Low-interference drainage pipeline defect and state automatic detection device and detection method

Abstract

The invention provides a low-interference drainage pipeline defect and state automatic detection device and method, and relates to the technical field of defect detection.The low-interference drainage pipeline defect and state automatic detection device comprises an inspection detection system and two fixed detection systems, and each fixed detection system comprises a semicircular-arc-shaped pipe wall fixing structure, a fixed detection transmission control system and a plurality of first laser probes; the fixed detection transmission control system is installed on the pipe wall fixing structure, the multiple first laser probes are installed at different positions of the pipe wall fixing structure respectively, and the multiple first laser probes are connected with the fixed detection transmission control system; the inspection detection system comprises an inspection track and an inspection robot, the inspection robot comprises an inspection robot carrier, a robot controller and a plurality of second laser probes, the plurality of second laser probes are respectively mounted at the top and the bottom of the inspection robot carrier, and the inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner. According to the invention, various defects can be detected when the drainage pipeline is in normal operation and drainage.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and in particular to a low-interference drainage pipe defect and state automatic detection device and detection method. Background Art

[0002] As an important infrastructure construction project in urban development, the drainage network system not only plays an important role in collecting and transporting rainwater, urban domestic sewage and industrial wastewater, but also shoulders important responsibilities such as urban water environment pollution prevention and control, drainage and flood control. However, due to various factors such as long-term use, natural erosion, and human damage, drainage pipes may have various defects, such as collapse, blockage, deformation, and dislocation. These defects will not only affect the normal function of the drainage pipes, but may also cause serious problems such as environmental pollution, road waterlogging, and traffic inconvenience. Therefore, the detection of drainage pipe defects is particularly important.

[0003] The content of drainage pipe defect detection is very extensive, and it is necessary to comprehensively use a variety of detection technologies and methods to ensure the normal operation of the drainage system and the city's flood control and drainage capabilities. It mainly includes: pipeline structure integrity detection and pipeline functional performance detection. Among them, pipeline structure integrity detection is mainly the detection of collapse and deformation, which requires the positioning and diagnosis of the defect location, involving distance measurement, video measurement and azimuth positioning; pipeline functional performance detection is mainly the detection of blockage and sediment, involving the measurement of distance, sediment thickness, and liquid level height. The detection of drainage pipe defects not only involves multiple detection targets, but also has great detection difficulty: the drainage pipe system is distributed underground in the city, usually composed of many branches, intersections and branches, and is extremely concealed. This complex and concealed network structure makes comprehensive detection extremely difficult; municipal drainage pipes are spread throughout the city's built-up areas. The pipes in some old urban areas were built early, with low standards and serious aging. There is water flowing in the drainage pipes all year round, with large flow differences and strong corrosion, making detection extremely difficult.

[0004] In view of the numerous targets and high technical difficulty of drainage pipeline defect detection, the industry currently generally uses CCTV detection technology, sonar detection technology, infrared thermal imaging technology, pipeline periscope detection technology, etc., which can realize pipeline defect detection under certain working conditions, but there are many shortcomings: CCTV detection technology requires appropriate blocking, pumping and cleaning of the pipeline before detection. Under normal operation of the pipeline network, silt and water flow have a great impact on the movement of CCTV detection robots, and the scope of application is limited; sonar detection technology can generally only detect the pipeline conditions below the liquid surface, and it is difficult to detect defects above the liquid surface. For certain types of defects (such as pipeline deformation, blockage, etc.), it may not be accurately identified; infrared thermal imaging technology is more affected by temperature and its use is limited. Pipeline periscope detection technology is mainly used to detect short-distance pipelines. It is easy to operate, but the detection distance is short and it cannot detect the pipeline conditions below the water surface. Therefore, the current drainage pipeline defect detection technology is difficult to efficiently solve the existing detection technology problems, and it is still necessary to develop more applicable and effective detection technologies. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the present invention proposes a low-interference drainage pipe defect and status automatic detection device and detection method, which can perform various defect detections when the drainage pipe is in normal drainage operation, thereby solving the detection technology problems in related technologies.

[0007] To achieve the above-mentioned purpose, the first embodiment of the present invention proposes a low-interference drainage pipe defect and state automatic detection device, including a patrol detection system and two fixed detection systems, the fixed detection system includes a semicircular pipe wall fixed structure, a fixed detection transmission control system and a plurality of first laser probes, the fixed detection transmission control system is installed on the pipe wall fixed structure, the plurality of first laser probes are respectively installed at different positions of the pipe wall fixed structure, and the plurality of first laser probes are connected to the fixed detection transmission control system; The inspection detection system includes an inspection track and an inspection robot, the inspection robot includes an inspection robot carrier, a robot controller, a plurality of second laser probes and a cleaning device, the robot controller is connected to the inspection robot carrier, the plurality of second laser probes and the cleaning device through an integrated cable, the plurality of second laser probes are respectively installed on the top and bottom of the inspection robot carrier, and the cleaning device is installed on the inspection robot carrier; During inspection, the inspection track passes through the drainage pipe, the two fixed detection systems are respectively arranged at the two ends of the inspection track and located on the upper surface of the inspection track, and the inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner.

[0008] In some implementations, the pipe wall fixing structure is formed by a plurality of arc-shaped detection system pipe wall fixing belts connected in sequence, and adjacent detection system pipe wall fixing belts are connected via a fixing belt rotating shaft; a fixing belt fixing hole is provided on the detection system pipe wall fixing belt, and a fixed detection system fixing rod for fixing the fixed detection system to the drainage pipe is provided on the fixed detection transmission control system or the pipe wall fixing structure.

[0009] In some implementations, the plurality of first laser probes include three first laser probes, and the three first laser probes are respectively located at two ends and a middle position of the pipe wall fixing structure; The connection ends of the multiple first laser probes are each provided with a laser probe rotating shaft, and the end of the laser probe rotating shaft is provided with a laser probe fixing buckle. After the position of the first laser probe is determined, the position is locked by rotating the laser probe fixing buckle.

[0010] In some implementations, both ends of the inspection track are bent upward to form a U-shaped portion, and the upper portions of the two U-shaped portions serve as the head and end portions of the inspection track respectively; both the head and end portions of the inspection track are provided with inspection track locators, and the inspection robot carrier locates the access position and walking direction on the inspection track through the inspection track locators; the width of the head and end portions of the inspection track are both set from thin to thick, so that the inspection robot carrier can smoothly access the inspection track; During detection, the inspection track is fixed to the ground surface and the top of the drainage pipe respectively through the top fixing rod of the inspection track and the bottom fixing rod of the inspection track.

[0011] In some implementations, the inspection robot further includes a transmission wheel, a transmission wheel motor, a motor pull-out cabinet, an inspection positioning detector, a tire, and a tire drive motor, which are arranged on the inspection robot carrier. Four transmission wheels are arranged on the top of the inspection robot carrier, and the four transmission wheels are driven by the transmission wheel motor. The side of the transmission wheel is concave in shape, which is used to engage with the inspection track; the two transmission wheel motors corresponding to one side of the inspection track are fixed to the motor pull-out cabinet through a motor base, and a pull-out cabinet buckle is arranged at the front end of the motor pull-out cabinet, and a buckle structure is arranged at the bottom or side of the motor pull-out cabinet. By pulling the pull-out cabinet buckle, the buckle structure can be locked or disengaged from the slot structure on the inspection robot carrier; when disengaging, the two transmission wheels located on the motor pull-out cabinet move along the transmission wheel moving groove arranged on the top of the inspection robot carrier to the side of the inspection track to achieve the disengagement of the inspection robot carrier from the inspection track; the two tires located at the front end of the inspection robot carrier are driven by the tire drive motor.

[0012] In some implementations, the low-interference drainage pipe defect and state automatic detection device further includes two U-shaped inspection longitudinal rails, the two inspection longitudinal rails are located inside the two U-shaped parts of the inspection rail, the two ends of the inspection rail are respectively connected to the two inspection longitudinal rails, the middle part of the inspection longitudinal rail is fixed to the middle part of the U-shaped part through the inspection rail connecting rod; the outer side of the inspection longitudinal rail is provided with a gear hole; A secondary gear of the transmission wheel is installed on the top of the transmission wheel, and the secondary gear of the transmission wheel is used to mesh with the gear hole of the inspection longitudinal track; both sides of the top of the inspection robot carrier are provided with semi-wrapped meshing plates, the meshing plates are elastic, and the side of the meshing plate in contact with the inspection track is provided with a meshing plate plane ball and a meshing plate vertical ball; During inspection, the inspection longitudinal track is fixed to the side wall of the pipeline outlet through the inspection longitudinal track fixing rod.

[0013] In some implementations, the cleaning device includes a cleaning shovel, the end of which is connected to the inspection robot carrier via a cleaning shovel rotating shaft, the front end of which is located at the top of the inspection robot carrier and engages with the inspection track during inspection; the cleaning shovel is V-shaped, and the width of the V-shape is greater than that of the two ends; the upper and lower parts of the interior of the cleaning shovel are respectively provided with top cleaning cotton and bottom cleaning cotton, and the front end of the cleaning shovel has an outer shell made of hard rubber material.

[0014] In some implementations, the inspection robot also includes a video lens and a lighting lamp. The video lens is connected to a video lens rotating disk via video lens swing axes connected on both sides thereof. The video lens rotating disk is fixed to the front end of the inspection robot carrier. A lens brush is provided next to the video lens. The lighting lamp is fixed to the front end of the inspection robot carrier. The robot controller is connected to the video lens and the lighting lamp via an integrated cable.

[0015] In some implementations, the cleaning device includes a high-pressure water gun nozzle, which is connected to a high-pressure water gun nozzle rotating disk through a high-pressure water gun nozzle swing axis connected on both sides thereof, and the high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.

[0016] In some implementations, the low-interference drainage pipe defect and state automatic detection device further includes a track installation structure for installing the inspection track, the track installation structure includes a float, a float cable and a float cable receiver, the end of the float is connected to the float cable, and the end of the float cable is connected to the float cable receiver; When installing the inspection track, one end of the inspection track is connected to the float cable; the float is dropped into the water of the drainage pipe through the first inspection well, and after the float reaches the next inspection well with the water flow, it is taken out, and the float cable is pulled until the inspection track passes through the drainage pipe to reach the preset position, and the two ends of the inspection track are fixed to the ground surface and the drainage pipe.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a drainage pipe defect and state automatic detection method, which is implemented by the low-interference drainage pipe defect and state automatic detection device according to the first aspect, and the two fixed detection systems are respectively a first fixed detection system and a second fixed detection system; the drainage pipe defect and state automatic detection method includes: Turning on the multiple first laser probes of the two fixed detection systems, and detecting whether each first laser probe of the first fixed detection system receives the laser emitted by the first laser probe corresponding to the second fixed detection system, and detecting whether each first laser probe of the second fixed detection system receives the laser emitted by the first laser probe corresponding to the first fixed detection system; When a first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the first laser probe corresponding to the second fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, the laser return time and the laser transmission rate of the first target laser probe; When a second target laser probe among the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the first laser probe corresponding to the first fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, the laser return time and the laser transmission rate of the second target laser probe; The inspection detection system is turned on, and the inspection robot carrier is driven to dock with the inspection track and move along the inspection track. During the movement, a first distance from the top of the inspection robot carrier to the top of the drainage pipe and a second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level of the drainage pipe or the bottom of the pipe are obtained through a second laser probe at a certain time frequency, and mud level or liquid level information of the corresponding position of the drainage pipe is obtained through the first distance, the second distance and the drainage pipe parameters; and according to the position information of the structural defect of the drainage pipe, the position corresponding to the position information is detected.

[0018] The present invention has the following advantages and beneficial effects: The low-interference drainage pipe defect and state automatic detection device and detection method provided by the present invention can detect whether the pipeline has structural defects through two fixed detection systems, and can obtain information such as the liquid level and sludge thickness of the pipeline through the inspection detection system, that is, to detect the blockage and sludge of the pipeline, thereby realizing automatic inspection and exploration in the drainage network; the inspection detection system performs pipeline inspection by moving the inspection robot carrier along the lower surface of the inspection track in a hoisting manner, without intercepting or cleaning the target pipeline, and realizes inspection and detection when the drainage pipeline is in normal operation and drainage, which can effectively avoid the difficulty of conventional inspection robots in muddy and water environments. The system can detect the situation of down-line operation; and adopts two modes of fixed detection and inspection detection to survey pipeline defects. After the fixed detection finds the pipeline structure abnormality and locks the location of the pipeline structural defect, the inspection detection system can further detect the location determined by the fixed detection system to avoid misjudgment of the fixed detection system caused by interference from drainage pipeline garbage. The dual detection mode can accurately locate the location of the pipeline structural defect with a very low misjudgment rate; the automatic detection device of the present invention has a high degree of automation and intelligence, which can save a lot of manpower and time costs, and has high inspection and survey efficiency, saving the cost of pipeline cleaning, and does not affect the normal operation of the drainage pipeline.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a low-interference drainage pipe defect and state automatic detection device provided by an embodiment of the present invention; Figure 2 A structural schematic diagram of a fixed detection system provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an inspection track provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an inspection robot provided by an embodiment of the present invention; Figure 5 A schematic diagram of the connection structure of a tire at the front end of an inspection robot carrier provided by an embodiment of the present invention; Figure 6 A schematic structural diagram of a track installation structure provided by an embodiment of the present invention; In the figure: 100. Fixed detection system; 200. Inspection detection system; 1. Fixed detection system fixing rod; 2. Fixed detection transmission control system; 3. Fixed detection system battery; 4. First top laser probe; 5. First top laser signal receiver; 6. First top laser signal transmitter; 7. Detection system pipe wall fixing belt; 8. Fixed belt rotating shaft; 9. Fixed belt fixing hole; 10. Laser probe fixing buckle; 11. Laser probe rotating shaft; 12. First bottom laser probe; 13. Inspection robot carrier; 14. Tire; 15. Drive wheel secondary gear; 16. Drive wheel; 17. Meshing plate; 18. Meshing plate plane ball; 19. Meshing plate vertical ball; 20. Second top laser probe; 21. Top cleaning cotton; 22. Cleaning shovel rotating shaft; 23. Bottom cleaning cotton; 24. Cleaning shovel; 25. Integrated cable; 26. Heat dissipation hole ; 27. Motor pull-out cabinet; 28. Drive wheel moving groove; 29. ​​Pull-out cabinet buckle; 30. Drive wheel motor; 31. Motor base; 32. Second bottom laser probe; 33. Video lens rotating disk; 34. Video lens swing axis; 35. Lens brush; 36. Video lens; 37. Lighting lamp; 38. Inspection positioning detector; 39. High-pressure water gun nozzle rotating disk; 40. High-pressure water gun nozzle swing axis; 41. High-pressure water gun nozzle; 42. Integrated cable storage; 43. Inspection track positioner; 44. Inspection track; 45. Top fixing rod of inspection track; 46. Inspection longitudinal track; 47. Inspection longitudinal track fixing rod; 48. Inspection track connecting rod; 49. Bottom fixing rod of inspection track; 50. Float; 51. Float cable; 52. Float cable storage; 53. Pipeline outlet; 54. Road longitudinal section; 55. Silt. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0022] The following describes a low-interference drainage pipe defect and status automatic detection device according to an embodiment of the present invention with reference to the accompanying drawings.

[0023] Figure 1 The schematic diagram of the structure of a low-interference drainage pipe defect and state automatic detection device provided by an embodiment of the present invention. Figure 1 As shown, the low-interference drainage pipe defect and state automatic detection device may include: a patrol detection system 200 and two fixed detection systems 100, wherein: The fixed detection system 100 includes a semicircular pipe wall fixed structure, a fixed detection transmission control system 2 and a plurality of first laser probes. The fixed detection transmission control system 2 is installed on the pipe wall fixed structure. The plurality of first laser probes are respectively installed at different positions of the pipe wall fixed structure. The plurality of first laser probes are connected to the fixed detection transmission control system 2. Optionally, the plurality of first laser probes include a first top laser probe 4 and two first bottom laser probes 12, which are respectively located in the middle position and on both sides of the pipe wall fixed structure.

[0024] The inspection detection system 200 includes an inspection track 44 and an inspection robot. The inspection robot includes an inspection robot carrier 13, a robot controller, multiple second laser probes and a cleaning device. The robot controller is connected to the inspection robot carrier 13, multiple second laser probes and the cleaning device through an integrated cable 25. The multiple second laser probes are respectively installed on the top and bottom of the inspection robot carrier 13, and the cleaning device is installed on the inspection robot carrier 13.

[0025] During inspection, the inspection track 44 passes through the drainage pipe, two fixed detection systems 100 are respectively arranged at both ends of the inspection track 44 and located on the upper surface of the inspection track 44, and the inspection robot carrier 13 moves along the lower surface of the inspection track 44 in a hoisting manner.

[0026] During installation, the two fixed detection systems 100 are respectively fixed at the two ends of the drainage pipe, the inspection track 44 runs through the drainage pipe, and the inspection robot carrier 13 moves along the lower surface of the inspection track 44 in a hoisting manner. The two fixed detection systems 100 are located on the upper surface of the inspection track 44 and do not affect the movement of the inspection robot carrier 13 on the inspection track 44; the two ends of the inspection track 44 extend to the ground at both ends of the drainage pipe or the side walls of the drainage pipe.

[0027] It should be noted that each of the first laser probe and the second laser probe includes a laser signal transmitter and a laser signal receiver, which can transmit and receive laser signals. Figure 2 As shown, the first top laser probe 4 includes a first top laser signal receiver 5 and a first top laser signal transmitter 6 .

[0028] It should also be noted that the principle of detecting whether there are structural defects in the drainage pipe by the first laser probe is the linear propagation of laser. When the laser is blocked in the propagation path, the two fixed detection systems located at both ends of the drainage pipe cannot receive each other's laser signals, then it is determined that there is a high probability of structural defects in this section of the drainage pipe; the laser signal returned at the point where the propagation is blocked returns to the laser signal receiver of the original first laser probe, and the location of the structural defect can be calculated using the known laser propagation speed and round-trip propagation time.

[0029] Thus, the opening and closing of the first laser probe is controlled by the fixed detection transmission control system 2. For example, the first top laser probe 4 located in the middle of the pipe wall fixed structure can be used to detect whether there are structural defects on the top of the drainage pipe, and the first bottom laser probes 12 located at both ends of the bottom of the pipe wall fixed structure can be used to detect whether there are structural defects on the side walls of the drainage pipe, such as collapse, deformation, etc.; when a laser signal is blocked, the location of the structural defect is calculated according to the emission time, return time and laser transmission rate of a laser signal, and the collected and calculated data is transmitted to the user platform system.

[0030] Therefore, through the inspection and detection system 200, the second laser probe (second top laser probe 20) at the top of the inspection robot carrier 13 can measure the distance from the top of the inspection robot carrier 13 to the top of the drainage pipe, and the second laser probe (second bottom laser probe 32) at the bottom of the inspection robot carrier 13 can measure the distance from the bottom of the inspection robot carrier 13 to the liquid level, mud level or bottom of the drainage pipe. Since the laser probe parameters can be known through the design of the equipment itself and the specifications of the drainage pipe are known, the liquid level of the drainage pipe, the thickness of the sludge 55 and other information can be calculated.

[0031] The low-interference drainage pipe defect and state automatic detection device of the embodiment of the present invention can detect whether the pipeline has structural defects through two fixed detection systems 100, and can obtain information such as the liquid level and sludge thickness of the pipeline through the inspection detection system 200, that is, to detect the blockage and sludge of the pipeline, thereby realizing automatic inspection and exploration in the drainage network; the inspection detection system 200 moves along the lower surface of the inspection track 44 in a hoisting manner through the inspection robot carrier 13 to perform pipeline inspection, without having to intercept or clean the target pipeline, so that inspection and detection can be carried out when the drainage pipeline is in normal operation, which can effectively avoid the difficulty of conventional inspection robots in muddy water. The working conditions in the environment; and the two modes of fixed detection and inspection detection are used to survey the pipeline defects. After the fixed detection finds the abnormality of the pipeline structure and locks the position of the pipeline structural defect, the inspection detection system 200 can further detect the position determined by the fixed detection system 100 to avoid misjudgment of the fixed detection system caused by interference from garbage in the drainage pipeline. The dual detection mode can accurately locate the position of the pipeline structural defect with a very low misjudgment rate; the automatic detection device of the present invention has a high degree of automation and intelligence, which can save a lot of manpower and time costs, and has high inspection and investigation efficiency, saving the cost of pipeline cleaning, and does not affect the normal operation of the drainage pipeline.

[0032] In some embodiments, Figure 2As shown, the pipe wall fixing structure is composed of a plurality of arc-shaped detection system pipe wall fixing belts 7 connected in sequence, and adjacent detection system pipe wall fixing belts 7 are connected by a fixing belt rotating shaft 8; a fixing belt fixing hole 9 is provided on the detection system pipe wall fixing belt 7, and a fixed detection system fixing rod 1 for fixing the fixed detection system 100 to the drainage pipe is provided on the fixed detection transmission control system 2 or the pipe wall fixing structure.

[0033] Thus, the pipe wall fixing structure can adjust the curvature according to the pipe diameter specifications of different drainage pipes to closely fit the pipe wall of the drainage pipe. The detection system pipe wall fixing belt 7 can be fixed to the pipe wall of the drainage pipe by passing the bolt through the fixing belt fixing hole 9. The fixed detection system 100 can be fixed to the top of the drainage pipe by fixing the detection system fixing rod 1.

[0034] In some embodiments, the multiple first laser probes include three first laser probes, and the three first laser probes are respectively located at both ends and the middle position of the pipe wall fixing structure; the connecting ends of the multiple first laser probes are provided with a laser probe rotating shaft 11, and the end of the laser probe rotating shaft 11 is provided with a laser probe fixing buckle 10. After the position of the first laser probe is determined, the position can be locked by rotating the laser probe fixing buckle 10.

[0035] Therefore, the connection ends of multiple first laser probes can be flexibly rotated through the laser probe rotating shaft 11, and the laser probe fixing buckle 10 at the end of the laser probe rotating shaft 11 can lock the position of the first laser probe by rotating the laser probe fixing buckle 10 after the position of the first laser probe is determined.

[0036] In some embodiments, the fixed detection transmission control system 2 is connected to a fixed detection system battery 3 , and the fixed detection system battery 3 can provide energy for the fixed detection system 100 .

[0037] In some embodiments, Figure 3 As shown, both ends of the inspection track 44 are bent upward to form a U-shaped part, and the upper parts of the two U-shaped parts serve as the head and end of the inspection track 44 respectively; the head and end of the inspection track 44 are provided with inspection track positioners 43, and the inspection robot carrier 13 locates the access position and walking direction on the inspection track 44 through the inspection track positioners 43; the width of the head and end of the inspection track 44 is set from thin to thick, so that the inspection robot carrier 13 can smoothly access the inspection track 44; during inspection, the inspection track 44 is fixed to the ground surface and the top of the drainage pipe respectively through the inspection track top fixing rod 45 and the inspection track bottom fixing rod 49, that is, fixed to Figure 3 On the road longitudinal section 54 in. Thus, the inspection robot carrier 13 can locate the access position and walking direction on the inspection track 44 through the inspection track positioner 43.

[0038] In some embodiments, Figure 4 As shown, the inspection robot also includes a transmission wheel 16, a transmission wheel motor 30, a motor pull-out cabinet 27 and an inspection positioning detector 38 arranged on the inspection robot carrier 13. The four transmission wheels 16 are arranged on the top of the inspection robot carrier 13. The four transmission wheels 16 are driven by the transmission wheel motor 30. The side of the transmission wheel 16 is concave in shape and can be engaged with the inspection track 44. The two transmission wheel motors 30 corresponding to one side of the inspection track 44 are fixed to the motor pull-out cabinet 27 through the motor base 31. The motor pull-out cabinet 27 is connected to the inspection track 44 by the motor base 31. A pull-out cabinet buckle 29 is provided at the front end of the pull-out cabinet 27, and a snap-on structure is provided at the bottom or side of the motor pull-out cabinet 27. By pulling the pull-out cabinet buckle 29, the snap-on structure can be locked or disengaged from the slot structure on the inspection robot carrier 13. When disengaging, the two transmission wheels 16 located on one side of the motor pull-out cabinet 27 move along the transmission wheel moving groove 28 provided on the top of the inspection robot carrier 13 to the side of the inspection track 44 to achieve the disengagement of the inspection robot carrier 13 from the inspection track 44.

[0039] The motor pull-out cabinet 27 can be inserted and pulled out relative to the inspection robot carrier 13. When the motor pull-out cabinet 27 is pushed into the target position of the inspection robot carrier 13, even when the transmission wheel 16 is in meshing position with the inspection track 44, the motor pull-out cabinet 27 and the inspection robot carrier 13 can be limited by the snap-fit ​​structure; when the motor pull-out cabinet 27 is pulled a very small distance through the pull-out cabinet buckle 29, the inspection robot carrier 13 can be disengaged from the inspection track 44.

[0040] Among them, the snap-fit ​​structure can be a flexible structure, which can be deformed during the process of inserting and pulling out the motor pull-out cabinet 27 into and out of the inspection robot carrier 13. When the flexible structure reaches the target position, it is snapped into the corresponding slot structure on the inspection robot carrier 13.

[0041] That is to say, a transmission wheel motor 30 is provided inside the inspection robot carrier 13, which is respectively connected to the transmission wheel 16, and a motor base 31 is provided at the bottom of the transmission wheel motor 30 for fixation; the two motor bases 31 are fixed to the motor pull-out cabinet 27, and the motor pull-out cabinet 27 is provided with a pull-out cabinet buckle 29. A transmission wheel moving groove 28 is provided on the top of the inspection robot carrier 13, and the transmission wheel 16 and the transmission wheel motor 30 can be moved horizontally by pulling the pull-out cabinet buckle 29, thereby realizing the separation of the inspection robot carrier 13 from the inspection track 44.

[0042] Therefore, the inspection robot carrier 13 can detect the inspection track locator 43 on the inspection track 44 through the inspection positioning detector 38 set at the front end, guide the inspection robot carrier 13 to automatically connect to the inspection track 44, and realize automatic identification of the starting point and end point of the inspection track 44; after the inspection robot carrier 13 enters the drainage pipe, it is in a hoisted upside-down state, and the inspection robot carrier 13 can engage with the inspection track 44 through the concave shape of the side of the top transmission wheel 16.

[0043] In some embodiments, the inspection robot carrier 13 is provided with four tires 14, such as Figure 5 As shown, two of the four tires 14 located at the front end of the inspection robot carrier 13 are driven by tire drive motors to achieve walking on the ground. When both ends of the inspection track 44 are fixed to the ground, they need to be a certain height above the ground so that the inspection robot carrier 13 can automatically dock with the inspection track 44 from the road travel mode and enter the drainage pipe hoisting inspection mode. In other words, after the inspection robot carrier 13 walks on the ground to the position of the inspection track locator 43 through the tires 14, the inspection robot carrier 13 engages with the inspection track 44 through the concave shape on the side of the top transmission wheel 16; the robot controller controls the tire drive motor of the driving tire 14 to stop working, and controls the transmission wheel motor 30 to start working, driving the inspection robot carrier 13 to perform inspection tasks along the inspection track 44.

[0044] In some embodiments, Figure 3 , Figure 4 As shown, the low-interference drainage pipe defect and status automatic detection device also includes two U-shaped inspection longitudinal rails 46, the two inspection longitudinal rails 46 are located on the inner side of the two U-shaped parts of the inspection rail 44, the two ends of the inspection rail 44 are respectively connected to the two inspection longitudinal rails 46, and the middle part of the inspection longitudinal rail 46 is fixed to the middle part of the U-shaped part through the inspection rail connecting rod 48; a gear hole is provided on the outer side of the inspection longitudinal rail 46; a transmission wheel secondary gear 15 is installed on the top of the transmission wheel 16, and the transmission wheel secondary gear 15 is used to mesh with the gear hole of the inspection longitudinal rail 46; semi-wrapped meshing plates 17 are provided on both sides of the top of the inspection robot carrier 13, and the meshing plates 17 have a certain elasticity, and the side of the meshing plate 17 in contact with the inspection rail 44 is provided with a meshing plate plane ball 18 and a meshing plate vertical ball 19; during detection, the inspection longitudinal rail 46 is fixed to the side wall of the pipe outlet 53 by the inspection longitudinal rail fixing rod 47.

[0045] As an implementation method, the end of the inspection longitudinal rail fixing rod 47 is fixed to the side wall of the pipe outlet 53, and the starting end of the inspection longitudinal rail fixing rod 47 is connected to the inspection longitudinal rail 46. The inspection longitudinal rail 46 is fixed to the vertical section of the inspection rail 44 through the inspection rail connecting rod 48; the two inspection rail connecting rods 48 are fixed to the inspection rail 44 at one point.

[0046] Therefore, the secondary gear 15 of the transmission wheel can engage with the inspection longitudinal track 46, which can provide better climbing ability during the vertical movement stage of the inspection robot carrier 13; the inspection robot carrier 13 cooperates with the inspection track 44 through the two semi-wrapped engagement plates 17 on the top, which can provide suspension force for the movement of the inspection robot carrier 13.

[0047] In some embodiments, Figure 4 As shown, the cleaning device includes a cleaning shovel 24, the end of which is connected to the inspection robot carrier 13 via a cleaning shovel rotating shaft 22, the front end of the cleaning shovel 24 is located at the top of the inspection robot carrier 13 and can engage with the inspection track 44 during inspection; the cleaning shovel 24 is V-shaped, and the width of the V-shaped bend is greater than the two ends; the upper and lower parts of the interior of the cleaning shovel 24 are respectively provided with top cleaning cotton 21 and bottom cleaning cotton 23, and the front end of the cleaning shovel 24 has an outer shell made of hard rubber material.

[0048] Thus, one end of the cleaning shovel 24 is engaged with the inspection track 44, so that solid obstacles attached to the inspection track 44 can be cleaned and the track can be preliminarily cleaned. The inspection track 44 can be further cleaned by the top cleaning cotton 21 and the bottom cleaning cotton 23 respectively arranged at the upper and lower parts of the interior of the cleaning shovel 24, so that the garbage interference on the inspection track 44 can be effectively removed, ensuring the normal operation of the inspection, with strong reliability and a wide range of applications.

[0049] In some embodiments, Figure 4 As shown, the inspection robot also includes a video lens 36 and a lighting lamp 37. The video lens 36 is connected to the video lens rotating disk 33 through the video lens swing shaft 34 connected on both sides thereof. The video lens rotating disk 33 is fixed to the front end of the inspection robot carrier 13. A lens brush 35 is provided next to the video lens 36. The lighting lamp 37 is fixed to the front end of the inspection robot carrier 13. The robot controller is connected to the video lens 36 and the lighting lamp 37 through an integrated cable 25.

[0050] Therefore, the inspection robot carrier 13 can collect high-definition video information in the drainage pipe through the video lens 36 provided on the front side. After the fixed detection system 100 determines the collapse and deformation position, it can collect video information of the defective point at close range to provide a basis for pipeline defect diagnosis, and further avoid misjudgment caused by interference from drainage pipe garbage in the fixed detection mode. The dual detection mode can accurately locate the collapse, fracture and deformation positions of the pipeline, and the misjudgment rate is extremely low.

[0051] In some embodiments, Figure 4As shown, the cleaning device includes a high-pressure water gun nozzle 41, which is connected to a high-pressure water gun nozzle rotating disk 39 through a high-pressure water gun nozzle swing shaft 40 connected on both sides thereof, and the high-pressure water gun nozzle rotating disk 39 is fixed to the front end of the inspection robot carrier 13.

[0052] Therefore, the high-pressure water gun nozzle 41 can realize the up and down swing of the high-pressure water gun nozzle 41 through the high-pressure water gun nozzle swing shaft 40 connected on both sides. The other end of the high-pressure water gun nozzle swing shaft 40 is fixed to the high-pressure water gun nozzle rotating disk 39, which can realize the rotation of the high-pressure water gun nozzle 41, thereby adjusting the angle of the high-pressure water gun nozzle 41, and quickly clearing interferences on the inspection track 44, blockages in the pipeline, etc.

[0053] In some embodiments, the integrated cable 25 is arranged at the tail of the inspection robot carrier 13, and multiple pipelines are arranged inside the integrated cable 25, which can transmit power supply, control signals and water sources; the end of the integrated cable 25 is connected to the integrated cable receiver 42; the side wall of the inspection robot carrier 13 is provided with heat dissipation holes 26.

[0054] In some embodiments, the low-interference drainage pipe defect and state automatic detection device further includes a track installation structure for installing the inspection track 44, such as Figure 6 As shown, the track installation structure includes a float 50, a float cable 51 and a float cable receiver 52, the end of the float 50 is connected to the float cable 51, and the end of the float cable 51 is connected to the float cable receiver 52; When installing the inspection track 44, connect one end of the inspection track 44 to the float cable 51; drop the float 50 into the water of the drainage pipe through the first inspection well, take it out after the float 50 reaches the next inspection well with the water flow, and pull the float cable 51 until the inspection track 44 passes through the drainage pipe to reach the preset position, and fix the two ends of the inspection track 44 to the ground and the drainage pipe.

[0055] It should be noted that the installation of the inspection track 44 can be used for both new pipelines that have not been laid and old pipelines that have been laid. It can be directly installed in the factory on the new pipelines that have not been laid; on the old pipelines that have been laid, a float 50 is placed in the water flowing in the pipeline, and the end of the float 50 is connected to a float cable 51, and the end of the float cable 51 is connected to a float cable receiver 52; after the float 50 enters the pipeline with the water flow and reaches the next inspection well, that is, another planned fixed point of the inspection track 44, the float 50 is taken out, and since the other end of the float cable 51 is connected to one end of the inspection track 44, the float cable 51 is pulled to the preset point, the entire inspection track 44 can be passed through the pipeline, and then the two ends of the inspection track 44 can be fixed.

[0056] Exemplarily, the low-interference drainage pipe defect and status automatic detection device of the present invention can be implemented in a municipal drainage network to detect drainage network defects and automatically detect network liquid level, mud level and other status information.

[0057] For the drainage pipes that need to be inspected, select the pipe section planned for inspection on the old pipes that have been laid, select a time period with flow, and place a float 50 in the upstream of the drainage pipe. When the float 50 enters the pipe with the water flow and reaches the next inspection well, that is, another planned fixed point of the inspection track 44, take out the float 50, and connect the other end of the float cable 51 to one end of the inspection track 44. Pull the float cable 51 to the preset point to complete the overall crossing of the inspection track 44 in the current pipe, and then complete the fixation of the two ends of the inspection track 44.

[0058] In the daily automatic inspection state, the inspection robot carrier 13 locates itself by identifying the inspection track locator 43, and automatically embeds the transmission wheel 16 and the meshing plate 17 into the inspection track 44 when driving on land, and enters the pipeline for inspection; if the inspection starting point is a certain inspection well covered by a certain section of the pipeline, the inspection track 44 may no longer be set on the surface, but one end of the inspection track 44 is attached to the side wall of the pipeline, and the transmission wheel 16 and the meshing plate 17 of the inspection robot carrier 13 are manually embedded in the inspection track 44; when the fixed detection system 100 detects that the pipeline may collapse or deform, or when the pipeline status needs to be checked, the inspection detection system 200 can be started.

[0059] The staff on the surface sends control instructions through the robot controller, and the control instructions are transmitted to the video lens 36, lighting 37, high-pressure water gun nozzle 41, etc. on the inspection robot carrier 13 through the integrated cable 25, so as to realize the opening, closing, position adjustment and other controls of the video lens 36, lighting 37, and high-pressure water gun nozzle 41, and can effectively collect pipeline defects and working status; when the inspection robot carrier 13 needs to be peeled off from the inspection track 44, one method is to return to the fixed point of the surface track and automatically detach from the track, and another method is to pull the pull buckle 29 of the pull-out cabinet to detach the transmission wheel 16 from the inspection track 44 to complete the inspection work.

[0060] Through the application of the low-interference drainage pipe defect and status automatic detection device of the present invention, the information such as the defects and working status of the municipal drainage pipe can be accurately and real-time monitored, which not only solves the problem of identifying pipe defects, but also solves the problem of pipe status detection under low-interference state, avoids the interception, dredging and other preparatory work before inspection, greatly reduces the detection cost, improves the detection efficiency, and provides a practical way and method for the maintenance of the municipal drainage system.

[0061] Based on any of the above embodiments, an embodiment of the present invention proposes a drainage pipe defect and state automatic detection method, wherein the two fixed detection systems are respectively a first fixed detection system and a second fixed detection system; the drainage pipe defect and state automatic detection method comprises: Turning on multiple first laser probes of the two fixed detection systems, and detecting whether each first laser probe of the first fixed detection system receives the laser emitted by the first laser probe corresponding to the second fixed detection system, and detecting whether each first laser probe of the second fixed detection system receives the laser emitted by the first laser probe corresponding to the first fixed detection system; When a first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the first laser probe corresponding to the second fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, the laser return time and the laser transmission rate of the first target laser probe; When the second target laser probe among the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the first laser probe corresponding to the first fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, laser return time and laser transmission rate of the second target laser probe; When pipeline status detection is required, the inspection detection system is turned on, the inspection robot carrier is driven to dock with the inspection track and move along the inspection track; during the movement, the first distance from the top of the inspection robot carrier to the top of the drainage pipe and the second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level of the drainage pipe or the bottom of the pipe are obtained through the second laser probe at a certain time frequency, and the mud level or liquid level information of the corresponding position of the drainage pipe is obtained through the first distance, the second distance and the drainage pipe parameters; and according to the position information of the structural defects in the drainage pipe obtained by the fixed detection system, the position corresponding to the position information is detected to confirm whether a misjudgment occurs at this position.

[0062] In the description of the aforementioned embodiments, the description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments and features of the different embodiments described in this specification without contradiction.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0065] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0066] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A low-interference drainage pipe defect and state automatic detection device, characterized in that: It includes a patrol detection system and two fixed detection systems, wherein the fixed detection system includes a semicircular pipe wall fixed structure, a fixed detection transmission control system and a plurality of first laser probes, wherein the fixed detection transmission control system is installed on the pipe wall fixed structure, and the plurality of first laser probes are respectively installed at different positions of the pipe wall fixed structure, and the plurality of first laser probes are connected to the fixed detection transmission control system; The inspection detection system includes an inspection track and an inspection robot, the inspection robot includes an inspection robot carrier, a robot controller, a plurality of second laser probes and a cleaning device, the robot controller is connected to the inspection robot carrier, the plurality of second laser probes and the cleaning device through an integrated cable, the plurality of second laser probes are respectively installed on the top and bottom of the inspection robot carrier, and the cleaning device is installed on the inspection robot carrier; During inspection, the inspection track passes through the drainage pipe, the two fixed detection systems are respectively arranged at the two ends of the inspection track and located on the upper surface of the inspection track, and the inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner.

2. According to claim 1, the low-interference drainage pipe defect and state automatic detection device is characterized in that: The pipe wall fixing structure is composed of a plurality of arc-shaped detection system pipe wall fixing belts connected in sequence, and adjacent detection system pipe wall fixing belts are connected via a fixing belt rotating shaft; a fixing belt fixing hole is provided on the detection system pipe wall fixing belt, and a fixed detection system fixing rod for fixing the fixed detection system to the drainage pipe is provided on the fixed detection transmission control system or the pipe wall fixing structure.

3. The low-interference drainage pipe defect and state automatic detection device according to claim 1 is characterized in that: The multiple first laser probes include three first laser probes, and the three first laser probes are respectively located at two ends and a middle position of the pipe wall fixing structure; The connection ends of the multiple first laser probes are each provided with a laser probe rotating shaft, and the end of the laser probe rotating shaft is provided with a laser probe fixing buckle. After the position of the first laser probe is determined, the position is locked by rotating the laser probe fixing buckle.

4. According to claim 1, the low-interference drainage pipe defect and state automatic detection device is characterized in that: Both ends of the inspection track are bent upward to form a U-shaped portion, and the upper portions of the two U-shaped portions serve as the head and end portions of the inspection track respectively; both the head and end portions of the inspection track are provided with inspection track locators, and the inspection robot carrier locates the access position and walking direction on the inspection track through the inspection track locators; the width of the head and end portions of the inspection track are both set from thin to thick, so that the inspection robot carrier can smoothly access the inspection track; During detection, the inspection track is fixed to the ground surface and the top of the drainage pipe respectively through the top fixing rod of the inspection track and the bottom fixing rod of the inspection track.

5. According to claim 1, the low-interference drainage pipe defect and state automatic detection device is characterized in that: The inspection robot also includes a transmission wheel, a transmission wheel motor, a motor pull-out cabinet, an inspection positioning detector, a tire and a tire driving motor arranged on the inspection robot carrier, four transmission wheels are arranged on the top of the inspection robot carrier, and the four transmission wheels are driven by the transmission wheel motor. The side surface of the transmission wheel is concave in shape and is used to engage with the inspection track; the two transmission wheel motors corresponding to one side of the inspection track are fixed to the motor pull-out cabinet through a motor base, and a pull-out cabinet buckle is arranged at the front end of the motor pull-out cabinet, and a buckle structure is arranged at the bottom or side of the motor pull-out cabinet. By pulling the pull-out cabinet buckle, the buckle structure can be locked or disengaged from the slot structure on the inspection robot carrier; when disengaging, the two transmission wheels located on the motor pull-out cabinet move along the transmission wheel moving groove arranged on the top of the inspection robot carrier to the side of the inspection track to achieve the disengagement of the inspection robot carrier from the inspection track; the two tires located at the front end of the inspection robot carrier are driven by the tire driving motor.

6. The low-interference drainage pipe defect and state automatic detection device according to claim 5 is characterized in that: The low-interference drainage pipe defect and state automatic detection device also includes two U-shaped inspection longitudinal rails, the two inspection longitudinal rails are located on the inner sides of the two U-shaped parts of the inspection rail, the two ends of the inspection rail are respectively connected to the two inspection longitudinal rails, and the middle part of the inspection longitudinal rail is fixed to the middle part of the U-shaped part through the inspection rail connecting rod; the outer side of the inspection longitudinal rail is provided with a gear hole; A secondary gear of the transmission wheel is installed on the top of the transmission wheel, and the secondary gear of the transmission wheel is used to mesh with the gear hole of the inspection longitudinal track; both sides of the top of the inspection robot carrier are provided with semi-wrapped meshing plates, the meshing plates are elastic, and the side of the meshing plate in contact with the inspection track is provided with a meshing plate plane ball and a meshing plate vertical ball; During inspection, the inspection longitudinal track is fixed to the side wall of the pipeline outlet through the inspection longitudinal track fixing rod.

7. The low-interference drainage pipe defect and state automatic detection device according to claim 1 is characterized in that: The cleaning device includes a cleaning shovel, the end of which is connected to the inspection robot carrier via a cleaning shovel rotating shaft, the front end of which is located at the top of the inspection robot carrier and engages with the inspection track during inspection; the cleaning shovel is V-shaped, and the width of the V-shaped bend is greater than that of the two ends; the upper and lower parts of the interior of the cleaning shovel are respectively provided with top cleaning cotton and bottom cleaning cotton, and the front end of the cleaning shovel has an outer shell made of hard rubber material.

8. The low-interference drainage pipe defect and status automatic detection device according to claim 1 is characterized in that: The inspection robot also includes a video lens and a lighting lamp. The video lens is connected to a video lens rotating disk through video lens swing shafts connected on both sides of the video lens. The video lens rotating disk is fixed to the front end of the inspection robot carrier. A lens brush is provided next to the video lens. The lighting lamp is fixed to the front end of the inspection robot carrier. The robot controller is connected to the video lens and the lighting lamp through an integrated cable. The cleaning device comprises a high-pressure water gun nozzle, which is connected to a high-pressure water gun nozzle rotating disk through high-pressure water gun nozzle swing shafts connected on both sides thereof, and the high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.

9. The low-interference drainage pipe defect and state automatic detection device according to claim 1 is characterized in that: The low-interference drainage pipe defect and state automatic detection device also includes a track installation structure for installing the inspection track, the track installation structure includes a float, a float cable and a float cable receiver, the end of the float is connected to the float cable, and the end of the float cable is connected to the float cable receiver; When installing the inspection track, one end of the inspection track is connected to the float cable; The float is dropped into the water of the drainage pipe through the first inspection well, and taken out after the float reaches the next inspection well with the water flow, and the float cable is pulled until the inspection track passes through the drainage pipe to reach the preset position, and the two ends of the inspection track are fixed to the ground surface and the drainage pipe.

10. A method for automatically detecting defects and states of drainage pipes, characterized in that: The drainage pipe defect and state automatic detection method is implemented by the low-interference drainage pipe defect and state automatic detection device according to any one of claims 1 to 9, and the two fixed detection systems are respectively a first fixed detection system and a second fixed detection system; the drainage pipe defect and state automatic detection method comprises: Turning on the multiple first laser probes of the two fixed detection systems, and detecting whether each first laser probe of the first fixed detection system receives the laser emitted by the first laser probe corresponding to the second fixed detection system, and detecting whether each first laser probe of the second fixed detection system receives the laser emitted by the first laser probe corresponding to the first fixed detection system; When a first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the first laser probe corresponding to the second fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, the laser return time and the laser transmission rate of the first target laser probe; When a second target laser probe among the multiple first laser probes of the second fixed detection system does not receive the laser emitted by the first laser probe corresponding to the first fixed detection system, the location information of the structural defect of the drainage pipe is obtained according to the laser emission time, the laser return time and the laser transmission rate of the second target laser probe; The inspection detection system is turned on, and the inspection robot carrier is driven to dock with the inspection track and move along the inspection track. During the movement, a first distance from the top of the inspection robot carrier to the top of the drainage pipe and a second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level of the drainage pipe or the bottom of the pipe are obtained through a second laser probe at a certain time frequency, and mud level or liquid level information of the corresponding position of the drainage pipe is obtained through the first distance, the second distance and the drainage pipe parameters; and according to the position information of the structural defect of the drainage pipe, the position corresponding to the position information is detected.

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