Underground pipeline detection system and method

Abstract

The invention relates to an underground pipeline detection system and method. A spraying control valve is communicated with a spraying marking pipe, a main electromagnetic wave emitter is arranged on the front side of the spraying marking pipe, a reflected wave receiver is arranged on the front side of the main electromagnetic wave emitter, a rotating disc is arranged on the front side of a marking liquid loading box, and a rotating rod is fixedly installed on the side face of the rotating disc; an auxiliary electromagnetic wave emitter matched with the main electromagnetic wave emitter and the reflected wave receiver is mounted at the bottom of the front end of the rotating rod, and a signal processing imaging module matched with the reflected wave receiver is mounted in the controller; the main electromagnetic wave emitter and the auxiliary electromagnetic wave emitter are adopted to jointly complete detection of the ground wire pipeline, information such as the pre-buried position, the direction and the depth of the pipeline can be accurately detected, and meanwhile, the complex pipeline layout on the front side of a path can be pre-judged in cooperation with control in the automatic advancing process.

Description

Technical Field

[0001] The present invention relates to the technical field of underground exploration, and particularly to an underground pipeline detection system and method. Background Art

[0002] In recent years, with the acceleration of the urbanization process, the urban underground space has been efficiently utilized, and various types of pipelines are distributed, such as gas pipelines, water supply and drainage pipes, power transmission pipelines, etc., which jointly support the operation of the city and provide high-quality services to residents. With the intensification of urban land use contradictions, the underground pipelines show a trend of intensive laying. At the same time, the safe operation of urban underground pipelines has become increasingly important. Underground pipeline detection refers to using professional instruments and technical means to detect various underground pipelines to determine their specific positions, depths, and orientations, etc. The purpose of detecting underground pipelines is to avoid damaging the pipelines during construction, drilling, excavation, etc., and to protect the safe operation of underground pipelines.

[0003] There are certain limitations in traditional underground pipeline detection work: First, it requires manual operation of detection equipment. When holding the detection equipment by hand, the labor intensity is high, wasting human resources. With the continuous development of the Internet of Things technology, this traditional manual detection method with complex operation steps and multi-person cooperation for marking can no longer meet the requirements. Second, with the continuous improvement of the utilization rate of underground space, the complexity of the detection area is constantly increasing. The traditional single induction method can no longer cope with the complex pipeline layout, and problems such as the inability to accurately identify pipeline attributes and overlapping positions occur continuously, and subsequent activities such as engineering construction and pipeline maintenance will be misled due to confusion. Third, the automation level of traditional equipment and methods is poor. Often, multiple devices and multiple people are required to cooperate to complete the identification and marking operations. In some special working condition environments, it is impossible to enter or conduct detection manually, resulting in a reduction in work and operation efficiency.

[0004] In view of the above problems, the present invention provides an underground pipeline detection system and method, aiming to solve the urgent problems such as low work and operation efficiency, low automation level, inaccurate measurement, and waste of human resources of traditional equipment and methods. Summary of the Invention

[0005] The present invention provides an underground pipeline detection system and method with a simple structure, convenient operation, high work and operation efficiency, high degree of intelligence, saving human resources, realizing automatic detection, suitable for use in different working condition environments, capable of implementing precise detection, and with a simple and easy-to-operate method, to overcome the defects in the prior art.

[0006] The technical solution of the present invention is realized as follows: An underground pipeline detection system includes a remotely controlled detection trolley that cooperates with a remote monitoring and control platform, a controller and a wireless transmission module installed on the remotely controlled detection trolley. A marking liquid loading box is installed on the top of the remotely controlled detection trolley. The marking liquid loading box is connected to a spraying control valve installed at the bottom of the remotely controlled detection trolley through a suction pump. The spraying control valve is communicated with a spraying marking pipe. A main electromagnetic wave transmitter is arranged on the front side of the spraying marking pipe, and a reflected wave receiver is arranged on the front side of the main electromagnetic wave transmitter. A rotating disk is arranged on the front side of the marking liquid loading box. A rotating rod is fixedly installed on the side surface of the rotating disk. An auxiliary electromagnetic wave transmitter that cooperates with the main electromagnetic wave transmitter and the reflected wave receiver is installed at the bottom of the front end of the rotating rod. A signal processing and imaging module that cooperates with the reflected wave receiver is installed in the controller.

[0007] The remotely controlled detection trolley includes a bottom plate, and the bottom plate is fixedly connected to a top plate through vertical plates. A traveling steering mechanism with a traveling steering gear is arranged at the front part between the bottom plate and the top plate. The traveling steering mechanism is connected to a steering wheel. A traveling drive motor is installed at the rear part between the bottom plate and the top plate. The traveling drive motor is connected to a driving wheel through a transmission shaft. A battery pack is fixedly installed at the middle position between the bottom plate and the top plate. The traveling steering gear, the traveling drive motor, and the battery pack are connected to the controller.

[0008] A rotating motor is installed in the rotating disk. The rotating motor, the suction pump, the spraying control valve, the main electromagnetic wave transmitter, and the auxiliary electromagnetic wave transmitter are connected to the controller through wires.

[0009] A camera is connected to the top of the controller. The wireless transmission module is installed on the top of the controller. The working range of the camera covers the top, the front side, and the left and right sides of the remotely controlled detection trolley.

[0010] The rotating rod and the outer edge of the rotating disk are of an integral structure. A vertical connecting rod is installed at the bottom of the front end of the rotating rod. The auxiliary electromagnetic wave transmitter is fixedly installed at the bottom of the vertical connecting rod.

[0011] Through holes are formed in both the top plate and the bottom plate. A spraying liquid delivery pipe is sleeved in the through holes. One end of the spraying liquid delivery pipe is communicated with the liquid outlet end of the suction pump, and the other end of the spraying liquid delivery pipe is communicated with the liquid inlet end of the spraying control valve.

[0012] The shapes and sizes of the top plate and the bottom plate are respectively the same. Front end arc-shaped bodies are arranged at the front ends of the top plate and the bottom plate. The rotating disk is installed on the upper part of the front end arc-shaped body of the top plate, and the main electromagnetic wave transmitter is installed on the lower part of the front end arc-shaped body of the bottom plate.

[0013] A detection method for an underground pipeline detection system, the method includes the following steps: S1. Place the remotely controlled detection vehicle at the initial detection position. Turn on the main electromagnetic wave transmitter through the controller. At the same time, drive the driving motor and the steering device through the controller to drive the power wheels to move forward and the steering wheels to steer. S2. The main electromagnetic wave transmitter continuously emits high-frequency electromagnetic waves to the ground. When the electromagnetic waves encounter the interface of media with different electrical properties during propagation underground, they are reflected back to the ground. The reflected wave receiver receives the reflected signal and transmits it to the signal processing and imaging module for processing. The controller and the wireless transmission module present the finally processed data in the form of an image to the remote monitoring and control platform. S3. According to the image information, the remote monitoring and control platform issues control instructions to the controller through the wireless transmission module, driving the driving motor and the steering device to adjust the traveling direction of the remotely controlled detection vehicle to be consistent with the buried direction of the underground pipeline. Turn on the auxiliary electromagnetic wave transmitter through the controller to emit high-frequency electromagnetic waves to the ground in front of the advancing direction of the remotely controlled detection vehicle. At the same time, drive the rotating disk through the controller to drive the rotating rod and the auxiliary electromagnetic wave transmitter to perform arc-shaped reciprocating operation. The reflected wave receiver transmits the received reflected signal to the signal processing and imaging module for processing. The remote monitoring and control platform analyzes the reflected signal and predicts the buried direction, overlapping position or turning position information of the underground pipeline in front of the remotely controlled detection vehicle, and then controls the traveling path of the remotely controlled detection vehicle. S4. In steps S2 and S3, after the imaging information of the signal processing and imaging module is transmitted to the remote monitoring and control platform, the remote monitoring and control platform issues a control instruction to the controller to drive the suction pump to transport the marking liquid in the marking liquid loading box to the spraying control valve. After the spraying control valve is opened, the marking liquid is sprayed under the traveling path of the remotely controlled detection vehicle to the buried position of the underground pipeline for marking.

[0014] The present invention has the following positive effects: 1. The underground pipeline detection system of the present invention uses the Internet of Things technology to control the remotely controlled detection vehicle, which can achieve unmanned automatic detection, save human resources and improve the detection efficiency.

[0015] 2. The underground pipeline detection system of the present invention integrates spraying marking, underground detection and path control with the remotely controlled detection vehicle. The main and auxiliary electromagnetic wave transmitters are used together to complete the detection of the ground wire pipeline. It can not only accurately detect information such as the buried position, direction and depth of the pipeline, but also predict the complex pipeline layout in front of the path in cooperation with the control during the automatic traveling process, so as to finally lock the distribution and layout information of the pipeline to be detected, improve the detection accuracy, and cooperate with the automatic traveling to facilitate the subsequent engineering construction and pipeline maintenance activities.

[0016] 3. The underground pipeline detection system of the present invention uses an auxiliary electromagnetic wave transmitter to collect information on the buried direction, overlapping position, or turning position of underground pipelines at the front side of the path. It can distinguish the complex laying information of the pipeline to be detected from other pipelines and lock the distribution characteristics of the pipeline to be detected. The pipeline attributes and overlapping positions can be clearly displayed, and accurate detection and display operations can be carried out.

[0017] 4. The overall automation level of the underground pipeline detection system of the present invention is high. During operation, it can not only perform accurate detection, but also distinguish the known detection areas during the advancing detection process and spray marks on the known pipeline paths, greatly improving the work and operation efficiency.

[0018] 5. The detection method of the underground pipeline detection system of the present invention has simple overall operation steps. It adopts full automation control to achieve automated detection operations under different working conditions and special working conditions, which cannot be achieved by manual detection. All multi-station controls during the detection process are automatically processed, making it suitable for large-scale promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a top view structural schematic diagram of the remote control detection trolley of the present invention.

[0020] Figure 2 It is a bottom view structural schematic diagram of the remote control detection trolley of the present invention.

[0021] Figure 3 It is a hierarchical top view structural schematic diagram of the remote control detection trolley of the present invention.

[0022] Figure 4 It is a side view structural schematic diagram of the remote control detection trolley of the present invention.

[0023] Figure 5 It is a system schematic diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] In the description of the following invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. The term "connection" only indicates the connection between devices and has no special meaning.

[0026] As Figure 1 , 2 , 3, and 4 show, an underground pipeline detection system includes a remote control detection trolley that cooperates with a remote monitoring and control platform, a controller 5 and a wireless transmission module 6 installed on the remote control detection trolley. A marking liquid loading tank 8 is installed on the top of the remote control detection trolley. The marking liquid loading tank 8 is connected to a spraying control valve 16 installed at the bottom of the remote control detection trolley through a suction pump 9. The spraying control valve 16 is communicated with a spraying marking pipe 17. A main electromagnetic wave transmitter 19 is arranged on the front side of the spraying marking pipe 17, and a reflected wave receiver 18 is arranged on the front side of the main electromagnetic wave transmitter 19. A rotating disk 11 is arranged on the front side of the marking liquid loading tank 8. A rotating rod 12 is fixedly installed on the side surface of the rotating disk 11. An auxiliary electromagnetic wave transmitter 14 that cooperates with the main electromagnetic wave transmitter 19 and the reflected wave receiver 18 is installed at the bottom of the front end of the rotating rod 12. A signal processing and imaging module that cooperates with the reflected wave receiver 18 is installed in the controller 5. The remote control detection trolley includes a bottom plate 2. The bottom plate 2 is fixedly connected to a top plate 1 through a longitudinal plate 15. A traveling steering mechanism with a traveling steering gear 23 is arranged at the front part between the bottom plate 2 and the top plate 1. The traveling steering mechanism is connected to a steering wheel 3. A traveling drive motor 21 is installed at the rear part between the bottom plate 2 and the top plate 1. The traveling drive motor 21 is connected to a power wheel 4 through a transmission shaft. A battery pack 20 is fixedly installed at the middle position between the bottom plate 2 and the top plate 1. The traveling steering gear 23, the traveling drive motor 21, and the battery pack 20 are connected to the controller 5.

[0027] Specifically, a wireless transmission and control connection is established between the remote monitoring and control platform and the remotely controlled detection vehicle through the wireless transmission module. The remotely controlled detection vehicle provides an integrated carrier for power travel, the marking liquid loading box, and the detection equipment. During its travel operation, different units of the controller are controlled singly or in multiple directions in cooperation by the remote monitoring and control platform to achieve underground pipeline detection during the travel or still state of the remotely controlled detection vehicle. At the same time, the main electromagnetic wave transmitter 19 cooperates with the auxiliary electromagnetic wave transmitter 14 to accurately detect underground pipelines at different positions, and uses the reflection of high-frequency electromagnetic waves to accurately locate below the main electromagnetic wave transmitter 19 and distinguish and identify the complex pipeline layout below the auxiliary electromagnetic wave transmitter 14. At the same time, the electromagnetic wave transmitters installed at different positions can accurately process the reflected waves using the angle analysis method, and then detect the buried depth of the pipelines.

[0028] More importantly, the auxiliary electromagnetic wave transmitter 14 is combined with the main electromagnetic wave transmitter 19. The rotating disk 11 that can rotate on the front side of the travel path drives the auxiliary electromagnetic wave transmitter 14 to perform an arc-shaped horizontal reciprocating motion. After collecting data on the complex pipeline distribution on the front side of the path and comparing and analyzing it with the information collected by the main electromagnetic wave transmitter 19, the pipeline distribution condition on the front side is accurately predicted, so as to further accurately control the detection travel path of the remotely controlled detection vehicle, which not only improves the detection accuracy but also implements efficient detection travel control.

[0029] As Figure 1 、 2 、shown in 3 and 4, a rotating motor is installed inside the rotating disk 11. The rotating motor, the suction pump 9, the spraying control valve 16, the main electromagnetic wave transmitter 19, and the auxiliary electromagnetic wave transmitter 14 are connected to the controller 5 through wires. A camera 7 is connected to the top of the controller 5. The wireless transmission module 6 is installed on the top of the controller 5. The working range of the camera 7 covers the top, the front side, and the left and right sides of the remotely controlled detection vehicle. The rotating rod 12 is an integral structure with the outer edge of the rotating disk 11. A vertical connecting rod 13 is installed at the bottom of the front end of the rotating rod 12. The auxiliary electromagnetic wave transmitter 14 is fixedly installed at the bottom of the vertical connecting rod 13.

[0030] Specifically, the rotating disc 11 is driven by a rotating motor to realize the circular movement of the rotating rod 12 around the rotating disc 11, and the detection operation of the fan-shaped area is carried out on the front side of the advancing direction of the remotely controlled detection vehicle. Furthermore, accurate detection of the front side of the path is realized, and accurate information about complex overlapping pipelines or pipelines with changed laying directions can be grasped. The main electromagnetic wave transmitter 19 and the auxiliary electromagnetic wave transmitter 14 cooperate to detect at different positions below and in front of the front end of the remotely controlled detection vehicle, can collect reflected wave signals at different positions, and accurately detect the direction of the pipeline to be detected through calculation.

[0031] As Figure 1 , 2 , 3, and 4 show that through holes are provided on both the top plate 1 and the bottom plate 2. A spraying liquid supply pipe 10 is sleeved in the through hole. One end of the spraying liquid supply pipe 10 is communicated with the liquid outlet end of the suction pump 9, and the other end of the spraying liquid supply pipe 10 is communicated with the liquid inlet end of the spraying control valve 16. The top plate 1 and the bottom plate 2 have the same shape and size respectively. Front end arc-shaped bodies are provided at the front ends of the top plate 1 and the bottom plate 2. The rotating disc 11 is installed on the upper part of the front end arc-shaped body of the top plate 1, and the main electromagnetic wave transmitter 19 is installed on the lower part of the front end arc-shaped body of the bottom plate 2.

[0032] Specifically, while the detection and identification operation is being carried out, the suction pump 9 extracts the liquid in the marking liquid loading box 8. After the synchronous identification information is fed back, the spraying control valve 16 can be controlled for accurate spraying and marking, realizing automatic marking while the detection operation is running, and improving the work and operation efficiency.

[0033] As Figures 1-5 shown, a detection method for an underground pipeline detection system includes the following steps: S1. Place the remotely controlled detection vehicle at the initial detection position. Turn on the main electromagnetic wave transmitter 19 through the controller 5. At the same time, drive the driving drive motor 21 and the driving steering gear 23 through the controller 5 to drive the driving wheel 4 to move forward and the steering wheel 3 to steer; S2. The main electromagnetic wave transmitter 19 continuously emits high-frequency electromagnetic waves to the ground. When the electromagnetic waves encounter the interface of different electrical media during propagation underground, they are reflected back to the ground. The reflected wave receiver 18 receives the reflected signal and transmits it to the signal processing and imaging module for processing. The controller 5 and the wireless transmission module 6 present the finally processed data in the form of an image to the remote monitoring and control platform; S3. The remote monitoring and control platform issues a control instruction to the controller 5 through the wireless transmission module 6 according to the image information, driving the driving motor 21 and the steering gear 23 of the vehicle to adjust the traveling direction of the remotely controlled detection vehicle to be consistent with the buried direction of the underground pipeline. The auxiliary electromagnetic wave transmitter 14 is turned on through the controller 5 to emit high-frequency electromagnetic waves to the ground in front of the advancing direction of the remotely controlled detection vehicle. At the same time, the controller 5 drives the rotating disk 11 to drive the rotating rod 12 and the auxiliary electromagnetic wave transmitter 14 to perform an arc-shaped reciprocating operation. The reflected wave receiver 18 transmits the received reflected signal to the signal processing and imaging module for processing. The remote monitoring and control platform analyzes the reflected signal and predicts the buried direction, overlapping position or turning position information of the underground pipeline in front of the remotely controlled detection vehicle, and then controls the traveling path of the remotely controlled detection vehicle; S4. In steps S2 and S3, after the imaging information of the signal processing and imaging module is transmitted to the remote monitoring and control platform, the remote monitoring and control platform issues a control instruction to the controller 5 to drive the suction pump 9 to transport the marking liquid in the marking liquid loading box 8 to the spraying control valve 16. After the spraying control valve 16 is opened, the marking liquid is sprayed under the traveling path of the remotely controlled detection vehicle to the buried position of the underground pipeline for marking.

[0034] During specific operation, the initial detection position can be determined according to the external identification information. After determining the initial detection position, the power components and the battery pack power of the remotely controlled detection vehicle are detected, and at the same time, the data transmission function is verified and calibrated. After the preparation work is completed, the remotely controlled detection vehicle is controlled to perform a traveling operation through the remote monitoring and control platform. During the traveling process, the steering, forward and backward of the remotely controlled detection vehicle are realized by the driving motor 21 and the steering gear 23.

[0035] During specific operation, the main electromagnetic wave transmitter 19 is in a continuous working state, and the high-frequency electromagnetic waves emitted by the main electromagnetic wave transmitter 19 propagate in the underground medium in the form of spherical waves. During the propagation of the electromagnetic waves in the underground, when encountering the interface of media with different dielectric constants, conductivities, etc., part of the energy of the electromagnetic waves will be reflected and return to the ground. For example, the electrical properties of underground pipelines such as metal pipelines and plastic pipelines are different from those of the surrounding soil medium, and a reflection interface will be formed. The reflected wave receiver 18 is installed exposed or hidden, and it is responsible for receiving the electromagnetic wave signals reflected from the underground. These reflected signals carry information about the underground medium interface, such as the depth and shape of the interface. The reflected signals received by the signal processing and imaging module are a series of voltage signals that change with time and require a complex signal processing process. By analyzing and processing information such as the arrival time, amplitude, and phase of the reflected wave, the depth and position of the underground target can be calculated.

[0036] During specific operation, the rotating disk 11 and the auxiliary electromagnetic wave transmitter 14 are turned on after the main electromagnetic wave transmitter 19 detects and identifies the partial path of the pipeline, and the travel direction of the remote-controlled detection vehicle is also adjusted accordingly to be consistent with the pre-buried direction of the underground pipeline, thereby providing a path starting point for subsequent detection operations. During the traveling detection process, the remote monitoring and control platform collects data in real time and records it in images.

[0037] The auxiliary electromagnetic wave transmitter 14 can not only identify the pre-buried direction, overlapping position or turning position information of the underground pipeline at the front end of the path, but also implement further precise verification for the detection information collection of the main electromagnetic wave transmitter 19, and use the dual detection method of different reflection angles and distances to predict the pre-buried depth, direction and trend of the pipeline, and further drive the remote-controlled detection vehicle to implement efficient path planning.

[0038] During the specific operation, the underground pipeline pre-buried position marking operation is synchronously operated during the detection process. It realizes the precise spraying operation of the marking layer through the joint control of the suction pump and the spraying control valve 16.

[0039] As another embodiment of the present invention, the rotating disk 11 and the auxiliary electromagnetic wave transmitter 14 can be removed. This embodiment is suitable for use in short-distance or fixed-point pipeline detection operations.

[0040] As another embodiment of the present invention, during short-distance or fixed-point pipeline detection operations, the rotating disk 11 is used to drive the rotating rod 12 to the front side of the remote-controlled detection vehicle, thereby relatively shortening the overall length of the remote-controlled detection vehicle.

[0041] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. An underground pipeline detection system, comprising a remote control detection vehicle coordinated with a remote monitoring control platform, a controller (5) and a wireless transmission module (6) installed on the remote control detection vehicle, characterized in that: A marking liquid loading box (8) is installed on the top of the remote control detection vehicle. The marking liquid loading box (8) is connected to a spray control valve (16) installed at the bottom of the remote control detection vehicle through a suction pump (9). The spray control valve (16) is connected to a spray marking tube (17). A main electromagnetic wave transmitter (19) is arranged on the front side of the spray marking tube (17). A reflected wave receiver (18) is arranged on the front side of the main electromagnetic wave transmitter (19). A rotating disk (11) is arranged on the front side of the marking liquid loading box (8). A rotating rod (12) is fixedly installed on the side of the rotating disk (11). An auxiliary electromagnetic wave transmitter (14) that cooperates with the main electromagnetic wave transmitter (19) and the reflected wave receiver (18) is installed at the bottom of the front end of the rotating rod (12). A signal processing imaging module that cooperates with the reflected wave receiver (18) is installed in the controller (5).

2. The underground pipeline detection system according to claim 1, characterized in that: The remote-controlled detection vehicle comprises a bottom plate (2), the bottom plate (2) being fixedly connected to a top plate (1) via a longitudinal plate (15), a travel steering mechanism with a travel steering gear (23) being arranged at the front portion between the bottom plate (2) and the top plate (1), the travel steering mechanism being connected to a steering wheel (3), a travel drive motor (21) being arranged at the rear portion between the bottom plate (2) and the top plate (1), the travel drive motor (21) being connected to a power wheel (4) via a transmission shaft, a storage battery pack (20) being fixedly installed at a middle portion between the bottom plate (2) and the top plate (1), the travel steering gear (23), the travel drive motor (21) and the storage battery pack (20) being connected to a controller (5).

3. The underground pipeline detection system according to claim 1, characterized in that: A rotating motor is installed in the rotating disk (11), and the rotating motor, the suction pump (9), the spray control valve (16), the main electromagnetic wave transmitter (19) and the auxiliary electromagnetic wave transmitter (14) are connected to the controller (5) via wires.

4. The underground pipeline detection system according to claim 1, characterized in that: The top of the controller (5) is connected to a camera (7), the wireless transmission module (6) is installed on the top of the controller (5), and the working range of the camera (7) covers the top, front side, and left and right sides of the remote control detection vehicle.

5. The underground pipeline detection system according to claim 1, characterized in that: The rotating rod (12) and the outer edge of the rotating disk (11) are an integral structure, a vertical connecting rod (13) is installed at the bottom of the front end of the rotating rod (12), and the auxiliary electromagnetic wave transmitter (14) is fixedly installed at the bottom of the vertical connecting rod (13).

6. The underground pipeline detection system according to claim 2, characterized in that: The top plate (1) and the bottom plate (2) are both provided with through holes, and a spray liquid feeding pipe (10) is mounted in the through holes. One end of the spray liquid feeding pipe (10) is connected to the liquid outlet end of the suction pump (9), and the other end of the spray liquid feeding pipe (10) is connected to the liquid inlet end of the spray control valve (16).

7. The underground pipeline detection system according to claim 2, characterized in that: The top plate (1) and the bottom plate (2) are of the same shape and size. A front end arc is provided at the front end of each of the top plate (1) and the bottom plate (2). The rotating disk (11) is mounted on the upper part of the front end arc of the top plate (1), and the main electromagnetic wave transmitter (19) is mounted on the lower part of the front end arc of the bottom plate (2).

8. A detection method of an underground pipeline detection system as claimed in claim 2, characterized in that: The method comprises the following steps: S1, placing the remote-controlled detection vehicle at an initial detection position, turning on the main electromagnetic wave transmitter (19) through the controller (5), and driving the travel drive motor (21) and the travel steering gear (23) through the controller (5) to drive the power wheel (4) to move and the steering wheel (3) to steer; S2, the main electromagnetic wave transmitter (19) continuously transmits high-frequency electromagnetic waves to the ground. When the electromagnetic waves encounter a dielectric interface with different electrical properties during underground propagation, they are reflected back to the ground. The reflected wave receiver (18) receives the reflected signal and transmits it to the signal processing imaging module for processing. The controller (5) and the wireless transmission module (6) present the final processed data in the form of an image to the remote monitoring control platform; S3, the remote monitoring control platform sends a control instruction to the controller (5) through the wireless transmission module (6) according to the image information, drives the travel drive motor (21) and the travel steering gear (23) to adjust the travel direction of the remote control detection vehicle to be consistent with the direction of the underground pipeline pre-buried, turns on the auxiliary electromagnetic wave transmitter (14) through the controller (5), and transmits high-frequency electromagnetic waves to the ground in front of the remote control detection vehicle in the direction of travel, and at the same time drives the rotating disk (11) through the controller (5) to drive the rotating rod (12) and the auxiliary electromagnetic wave transmitter (14) to perform arc-shaped reciprocating operation, and the reflected wave receiver (18) transmits the received reflected signal to the signal processing imaging module for processing, and the remote monitoring control platform analyzes the reflected signal and predicts the direction of the underground pipeline pre-buried in front of the remote control detection vehicle, the overlapping position or the turning position information, and then controls the travel path of the remote control detection vehicle; S4. In steps S2 and S3, after the imaging information of the signal processing imaging module is transmitted to the remote monitoring control platform, the remote monitoring control platform issues a control instruction to the controller (5) to drive the suction pump (9) to transport the marking liquid in the marking liquid loading box (8) to the spraying control valve (16). After the spraying control valve (16) is opened, the marking liquid is sprayed to the pre-buried position of the underground pipeline under the travel path of the remote control detection vehicle to implement marking.

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