Device and method for detecting water entering water supply pipeline through fire hydrant base

Abstract

The invention belongs to the technical field of water supply pipeline detection, and particularly discloses a detection device and method for entering a water supply pipeline through a fire hydrant base, and the detection device comprises a take-up and pay-off mechanism and a pipeline robot; the take-up and pay-off mechanism is connected with the pipeline robot through a communication cable. The pipeline robot comprises a plurality of sphere-like cabins which are connected in series, every two adjacent sphere-like cabins are connected through a flexible cable, and the sphere-like cabins can pass through a fire hydrant base of a water supply pipeline. The sphere-like cabin at one end of the plurality of sphere-like cabins is connected with a communication cable, and the sphere-like cabin at the other end of the plurality of sphere-like cabins is provided with a propelling module; at least one sphere-like cabin is provided with a sensor, and the sensor is used for detecting the water supply pipeline. According to the pipeline robot, the pipeline robot is designed into the multiple cabins connected in series, the size of the single cabin can be effectively controlled, meanwhile, the cabin is designed to be in a sphere-like shape, the pipeline robot can adapt to various shape changes of the pipeline, and efficient and reliable detection of the water supply pipeline is achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of water supply pipeline detection, and more specifically, relates to a detection device and method for entering a water supply pipeline through a fire hydrant base. Background Art

[0002] With the acceleration of urbanization and the continuous growth of population, urban water supply systems are becoming increasingly large and complex, and the demand for pipeline detection, mapping, and repair is constantly rising. In the prior art, pipeline robots are relatively large in size, and the operation process of deploying pipeline robots includes: cutting a section of straight pipe on the main pipeline after the road breaking operation, installing a three-way joint by welding, and then fixing the deployment device at the intercepted position. Finally, the deployment device deploys the pipeline robot into the main pipeline, which is cumbersome to operate. In addition, due to the large size of the pipeline robot, it is easy to get stuck when passing through the elbow position or the three-way position in the pipeline, affecting its reliability. How to achieve efficient and reliable detection of water supply pipelines is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0003] In view of the defects of the prior art, the purpose of the present application is to achieve efficient and reliable detection of water supply pipelines.

[0004] To achieve the above-mentioned purpose, in a first aspect, the present application provides a detection device for entering a water supply pipeline through a fire hydrant base, comprising: a wire-retracting and releasing mechanism and a pipeline robot; The wire-retracting and -releasing mechanism is connected to the pipeline robot via a communication cable; The pipeline robot includes a plurality of spherical cabins connected in series, and two adjacent spherical cabins are connected by flexible cables, and the spherical cabins can pass through the fire hydrant base of the water supply pipeline; A spherical cabin at one end of the plurality of spherical cabins is connected to a communication cable, and a spherical cabin at the other end of the plurality of spherical cabins is provided with a propulsion module; At least one spherical cabin is equipped with a sensor, and the sensor is used to detect the water supply pipeline; The propulsion module is used to propel the pipeline robot to move; The cable retracting and releasing mechanism is used for retracting and releasing communication cables.

[0005] In a possible implementation, the plurality of spherical cabins include: a battery cabin, a control cabin, and a propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

[0006] In a possible implementation, the detection device further includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; A control module, used for sending the sensing data to a control host and receiving a first control instruction sent by the control host; The control host is used to receive the sensor data sent by the control module, process the sensor data, send a first control instruction to the control module, and send a second control instruction to the wire-reeling mechanism.

[0007] In one possible implementation, at least one spherical cabin is configured with sensors, and the sensors configured in the spherical cabin include one or more of the following sensors: a camera, a gyroscope, an accelerometer, a magnetometer, a hydrophone, a pressure sensor, and a temperature sensor.

[0008] In a possible implementation, when the sensor configured for the spherical cabin includes a binocular camera, the control host is used to perform visual SLAM based on image data of the binocular camera.

[0009] In a possible implementation, the communication cable is specifically a zero buoyancy cable.

[0010] In a possible implementation, the wire-retracting and -releasing mechanism includes: a wire-retracting and -releasing module and a chamber capable of accommodating a robot, the chamber is provided with a first opening, a communication cable passes through the first opening to connect the wire-retracting and -releasing module with the pipeline robot, the chamber is provided with a second opening, the robot enters and exits the chamber through the second opening, and the shape of the second opening is adapted to the shape of the fire hydrant base; The cable retracting and releasing module is used to retract and release communication cables.

[0011] In a second aspect, the present application provides a method for detecting entry into a water supply pipe through a fire hydrant base, which is applied to the detection device described in the first aspect or any possible implementation of the first aspect, and the method includes: The pipeline robot is pushed to move by the propulsion module, and the communication cable is retracted and released by the cable retracting and releasing mechanism; The water supply pipeline is detected through the sensors configured in the spherical cabin.

[0012] In a possible implementation, the plurality of spherical cabins include: a battery cabin, a control cabin, and a propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

[0013] In a possible implementation, the detection device further includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; The method further includes: Send sensor data to the control host through the control module; The control host receives the sensor data sent by the control module and processes the sensor data; Sending a first control instruction to the control module through the control host, and sending a second control instruction to the wire-reeling and wire-releasing mechanism; The first control instruction is executed by the control module, and the second control instruction is executed by the wire retracting and releasing mechanism.

[0014] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art: (1) Compared with designing the pipeline robot as a single cabin, the present application designs the pipeline robot as multiple cabins connected in series, which can effectively control the volume of a single cabin so that the spherical cabin can pass through the fire hydrant base of the water supply pipeline. The multiple spherical cabins of the pipeline robot can pass through the fire hydrant base in sequence in series and enter the main pipeline for inspection by relying on their own power, without the need to drill holes in the main pipeline, thereby improving the working efficiency.

[0015] (2) The spherical cabin has a small contact surface with the pipe wall, and has low friction when moving along the pipeline. It can adapt to various shape changes of the pipeline, pass through elbows and tees smoothly, and is not easily stuck, thereby improving the reliability of the operation.

[0016] (3) The wire-retracting and -releasing mechanism can be directly installed on the base of the fire hydrant. The pipeline robot and cables are not in direct contact with the air, thus reducing the pollution of tap water. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a detection device for entering a water supply pipe through a fire hydrant base provided in an embodiment of the present application; Figure 2 is a schematic diagram of a pipeline robot provided in an embodiment of the present application moving in a water supply pipeline; Figure 3 It is a flow chart of a detection method for entering a water supply pipe through a fire hydrant base provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] The terms "first" and "second" in the specification and claims of this application are used to distinguish different objects rather than to describe a specific order of objects. For example, a first control instruction and a second control instruction are used to distinguish different control instructions rather than to describe a specific order of control instructions.

[0020] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0021] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple processing units refer to two or more processing units, etc.; multiple elements refer to two or more elements, etc.

[0022] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0023] Figure 1 is a schematic diagram of the structure of a detection device for entering a water supply pipe through a fire hydrant base provided in an embodiment of the present application, such as Figure 1 As shown, the detection device includes: a wire-retracting and -releasing mechanism and a pipeline robot; The wire-retracting and -releasing mechanism is connected to the pipeline robot via a communication cable; The pipeline robot includes a plurality of spherical cabins connected in series, and two adjacent spherical cabins are connected by flexible cables, and the spherical cabins can pass through the fire hydrant base of the water supply pipeline; A spherical cabin at one end of the plurality of spherical cabins is connected to a communication cable, and a spherical cabin at the other end of the plurality of spherical cabins is provided with a propulsion module; At least one spherical cabin is equipped with a sensor, and the sensor is used to detect the water supply pipeline; The propulsion module is used to propel the pipeline robot to move; The cable retracting and releasing mechanism is used for retracting and releasing communication cables.

[0024] Specifically, the operation process of using the detection device to detect the water supply pipeline includes: a line-laying stage and a line-reeling stage.

[0025] During the line-laying stage, since the spherical cabin can pass through the fire hydrant base of the water supply pipeline, the multiple spherical cabins of the pipeline robot can pass through the fire hydrant base in sequence in a series order. A spherical cabin is equipped with a propulsion module, which pushes the pipeline robot to move. As the pipeline robot gradually moves away from the retractable and wire-laying mechanism, the retractable and wire-laying mechanism will cooperate in the line-laying operation. The pipeline robot can enter the main pipeline from the fire hydrant base. The sensors carried by the pipeline robot can detect the main pipeline. The data obtained by the detection can be transmitted to the control host through communication cables. The control host processes the detection data to detect the water supply pipeline.

[0026] For the flexible cable between two adjacent spherical cabins, the flexible cable can be a cable with good bending performance and durability, usually composed of multiple thin copper wires or other conductors, which are wrapped with insulating materials to provide electrical insulation and protection. Due to its softness, the flexible cable can be flexibly used in a small space or dynamic environment, can withstand repeated bending without breaking, and ensure long-term stable electrical connection. Two adjacent spherical cabins can achieve reliable electrical connection through flexible cables, and when the pipeline robot passes through an elbow or a tee, the cable between the two spherical cabins can adapt to changes in the shape of the pipeline.

[0027] During the wire-reeling stage, the propulsion module of the pipeline robot can be turned off, and the wire-reeling mechanism will perform the wire-reeling operation. As the communication cable between the wire-reeling mechanism and the pipeline robot gradually becomes shorter, the pipeline robot will gradually move toward the wire-reeling mechanism along the pipeline. Similarly, since the spherical cabin can pass through the fire hydrant base of the water supply pipeline, the multiple spherical cabins of the pipeline robot can pass through the fire hydrant base in series order to realize the recovery of the pipeline robot.

[0028] Exemplarily, the wire-reeling and reeling mechanism is internally provided with a wire drum and a motor, the communication cable is wound around the wire drum, and the motor drives the wire drum to rotate, which can be counterclockwise or clockwise, one rotation direction corresponds to releasing the wire, and the other rotation direction corresponds to reeling the wire.

[0029] Here we explain the quasi-spherical shape. Quasi-spherical is a term used to describe the shape of an object. It refers to an object that is similar to a sphere but not completely a standard sphere. Quasi-spherical objects have one or more of the following characteristics: (1) Symmetry: Quasi-spherical objects are roughly symmetrical in all directions without obvious directional deviations; (2) Roundness: The surface of the object is relatively smooth without obvious sharp corners or edges; (3) Irregularity: Although the overall shape is close to a sphere, quasi-spherical objects may have irregularities in details, such as uneven surfaces or local deformations.

[0030] Exemplarily, a quasi-spherical shape may be an approximate standard sphere whose difference from a standard sphere is less than a preset error. A quasi-spherical shape may also be an ellipsoid, an oblate spheroid, an irregular spheroid, or a polyhedron. Among them, an ellipsoid: This is the most common quasi-spherical shape, characterized in that the lengths of two or three axes are different, but the overall symmetry is still maintained. An oblate spheroid: This shape is flatter in two directions than in the third direction, similar to a squashed ball. An irregular sphere: The shapes of these objects are close to spheres, but the surfaces may have uneven features. A polyhedron: Although polyhedrons usually have clear planes and angles, some polyhedrons (such as truncated octahedrons or truncated icosahedrons) can be very close to spheres.

[0031] It is understandable that the existing pipeline robot only loads the modules it carries through one cabin, which causes the cross-sectional area of ​​the pipeline robot to be larger than the area of ​​the fire hydrant base or causes the length of the pipeline robot to be too long. It can be seen that the existing pipeline robot cannot pass through the fire hydrant base, and even if it can pass through the fire hydrant base, it will not be able to pass through the bends in the pipeline due to its excessive length. These defects require opening a hole in the main pipeline to place the existing pipeline robot, which makes the operation cumbersome.

[0032] Compared with designing the pipeline robot as a cabin, the present application can effectively control the volume of a single cabin by designing the pipeline robot as multiple cabins in series, so that the spherical cabin can pass through the fire hydrant base of the water supply pipeline. The multiple spherical cabins of the pipeline robot can pass through the fire hydrant base in series order and enter the main pipeline for inspection by their own power, without opening holes in the main pipeline, thereby improving the operation efficiency. For example, the spherical cabin can be a cabin that is approximately a standard sphere. In this case, the maximum diameter of the cabin can be designed to be 85 mm, which can pass through the base of a DN100 fire hydrant (a fire hydrant with a nominal diameter of 100 mm).

[0033] It is also worth noting that the existing pipeline robots cannot provide power by themselves and need to rely on the water flow in the main pipeline to drive the pipeline robots to move. However, there is generally no water flow between the fire hydrant and the main pipeline. It can be seen that even if the existing pipeline robots can pass through the fire hydrant base, they cannot move from the fire hydrant to the main pipeline.

[0034] In addition, the spherical cabin has a small contact area with the pipe wall and has low friction when moving along the pipeline. It can adapt to various shape changes of the pipeline, pass through elbows and tees smoothly, and is not easily stuck, thereby improving the reliability of operations.

[0035] Therefore, by designing the pipeline robot as multiple cabins connected in series, the volume of a single cabin can be effectively controlled. At the same time, by designing the shape of the cabin to be spherical, it can adapt to various shape changes of the pipeline and achieve efficient and reliable detection of water supply pipelines.

[0036] Figure 2 Schematic diagram of the pipeline robot provided in the embodiment of the present application moving in the water supply pipeline, such as Figure 2 As shown, in a possible implementation, the plurality of spherical cabins include: a battery cabin, a control cabin, and a propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

[0037] Specifically, the battery cabin, control cabin and propulsion cabin are all spherical cabins. When the battery cabin is connected to the communication cable, the battery cabin and propulsion cabin are arranged at both ends, and the control cabin is arranged in the middle; when the control cabin is connected to the communication cable, the control cabin and propulsion cabin are arranged at both ends, and the battery cabin is arranged in the middle.

[0038] Here, the propulsion module is explained. When going straight along the pipeline, the propulsion module can push the propulsion cabin to go straight, and then drive other spherical cabins to go straight through the flexible cables between the spherical cabins. When passing through an elbow or a tee, the propulsion module can push the propulsion cabin to change the direction of travel (turn left, turn right, move up, move down, etc.), and then drive other spherical cabins to change the direction of travel through the flexible cables between the spherical cabins.

[0039] In a possible implementation, the detection device further includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; A control module, used for sending the sensing data to a control host and receiving a first control instruction sent by the control host; The control host is used to receive the sensor data sent by the control module, process the sensor data, send a first control instruction to the control module, and send a second control instruction to the wire-reeling mechanism.

[0040] In one possible implementation, at least one spherical cabin is configured with sensors, and the sensors configured in the spherical cabin include one or more of the following sensors: a camera, a gyroscope, an accelerometer, a magnetometer, a hydrophone, a pressure sensor, and a temperature sensor.

[0041] In a possible implementation, when the sensor configured for the spherical cabin includes a binocular camera, the control host is used to perform visual SLAM based on image data of the binocular camera.

[0042] In a possible implementation, the communication cable is specifically a zero-buoyancy cable (zero-buoyancy optical fiber cable or zero-buoyancy electrical cable, etc.).

[0043] In one possible implementation, Figure 1 As shown, the wire-retracting and -releasing mechanism includes: a wire-retracting and -releasing module ( Figure 1 The robot is not shown in the figure) and a chamber capable of accommodating the robot, the chamber is provided with a first opening, the communication cable passes through the first opening to connect the retractable wire module with the pipeline robot, the chamber is provided with a second opening, the robot enters and exits the chamber through the second opening, and the shape of the second opening is adapted to the shape of the fire hydrant base; The cable retracting and releasing module is used to retract and release communication cables.

[0044] It can be understood that when the robot is located in the chamber, disinfectant can be injected into the retractable wire mechanism through the second opening to disinfect the device. At the same time, the retractable wire mechanism can be directly installed on the fire hydrant base through the second opening. The pipeline robot and cables are not in direct contact with the air, reducing the pollution of tap water.

[0045] Optionally, a third opening may be provided on the retractable wire mechanism. After disinfection, air is supplied into the device through the third opening, and the airflow may flow out from the second opening. The gas flowing in the device may quickly dry the disinfectant remaining in the device.

[0046] The following is an exemplary description of the system functions of the detection device provided in this application for entering the water supply pipe through the fire hydrant base.

[0047] (1) The pipeline robot is equipped with a propeller, which can be set in the propulsion cabin. The propeller provides power to enable the pipeline robot to move in the pipeline.

[0048] (2) The pipeline robot is equipped with binocular cameras, hydrophones, pressure sensors, temperature sensors, gyroscopes, accelerometers, magnetometers and other sensors. The binocular cameras, gyroscopes, accelerometers and magnetometers can be arranged in the propulsion cabin, and the hydrophones, pressure sensors and temperature sensors can be arranged in the control cabin.

[0049] The control cabin is equipped with a control module, which is used to receive sensor data and send the sensor data to the control host through cables.

[0050] The control host is used to receive the sensor data sent by the control module in the control cabin and process the sensor data; it is also used to control the pipeline robot and the retractable wire mechanism. When controlling the pipeline robot, a control command can be sent to the control module in the control cabin through a cable, and the control module performs corresponding operations based on the control command (for example, the control module controls the action of the propulsion module in the propulsion cabin based on the steering control command to achieve steering). When controlling the retractable wire mechanism, a control command can be sent to the retractable wire mechanism, and the retractable wire mechanism performs corresponding operations based on the control command (for example, performing the retractable wire operation, performing the retractable wire operation, adjusting the retractable wire speed, etc.).

[0051] The binocular camera can identify the surface of the pipeline in the pipeline and perform visual SLAM at the same time. Combined with the high-precision gyroscope, it can simultaneously map and navigate the pipeline. The gyroscope can provide accurate information about the camera's posture and correct the accumulated errors in visual SLAM.

[0052] Visual SLAM (Simultaneous Localization and Mapping) is a computer vision technology based on camera images. It allows machines or robots to build a map of the surrounding environment in real time and determine their own position in the map by analyzing the visual information in the environment. Therefore, visual SLAM can use the image sequence captured by the camera to achieve autonomous positioning and map creation of the robot.

[0053] The hydrophone is used to monitor the noise in the water pipe and identify the leak. The hydrophone is a device that can convert the sound wave signal underwater or in the pipe into an electrical signal. When a water pipe leaks, the friction between the water flow and the pipe wall will generate a specific noise signal. The hydrophone captures these sound wave signals. After receiving these sound wave signals, the control host analyzes them with the corresponding algorithm to identify the location of the leak.

[0054] The pressure sensor is used to monitor the pressure at various locations in the water pipe. The control host can determine whether the pressure at various locations in the water pipe is abnormal based on the pressure monitoring data. The control host can also calculate the vertical height of the injection point corresponding to the monitoring point based on the pressure difference between the pressure at the injection point (the connection between the retractable wire mechanism and the fire hydrant base) and the pressure at the monitoring point.

[0055] The temperature sensor is used to monitor the temperature at various locations in the water pipe. The control host can determine whether the temperature at various locations in the water pipe is abnormal based on the temperature monitoring data.

[0056] (3) The pipeline robot is connected to the retractable cable mechanism through a zero-buoyancy fiber optic cable, and the collected data is transmitted to the control host through the optical fiber. The zero-buoyancy fiber optic cable is an underwater communication cable designed so that the buoyancy in the water is equal to the weight of the cable itself, so that the cable maintains neutral buoyancy underwater and will neither float up nor sink, thereby reducing the impact of water buoyancy and ensuring stability and reliability during underwater operations.

[0057] (4) The cable retracting and releasing mechanism is used to retract and release cables. The cables can be neatly arranged inside and the speed of retracting and releasing cables can be controlled in coordination with the operation of the robot.

[0058] Figure 3 is a flow chart of a detection method for entering a water supply pipe through a fire hydrant base provided in an embodiment of the present application, such as Figure 3 As shown, the method is applied to the above detection device, and the method includes the following steps S101 and S102.

[0059] Step S101, pushing the pipeline robot to move by means of a propulsion module, and retracting and releasing the communication cable by means of a cable retracting and releasing mechanism; Step S102, detecting the water supply pipeline through the sensor configured in the spherical cabin.

[0060] In a possible implementation, the plurality of spherical cabins include: a battery cabin, a control cabin, and a propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

[0061] In a possible implementation, the detection device further includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; The method further includes: Send sensor data to the control host through the control module; The control host receives the sensor data sent by the control module and processes the sensor data; Sending a first control instruction to the control module through the control host, and sending a second control instruction to the wire-reeling and wire-releasing mechanism; The first control instruction is executed by the control module, and the second control instruction is executed by the wire retracting and releasing mechanism.

[0062] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0063] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A detection device for entering a water supply pipe through a fire hydrant base, characterized in that: include: Pay-off and retractable mechanisms and pipeline robots; The wire-retracting and -releasing mechanism is connected to the pipeline robot via a communication cable; The pipeline robot includes a plurality of spherical cabins connected in series, and two adjacent spherical cabins are connected by flexible cables, and the spherical cabins can pass through the fire hydrant base of the water supply pipeline; A spherical cabin at one end of the plurality of spherical cabins is connected to a communication cable, and a spherical cabin at the other end of the plurality of spherical cabins is provided with a propulsion module; At least one spherical cabin is equipped with a sensor, and the sensor is used to detect the water supply pipeline; The propulsion module is used to propel the pipeline robot to move; The cable retracting and releasing mechanism is used for retracting and releasing communication cables.

2. The detection device for entering the water supply pipe through the fire hydrant base according to claim 1, characterized in that: Multiple spherical cabins include: battery cabin, control cabin and propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

3. The detection device for entering the water supply pipe through the fire hydrant base according to claim 2, characterized in that: The detection device also includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; A control module, used for sending the sensing data to a control host and receiving a first control instruction sent by the control host; The control host is used to receive the sensor data sent by the control module, process the sensor data, send a first control instruction to the control module, and send a second control instruction to the wire-reeling mechanism.

4. The detection device for entering the water supply pipe through the fire hydrant base according to claim 3, characterized in that: At least one spherical cabin is configured with sensors, and the sensors configured in the spherical cabin include one or more of the following sensors: a camera, a gyroscope, an accelerometer, a magnetometer, a hydrophone, a pressure sensor, and a temperature sensor.

5. The detection device for entering the water supply pipe through the fire hydrant base according to claim 4, characterized in that: When the sensor configured in the spherical cabin includes a binocular camera, the control host is used to perform visual SLAM based on the image data of the binocular camera.

6. The detection device for entering the water supply pipe through the base of a fire hydrant according to any one of claims 1 to 5, characterized in that: The communication cable is specifically a zero buoyancy cable.

7. The detection device for entering the water supply pipe through the base of a fire hydrant according to any one of claims 1 to 5, characterized in that: The wire-retracting and releasing mechanism comprises: a wire-retracting and releasing module and a chamber capable of accommodating a robot, wherein a first opening is provided on the chamber, and a communication cable passes through the first opening to connect the wire-retracting and releasing module with the pipeline robot, and a second opening is provided on the chamber, and the robot enters and exits the chamber through the second opening, and the shape of the second opening is adapted to the shape of the fire hydrant base; The cable retracting and releasing module is used to retract and release communication cables.

8. A method for detecting water supply pipes through a fire hydrant base, characterized in that: Applicable to the detection device for entering the water supply pipe through the fire hydrant base as claimed in any one of claims 1 to 7, the method comprising: The pipeline robot is pushed to move by the propulsion module, and the communication cable is retracted and released by the cable retracting and releasing mechanism; The water supply pipeline is detected through the sensors configured in the spherical cabin.

9. The method for detecting water entering a water supply pipe through a fire hydrant base according to claim 8, characterized in that: Multiple spherical cabins include: battery cabin, control cabin and propulsion cabin; The battery compartment or control compartment is connected to the communication cable; The propulsion module is equipped with a propulsion module.

10. The method for detecting water entering a water supply pipe through a fire hydrant base according to claim 8, characterized in that: The detection device also includes: a control host; The control cabin is equipped with a control module, which is connected to each sensor through a flexible cable, and is connected to the control host through a communication cable; The method further comprises: Send sensor data to the control host through the control module; The control host receives the sensor data sent by the control module and processes the sensor data; Sending a first control instruction to the control module through the control host, and sending a second control instruction to the wire-reeling and wire-releasing mechanism; The first control instruction is executed by the control module, and the second control instruction is executed by the wire retracting and releasing mechanism.

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