Multi-parameter intelligent detection device for urban underground drainage pipeline

Abstract

The invention provides a multi-parameter intelligent detection device for an urban underground drainage pipeline, and the device comprises an intelligent detection robot which comprises a trolley chassis module, a power module, an air-ground lifting module, a top road rolling module, and a mainboard module. The multi-sensor measurement system comprises a Doppler flow measurement module, an air parameter acquisition module, a heavy metal parameter acquisition module and a binocular parallax camera module; the intelligent detection robot collects and transmits flow parameters, gas components, heavy metal components and pipeline health state data of an underground pipe network in real time through the multi-sensor measurement system. According to the invention, the monitoring efficiency and management level of the underground drainage pipe network can be significantly improved, reliable data support is provided for operation optimization, flood control and drainage and pollution control of an urban drainage system, and smart city construction and environmental protection are assisted.

Description

Technical Field

[0001] The invention belongs to the field of metering technology and intelligent measurement and control instruments, and specifically relates to a multi-parameter intelligent detection device for urban underground drainage pipelines. Background Art

[0002] Urban drainage pipes are like blood vessels of a city. Blockage will lead to the overall paralysis of the city. With the rapid development of urbanization, urban sewage overflow and rainwater flooding are becoming more and more serious. Many large and medium-sized cities have problems such as poor drainage when the rainy season comes, which affects people's daily life and even causes major economic losses, personal injuries and serious environmental pollution. The safety of urban drainage systems is facing severe challenges and has become an urgent livelihood issue that needs to be solved. Regular detection of the status of urban drainage pipes is the key to solving this problem. By detecting and obtaining information such as the geometric parameters of the pipes, flow capacity characteristics, sewage flow parameters, and toxic and harmful gas components in the pipes, the material flow and energy flow change laws of the multi-cycle of the urban sewage system, the risk control principles and approaches of the ecological storage and multi-scale circulation of urban recycled water, and finally constructing a new model of benign cycle of urban sewage storage, transportation and utilization to ensure the ecological safety of the urban water system. Therefore, regular inspection and repair of pipelines is an important part of urban construction. Accurate detection of pipeline defects and pipeline flow media, timely grasp of defects and medium flow status and development laws, is of great significance to ensure the normal operation of pipelines and reduce losses. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-parameter intelligent detection device for urban underground drainage pipelines.

[0004] The technical solution of the present invention is as follows:

[0005] A multi-parameter intelligent detection device for urban underground drainage pipelines, the device comprising:

[0006] The intelligent detection robot includes a chassis module, a power module, a land-air lifting module, a top-road rolling module and a mainboard module;

[0007] Multi-sensor measurement system, including Doppler flow measurement module, air parameter acquisition module, heavy metal parameter acquisition module, binocular parallax camera module;

[0008] The intelligent detection robot collects and transmits the flow parameters, gas composition, heavy metal composition and pipeline health status data of the underground pipeline network in real time through the multi-sensor measurement system.

[0009] Furthermore, the trolley chassis module is a liftable center of gravity structure, which is composed of a triangular telescopic connecting rod. The two sides of the triangular telescopic connecting rod are fixed equal-length sides, the bottom side is a telescopic side, and is composed of three sections of hydraulic connecting rods.

[0010] Furthermore, the power module includes a battery pack, a drive motor and a propeller motor. The battery pack provides power for the robot, the drive motor drives the robot forward, and the propeller motor drives the land-to-air lifting module to provide a lifting function. When it rises to a certain height, the top road rolling module is used to prevent damage to the camera of the intelligent detection robot.

[0011] Furthermore, the mainboard module includes a motion control module, a multi-parameter acquisition module, a positioning module, a wireless communication module, and a data storage module;

[0012] The motion control module is used to control the movement and obstacle crossing function of the intelligent detection robot in the underground drainage pipe;

[0013] The multi-parameter acquisition module is used to control the multi-sensor measurement system to collect data:

[0014] The positioning module is used to obtain the coordinate information of the robot position and obstacles in real time;

[0015] The wireless communication module is used to realize two-way data transmission through 4G and Wi-Fi networks;

[0016] The data storage module is used to store the collected data.

[0017] Furthermore, the Doppler flow measurement module includes an ultrasonic transmitting unit, an ultrasonic receiving unit and a signal processing unit; the ultrasonic transmitting unit is used to transmit ultrasonic signals to the sewage in the pipe, and the ultrasonic receiving unit is used to receive the reflected ultrasonic signals; the signal processing unit calculates the flow velocity and flow rate of the sewage in the pipe according to the frequency offset of the received ultrasonic signal.

[0018] Furthermore, the air parameter acquisition module includes a plurality of gas sensors for detecting the concentration of harmful gases in the sewage pipe, wherein the harmful gases include but are not limited to carbon monoxide, sulfur dioxide, nitrogen dioxide, methane, hydrogen sulfide and ammonia.

[0019] Furthermore, the heavy metal parameter acquisition module includes a plurality of heavy metal ion sensors for monitoring the concentration of heavy metal ions in the sewage pipe, wherein the heavy metal ions include lead, copper and cadmium.

[0020] Furthermore, the binocular parallax camera module is composed of two cameras, which obtains the depth information in the pipeline through the binocular vision principle and generates a three-dimensional model of the pipeline using a three-dimensional reconstruction algorithm, which is used to detect obstacles, cracks or deformations in the pipeline.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The multi-parameter intelligent detection device for urban underground drainage pipelines of the present invention combines Doppler flow measurement, air and sewage parameter monitoring, three-dimensional modeling and positioning navigation technology to achieve all-round detection of the operation status of the pipeline network. The device adopts a modular design, integrates ultrasonic sensors, binocular cameras, Beidou positioning modules, etc., and is connected to the host computer in real time through the Internet of Things system, which can efficiently collect, transmit and process multi-dimensional data such as flow velocity, flow, gas composition, and heavy metal concentration in the pipeline. The robot car is designed with center of gravity lifting and land and air amphibious functions, which can adapt to complex terrain, cross obstacles and move flexibly in narrow spaces. The data is stored in a secure SQL Server database for subsequent analysis and maintenance. Compared with traditional technologies, the device has the advantages of high precision, intelligence and strong adaptability, which can significantly improve the monitoring efficiency and management level of underground drainage pipelines, and provide reliable data support for the operation optimization, flood control and drainage, and pollution control of urban drainage systems, and help smart city construction and environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the embodiments of the invention. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0024] Figure 1 The schematic diagram of the overall structure of the present invention is shown;

[0025] Figure 2 A schematic diagram of a chassis module of the present invention is shown;

[0026] Figure 3 The schematic diagram of the ultrasonic water depth measurement principle of the present invention is shown;

[0027] Figure 4 A schematic diagram showing the principle of Doppler flow measurement using a V-shaped ultrasonic probe of the present invention is shown;

[0028] Figure 5 A schematic diagram of a Doppler flow measurement module of the present invention is shown;

[0029] Figure 6A schematic diagram of a binocular parallax camera module of the present invention is shown;

[0030] Figure 7 A schematic diagram of a mainboard module of the present invention is shown;

[0031] Figure 8 A schematic diagram of the sewage flow characteristics experimental device of the present invention is shown. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] The embodiment of the present invention provides a multi-parameter intelligent detection device for urban underground drainage pipelines, comprising:

[0034] Trolley chassis module, trolley power module, land and air lifting module, air parameter collection module, heavy metal parameter collection module, Doppler flow measurement module, camera module, and top road rolling module.

[0035] 1. Car chassis module

[0036] The robot needs to meet two conditions. First, it can carry an ultrasonic flow meter measuring tube to the pipe network. A measuring device can be built to measure the fluid flow. The main body of the measuring device is composed of a 75mm diameter and 400mm long round tube. Second, the measuring tube should not affect the robot's walking when the robot carrying the sensor walks in the network. Since the measuring tube is relatively large, the center of gravity needs to be raised when walking so as not to affect the walking. When measurement is required, the center of gravity needs to be lowered to measure the fluid flow parameters. In order to achieve the measurement, a robot with a lifting center of gravity is designed. When the robot stops for measurement, the center of gravity of the flow sensor To lower, the robot is composed of a 16-wheeled machine cart. Every two wheels are connected by tracks to form a set of power transmission wheels, and every four wheels constitute a support point, forming a total of four support points, which are similar to family cars. The front two support points are on the outside and the back two support points are on the inside. Since the robot carries more sensors, a trapezoidal structure is formed to increase walking stability and load-bearing capacity. The rise and fall of the center of gravity is composed of a triangular retractable connecting rod. The two sides of the triangular retractable connecting rod are fixed equal-length sides, and the bottom side is a retractable side. It is composed of three sections of hydraulic connecting rods, and the extension and retraction can be controlled by a hydraulic pump to achieve the purpose of lowering the center of gravity.

[0037] 2. Car power module

[0038] The power module consists of a battery pack, a robot car driving wheel motor, and a propeller motor. The battery pack provides power for the robot, the drive motor drives the robot forward, and the propeller motor drives the land-to-air lifting module to provide a lifting function. When it rises to a certain height, the top road rolling module is used to prevent damage to the camera of the intelligent detection robot.

[0039] 3. Land and air lifting module

[0040] The land-to-air lifting module consists of four propellers, which can provide the lifting function of the robot car when it encounters obstacles on the ground. When the car rises to a certain height, it can roll and slide along the top of the pipe.

[0041] 4. Air parameter collection module

[0042] The accuracy of detecting and discharging harmful gas components in sewage pipes is the main purpose of sewage discharge monitoring. Near-infrared spectroscopy analysis technology and gas sensor devices are suitable for the study of gas component measurement models, so they are used to build a measurement model for toxic and harmful gas components precipitated from sewage pipes. Without sampling, direct testing on site is expected to solve the problem of online measurement of harmful gas components in sewage. This system collects six air parameters, namely, carbon monoxide CO measurement range in the range of (0-1000PPM), sulfur dioxide SO2 measurement range in the range of (0-200PPM), nitrogen dioxide NO2 measurement range in the range of (0-1000PPM), methane CH4 measurement range in the range of (0-1000mg / m3), hydrogen sulfide H2S measurement range in the range of (0-100PPM), ammonia (NH3) measurement range in the range of (0-1000PPM).

[0043] 5. Heavy metal parameter collection module

[0044] Design of heavy metal harmful substance sensor system based on mobile carrier. Research and select heavy metal sensors, build a heavy metal component detection system inside the pipeline, and study the detection system of harmful substance components in sewage.

[0045] Lead ion concentration (mg / L)

[0046] Copper ion concentration (mg / L)

[0047] Cadmium ion concentration (mg / L)

[0048] 6. Doppler flow measurement module

[0049] In urban sewage pipe networks, most of the sewage flows in a non-full pipe state. To measure the flow in the pipe, it is necessary to obtain the average flow velocity and the cross-sectional flow area, so it is necessary to measure the flow velocity and the water level. This design uses the ultrasonic Doppler method to measure the sewage flow velocity and the ultrasonic method to measure the sewage depth. After obtaining the water level, depth and average flow velocity, the inner diameter of the sewage pipe network is known, and the instantaneous flow rate can be calculated based on the inner diameter parameters of the sewage pipe network.

[0050] During the measurement process, the flow rate sensor is combined with the liquid level sensor for measurement. The Doppler method is used to measure the sewage flow rate, and the ultrasonic reflection method is used to measure the liquid level. When the ultrasonic pulse encounters the measured liquid surface, it is reflected to the ultrasonic sensor. The round-trip propagation time t of the ultrasonic wave between emission and reception is measured to calculate the measurement distance h1 as half of the distance, v is the speed of the ultrasonic wave in the air, and h2 is approximately equal to the installation height of the ultrasonic wave on the machine trolley, then there is formula 1.

[0051]

[0052] In the sewer network, the temperature sometimes changes greatly. As sound waves are affected by air density during propagation, the smaller the density, the faster the propagation speed, and the higher the temperature, the smaller the air density, as shown in Formula 2. When the temperature is 20 degrees, v = 344m / s, when the temperature is 30 degrees, v = 350m / s. When the temperature changes, the speed deviation and speed ratio are as shown in Formula 3. Therefore, temperature compensation is required during measurement. When measuring the liquid level h, the temperature T must be measured at the same time.

[0053]

[0054] After calculating h, the radius of the pipe is known to be r, and the cross-sectional area A of the liquid can be obtained, as shown in formulas 4 and 5.

[0055] If(h <r)

[0056]

[0057] If(h>r)

[0058]

[0059] The Doppler method is used to measure the sewage flow rate. Since there are many impurities in sewage, these impurities usually move in the same direction as water at a speed u. When the angle between the ultrasonic wave and the fluid movement speed is θ, the double-path installation method is adopted. In order to improve the signal strength, the probe is embedded.

[0060] When the ultrasonic beam hits a particle, ultrasonic wave f1 is emitted and the particle receives f2. Formula 6 can be used to derive Formula 7.

[0061]

[0062] The particle is reflected again at a frequency of f2, and the receiver receives the frequency of f s Formula 8 can be used to derive Formula 9. Since the speed of ultrasound is much greater than the fluid speed, Formula 9 can be replaced by Formula 10.

[0063]

[0064] The difference between the receiving and transmitting ultrasonic frequencies is given by formula 11

[0065]

[0066] Finally, the fluid flow rate can be obtained, as shown in formula 12.

[0067]

[0068] The above formula contains the sound velocity c, and its change directly affects the measurement of flow velocity. In Doppler flowmeters, an acoustic wedge is generally used to deal with this problem. According to the refraction theorem (Snall's law), we have formulas 13 and 14.

[0069]

[0070] The instantaneous volume flow rate q can be calculated by formula 15, where A is the cross-sectional area of ​​the fluid flowing in the measured pipeline.

[0071]

[0072] 7. Binocular parallax camera module

[0073] The binocular camera consists of two cameras, which use the principle of triangulation to obtain the depth information of the scene and reconstruct the surrounding three-dimensional shape and position, which is similar to the stereoscopic function of the human eye. When a person observes an object with both eyes, due to the existence of the distance between the two eyes, which is about 65mm for ordinary people, the images projected onto the retina seen by the left and right eyes are different, and there is parallax. The brain can calculate the depth of field distance of the object through the optic nerve of the brain based on this parallax, that is, the three-dimensional information. Therefore, two cameras can be used to simulate the working principle of the human eye to measure the three-dimensional position of the object in nature by the robot. For the distance perception of the object seen by the human, since it is finally integrated through the optic nerve of the brain, this distance perception integration is often called depth suggestion. Depth suggestion can be composed of two types, one is psychological depth suggestion and the other is physiological depth suggestion. Psychological depth suggestion is mainly composed of visual experience and visual memory; physiological depth suggestion is produced by the binocular stereoscopic vision principle mentioned above, including human eye lens adjustment, binocular focus and binocular parallax calculation and other human organs. Physiological depth cues are stronger than psychological depth cues. Two cameras are used to obtain image pairs with parallax. The image pairs are matched through an algorithm, the matching point pairs in the image pairs are found, the parallax is calculated, and the distance is restored using the triangulation principle.

[0074] The two cameras form a binocular arrangement in the spatial coordinates and are parallel to each other. The two cameras coincide with each other on the x-axis. The distance in the x-axis direction is called the baseline, which is 2a. The focal lengths of the two cameras are the same as f. The coordinate system is assumed to coincide with the optical center of the left camera. There is a point in the three-dimensional scene, which is set as P(X, Y, Z). The projection point on the left and right imaging planes is P L , P R , according to the similar triangle principle, ΔOLP L Similar to ΔOMP, ΔO R RP R and ΔO R NP is similar, and we can get Formula 16.

[0075]

[0076] |x l -x r| is the parallax of the matching point pair, and the value of the spatial three-dimensional depth information Z of point P can be obtained through this parallax. The CCD camera of the underground drainage pipeline mobile robot is installed in parallel with two identical ones and fixed on the top of the robot. As the robot moves in the pipeline, it can collect the scene map in the pipeline and transmit it to the host computer for image processing through wireless. The binocular camera uses an RGB-D camera, which adds a depth measurement to the function of the ordinary RGB camera. It has three technical functions: binocular, structured light, and TOF. A depth map can be obtained. The image information and depth information obtained by fusing the point cloud information and voxel information obtained by a camera, the binocular vision model calculated by the binocular camera, and the depth map obtained by the RGB-D camera can accurately and real-time establish a collection model of the pipeline and detect the health status of the pipeline. If there is a foreign object in the pipeline, its longitude and latitude information can be recorded in the host computer database through the robot mainboard. In addition, the image information of the camera can be used to establish a non-full pipe liquid-solid two-phase flow acoustic effect and total flow measurement model, and the physical parameters of the urban underground drainage pipeline can be reconstructed by combining the motion parameters of the robot car.

[0077] The images collected by the binocular parallax method solve the parallax, calculate the coordinates of the three-dimensional space points, and then reconstruct the three-dimensional space scene. Before reconstruction, it is critical to obtain the three-dimensional coordinates of the space points.

[0078] The robot in the underground pipeline uses a binocular camera. As the robot moves in the pipeline, it collects images of the scene in the pipeline and obtains two pairs of left and right images at the same time. The three-dimensional coordinates of a point P in space can be calculated as follows: let O be the coincidence point of the left and right CCD optical centers, and the coordinates be (x0, y0). This coordinate can be an absolute world coordinate or a relative coordinate. When O coincides with the optical center of the left camera, the three-dimensional coordinates of point P can be obtained by formulas 17, 18, and 19.

[0079]

[0080] In actual scenes, not all points need to be reconstructed in three dimensions. In this system, we are more concerned about the liquid surface of sewage and obstacles or collapsed objects in the pipe, so these are also the key points that need to be reconstructed in three dimensions in the scene. The diameter of the sewage pipe can be obtained through other measurements, and the pipe can be directly reconstructed based on the diameter information. The liquid surface depth of sewage can also be obtained through the Doppler measurement system. Here we only focus on the three-dimensional reconstruction and coordinate confirmation of obstacles or collapsed objects that suddenly appear in the pipe. For obstacles or collapsed objects, their shapes need to be reconstructed, which requires edge detection. At the same time, when reconstructing, the structure close to the actual scene or object should be reflected, so a model consistent with the scene structure or object shape must be established here. After reconstruction, the robot obtains the relative three-dimensional coordinates of the target feature points of the spatial scene, and the position of the car coordinate system relative to the world coordinate system can be determined by the navigation Beidou module of the robot car.

[0081] 8. Top road rolling module

[0082] When the car rises to a certain height, in order to prevent the car's camera from being damaged, top-road mobile wheels are installed so that the robot car can roll and slide along the top of the pipe when flying.

[0083] 9. Robot mainboard module

[0084] The mainboard module of the multi-parameter intelligent detection robot for urban underground drainage pipes is as follows: Figure 7 As shown. The robot car system is connected with the data management center system of the multi-parameter intelligent detection robot of the urban underground drainage pipeline of the host computer in combination with the Internet of Things communication system. The data management center system adopts the C / S server structure, and the database adopts the SQL-SERVER2008 system. The robot car can be controlled by the host computer to collect the sewage parameters and air parameters of the underground pipe network. The collected data is stored in the database. The Internet of Things network solves the problem of efficient, reliable and safe transmission and transmission of data and information between layers, and realizes wireless data communication. When the robot car works in the underground pipe network, the data can be easily transmitted through the Internet of Things.

[0085] When the robot car moves, the movement includes forward and backward movement, center of gravity lifting and lowering, and short-distance leaps; when the car moves forward and backward, it is driven by the motor of the robot car's active wheel, and when the center of gravity lifts and lowers, it is achieved by the hydraulic cylinder on the lateral side of the track wheel flushing and releasing oil. When encountering obstacles or sinking into mud, the four propellers will work to move the car from the ground to the obstacle and continue to move forward. When the obstacle encountered is too large, the binocular camera will identify the obstacle and record the coordinates of the obstacle. Combined with the Beidou system, the absolute physical position latitude and longitude data of the obstacle are determined and stored in the database to provide a reference for future maintenance and repair of underground pipe networks.

[0086] The robot car can communicate with the host computer wirelessly and can independently complete multi-parameter detection of underground pipe networks. However, in actual use, a cable can be installed behind the robot car to prevent the car from running out of power or other accidents that may cause the car to be dragged into the underground pipe network through the cable.

[0087] Sewage flow characteristics experiment

[0088] At a temperature of 25°C, the Doppler flow measurement device experiment was carried out under laboratory conditions. The measurement range of the sewage network detection robot car is limited by the car chassis. When the measuring tube is 75mm, the chassis height of the car is 148.5mm and the maximum measurement depth is 148.5mm.

[0089] When the water depth is less than 148.5, the robot moves normally in the pipe and can move forward and backward normally; at this time, the ultrasonic flow measurement tube can be lifted and lowered reliably, and the center of gravity lifting function can be realized; for the sewer network, most of them are in a non-full pipe state, and the sewage flow speed is close to that of the open channel, with a speed of about 0.4m / s. The water flow state of the underground pipe network is simulated under laboratory conditions, and the flow data measured by the ultrasonic Doppler method are shown in Table 1.

[0090] Table 1 Sewage flow data table

[0091] ID Flow rate (m / s) Maximum water depth (m) <![CDATA[Instantaneous flow rate (m 3 / s)]]> 1 0.412672 0.075 0.015802 2 0.417458 0.085 0.019257 3 0.42262 0.095 0.022999 4 0.407296 0.105 0.025715 5 0.404208 0.115 0.029206 6 0.42108 0.12 0.032405 7 0.406243 0.125 0.033212 8 0.402042 0.13 0.034833 9 0.40754 0.135 0.037336 10 0.415544 0.065 0.012858 11 0.408734 0.055 0.009859 12 0.4103 0.045 0.007335 13 0.416176 0.035 0.005111 14 0.402851 0.025 0.002991

[0092] The harmful component measurement is to measure the gas in the sewage pipe. Here, the concentration of 6 harmful gases is measured to measure whether their content is lower than the concentration value that is not allowed to be exceeded in the workplace. The harmful component experiment took place in the urban drainage pipe network section of Lianchi District, Baoding City. The pipe type is a rainwater pipe, and the pipe section material is a corrugated pipe with a diameter of 800mm. The gas concentration collected in the pipe is shown in Table 2.

[0093] Table 2 Gas concentration data table

[0094]

[0095] At the same time, in the experiment, sewage heavy metal component detection and gas detection were carried out simultaneously. The results of heavy metal detection in rainwater are shown in Table 3.

[0096] Table 3 Heavy metal ion concentration data table

[0097]

[0098] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-parameter intelligent detection device for urban underground drainage pipelines, characterized in that: The device comprises: The intelligent detection robot includes a chassis module, a power module, a land-air lifting module, a top-road rolling module and a mainboard module; Multi-sensor measurement system, including Doppler flow measurement module, air parameter acquisition module, heavy metal parameter acquisition module, binocular parallax camera module; The intelligent detection robot collects and transmits the flow parameters, gas composition, heavy metal composition and pipeline health status data of the underground pipeline network in real time through the multi-sensor measurement system.

2. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The trolley chassis module is a liftable center of gravity structure, which is composed of a triangular telescopic connecting rod. The two sides of the triangular telescopic connecting rod are fixed equal-length sides, and the bottom side is a telescopic side, which is composed of three sections of hydraulic connecting rods.

3. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The power module includes a battery pack, a drive motor and a propeller motor. The battery pack provides power for the robot, the drive motor drives the robot forward, and the propeller motor drives the land-to-air lifting module to provide a lifting function. When it rises to a certain height, the top road rolling module is used to prevent damage to the camera of the intelligent detection robot.

4. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The mainboard module includes a motion control module, a multi-parameter acquisition module, a positioning module, a wireless communication module, and a data storage module; The motion control module is used to control the movement and obstacle crossing function of the intelligent detection robot in the underground drainage pipe; The multi-parameter acquisition module is used to control the multi-sensor measurement system to collect data: The positioning module is used to obtain the coordinate information of the robot position and obstacles in real time; The wireless communication module is used to realize two-way data transmission through 4G and Wi-Fi networks; The data storage module is used to store the collected data.

5. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The Doppler flow measurement module includes an ultrasonic transmitting unit, an ultrasonic receiving unit and a signal processing unit; the ultrasonic transmitting unit is used to transmit ultrasonic signals to the sewage in the pipeline, and the ultrasonic receiving unit is used to receive the reflected ultrasonic signals; the signal processing unit calculates the flow velocity and flow rate of the sewage in the pipeline according to the frequency offset of the received ultrasonic signal.

6. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The air parameter acquisition module includes a plurality of gas sensors for detecting the concentration of harmful gases in the sewage pipe, wherein the harmful gases include but are not limited to carbon monoxide, sulfur dioxide, nitrogen dioxide, methane, hydrogen sulfide and ammonia.

7. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The heavy metal parameter acquisition module includes a plurality of heavy metal ion sensors for monitoring the concentration of heavy metal ions in the sewage pipe, wherein the heavy metal ions include lead, copper and cadmium.

8. The multi-parameter intelligent detection device for urban underground drainage pipelines according to claim 1 is characterized in that: The binocular parallax camera module consists of two cameras, which obtains the depth information in the pipeline through the binocular vision principle and generates a three-dimensional model of the pipeline using a three-dimensional reconstruction algorithm, which is used to detect obstacles, cracks or deformations in the pipeline.

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