Municipal drainage pipeline cleaning device and method

Abstract

The invention provides a municipal drainage pipeline cleaning device and method.The municipal drainage pipeline cleaning device comprises a movable jet cleaning device and an image collecting and analyzing system, the movable jet cleaning device is used for cleaning a pipeline, and the image collecting and analyzing system is arranged at the head of the movable jet cleaning device; the system is used for collecting image data in a pipeline while cleaning the pipeline, and analyzing and generating a three-dimensional model in the pipeline so as to realize visual inspection of internal defects of the pipeline. The problem is solved through a movable jet cleaning device and an image acquisition and analysis system, the movable jet cleaning device cleans a pipeline through a walking mechanism, a high-pressure water pump and a spray head assembly, meanwhile, the image acquisition and analysis system at the head of the movable jet cleaning device conducts synchronous data acquisition, and after an image acquisition unit acquires an image, the image is transmitted to a computer; image preprocessing is carried out through the image processing unit, a three-dimensional model in the pipeline is reconstructed through the three-dimensional modeling unit by using the computer vision technology, and high-precision detection and evaluation of the internal state of the pipeline are synchronously completed in the cleaning process.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal drainage, and in particular to a municipal drainage pipeline cleaning device and method. Background Art

[0002] In actual pipeline maintenance, the core technical difficulty lies in how to achieve accurate and comprehensive detection and evaluation of the internal state of the pipeline while ensuring the efficiency of pipeline cleaning work. At present, pipeline cleaning mostly uses jet equipment to enter the pipeline for flushing and cleaning, but it cannot accurately feedback the cleaning effect. In addition, pipelines generally need to be cleaned after a certain number of years of service. Because different types of foreign matter are bonded to the inner wall of the pipeline, pipeline defects that previously existed and were covered by foreign matter may be generated or exposed after cleaning, such as pipeline cracks, bevels, and slippage. These defects are not easy to be revealed through changes in the parameters of the fluid in the pipeline when foreign matter is bonded to the inner wall of the pipeline, but after the pipeline is cleaned, different types of pipeline defects are easy to be generated or exposed. Timely detection of pipeline defects during pipeline cleaning is of great significance to the operation and maintenance of the pipeline system. Summary of the invention

[0003] The purpose of the present invention is to address the problems existing in the prior art, more precisely, to address the prior art's neglect of the technical problem of pipeline defects that may be generated or exposed during pipeline cleaning, and to propose a pipeline cleaning device and method to achieve image acquisition and analysis of the inner wall of the pipeline before and after cleaning while cleaning the pipeline, evaluate the pipeline cleaning effect and identify pipeline defects, and even repair the pipeline system. The first aspect of the present invention provides a municipal drainage pipe cleaning device and method, which mainly includes: The invention comprises a mobile jet cleaning device and an image acquisition and analysis system, wherein the mobile jet cleaning device is used to clean the pipeline, and the image acquisition and analysis system is arranged at the head of the mobile jet cleaning device, and is used to collect image data in the pipeline while cleaning the pipeline, and analyze and generate a three-dimensional model inside the pipeline, so as to realize a visual inspection of defects inside the pipeline. Further, the mobile jet cleaning device comprises a walking mechanism, a high-pressure water pump, and a nozzle assembly, and the walking mechanism drives the high-pressure water pump and the nozzle assembly to move in the pipeline to clean the inner wall of the pipeline. Further, the image acquisition and analysis system comprises an image acquisition unit, an image processing unit, a three-dimensional modeling unit, and a storage unit, wherein the image acquisition unit is used to collect images inside the pipeline, the image processing unit is used to pre-process the collected images, the three-dimensional modeling unit constructs a three-dimensional model inside the pipeline according to the processed image data, and the storage unit is used to store the generated three-dimensional model. Further, the image acquisition unit comprises at least one camera, which is arranged at the end of the walking mechanism, and is used to collect image data of the inner wall of the pipeline from multiple angles to obtain a panoramic image of the inner wall of the pipeline. Furthermore, the image processing unit performs pre-processing such as distortion correction and image enhancement on the collected pipeline inner wall image to improve the image quality and provide high-quality data for subsequent three-dimensional modeling. Furthermore, the three-dimensional modeling unit uses computer vision technology to reconstruct the three-dimensional geometric model of the pipeline interior based on the acquired pipeline inner wall image data to achieve three-dimensional visualization of the pipeline internal structure. Furthermore, the image acquisition and analysis system also includes a defect recognition unit for detecting and locating pipeline defects in the generated three-dimensional model of the pipeline interior, and determining the defect type and severity.

[0004] A second aspect of the present invention provides a method for cleaning a municipal drainage pipe, using any of the municipal drainage pipe cleaning devices described above, and specifically comprising the following steps: Place the walking mechanism into the outlet of the drainage pipe to be cleaned, and connect the high-pressure water pump to the water inlet pipe and the water source; The image acquisition and analysis system is turned on, and the high-pressure water pump is started to pull the walking mechanism forward along the drain pipe. The rotating spraying part performs a rotational spray cleaning on the inner wall of the drain pipe in the forward mode. At the same time, the image acquisition and analysis system collects and analyzes the image data of the inner wall of the pipe to generate a first three-dimensional model of the inner wall of the pipe. When the forward mode cleaning is completed, the traction walking mechanism retreats, and the rotating spraying unit continues to perform rotational spray cleaning on the inner wall of the drain pipe in the forward and backward mode, while the image acquisition and analysis system acquires and analyzes the image data of the inner wall of the pipe to generate a second three-dimensional model of the inner wall of the pipe; The first 3D model and the second 3D model are compared and analyzed to evaluate the cleaning effect and identify whether there are pipeline defects in the pipeline.

[0005] The technical solution provided by the embodiment of the present invention may have the following beneficial effects: The present invention discloses a pipeline cleaning and detection scheme. The present invention solves the problem through a mobile jet cleaning device and an image acquisition and analysis system. The mobile jet cleaning device utilizes a walking mechanism, a high-pressure water pump and a nozzle assembly to clean the pipeline while the image acquisition and analysis system on its head performs synchronous data acquisition. The image acquisition unit utilizes a camera to shoot at multiple angles to obtain a panoramic image of the inner wall of the pipeline, performs image processing through an image processing unit, and then reconstructs a three-dimensional model of the inside of the pipeline through a three-dimensional modeling unit using computer vision technology, thereby achieving high-precision detection and evaluation of the internal state of the pipeline during the cleaning process, so that maintenance personnel can quickly and intuitively understand the internal state of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a structural schematic diagram of the present invention.

[0007] Figure 2 for Figure 1 sectional view of .

[0008] Figure 3 It is a system schematic diagram of the image acquisition and analysis system in the present invention.

[0009] In the above drawings: 10, mobile jet cleaning device; 11, walking mechanism; 12, high-pressure water pump; 13, nozzle assembly; 131, water inlet pipe; 132, ball head; 133, rotating jet part; 134, jet path; 20, image acquisition and analysis system; 21, image acquisition unit; 22, image processing unit; 23, three-dimensional modeling unit; 24, camera; 25, storage unit; a, water source. DETAILED DESCRIPTION

[0010] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] like Figure 1-3 The present embodiment provides a municipal drainage pipe cleaning device, including a mobile jet cleaning device 10 and an image acquisition and analysis system 20. The mobile jet cleaning device 10 is used to clean the pipe. The image acquisition and analysis system 20 is arranged at the head of the mobile jet cleaning device 10, and is used to collect image data inside the pipe while cleaning the pipe, and analyze and generate a three-dimensional model inside the pipe to realize visual inspection of defects inside the pipe.

[0012] In the above embodiments, it is usually composed of a self-propelled chassis, a high-pressure water pump, a nozzle assembly and other parts. The chassis can be moved in the pipeline through a crawler or wheeled structure, and can be adaptively adjusted according to the size and shape of the pipeline. The high-pressure water pump can provide a sufficiently large pressure so that the nozzle can eject a high-speed water flow to flush and clean the dirt, silt and the like on the inner wall of the pipeline. The nozzle assembly includes a number of nozzles, which can adjust the angle and direction as needed to achieve effective cleaning of different parts of the pipeline. In practical applications, the working pressure of the mobile jet cleaning device can generally reach 10-20MPa, and the water flow speed can exceed 100m / s. For drainage pipes with a diameter of 500-1000mm, the cleaning speed of the device can reach 20-50m / min. Compared with manual cleaning, the use of this device can greatly improve the cleaning efficiency, reduce labor intensity, and avoid the safety hazards caused by personnel entering the pipeline. The image acquisition and analysis system is an important part of the mobile jet cleaning device, which is generally composed of an image sensor, a light source, an image processing unit, etc. The image sensor can be a visible light camera or an infrared thermal imager, which is used to collect image information of the inner wall of the pipeline. The light source provides the necessary lighting conditions to ensure the image quality. The image processing unit is responsible for analyzing and processing the collected images and extracting the characteristics of pipeline defects. Taking the visible light camera as an example, it can take color images of the inner wall of the pipeline, and the resolution is generally above 5 million pixels. When shooting, the camera is parallel to the axis of the pipeline, and the camera is driven to move in the pipeline by a moving device to obtain images of different parts of the pipeline. The length of the pipeline covered by a single image is generally 200-500mm. Through the image stitching algorithm, the continuously shot images can be stitched to obtain an expanded view of the full length of the pipeline. In the image processing process, commonly used methods include edge detection, threshold segmentation, morphological processing, etc. By analyzing the color, texture, shape and other features in the image, the automatic identification and positioning of defects such as pipeline cracks, breakages, and interface dislocations can be achieved. At the same time, the severity of the defect can be evaluated by measuring the size of the defect and analyzing its morphological characteristics. Based on the collected pipeline image, the image acquisition and analysis system can also generate a three-dimensional model of the pipeline. A commonly used method is to convert the pipeline expansion diagram into three-dimensional point cloud data, and then use the surface reconstruction algorithm to generate a triangular mesh model of the pipeline. Through texture mapping technology, the pipeline image can be mapped to the surface of the three-dimensional model to obtain a realistic three-dimensional visualization model of the pipeline. The generation of the pipeline three-dimensional model provides a powerful tool for the intuitive analysis of the pipeline condition. By observing and measuring the three-dimensional model, the spatial location, quantity and severity of pipeline defects can be more accurately grasped. At the same time, the pipeline three-dimensional model can also be applied to virtual reality, simulation calculation and other fields to provide reference for pipeline design, construction, maintenance, etc. In summary, the combination of mobile jet cleaning device and image acquisition and analysis system realizes the integrated operation of pipeline cleaning and detection.This not only improves the efficiency and quality of pipeline maintenance, but also provides data support for the refined management of pipeline conditions. In the future, with the further development of robotics and artificial intelligence, similar systems will be optimized and upgraded to provide more intelligent solutions for the safe operation of urban underground pipeline networks.

[0013] In a feasible specific embodiment, the mobile jet cleaning device 10 includes a walking mechanism 11, a high-pressure water pump 12, and a nozzle assembly 13. The walking mechanism 11 drives the high-pressure water pump 12 and the nozzle assembly 13 to move in the pipeline to clean the inner wall of the pipeline.

[0014] The walking mechanism is the core of the device, which is responsible for driving the entire device to move autonomously in the pipeline. In order to achieve the purpose of walking in the pipeline, the walking mechanism 11 can adopt a walking wheel structure, such as the attached Figure 2 As shown, of course, a crawler walking structure can also be used. Many cases of this type of structure have been disclosed. This part belongs to the conventional solution in this field and is not the core of the improvement in the present invention. Therefore, in the description of the present invention, other feasible solutions for the walking mechanism are no longer described one by one, but it should be understood that the mechanism that can realize walking in the pipeline meets the definition of the walking mechanism of the present invention.

[0015] It should be noted that the walking mechanism 11 may also be equipped with sensors, such as ultrasonic sensors or laser radars, to detect obstacles ahead and adjust the motion trajectory according to feedback information to avoid collisions. This automatic obstacle avoidance function can be compared to the road departure assistance system we usually use on the road. Because the walking mechanism 11 is used, the entire system can enter the pipeline without anyone, and the pipeline cleaning can be fully covered by the forward and backward movement of the equipment and the rotation of all directions. The high-pressure water pump 12 is a key component that provides cleaning power. It is responsible for pressurizing water to a very high pressure so that a strong water flow can be generated through the nozzle to remove dirt and sediment from the inner wall of the pipeline. For example, the high-pressure water pump 12 can pressurize water to 150 MPa, which is equivalent to about 1500 times the standard atmospheric pressure. The pressure output of the high-pressure water pump needs to be stable and adjustable to adapt to different degrees of dirt. In this embodiment, the high-pressure water pump 12 is connected to the nozzle through a hose. The nozzle assembly 13 is a direct component for performing cleaning tasks. The nozzle assembly is composed of a plurality of nozzles of different angles and shapes. By arranging these nozzles reasonably, various spraying modes can be formed to achieve all-round and dead-angle-free flushing of the inner wall of the pipeline. For example, a nozzle assembly 13 may include a forward-spraying nozzle for clearing obstacles in front; a plurality of backward-inclined nozzles for flushing the pipe wall and generating forward thrust; and some side-spraying nozzles may also be provided for cleaning the corners and edges of the pipe. By selecting a suitable nozzle and adjusting the spraying angle, various types of dirt, including grease, sand, silt, etc., can be effectively removed. Moreover, the backward-inclined nozzle can provide a reverse driving force while cleaning the pipe wall to push the walking mechanism forward, thus simplifying the structural design of the entire system and improving the reliability of the equipment. In addition, a brush or a rubber ring can be configured at the nozzle to mechanically remove stubborn deposits while spraying water, making the cleaning of the pipeline cleaner and more thorough, paving the way for the subsequent discovery of structural defects of the pipeline through images.

[0016] In some preferred embodiments, Figure 2As shown in the figure, the arrow represents the direction of water flow, the nozzle assembly 13 includes a water inlet pipe 131 and a rotating spraying part 133, the end of the water inlet pipe 131 is provided with a ball head 132, the rotating spraying part 133 is rotatably connected to the ball head 132, and the rotating spraying part 133 is constructed with a plurality of injection paths 134 arranged in a clockwise or counterclockwise array, the injection paths 134 are constructed into a curve, and an angle of 15°-30° is formed between the outlet of the injection path 134 and the water inlet pipe 131. In this embodiment, the curve formed by the injection path 134 enables the rotating spraying part 133 to continuously rotate around the ball head 132 during spray cleaning, thereby increasing the cleaning force on the inner wall of the pipe, and at the same time, due to the existence of the angle, the spraying direction is directed in the opposite direction of the forward movement, at this time, the collision angle between the water flow and the inner wall of the pipe is an obtuse angle, and the water flow after the collision is sprayed in the direction away from the ball head 132, which can prevent the water droplets generated by the spray from condensing on the camera and reducing the acquisition quality of the image data.

[0017] Specifically, Figure 3 As shown, the image acquisition and analysis system 20 includes an image acquisition unit 21, an image processing unit 22, a three-dimensional modeling unit 23 and a storage unit 25. The image acquisition unit 21 is used to acquire images inside the pipeline, the image processing unit 22 is used to preprocess the acquired images, the three-dimensional modeling unit 23 constructs a three-dimensional model of the inside of the pipeline according to the processed image data, and the storage unit 25 is used to store the generated three-dimensional model.

[0018] The image acquisition unit 21 is the data source of the entire image acquisition and analysis system. By reasonably arranging the cameras, the images of the inner wall of the pipeline can be collected from multiple angles. For example, multiple cameras can be set on the head of the pipeline cleaning device, facing different directions of the inner wall of the pipeline to obtain a panoramic image of the inner wall of the pipeline. The camera can be a wide-angle camera to expand the field of view. At the same time, in order to adapt to the lighting conditions inside the pipeline, the camera should have good low-light imaging capabilities. In addition, the camera also needs to have certain waterproof and dustproof properties to adapt to the harsh environment inside the pipeline. The function of the image processing unit 22 is to pre-process the collected images to improve the image quality and provide high-quality data for subsequent three-dimensional modeling. In this embodiment, the processing operations of the image processing unit 22 include distortion correction, denoising and image enhancement. Distortion correction refers to eliminating the geometric distortion caused by lens distortion in the image, so that the image is more in line with the observation habits of the human eye. Common distortion types include barrel distortion and pincushion distortion, which can be corrected by establishing a distortion model, estimating distortion parameters, and then resampling the image. Image enhancement refers to improving the visual effect of the image and making the important information in the image more prominent. Common image enhancement methods include histogram equalization, sharpening, and denoising. Histogram equalization can stretch the dynamic range of the image and improve the contrast of the image; sharpening can enhance the edge and detail information in the image; denoising can suppress the noise interference in the image and make the image clearer. The three-dimensional modeling unit uses computer vision technology to reconstruct the three-dimensional geometric model of the inside of the pipeline based on the acquired pipeline inner wall image data to achieve three-dimensional visualization of the internal structure of the pipeline. Common three-dimensional reconstruction methods include structured light method, binocular stereo vision method, etc. The structured light method is to infer the three-dimensional shape of the object by projecting a specific light pattern onto the surface of the object and then analyzing the deformation of the light pattern. For example, a series of parallel light stripes can be projected on the inner wall of the pipeline, and then the curvature of the inner wall of the pipeline can be estimated based on the curvature of the stripes. The binocular stereo vision method is to shoot the same object through two cameras with different viewing angles, and then infer the three-dimensional position of the object by analyzing the parallax information between the two images. For example, two cameras can be set on the head of the pipeline cleaning device to shoot the inner wall of the pipeline respectively, and then the three-dimensional coordinates of the feature points are calculated by matching the feature points in the two images, and finally a three-dimensional point cloud model of the inner wall of the pipeline is generated. After obtaining the point cloud model, a mesh model can be further generated for visualization analysis and detection.

[0019] It can be understood that in this embodiment, the image acquisition and analysis system further includes a defect recognition unit 25 for detecting and locating pipeline defects in the generated three-dimensional model of the interior of the pipeline, and determining the type and severity of the defects.

[0020] As another preferred embodiment of the present invention, this embodiment provides a preferred municipal drainage pipe cleaning method, using any of the municipal drainage pipe cleaning devices described above, specifically comprising the following steps: Place the walking mechanism 11 into the outlet of the drainage pipe to be cleaned, and connect the high-pressure water pump 12 to the water inlet pipe 131 and the water source; The image acquisition and analysis system 20 is turned on, and the high-pressure water pump 12 is started to pull the walking mechanism 11 forward along the drain pipe. The rotating spraying unit 133 performs a rotational spray cleaning on the inner wall of the drain pipe in the forward mode. At the same time, the image acquisition and analysis system 20 collects and analyzes the image data of the inner wall of the pipe to generate a first three-dimensional model of the inner wall of the pipe. When the forward mode cleaning is completed, the traction walking mechanism 11 retreats, and the rotating spraying unit 133 continues to perform rotational spray cleaning on the inner wall of the drain pipe in the forward and backward mode, while the image acquisition and analysis system 20 acquires and analyzes the image data of the inner wall of the pipe to generate a second three-dimensional model of the inner wall of the pipe; The first 3D model and the second 3D model are compared and analyzed to evaluate the cleaning effect and identify whether there are pipeline defects in the pipeline.

[0021] In the above method, the image acquisition and analysis system 20 is one of the core components of the entire cleaning device. Its main function is to capture the image data inside the pipeline and conduct in-depth analysis of these data to construct a three-dimensional model inside the pipeline. The image acquisition and analysis system is equipped with a special defect recognition unit, which works on the basis of the generated three-dimensional model of the pipeline interior for defect detection and positioning. The defect recognition unit is a submodule of the image acquisition and analysis system. First, let's look at the defect recognition process. For example, if a crack is detected somewhere, this discovery is not just to identify an abnormal point. The system also needs to further determine the specific location of the crack. It will mark the specific coordinates of the crack in the pipeline. This coordinate may be based on the direction of the pipeline length, the exact number of meters from the entrance, or may include the angular position on the circumference of the pipeline, so that technicians can accurately locate the problem area. There are various types of defects, which may be cracks caused by material aging, interface dislocation, or rupture caused by external pressure. The system determines the defect type by analyzing the shape of the defect, edge features, and subtle changes in the surrounding environment. If a penetrating crack is detected, the system also needs to analyze the size, depth, and direction of the crack to assess whether it affects the structural integrity of the pipeline. The severity of cracks is usually graded according to their size. The system may define the severity level according to preset standards, such as a width of more than 5 mm and a depth of more than 30% of the pipe wall thickness. It will analyze whether the crack may cause immediate leakage or further expand due to pressure changes in the future, and give suggestions for immediate repair or preventive maintenance. To give a more comprehensive example: the image acquisition and analysis system is working on an old cast iron drainage pipe. As the cleaning device moves, the system captures a series of images, and then combines the position sensor information to reconstruct the internal 3D model of this pipe. The defect recognition unit begins to work, and through a specific algorithm, it locks on several abnormal areas. In the 3D coordinate system of the model, it finds a longitudinal crack about 15 cm long and 2 mm wide, located at the top of the pipe. Based on morphological analysis and comparison with the historical database, the system determines that this crack is a fatigue crack. After the severity assessment, although the crack has not caused significant leakage, its size exceeds the set threshold of 10 cm in length and 1.5 mm in width, and it is located in the top water-prone area. The crack may accelerate the erosion of the pipe wall and develop into a large perforation. The crack was eventually marked as a medium-to-high level defect, and the suggestion was given that "it is recommended to repair it during the next planned maintenance and continue to monitor the area." In another place, the system also detected a smaller surface corrosion area with a dark red color and irregular surface depressions. By comparing the corrosion pattern library, the system believes that this is a typical pitting. Since the diameter of the area does not exceed 5 cm and no obvious structural damage is found in the surrounding area, it is marked as a mild defect, and it is suggested that "it is recommended to strengthen inspections in this area and consider using anti-corrosion coatings as a preventive measure."Through such a mechanism, the entire municipal drainage pipe cleaning device combined with the image acquisition and analysis system provides an efficient and accurate means, allowing staff to perform underground drainage pipe network maintenance work in a non-contact and intuitive manner, conduct a detailed review of the internal conditions of the pipes, promptly discover and resolve potential problems, and effectively avoid losses and secondary hazards caused by sudden pipe damage, bringing new solutions to municipal maintenance management.

[0022] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A municipal drainage pipe cleaning device, characterized in that: The invention comprises a mobile jet cleaning device (10) and an image acquisition and analysis system (20), wherein the mobile jet cleaning device (10) is used to clean a pipeline, and the image acquisition and analysis system (20) is arranged at the head of the mobile jet cleaning device (10) and is used to collect image data inside the pipeline while cleaning the pipeline, and to analyze and generate a three-dimensional model inside the pipeline, so as to realize visual inspection of defects inside the pipeline.

2. The municipal drainage pipe cleaning device and method according to claim 1, characterized in that: The mobile jet cleaning device (10) comprises a walking mechanism (11), a high-pressure water pump (12), and a nozzle assembly (13); the walking mechanism (11) drives the high-pressure water pump (12) and the nozzle assembly (13) to move in a pipeline to clean the inner wall of the pipeline.

3. The municipal drainage pipe cleaning device according to claim 1, characterized in that: The image acquisition and analysis system (20) comprises an image acquisition unit (21), an image processing unit (22), a three-dimensional modeling unit (23) and a storage unit (25); the image acquisition unit (21) is used to acquire images of the interior of a pipeline; the image processing unit (22) is used to pre-process the acquired images; the three-dimensional modeling unit (23) constructs a three-dimensional model of the interior of the pipeline based on the processed image data; and the storage unit (25) is used to store the generated three-dimensional model.

4. The municipal drainage pipe cleaning device according to claim 3, characterized in that: The image acquisition unit comprises at least one camera (24), which is arranged at the end of the walking mechanism (11) and is used to acquire image data of the inner wall of the pipeline at multiple angles to obtain a panoramic image of the inner wall of the pipeline.

5. The municipal drainage pipe cleaning device according to claim 3, characterized in that: The image processing unit (21) performs pre-processing such as distortion correction and image enhancement on the collected pipeline inner wall image to improve the image quality and provide high-quality data for subsequent three-dimensional modeling.

6. The municipal drainage pipe cleaning device according to claim 3, characterized in that: The three-dimensional modeling unit (23) uses computer vision technology to reconstruct a three-dimensional geometric model of the interior of the pipeline based on the acquired pipeline inner wall image data, so as to achieve three-dimensional visualization of the internal structure of the pipeline.

7. The municipal drainage pipe cleaning device according to claim 1, characterized in that: The image acquisition and analysis system (20) further comprises a defect recognition unit (24) for detecting and locating pipeline defects in the generated three-dimensional model of the interior of the pipeline, and determining the type and severity of the defects.

8. The municipal drainage pipe cleaning device according to claim 2, characterized in that: The spray head assembly (13) comprises a water inlet pipe (131) and a rotating spraying portion (133); a ball head (132) is provided at the end of the water inlet pipe (131); the rotating spraying portion (133) is rotatably connected to the ball head (132); a plurality of spray paths (134) arranged in a clockwise or counterclockwise array are configured in the rotating spraying portion (133); the spray paths (134) are configured in a curved line; and an angle of 15°-30° is formed between the outlet of the spray path (134) and the water inlet pipe (131).

9. A method for cleaning a municipal drainage pipe, characterized in that: The municipal drainage pipe cleaning device according to any one of claims 1 to 7 specifically comprises the following steps: Place the walking mechanism (11) into the outlet of the drainage pipe to be cleaned, and connect the high-pressure water pump (12) to the water inlet pipe (131) and the water source; The image acquisition and analysis system (20) is turned on, and the high-pressure water pump (12) is started, and the walking mechanism (11) is pulled forward along the drainage pipe, and the rotating spraying unit (133) performs rotational spraying cleaning on the inner wall of the drainage pipe in the forward mode, and at the same time, the image acquisition and analysis system (20) collects and analyzes the image data of the inner wall of the pipe to generate a first three-dimensional model of the inner wall of the pipe; When the forward mode cleaning is completed, the traction walking mechanism (11) moves backward, and the rotating spraying unit (133) continues to perform rotational spraying cleaning on the inner wall of the drainage pipe in the forward and backward mode, while the image acquisition and analysis system (20) acquires and analyzes the image data of the inner wall of the pipe to generate a second three-dimensional model of the inner wall of the pipe; The first 3D model and the second 3D model are compared and analyzed to evaluate the cleaning effect and identify whether there are pipeline defects in the pipeline.

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