An automatic detection device and detection method for defects and states of low-interference drainage pipelines

Abstract

The present invention provides an automatic detection device and method for defects and states of low-interference drainage pipes, which relates to the technical field of defect detection. It includes an inspection and detection system and two fixed detection systems. The fixed detection system includes a semi-circular pipe wall fixing structure, a fixed detection transmission control system, and multiple first laser probes. The fixed detection transmission control system is installed on the pipe wall fixing structure, and multiple first laser probes are respectively installed at different positions of the pipe wall fixing structure. The multiple first laser probes are connected to the fixed detection transmission control system; the inspection and detection system includes an inspection track and an inspection robot. The inspection robot includes an inspection robot carrier, a robot controller, and multiple second laser probes. The multiple second laser probes are respectively installed at the top and bottom of the inspection robot carrier, and the inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner. The present invention can perform various defect detections when the drainage pipe is in normal operation and drainage.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and particularly to an automatic detection device and method for defects and states of a drainage pipe with low interference. Background Art

[0002] As an important infrastructure construction project in urban development, the drainage pipe 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 environmental pollution prevention and control, flood drainage and flood control. However, due to various factors such as long-term use, natural erosion, and human damage, various defects may occur in drainage pipes, such as collapse, blockage, deformation, dislocation, etc. These defects will not only affect the normal function of 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 involved in the detection of drainage pipe defects is very extensive, and a variety of detection technologies and methods need to be comprehensively used to ensure the normal operation of the drainage system and the flood drainage and flood control capabilities of the city, mainly including: the detection of the structural integrity of the pipe and the detection of the functional performance of the pipe. Among them, the detection of the structural integrity of the pipe is mainly for the detection of collapse and deformation, and it is necessary to locate and diagnose the defect position, involving distance measurement, video measurement and orientation positioning; the detection of the functional performance of the pipe is mainly for 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 extremely high detection difficulty: the drainage pipe system is distributed underground in the city, usually composed of many branches, intersections and branches, with extremely strong concealment. This complex concealed network structure makes it extremely difficult to conduct a comprehensive detection; the municipal drainage pipes are spread throughout the built-up area of the city. Some of the pipes in the 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 corrosiveness, making the detection extremely difficult.

[0004] In view of the characteristics of numerous objectives and great technical difficulties in the defect detection of drainage pipes, currently, technologies such as CCTV detection technology, sonar detection technology, infrared thermal imaging technology, and pipeline periscope detection technology are commonly used in the industry. These technologies can detect pipeline defects under certain working conditions, but they have many deficiencies: Before the CCTV detection technology is used, appropriate blocking, pumping, and cleaning work on the pipeline are required. When the pipe network is operating normally, silt and water flow have a great impact on the movement of the CCTV detection robot, and its applicable range is limited; The sonar detection technology generally can only detect the pipeline conditions below the liquid level and is difficult to detect defects above the liquid level. For some types of defects (such as pipeline deformation, blockage, etc.), it may not be able to accurately identify them; The infrared thermal imaging technology is greatly affected by temperature and has limited use. The pipeline periscope detection technology is mainly used to detect short-distance pipelines, is easy to operate, but has a short detection distance and cannot detect the pipeline conditions below the water surface. Therefore, the current drainage pipe defect detection technologies are difficult to efficiently solve the existing detection technology problems, and there is still a need to develop more applicable and effective detection technologies. Summary of the Invention

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

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

[0007] To achieve the above object, an embodiment of the first aspect of the present invention proposes a low-interference automatic detection device for drainage pipe defects and states, including an inspection and detection system and two fixed detection systems. The fixed detection system includes a semi-circular 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, and the plurality of first laser probes are respectively installed at different positions of the pipe wall fixing structure. The plurality of first laser probes are connected to the fixed detection transmission control system;

[0008] The inspection and 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 a comprehensive 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;

[0009] During detection, the inspection track runs through the drainage pipe. The two fixed detection systems are respectively arranged at both ends of the inspection track and on the upper surface of the inspection track. The inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner.

[0010] In some implementation manners, the pipe wall fixing structure is formed by sequentially connecting a plurality of arc-shaped detection system pipe wall fixing bands. Adjacent detection system pipe wall fixing bands are connected by fixing band rotating shafts. Fixing band fixing holes are provided on the detection system pipe wall fixing bands. Fixing rods for fixing the fixed detection system to the drainage pipe are arranged on the fixed detection transmission control system or the pipe wall fixing structure.

[0011] In some implementation manners, the plurality of first laser probes include three first laser probes, which are respectively located at both ends and the middle position of the pipe wall fixing structure.

[0012] Rotating shafts are provided at the connection ends of the plurality of first laser probes. Laser probe fixing buckles are provided at the ends of the rotating shafts. After the positions of the first laser probes are determined, the positions are locked by rotating the laser probe fixing buckles.

[0013] In some implementation manners, both ends of the inspection track are bent upward to form U-shaped parts. The upper parts of the two U-shaped parts are respectively used as the head and tail ends of the inspection track. Inspection track positioners are arranged at the head and tail ends of the inspection track. The inspection robot carrier locates the access position and walking direction on the inspection track through the inspection track positioners. The widths of the head and tail ends of the inspection track are both set to be gradually thicker from thin to thick, so that the inspection robot carrier can smoothly access the inspection track.

[0014] During detection, the inspection track is fixed to the ground and the top of the drainage pipe respectively through an inspection track top fixing rod and an inspection track bottom fixing rod.

[0015] In some implementations, the inspection robot further includes a drive wheel, a drive wheel motor, a motor drawer cabinet, an inspection positioning detector, a tire, and a tire drive motor disposed on the inspection robot carrier. The four drive wheels are disposed on the top of the inspection robot carrier, and the four drive wheels are all driven by the drive wheel motor. The side surface of the drive wheel is concave and is used to engage with the inspection track. The two drive wheel motors corresponding to one side of the inspection track are fixed to the motor drawer cabinet through a motor base. A drawer pull is provided at the front end of the motor drawer cabinet, and a snap structure is provided at the bottom or side surface of the motor drawer cabinet. By pulling the drawer pull, the snap structure can be locked or disengaged from the slot structure on the inspection robot carrier. When disengaged, the two drive wheels located on the motor drawer cabinet move along the drive wheel moving slots provided on the top of the inspection robot carrier to the side away from 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.

[0016] In some implementations, the low-interference drainage pipeline defect and status automatic detection device further includes two U-shaped inspection longitudinal tracks. The two inspection longitudinal tracks are located inside the two U-shaped parts of the inspection track. The two ends of the inspection track are respectively connected to the two inspection longitudinal tracks, and the middle part of the inspection longitudinal track is fixed to the middle part of the U-shaped part through an inspection track connecting rod. Gear holes are provided on the outer side of the inspection longitudinal track.

[0017] A drive wheel secondary gear is installed on the top of the drive wheel and is used to engage with the gear holes of the inspection longitudinal track. Semi-wrapping engagement plates are provided on both sides of the top of the inspection robot carrier. The engagement plates are elastic, and engagement plate plane balls and engagement plate vertical balls are provided on the side of the engagement plate in contact with the inspection track.

[0018] During inspection, the inspection longitudinal track is fixed to the side wall of the pipeline outlet through an inspection longitudinal track fixing rod.

[0019] In some implementations, the cleaning device includes a cleaning shovel. The end of the cleaning shovel is connected to the inspection robot carrier through a cleaning shovel rotating shaft. The front end of the cleaning shovel is located on 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 bent part of the V-shape is greater than that of the two ends. Top cleaning cotton and bottom cleaning cotton are respectively provided in the upper and lower parts inside the cleaning shovel, and the front end of the cleaning shovel has a housing made of hard rubber.

[0020] In some implementations, the inspection robot further includes a video camera lens and a lighting lamp. The video camera lens is connected to a video camera lens rotating disk through video camera lens swing shafts connected to both sides thereof. The video camera lens rotating disk is fixed to the front end of the inspection robot carrier. A lens brush is provided beside the video camera lens. The lighting lamp is fixed to the front end of the inspection robot carrier. The robot controller is connected to the video camera lens and the lighting lamp through a comprehensive cable.

[0021] In some implementations, the cleaning device includes a high-pressure water gun nozzle. The high-pressure water gun nozzle is connected to a high-pressure water gun nozzle rotating disk through high-pressure water gun nozzle swing shafts connected to both sides thereof. The high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.

[0022] In some implementations, the low-interference drainage pipeline defect and status automatic detection device further includes an orbital installation structure for installing the inspection orbit. The orbital installation structure includes a float, a float cable, and a float cable receiver. The end of the float is connected to the float cable. The end of the float cable is connected to the float cable receiver;

[0023] When installing the inspection orbit, connect one end of the inspection orbit to the float cable; place the float into the water of the drainage pipeline through the first inspection well. After the float reaches the next inspection well along with the water flow, take it out and pull the float cable until the inspection orbit passes through the drainage pipeline to the preset position, and fix both ends of the inspection orbit to the ground surface and the drainage pipeline.

[0024] To achieve the above object, a second aspect embodiment of the present invention provides a method for automatically detecting drainage pipeline defects and status. The method for automatically detecting drainage pipeline defects and status is implemented by the low-interference drainage pipeline defect and status automatic detection device described in the first aspect. The two fixed detection systems are respectively a first fixed detection system and a second fixed detection system. The method for automatically detecting drainage pipeline defects and status includes:

[0025] Turn on multiple first laser probes of the two fixed detection systems, and detect whether each first laser probe of the first fixed detection system receives the laser emitted by the corresponding first laser probe of the second fixed detection system and detect whether each first laser probe of the second fixed detection system receives the laser emitted by the corresponding first laser probe of the first fixed detection system;

[0026] When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the corresponding first laser probe of the second fixed detection system, the position information of the structural defect in the drainage pipeline is obtained according to the laser emission time, laser return time, and laser transmission rate of the first target laser probe;

[0027] 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 corresponding first laser probe of the first fixed detection system, the position information of the structural defect in the drainage pipeline is obtained according to the laser emission time, laser return time, and laser transmission rate of the second target laser probe;

[0028] Turn on the inspection detection system, drive the inspection robot carrier to dock with the inspection track, and travel along the inspection track; during the travel, at a certain time frequency, obtain the first distance from the top of the inspection robot carrier to the top of the drainage pipeline and the second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level or the bottom of the pipeline through the second laser probe, and obtain the mud level or liquid level information of the corresponding position of the drainage pipeline through the first distance, the second distance, and the drainage pipeline parameters; and detect the position corresponding to the position information according to the position information of the structural defect in the drainage pipeline.

[0029] The present invention has the following advantages and beneficial effects:

[0030] The low-interference drainage pipeline defect and state automatic detection device and detection method provided by the present invention can detect whether there are structural defects in the pipeline through two fixed detection systems, and can obtain information such as the liquid level and silt thickness of the pipeline through the inspection detection system, that is, realize the detection of pipeline blockage and sediment, so as to realize the automatic inspection and exploration in the drainage pipe network; the inspection detection system moves along the lower surface of the inspection track in a hoisting manner through the inspection robot carrier for pipeline inspection, without having to intercept and clean the target pipeline, realizing the inspection and detection when the drainage pipeline is in normal operation and drainage, and can effectively avoid the situation that conventional inspection robots are difficult to operate in the muddy water environment; and two modes of fixed detection and inspection detection are used to investigate pipeline defects. After the fixed detection discovers the pipeline structure anomaly and locks the position of the pipeline structural defect, the inspection detection system can further detect the position determined by the fixed detection system, avoiding misjudgment of the fixed detection system caused by the interference of drainage pipeline garbage. The dual detection mode can accurately locate the position of the pipeline structural defect, and the misjudgment rate is extremely low; the automatic detection device of the present invention has a high degree of automation and intelligence, can save a large amount of labor costs and time costs, and has a high inspection and exploration efficiency, saving the cost of pipeline cleaning, and at the same time does not affect the normal operation of the drainage pipeline.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 is a schematic structural diagram of an automatic detection device for defects and states of a low-interference drainage pipeline provided by an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of a fixed detection system provided by an embodiment of the present invention;

[0035] Figure 3 is a schematic structural diagram of an inspection track provided by an embodiment of the present invention;

[0036] Figure 4 is a schematic structural diagram of an inspection robot provided by an embodiment of the present invention;

[0037] Figure 5 is a schematic structural diagram of the connection structure of the tires at the front end of the inspection robot carrier provided by an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of an orbital installation structure provided by an embodiment of the present invention;

[0039] In the figure:

[0040] 100, Fixed Detection System; 200, Patrol Detection System; 1, Fixed Rod of Fixed Detection System; 2, Fixed Detection Transmission and Control System; 3, Battery of Fixed Detection System; 4, First Top Laser Probe; 5, First Top Laser Signal Receiver; 6, First Top Laser Signal Transmitter; 7, Pipe Wall Fixing Band of Detection System; 8, Rotating Shaft of Fixing Band; 9, Fixing Hole of Fixing Band; 10, Laser Probe Fixing Buckle; 11, Rotating Shaft of Laser Probe; 12, First Bottom Laser Probe; 13, Carrier of Patrol Robot; 14, Tire; 15, Second-stage Gear of Driving Wheel; 16, Driving Wheel; 17, Meshing Plate; 18, Planar Ball of Meshing Plate; 19, Vertical Ball of Meshing Plate; 20, Second Top Laser Probe; 21, Top Cleaning Cotton; 22, Rotating Shaft of Cleaning Spade; 23, Bottom Cleaning Cotton; 24, Cleaning Spade; 25, Comprehensive Cable; 26, Heat Dissipation Hole; 27, Motor Pull-out Cabinet; 28, Moving Slot of Driving Wheel; 29, Pulling Button of Pull-out Cabinet; 30, Driving Wheel Motor; 31, Motor Base; 32, Second Bottom Laser Probe; 33, Rotating Disk of Video Lens; 34, Swing Axis of Video Lens; 35, Lens Brush; 36, Video Lens; 37, Lighting Lamp; 38, Patrol Positioning Detector; 39, Rotating Disk of High-pressure Water Gun Nozzle; 40, Swing Axis of High-pressure Water Gun Nozzle; 41, High-pressure Water Gun Nozzle; 42, Comprehensive Cable Reel; 43, Patrol Track Positioner; 44, Patrol Track; 45, Fixed Rod at Top of Patrol Track; 46, Longitudinal Patrol Track; 47, Fixed Rod of Longitudinal Patrol Track; 48, Connecting Rod of Patrol Track; 49, Fixed Rod at Bottom of Patrol Track; 50, Floating Ball; 51, Cable of Floating Ball; 52, Cable Reel of Floating Ball; 53, Pipe Outlet; 54, Road Longitudinal Section; 55, Silt. Detailed Implementation Manner

[0041] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0042] The low-interference drainage pipe defect and status automatic detection device according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0043] Figure 1 It is a structural schematic diagram of a low-interference drainage pipe defect and status automatic detection device provided by an embodiment of the present invention. As Figure 1 shown, the low-interference drainage pipe defect and status automatic detection device may include: a patrol detection system 200 and two fixed detection systems 100, where:

[0044] The fixed detection system 100 includes a semi-circular pipe wall fixing structure, a fixed detection and transmission control system 2, and multiple first laser probes. The fixed detection and transmission control system 2 is installed on the pipe wall fixing structure, and the multiple first laser probes are respectively installed at different positions of the pipe wall fixing structure. The multiple first laser probes are connected to the fixed detection and transmission control system 2. Optionally, the multiple first laser probes include a first top laser probe 4 and two first bottom laser probes 12 located at the middle position and both sides of the pipe wall fixing structure respectively.

[0045] 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, the 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.

[0046] During detection, the inspection track 44 runs through the drainage pipe. Two fixed detection systems 100 are respectively arranged at both ends of the inspection track 44 and on the upper surface of the inspection track 44. The inspection robot carrier 13 moves along the lower surface of the inspection track 44 in a hoisting manner.

[0047] During installation, two fixed detection systems 100 are respectively fixed at both ends of the drainage pipe. The inspection track 44 runs through the drainage pipe. 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 on the upper surface of the inspection track 44 do not affect the movement of the inspection robot carrier 13 on the inspection track 44. Both ends of the inspection track 44 extend to the ground surface at both ends of the drainage pipe or the side wall of the drainage pipe.

[0048] It should be noted that each first laser probe and second laser probe includes a laser signal transmitter and a laser signal receiver, and can emit and receive laser signals. Exemplarily, as Figure 2 shown, the first top laser probe 4 includes a first top laser signal receiver 5 and a first top laser signal transmitter 6.

[0049] 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 route, the two fixed detection systems at both ends of the drainage pipe cannot receive each other's laser signals, then it is determined that there are probably structural defects in this section of the drainage pipe; the laser signal returned at the blocked point returns to the laser signal receiver of the original first laser probe, and using the known laser propagation speed and the round-trip propagation time, the position of the structural defect can be calculated.

[0050] Thus, the opening and closing of the first laser probe are controlled by the fixed detection and transmission control system 2. For example, the first top laser probe 4 located at the middle position of the pipe wall fixing structure can be used to detect whether there are structural defects at the top of the drainage pipe, and the first bottom laser probes 12 located at both ends of the bottom of the pipe wall fixing 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 certain laser signal is blocked, the position of the structural defect is calculated based on the emission time, return time, and laser transmission rate of the certain laser signal, and the collected and calculated data are transmitted to the user platform system.

[0051] Thus, through the inspection and detection system 200, the distance from the top of the inspection robot carrier 13 to the top of the drainage pipe can be measured by the second laser probe (the second top laser probe 20) on the top of the inspection robot carrier 13, and the distance from the bottom of the inspection robot carrier 13 to the liquid level, mud level, or the bottom of the drainage pipe can be measured by the second laser probe (the second bottom laser probe 32) at the bottom of the inspection robot carrier 13. Since the parameters of the laser probe can be known through the design of the device itself and the specifications of the drainage pipe are known, information such as the liquid level and the thickness of the silt 55 in the drainage pipe can be calculated.

[0052] The low-interference automatic detection device for drainage pipe defects and states according to the embodiments of the present invention can detect whether there are structural defects in the pipe through two fixed detection systems 100, and can obtain information such as the liquid level and the thickness of the silt in the pipe through the inspection and detection system 200, that is, the blockage and accumulation of the pipe are detected, so as to realize the automatic inspection and exploration in the drainage pipe network; the inspection and detection system 200 moves along the lower surface of the inspection track 44 in a hoisting manner through the inspection robot carrier 13 for pipe inspection, without having to intercept and clean the target pipe, and realizes the inspection and detection when the drainage pipe is in normal operation and drainage, which can effectively avoid the situation that conventional inspection robots are difficult to operate in the muddy water environment; and two modes of fixed detection and inspection detection are used to investigate the pipe defects. After the fixed detection finds that the pipe structure is abnormal and locks the position of the pipe structural defect, the inspection and detection system 200 can further detect the position determined by the fixed detection system 100, avoiding misjudgment of the fixed detection system caused by the interference of drainage pipe garbage. The double detection mode can accurately locate the position of the pipe structural defect, and the misjudgment rate is extremely low; the automatic detection device of the present invention has a high degree of automation and intelligence, can save a large amount of labor costs and time costs, and has a high inspection and exploration efficiency, saving the cost of pipe cleaning, and at the same time does not affect the normal operation of the drainage pipe.

[0053] In some embodiments, such as Figure 2As shown in the figure, the pipe wall fixing structure is formed by sequentially connecting multiple arc-shaped detection system pipe wall fixing belts 7, and adjacent detection system pipe wall fixing belts 7 are connected by fixing belt rotating shafts 8; fixing belt fixing holes 9 are provided on the detection system pipe wall fixing belts 7, and a fixing 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.

[0054] Thus, the pipe wall fixing structure can adjust the arc according to the pipe diameter specifications of different drainage pipes to closely adhere to 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 bolts through the fixing belt fixing holes 9. The fixed detection system 100 can be fixed to the top of the drainage pipe through the fixed detection system fixing rod 1.

[0055] In some embodiments, the multiple first laser probes include three first laser probes, which are respectively located at both ends and the middle position of the pipe wall fixing structure; laser probe rotating shafts 11 are provided at the connection ends of the multiple first laser probes, and laser probe fixing buckles 10 are provided at the ends of the laser probe rotating shafts 11. After the positions of the first laser probes are determined, the positions can be locked by rotating the laser probe fixing buckles 10.

[0056] Thus, the connection ends of the multiple first laser probes can rotate flexibly through the laser probe rotating shafts 11. After the positions of the first laser probes are determined, the positions of the first laser probes can be locked by rotating the laser probe fixing buckles 10 at the ends of the laser probe rotating shafts 11.

[0057] In some embodiments, the fixed detection transmission control system 2 is connected to the fixed detection system battery 3, and the fixed detection system battery 3 can provide energy for the fixed detection system 100.

[0058] In some embodiments, as Figure 3 shown, both ends of the inspection track 44 are bent upward to form U-shaped parts, and the upper parts of the two U-shaped parts are respectively used as the head and tail ends of the inspection track 44; inspection track positioners 43 are provided at both the head and tail ends of the inspection track 44, and the inspection robot carrier 13 positions the access position and walking direction on the inspection track 44 through the inspection track positioners 43; the widths of both the head and tail ends of the inspection track 44 are set to be gradually thicker from thin to thick, so that the inspection robot carrier 13 can smoothly access the inspection track 44; during detection, 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 the road longitudinal section 54 in. Thus, the inspection robot carrier 13 can position the access position and walking direction on the inspection track 44 through the inspection track positioners 43.

[0059] In some embodiments, as Figure 4 shown, the inspection robot further includes a driving wheel 16, a driving wheel motor 30, a motor drawer cabinet 27, and an inspection positioning detector 38 disposed on the inspection robot carrier 13. Four driving wheels 16 are disposed on the top of the inspection robot carrier 13. The four driving wheels 16 are all driven by the driving wheel motor 30. The side surface of the driving wheel 16 is concave and can be engaged with the inspection track 44. Two driving wheel motors 30 corresponding to one side of the inspection track 44 are fixed to the motor drawer cabinet 27 through a motor base 31. A drawer pull 29 is disposed at the front end of the motor drawer cabinet 27. A snap structure is disposed at the bottom or side surface of the motor drawer cabinet 27. By pulling the drawer pull 29, the snap structure can be locked or disengaged from the slot structure on the inspection robot carrier 13. When disengaged, the two driving wheels 16 on one side of the motor drawer cabinet 27 move along the driving wheel moving groove 28 disposed on the top of the inspection robot carrier 13 to the side away from the inspection track 44, so as to realize the disengagement of the inspection robot carrier 13 from the inspection track 44.

[0060] The motor drawer cabinet 27 can be inserted into and pulled out from the inspection robot carrier 13. When the motor drawer cabinet 27 is pushed into the target position of the inspection robot carrier 13, that is, the position where the driving wheel 16 is engaged with the inspection track 44, the motor drawer cabinet 27 and the inspection robot carrier 13 can be limited by the snap structure. When the motor drawer cabinet 27 is pulled a very small distance through the drawer pull 29, the inspection robot carrier 13 can be disengaged from the inspection track 44.

[0061] Wherein, the snap structure can be a flexible structure. The flexible structure can deform during the process of inserting and pulling out the motor drawer cabinet 27 from the inspection robot carrier 13, and is snapped into the corresponding slot structure on the inspection robot carrier 13 when reaching the target position.

[0062] That is to say, a driving wheel motor 30 is disposed inside the inspection robot carrier 13 and is respectively connected to the driving wheel 16. A motor base 31 is disposed at the bottom of the driving wheel motor 30 for fixing. Two motor bases 31 are fixed to the motor drawer cabinet 27. The motor drawer cabinet 27 is provided with a drawer pull 29. A driving wheel moving groove 28 is disposed on the top of the inspection robot carrier 13. By pulling the drawer pull 29, the driving wheel 16 and the driving wheel motor 30 can move horizontally, so as to realize the disengagement of the inspection robot carrier 13 from the inspection track 44.

[0063] Thus, the inspection robot carrier 13 can detect the inspection track locator 43 on the inspection track 44 through the inspection positioning detector 38 provided at the front end, guiding the inspection robot carrier 13 to automatically access the inspection track 44 and realizing the automatic identification of the starting point and the ending point of the inspection track 44; after the inspection robot carrier 13 enters the drainage pipe, it is in a suspended upside-down state, and the inspection robot carrier 13 can be engaged with the inspection track 44 through the concave shape on the side of the top driving wheel 16.

[0064] In some embodiments, the inspection robot carrier 13 is provided with 4 tires 14. As Figure 5 shown, two of the 4 tires 14 located at the front end of the inspection robot carrier 13 are driven by tire drive motors to realize walking on the ground. When both ends of the inspection track 44 are fixed to the ground surface, they need to be higher than the ground surface by a certain height, so that the inspection robot carrier 13 can automatically dock with the inspection track 44 from the road traveling mode and enter the suspended inspection mode in the drainage pipe. That is to say, after the inspection robot carrier 13 walks on the ground through the tires 14 to the position of the inspection track locator 43, the inspection robot carrier 13 is engaged with the inspection track 44 through the concave shape on the side of the top driving wheel 16; the robot controller controls the tire drive motor driving the tires 14 to stop working and controls the driving wheel motor 30 to start working, driving the inspection robot carrier 13 to perform inspection tasks along the inspection track 44.

[0065] In some embodiments, as Figure 3 、 Figure 4 shown, the low-interference drainage pipe defect and status automatic detection device further includes two U-shaped inspection longitudinal tracks 46. The two inspection longitudinal tracks 46 are located inside the two U-shaped parts of the inspection track 44. Both ends of the inspection track 44 are respectively connected to the two inspection longitudinal tracks 46. The middle part of the inspection longitudinal track 46 is fixed to the middle part of the U-shaped part through the inspection track connecting rod 48; gear holes are provided on the outer side of the inspection longitudinal track 46; a driving wheel secondary gear 15 is installed on the top of the driving wheel 16, and the driving wheel secondary gear 15 is used to engage with the gear holes of the inspection longitudinal track 46; semi-wrapped engaging plates 17 are provided on both sides of the top of the inspection robot carrier 13. The engaging plates 17 have a certain elasticity, and engaging plate plane balls 18 and engaging plate vertical balls 19 are provided on the side of the engaging plate 17 in contact with the inspection track 44; during detection, the inspection longitudinal track 46 is fixed to the side wall of the pipe outlet 53 through the inspection longitudinal track fixing rod 47.

[0066] As an implementation manner, the end of the inspection longitudinal track fixing rod 47 is fixed to the side wall of the pipe outlet 53, the starting end of the inspection longitudinal track fixing rod 47 is connected to the inspection longitudinal track 46, and the inspection longitudinal track 46 is fixed to the vertical section of the inspection track 44 through the inspection track connecting rod 48; the two inspection track connecting rods 48 and the inspection track 44 are fixed at one point.

[0067] Thus, the secondary gear 15 of the transmission wheel can mesh with the inspection longitudinal track 46, providing 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 two semi-wrapping engagement plates 17 at the top, which can provide a suspension force for the movement of the inspection robot carrier 13.

[0068] In some embodiments, such as Figure 4 shown, the cleaning device includes a cleaning shovel 24. The end of the cleaning shovel 24 is connected to the inspection robot carrier 13 through 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 mesh with the inspection track 44 during inspection; the cleaning shovel 24 is V-shaped, and the width at the bend of the V-shape is greater than that at both ends; a top cleaning cotton 21 and a bottom cleaning cotton 23 are respectively arranged in the upper and lower parts inside the cleaning shovel 24, and the front end of the cleaning shovel 24 has a housing made of hard rubber material.

[0069] Thus, one end of the cleaning shovel 24 meshes with the inspection track 44, which can clean the solid obstacle interferences attached to the inspection track 44 for preliminary cleaning of the track. The top cleaning cotton 21 and the bottom cleaning cotton 23 respectively arranged in the upper and lower parts inside the cleaning shovel 24 can further clean the inspection track 44, effectively removing the garbage interferences on the inspection track 44, ensuring the normal operation of the inspection, with strong reliability and wide application range.

[0070] In some embodiments, such as Figure 4 shown, the inspection robot further includes a video lens 36 and a lighting lamp 37. The video lens 36 is connected to a video lens rotating disk 33 through video lens swing shafts 34 connected to 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 arranged beside the video lens 36. The lighting lamp 37 is fixed to the front end of the inspection robot carrier 13. The robot controller connects the video lens 36 and the lighting lamp 37 through an integrated cable 25.

[0071] Thus, the inspection robot carrier 13 can collect high-definition video information inside the drainage pipe through the video lens 36 provided on one side of the front end. After the fixed detection system 100 determines the collapse and deformation positions, it can collect video information of the defect points at close range, providing a basis for diagnosing pipeline defects, further avoiding misjudgment caused by garbage interference in the drainage pipe in the fixed detection mode. The dual detection mode can accurately locate the collapse, fracture and deformation positions of the pipeline, with a very low misjudgment rate.

[0072] In some embodiments, such as Figure 4As shown in the figure, the cleaning device includes a high-pressure water gun nozzle 41. The high-pressure water gun nozzle 41 is connected to a high-pressure water gun nozzle rotating disk 39 through high-pressure water gun nozzle swing shafts 40 connected to both sides thereof. The high-pressure water gun nozzle rotating disk 39 is fixed to the front end of the inspection robot carrier 13.

[0073] Thus, the high-pressure water gun nozzle 41 can swing up and down through the high-pressure water gun nozzle swing shafts 40 connected to 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, enabling the high-pressure water gun nozzle 41 to rotate, thereby adjusting the angle of the high-pressure water gun nozzle 41, and quickly removing obstacles on the inspection track 44, blockages in the pipeline, etc.

[0074] In some embodiments, the integrated cable 25 is arranged at the tail of the inspection robot carrier 13. Multiple pipelines are provided inside the integrated cable 25, which can transmit power supply, control signals, and water source. The end of the integrated cable 25 is connected to an integrated cable receiver 42. Heat dissipation holes 26 are arranged on the side wall of the inspection robot carrier 13.

[0075] In some embodiments, the low-interference drainage pipeline defect and status automatic detection device further includes a track installation structure for installing the inspection track 44, such as Figure 6 As shown in the figure, the track installation structure includes a floating ball 50, a floating ball cable 51, and a floating ball cable receiver 52. The end of the floating ball 50 is connected to the floating ball cable 51, and the end of the floating ball cable 51 is connected to the floating ball cable receiver 52;

[0076] When installing the inspection track 44, connect one end of the inspection track 44 to the floating ball cable 51; put the floating ball 50 into the water of the drainage pipeline through the first inspection well. After the floating ball 50 reaches the next inspection well along with the water flow, take it out, and pull the floating ball cable 51 until the inspection track 44 passes through the drainage pipeline to the preset position, and fix both ends of the inspection track 44 to the ground surface and the drainage pipeline.

[0077] It should be noted that the installation of the inspection track 44 can be used for both newly laid pipelines and existing pipelines. For newly laid pipelines, it can be directly installed in the factory; for existing pipelines, put the floating ball 50 into the water flowing in the pipeline. The end of the floating ball 50 is connected to the floating ball cable 51, and the end of the floating ball cable 51 is connected to the floating ball cable receiver 52; when the floating ball 50 enters the pipeline along with the water flow and reaches the next inspection well, which is another planned fixed point of the inspection track 44, take out the floating ball 50. Since the other end of the floating ball cable 51 has been connected to one end of the inspection track 44, pull the floating ball cable 51 to the preset point, and the inspection track 44 can be completely passed through the pipeline, and then the two ends of the inspection track 44 can be fixed.

[0078] Exemplarily, the automatic detection device for defects and status of low-interference drainage pipes of the present invention can be implemented in the municipal drainage pipe network to detect defects in the drainage pipe network and automatically detect status information such as the liquid level and mud level of the pipe network.

[0079] For the drainage pipe to be detected, select the pipe section to be detected on the laid old pipes, select the time period with a flowing state, put the floating ball 50 into the upstream of the drainage pipe. When the floating ball 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 floating ball 50. The other end of the floating ball cable 51 is connected to one end of the inspection track 44, and the floating ball cable 51 is pulled to the preset point, then the overall crossing of the inspection track 44 in the current pipe can be completed, and then the fixing of both ends of the inspection track 44 can be completed.

[0080] In the daily automatic inspection state, the inspection robot carrier 13 is positioned by recognizing the inspection track locator 43. In the land driving state, the driving wheels 16 and the meshing plates 17 are automatically embedded into the inspection track 44 and enter the pipe for inspection; if the inspection starting point is a certain inspection well covered by a certain section of the pipe, the inspection track 44 may not be set on the ground surface, but one end of the inspection track 44 is attached to the pipe side wall, and the driving wheels 16 and the meshing plates 17 of the inspection robot carrier 13 are manually embedded into the inspection track 44; when the fixed detection system 100 detects that the pipe may collapse or deform, or when the pipe status needs to be checked, the inspection detection system 200 can be started.

[0081] The staff on the ground surface issues control instructions through the robot controller. The control instructions are transmitted to the video lens 36, the lighting lamp 37, the high-pressure water gun nozzle 41, etc. on the inspection robot carrier 13 through the integrated cable 25 to realize the control of the opening, closing, position adjustment, etc. of the video lens 36, the lighting lamp 37, the high-pressure water gun nozzle 41, and effectively collect pipe defects and working status; when it is necessary to separate the inspection robot carrier 13 from the inspection track 44, one method is to return to the fixed point of the surface track and automatically disengage from the track, and the other method is to pull the pull buckle 29 of the pull-out cabinet to disengage the driving wheels 16 from the inspection track 44 to complete the inspection work.

[0082] Through the application of the automatic detection device for defects and status of low-interference drainage pipes of the present invention, the information such as the defects and working status of the municipal drainage pipes has been accurately and real-time monitored. It not only solves the problem of identifying pipe defects, but also solves the problem of detecting pipe status under low-interference conditions, avoids the preparatory work such as interception and dredging before the inspection work, greatly reduces the detection cost, improves the detection efficiency, and provides a practical way and method for the maintenance of the municipal drainage system.

[0083] Based on any of the above embodiments, an embodiment of the present invention provides an automatic detection method for drainage pipeline defects and states. The two fixed detection systems are the first fixed detection system and the second fixed detection system respectively. The automatic detection method for drainage pipeline defects and states includes:

[0084] Turn on multiple first laser probes of the two fixed detection systems, and detect whether each first laser probe of the first fixed detection system receives the laser emitted by the corresponding first laser probe of the second fixed detection system and whether each first laser probe of the second fixed detection system receives the laser emitted by the corresponding first laser probe of the first fixed detection system;

[0085] When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the corresponding first laser probe of the second fixed detection system, obtain the position information of the structural defect in the drainage pipeline according to the laser emission time, laser return time, and laser transmission rate of the first target laser probe;

[0086] 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 corresponding first laser probe of the first fixed detection system, obtain the position information of the structural defect in the drainage pipeline according to the laser emission time, laser return time, and laser transmission rate of the second target laser probe;

[0087] When pipeline state detection is required, turn on the inspection detection system, drive the inspection robot carrier to dock with the inspection track, and travel along the inspection track; during the travel, at a certain time frequency, obtain the first distance from the top of the inspection robot carrier to the top of the drainage pipeline and the second distance from the bottom of the inspection robot carrier to the bottom liquid level or bottom mud level or the bottom of the pipeline through the second laser probe, and obtain the mud level or liquid level information at the corresponding position of the drainage pipeline through the first distance, second distance, and drainage pipeline parameters; and detect the position corresponding to the position information of the structural defect in the drainage pipeline obtained by the fixed detection system to confirm whether misjudgment occurs at this position.

[0088] In the description of the above embodiments, the description of the term "some embodiments" means that the specific features, structures, materials, or characteristics described in connection with the embodiment are included in at least one embodiment of the present invention. In this specification, the schematic description 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, without contradiction, those skilled in the art can combine and combine the different embodiments and features described in this specification.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0090] 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 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, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0091] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0092] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic detection device for defects and states of low-interference drainage pipes, characterized in that, It includes an inspection and detection system and two fixed detection systems. The fixed detection system includes a semi-circular pipe wall fixing structure, a fixed detection transmission control system, and multiple first laser probes. The fixed detection transmission control system is installed on the pipe wall fixing structure, and the multiple first laser probes are respectively installed at different positions of the pipe wall fixing structure. The multiple first laser probes are connected to the fixed detection transmission control system; The inspection and detection system includes an inspection track and an inspection robot. The inspection robot includes an inspection robot carrier, a robot controller, multiple second laser probes, and a cleaning device. The robot controller is connected to the inspection robot carrier, the multiple second laser probes, and the cleaning device through an integrated cable. The multiple 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 detection, the inspection track runs through the drainage pipe. The two fixed detection systems are respectively arranged at both ends of the inspection track and on the upper surface of the inspection track. The inspection robot carrier moves along the lower surface of the inspection track in a hoisting manner; Both ends of the inspection track are bent upward to form U-shaped parts, and the upper parts of the two U-shaped parts are respectively used as the head and tail ends of the inspection track. Inspection track positioners are arranged at the head and tail ends of the inspection track. The inspection robot carrier locates the access position and walking direction on the inspection track through the inspection track positioners. The widths of the head and tail ends of the inspection track are set to be gradually thicker from thin to thick, so that the inspection robot carrier can be smoothly connected to the inspection track; During detection, the inspection track is fixed to the ground and the top of the drainage pipe through an inspection track top fixing rod and an inspection track bottom fixing rod respectively.

2. The automatic detection device for low-interference drainage pipeline defects and states according to claim 1, characterized in that, The pipe wall fixing structure is formed by sequentially connecting multiple arc-shaped detection system pipe wall fixing belts. Adjacent detection system pipe wall fixing belts are connected through a fixing belt rotating shaft. Fixing belt fixing holes are provided on the detection system pipe wall fixing belts. A fixed detection system fixing rod for fixing the fixed detection system to the drainage pipe is arranged on the fixed detection transmission control system or the pipe wall fixing structure.

3. The automatic detection device for defects and states of a low-interference drainage pipeline according to claim 1, wherein The multiple first laser probes include three first laser probes, which are respectively located at both ends and the middle position of the pipe wall fixing structure; Laser probe rotating shafts are provided at the connection ends of the multiple first laser probes, and laser probe fixing buckles are provided at the ends of the laser probe rotating shafts. After the position of the first laser probe is determined, the position is locked by rotating the laser probe fixing buckle.

4. The automatic detection device for defects and states of a low-interference drainage pipeline according to claim 1, wherein The inspection robot further includes a driving wheel, a driving wheel motor, a motor drawer cabinet, an inspection positioning detector, a tire, and a tire driving motor disposed on the carrier of the inspection robot. Four of the driving wheels are disposed on the top of the carrier of the inspection robot, and all four driving wheels are driven by the driving wheel motor. The side surface of the driving wheel is concave for meshing with the inspection track. Two of the driving wheel motors corresponding to one side of the inspection track are fixed to the motor drawer cabinet through a motor base. A drawer pull is provided at the front end of the motor drawer cabinet, and a buckle structure is provided at the bottom or side of the motor drawer cabinet. By pulling the drawer pull, the buckle structure can be locked or disengaged from the slot structure on the carrier of the inspection robot. When disengaged, the two driving wheels located on the motor drawer cabinet move along the driving wheel moving groove provided on the top of the carrier of the inspection robot towards the side away from the inspection track to achieve the disengagement of the carrier of the inspection robot from the inspection track. The two tires located at the front end of the carrier of the inspection robot are driven by the tire driving motor.

5. The automatic detection device for defects and states of a low-interference drainage pipeline according to claim 4, characterized in that, The low-interference drainage pipeline defect and status automatic detection device further includes two U-shaped inspection longitudinal tracks. The two inspection longitudinal tracks are located inside the two U-shaped parts of the inspection track. The two ends of the inspection track are respectively connected to the two inspection longitudinal tracks, and the middle part of the inspection longitudinal track is fixed to the middle part of the U-shaped part through an inspection track connecting rod. Gear holes are provided on the outer side of the inspection longitudinal track. A driving wheel secondary gear is installed on the top of the driving wheel for meshing with the gear holes of the inspection longitudinal track. Semi-wrapping meshing plates are provided on both sides of the top of the carrier of the inspection robot. The meshing plates are elastic, and meshing plate flat ball bearings and meshing plate vertical ball bearings are provided on the side of the meshing plate in contact with the inspection track. During inspection, the inspection longitudinal track is fixed to the side wall of the pipeline drain opening through an inspection longitudinal track fixing rod.

6. The automatic detection device for low-interference drainage pipeline defects and status according to claim 1, characterized in that The cleaning device includes a cleaning shovel. The end of the cleaning shovel is connected to the carrier of the inspection robot through a cleaning shovel rotating shaft. The front end of the cleaning shovel is located on the top of the carrier of the inspection robot and meshes with the inspection track during inspection. The cleaning shovel is V-shaped, and the width of the bent part of the V-shape is greater than that of the two ends. A top cleaning cotton and a bottom cleaning cotton are respectively provided in the upper and lower parts inside the cleaning shovel, and the front end of the cleaning shovel has a housing made of hard rubber material.

7. The automatic detection device for defects and states of low-interference drainage pipes according to claim 1, characterized in that, The inspection robot further includes a video lens and a lighting lamp. The video lens is connected to a video lens rotating disc through video lens swing shafts connected to both sides thereof. The video lens rotating disc is fixed to the front end of the carrier of the inspection robot. A lens brush is provided beside the video lens, and the lighting lamp is fixed to the front end of the carrier of the inspection robot. The robot controller is connected to the video lens and the lighting lamp through an integrated cable. The cleaning device includes 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 to both sides thereof. The high-pressure water gun nozzle rotating disk is fixed to the front end of the inspection robot carrier.

8. The automatic detection device for defects and states of low-interference drainage pipes according to claim 1, characterized in that The low-interference drainage pipe defect and status automatic detection device further includes an orbital installation structure for installing the inspection orbit. The orbital 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 orbit, connect one end of the inspection orbit to the float cable; Put the float into the water of the drainage pipe through the first inspection well. After the float reaches the next inspection well along with the water flow, take it out, and pull the float cable until the inspection orbit passes through the drainage pipe to the preset position, and fix both ends of the inspection orbit to the ground and the drainage pipe.

9. An automatic detection method for defects and states of drainage pipelines, characterized in that, The drainage pipe defect and status automatic detection method is implemented by the low-interference drainage pipe defect and status automatic detection device according to any one of claims 1 to 8. The two fixed detection systems are respectively a first fixed detection system and a second fixed detection system; the drainage pipe defect and status automatic detection method includes: Turn on the multiple first laser probes of the two fixed detection systems, and detect whether each first laser probe of the first fixed detection system receives the laser emitted by the corresponding first laser probe of the second fixed detection system and whether each first laser probe of the second fixed detection system receives the laser emitted by the corresponding first laser probe of the first fixed detection system; When the first target laser probe among the multiple first laser probes of the first fixed detection system does not receive the laser emitted by the corresponding first laser probe of the second fixed detection system, obtain the position information of the structural defect in the drainage pipe according to the laser emission time, laser return time, and 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 corresponding first laser probe of the first fixed detection system, obtain the position information of the structural defect in the drainage pipe according to the laser emission time, laser return time, and laser transmission rate of the second target laser probe; Turn on the inspection detection system, drive the inspection robot carrier to dock with the inspection orbit, and travel along the inspection orbit; during the travel, at a certain time frequency, obtain 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 or the bottom of the pipe of the drainage pipe through the second laser probe, and obtain the mud level or liquid level information of the corresponding position of the drainage pipe through the first distance, the second distance, and the drainage pipe parameters; and detect the position corresponding to the position information according to the position information of the structural defect in the drainage pipe.

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