heads can be laser radars or fisheye lenses, but of course not limited to these).

[0059] Example 3

[0060] like Figure 6 As shown, this embodiment provides a pipeline detection robot, including a mobile chassis 2, a second lifting member 3 and the pipeline detection assembly 1 as described above, wherein the second lifting member 3 is installed at the upper end of the mobile chassis 2, and the mounting seat 12 is installed at the front lower end of the lifting end of the lifting frame, and the second lifting member 3 is used to adjust the height of the pipeline detection assembly 1. It has a simple structure, and the second lifting frame can be used to flexibly adjust the coaxial distribution of the fixed axis and the axis of the pipeline.

[0061] The above technical solution also includes two gas springs 4. The front end of the mobile chassis 2 is aligned with the front end of the second lifting member 3. The two gas springs 4 are vertically installed on both sides of the front end of the mobile chassis 2, and the upper ends of the two gas springs 4 are respectively connected to the corresponding sides of the lifting end of the second lifting member 3. In this way, the stability of the second lifting frame on the mobile chassis can be improved (in this embodiment, the lower end of the gas spring can be connected to the lower end of the corresponding side of the chassis, and the upper end of the gas spring can be connected to the upper end of the corresponding side of the lifting end of the second lifting frame).

[0062] In this embodiment, the second lifting frame can be a double scissor-type electric lifting platform.

[0063] The mobile chassis in this embodiment can be a wheeled chassis or a crawler chassis.

[0064] The above technical solution also includes a long-distance communication module 5 and a control assembly 6 arranged on the mobile chassis 2. The long-distance communication module 5, the pipeline detection assembly 1, the mobile chassis 2 and the second lifting member 3 are all electrically connected to the control assembly (the pipeline detection assembly 1 has a control board electrically connected to the control assembly). The long-distance communication module 5 is used to communicate with the terminal device, so that the pipeline detection robot can communicate with the terminal device on the ground over a long distance. The signal transmission has good stability, which is beneficial to improving the quality and efficiency of pipeline detection. In this embodiment, the long-distance communication module can adopt an existing VDS L2 communication module, the control assembly can be an ARM series single-chip microcomputer, and the terminal device can be a computer.

[0065] The above technical solution also includes a coaxiality measuring component 7 arranged on the fixed shaft 13 and electrically connected to the control assembly 6, and the coaxiality measuring component 7 is used to measure the coaxiality of the fixed shaft 13 relative to the pipeline in the pipeline, and the control assembly 6 controls the mobile chassis 2 and the second lifting component 3 to operate in coordination to correct the coaxiality of the fixed shaft 13 relative to the pipeline, so that the mobile chassis can automatically calibrate and correct the coaxiality of the fixed shaft relative to the pipeline when moving in the pipeline.

[0066] The coaxiality measuring part 7 in the above technical solution includes three distance measuring probes 71 which are arranged at an interval in the annular direction and distributed in the same circle and are all electrically connected to the control assembly 6, and the axis of the circle where the three distance measuring probes 71 are located is coaxially distributed with the fixed axis 13, the detection part of one of the distance measuring probes 71 is arranged vertically upward, and the remaining two distance measuring probes 71 are arranged horizontally, and their detection parts are away from each other. At this time, when the distances measured by the three distance measuring probes to the inner wall of the pipeline are consistent and are all equivalent to the inner diameter of the pipeline, it can be assumed that the fixed axis and the pipeline are coaxially distributed.

[0067] in, Figure 7The dotted circle in the middle indicates the inner wall of the pipeline, and the three dotted arrows indicate the distances between the three ranging probes and the inner wall of the pipeline. When detecting the pipeline, the inner diameter of the pipeline needs to be input in advance through the control assembly, so that when the mobile chassis moves in the pipeline, the ranging probe can measure the distance from the inner wall of the pipeline in real time, and calculate the coaxiality deviation from the fixed axis to the inner wall of the pipeline in real time. When the deviation exceeds the threshold (the threshold can also be set in advance by the control assembly), the second lifting frame and the mobile chassis can cooperate to correct the coaxiality of the fixed axis relative to the pipeline (where the second lifting frame mainly corrects vertically, and the mobile chassis mainly corrects laterally). The ranging probe in this embodiment can use an ultrasonic ranging radar, which has strong anti-interference ability. When the fixed axis is coaxial with the pipeline, the circular trajectory of the geological radar when the pipeline rotates remains coaxial with the pipeline, which makes its detection accuracy high, wherein the ranging probe is arranged at the side wall of the front end of the fixed axis.

[0068] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A pipeline endoscope lens, characterized in that: The invention comprises a shell (111) and an imaging lens (112); an opening (1111) is arranged at the front end of the shell (111), and a lens (1112) is sealed and arranged at the opening (1111); the imaging lens (112) is placed in the shell (111), and the lens end thereof is aligned with the lens (1112); an inflation port (113) is also embedded in the shell (111), and the inflation port (113) is used for inflating the shell (111); and the wire of the imaging lens (112) is sealed and extended out of the shell (111).

2. The pipeline endoscope head according to claim 1, characterized in that: The imaging lens (112) and the opening (1111) are both provided in plurality, and the plurality of openings (1111) and the plurality of imaging lenses (112) correspond one to one, each of the openings (1111) is embedded with the lens (1112), and the lens end of each imaging lens (112) is aligned with the corresponding lens (1112).

3. The pipeline endoscope head according to claim 2, characterized in that: Two imaging lenses (112) are provided, one of the imaging lenses (112) is an infrared thermal imaging lens, and the other imaging lens (112) is a visible light lens.

4. A pipeline detection assembly, characterized in that: The invention comprises a mounting seat (12), a fixed shaft (13), a sleeve (14), a rotating driving member (15), a geological radar (16), and a pipeline endoscope head (11) according to any one of claims 1 to 3, wherein the mounting seat (12) is vertically arranged, the fixed shaft (13) is horizontally arranged in the front-to-back direction, and the rear end of the fixed shaft (13) is fixedly connected to the mounting seat (12), the rear end of the housing (111) is connected to the front end of the fixed shaft (13), and the sleeve (14) is coaxially rotatably sleeved on the fixed shaft (13). The geological radar (16) is mounted on the fixed shaft (13) through a first lifting member (17), and the first lifting member (17) is used to adjust the distance between the geological radar (16) and the fixed shaft (13) in the radial direction. The rotary driving member (15) is mounted on the mounting seat (12), and the driving end thereof is transmission-connected with the shaft sleeve (14). The rotary driving member (15) is used to drive the shaft sleeve (14) to drive the geological radar (16) to rotate around the fixed shaft (13).

5. The pipeline detection assembly according to claim 4, characterized in that: The pipeline endoscope lens (11) further comprises an aviation plug connector (114), the aviation plug connector (114) comprising an aviation plug female end (1141) and an aviation plug male end (1142), the aviation plug female end (1141) being arranged at the rear end of the housing (111), and the wire of the imaging lens (112) being electrically connected to the wiring terminal of the aviation plug female end (1141), the aviation plug male end (1142) being mounted at the front end of the fixed shaft (13), and the aviation plug female end (1141) and the aviation plug male end (1142) being plugged into each other.

6. The pipeline detection assembly according to claim 4, characterized in that: The interior of the mounting seat (12) is hollow, the rotary drive member (15) is mounted in the mounting seat (12), and the rear ends of the fixed shaft (13) and the shaft sleeve (14) are both inserted into the mounting seat (12), and the shaft sleeve (14) is rotationally connected to the mounting seat (12), and the driving end of the rotary drive member (15) is transmission-connected to the rear end of the shaft sleeve (14).

7. The pipeline detection assembly according to claim 6, characterized in that: A control board (18) is also arranged in the mounting seat (12); the fixed shaft (13) is a tubular shaft; the lead wire of the imaging lens (112) passes through the inner hole of the fixed shaft (13) into the mounting seat (12) and is electrically connected to the control board (18).

8. The pipeline detection assembly according to claim 7, characterized in that: It also includes an electronic slip ring (19), wherein an annular gap is provided between the middle portion of the sleeve (14) and the fixed shaft (13), and the electronic slip ring (19) is placed in the annular gap. The electronic slip ring (19) has a stator ring (191) and a rotor ring (192) which rotate coaxially with each other and are electrically connected. The stator ring (191) is coaxially fixedly sleeved on the fixed shaft (13), and the rotor ring (192) is coaxially fixedly embedded in the inner hole of the sleeve (14). The wires of the geological radar (16) and the first lifting member (17) are electrically connected to the rotor ring (192), and the wires of the stator ring (191) are inserted into the inner hole of the fixed shaft (13) and introduced into the mounting seat (12) to be electrically connected to the control board (18).

9. A pipeline detection robot, characterized in that: The invention comprises a mobile chassis (2), a second lifting member (3) and a pipeline detection assembly (1) as claimed in any one of claims 4 to 8, wherein the second lifting member (3) is mounted on the upper end of the mobile chassis (2), the mounting seat (12) is mounted on the front lower end of the lifting end of the lifting frame, and the second lifting member (3) is used to adjust the height of the pipeline detection assembly (1).

10. The pipeline detection robot according to claim 9, characterized in that: It also includes two gas springs (4), the front end of the mobile chassis (2) is aligned with the front end of the second lifting member (3), the two gas springs (4) are vertically installed on both sides of the front end of the mobile chassis (2), and the upper ends of the two gas springs (4) are respectively connected to the corresponding sides of the lifting end of the second lifting member (3).

11. The pipeline detection robot according to claim 9, characterized in that: It also includes a long-distance communication module (5) and a control assembly (6) arranged on the mobile chassis (2); the long-distance communication module (5), the pipeline detection assembly (1), the mobile chassis (2) and the second lifting member (3) are all electrically connected to the control assembly (6); and the long-distance communication module (5) is used to communicate with the terminal device.

12. The pipeline detection robot according to claim 11, characterized in that: It also includes a coaxiality measuring component (7) disposed on the fixed shaft (13) and electrically connected to the control assembly (6), wherein the coaxiality measuring component (7) is used to measure the coaxiality of the fixed shaft (13) relative to the pipeline in the pipeline, and the control assembly (6) controls the movable chassis (2) and the second lifting component (3) to operate in coordination to correct the coaxiality of the fixed shaft (13) relative to the pipeline.

13. The pipeline detection robot according to claim 12, characterized in that: The coaxiality measuring member (7) comprises three distance measuring probes (71) which are arranged circumferentially at intervals and cocircularly distributed and are all electrically connected to the control assembly (6), and the axes of the circles where the three distance measuring probes (71) are located are coaxially distributed with the fixed axis (13), the detection portion of one of the distance measuring probes (71) is arranged vertically upward, and the remaining two distance measuring probes (71) are arranged horizontally, and their detection portions are mutually separated.

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