Drainage pipeline defect and state cable type detection device and detection method

Abstract

The invention provides a drainage pipeline defect and state cable type detection device and method, the device comprises a detection system and a cable system, the detection system comprises an inspection carrier and a camera device, and the camera device is installed on the inspection carrier; the cable system comprises a comprehensive cable, a connecting cable, a cable restraining and protecting device and a control device, the control device comprises a driving unit, a transmission unit, a first cable disc, a second cable disc and a comprehensive controller, and the first end of the comprehensive cable is connected with a comprehensive cable socket of the inspection carrier; the second end of the comprehensive cable is wound on the first cable reel and electrically connected with the comprehensive controller, the first end of the connection cable is connected with the second end of the inspection carrier, and the second end of the connection cable is wound on the second cable reel; the driving unit drives the first cable tray and the second cable tray to rotate at the same time through the transmission unit, so that one of the comprehensive cable and the connection cable is released while the other one is stored; the method is suitable for detecting the defects of the drainage pipeline.

Description

Technical Field

[0001] This application relates to the technical field of drainage pipeline detection, and in particular, to a cable-type detection device and method for drainage pipeline defects and status. Background Art

[0002] Urban pipe network systems have important functions such as collecting and transporting rainwater, urban domestic sewage, and industrial wastewater, and also shoulder important responsibilities such as urban water environmental pollution prevention and control, flood drainage and flood control. However, due to various factors such as natural aging, sewage erosion, and stress damage, drainage pipelines may have various defects, such as collapse, blockage, deformation, misalignment, etc. These defects not only affect the normal function of drainage pipelines, but may also cause serious problems such as environmental pollution, road waterlogging, and traffic inconvenience. Therefore, the detection of drainage pipeline defects is particularly important.

[0003] Currently, defect detection of drainage pipelines usually adopts technologies such as CCTV detection technology and sonar detection technology. The CCTV detection technology can realize the real-time collection and transmission of video information inside the drainage pipeline, and can obtain the internal defect image data of the pipeline in real time. However, before implementation, appropriate pipeline blocking, pumping, and cleaning work are required, and the detection efficiency is low. The sonar detection technology can realize the detection of drainage pipeline defects in a full-pipe state, and pipeline blocking and water adjustment are not required, but it is not applicable to the detection of non-full-pipe pipeline defects, and it is difficult to detect defects above the liquid level. Therefore, the current drainage pipeline defect detection technology is difficult to efficiently solve the existing detection technology problems, and there is still a need to develop a detection technology with higher detection efficiency, stronger applicability, and more effectiveness. Summary of the Invention

[0004] This application provides a cable-type detection device and method for drainage pipeline defects and status, so as to solve at least one of the technical problems in the related technologies to a certain extent. The technical solution of this application is as follows: According to the first aspect of the embodiments of the present application, a cable - type detection device for drainage pipeline defects and states is provided, including: a detection system and a cable system. The detection system includes an inspection carrier and a camera device, and the camera device is installed on the inspection carrier; the cable system includes a comprehensive cable, a connection cable, a cable restraint and protection device, and a control device. The control device includes a driving unit, a transmission unit, a first cable reel, a second cable reel, and a comprehensive controller. The first end of the comprehensive cable is connected to the comprehensive cable socket at the first end of the inspection carrier, the second end of the comprehensive cable is wound around the first cable reel and electrically connected to the comprehensive controller, and the comprehensive cable socket is connected to the camera device; the first end of the connection cable is connected to the second end of the inspection carrier, and the second end of the connection cable is wound around the second cable reel; the driving unit drives the first cable reel and the second cable reel to rotate simultaneously through the transmission unit, so that while one of the comprehensive cable and the connection cable is released, the other is retracted; the cable restraint and protection device includes a well - part protection device and a pipeline trajectory restraint structure for protecting and restraining the trajectories of the comprehensive cable and the connection cable.

[0005] According to the second aspect of the embodiments of the present application, a drainage pipeline detection method is provided. The drainage pipeline detection method is implemented by using the cable - type detection device for drainage pipeline defects and states described in the first aspect. The method includes: Turn on the camera device, and drive the first cable reel and the second cable reel to rotate simultaneously through the driving unit, so that the comprehensive cable is retracted into the first cable reel, and at the same time, the connection cable is released from the second cable reel, so that the detection system moves along the drainage pipeline; Obtain the video information collected by the camera device from the comprehensive controller, and detect the drainage pipeline through the video information.

[0006] In some implementation manners, an ultrasonic sensor is provided at the top of the detection system, and an ultrasonic liquid level sensor is provided on the side of the detection system; the method further includes: Collect the first distance between the detection system and the top of the drainage pipeline through the ultrasonic sensor; Collect the second distance between the detection system and the liquid level in the drainage pipeline through the ultrasonic liquid level sensor; Sum the first distance, the second distance, and the third distance between the ultrasonic sensor and the ultrasonic liquid level sensor to obtain the first height from the top of the drainage pipeline to the liquid level; Calculate the difference between the cross - sectional diameter of the drainage pipeline and the first height to obtain the liquid level information of the drainage pipeline.

[0007] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects: The detection device of the present application is applicable to the detection of drainage pipe defects and can detect defects above the liquid level of the pipe; it can realize the real-time acquisition and transmission of video information inside the drainage pipe under the condition of normal operation of the pipe network, and then detect the drainage pipe defects; the detection device of this solution is small in size, can be applicable to the detection of drainage pipes of various specifications, and has high detection efficiency.

[0008] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, in which: Figure 1 is a schematic diagram of the overall structure of a cable-type detection device for drainage pipe defects and states provided by an embodiment of the present application; Figure 2 is a schematic diagram of the structure of a part of a detection system provided by an embodiment of the present application; Figure 3 is a partially enlarged view of the upper part of a shock-absorbing and stable swing curtain provided by an embodiment of the present application; Figure 4 is a partially enlarged view of the structure of a rotary stabilizer provided by an embodiment of the present application; Figure 5 is a schematic diagram of the structure of a cable restraint and protection device at the inspection well position provided by an embodiment of the present application; Figure 6 is a schematic diagram of the structure of a cable restraint and protection device at the position of a horizontal drainage pipe provided by an embodiment of the present application; Figure 7 is a schematic diagram of the structure of a cabinet part provided by an embodiment of the present application; Figure 8 is a partially enlarged view of the structure of a gear fixing structure provided by an embodiment of the present application; Figure 9 is a partially enlarged view of the bottom of a second cable reel provided by an embodiment of the present application; Figure 10 is a partially enlarged view of the structure of a rectangular cable restraint structure provided by an embodiment of the present application.

[0010] In the figure: 1 - Inspection carrier, 2 - Plug, 3 - Moving track, 4 - First shaft cylinder, 5 - Shock-absorbing and stabilizing swing curtain, 6 - First rolling shaft, 7 - First side rail, 8 - First ball, 9 - Ultrasonic sensor, 10 - Comprehensive cable socket, 11 - Video cable, 12 - Comprehensive cable, 13 - Cable buffer, 14 - First safety buckle, 15 - First fixing cone, 16 - First annular groove, 17 - Carrier connector, 18 - First nut, 19 - First card slot, 20 - First fixing ring, 21 - Connecting cable, 22 - First nut, 23 - First fixing shaft, 24 - Second ball, 25 - Rotating stabilizer, 26 - Low-elastic spring, 27 - Main spring, 28 - First protective cap, 29 - First supplementary light, 30 - Main camera, 31 - Waterproof eaves, 32 - Protective roller, 33 - Top camera, 34 - Second supplementary light, 35 - Fixing rod, 36 - Cable perforation, 37 - First ball groove, 38 - Third ball, 39 - Second fixing cone, 40 - Lifting rod, 41 - First buffer spring, 42 - Second safety buckle, 43 - Fourth ball, 44 - Second ball groove, 45 - Cable insertion cylinder, 46 - First cable protection cylinder, 47 - Fixing spring, 48 - Second cable protection cylinder, 49 - Spring clip, 50 - Cabinet, 51 - Battery, 52 - Communication antenna, 53 - Comprehensive controller, 54 - Opening, 55 - Power cord, 56 - Power controller, 57 - First motor, 58 - Driving gear, 59 - Second driven gear, 60 - Second rotating rod, 61 - First chain, 62 - Gear fixing rod, 63 - Second card slot, 64 - First chassis, 65 - Fifth ball, 66 - Second cable reel, 67 - Second intermediate shaft, 68 - Support plate, 69 - Cabinet door, 70 - Cable protection cap, 71 - First chassis support rod, 72 - Third card slot, 73 - Second chassis, 74 - Sixth ball, 75 - First intermediate shaft, 76 - Control cable, 77 - First gear, 78 - Chain rotating shaft, 79 - Third driven gear, 80 - Cross bar, 81 - Vertical bar, 82 - Limit pulley, 83 - Second chain, 84 - Motor control box, 85 - Drain pipe, 86 - Ultrasonic liquid level sensor, 87 - First cable reel, 88 - Inspection well, 89 - First driven gear, 90 - Carrier frame. Detailed implementation manner

[0011] In order to enable ordinary persons in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0012] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as a limitation to the present application.

[0013] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims. In addition, in the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0014] The following describes a drain pipe defect and status cable-type detection device and detection method according to an embodiment of this application with reference to the drawings.

[0015] An embodiment of this application provides a drain pipe defect and status cable-type detection device. As Figures 1 to 10 shown, the drain pipe defect and status cable-type detection device includes: a detection system and a cable system. The detection system includes an inspection carrier 1 and a camera device, and the camera device is installed on the inspection carrier 1; the cable system includes a comprehensive cable 12, a connection cable 21, a cable restraint and protection device, and a control device. The control device includes a driving unit, a transmission unit, a first cable reel 87, a second cable reel 66, and a comprehensive controller 53. The first end of the comprehensive cable 12 is connected to the comprehensive cable socket 10 at the first end of the inspection carrier 1. The second end of the comprehensive cable 12 is wound around the first cable reel 87 and electrically connected to the comprehensive controller 53. The comprehensive cable socket 10 is connected to the camera device; the first end of the connection cable 21 is connected to the second end of the inspection carrier 1, and the second end of the connection cable 21 is wound around the second cable reel 66; the driving unit drives the first cable reel 87 and the second cable reel 66 to rotate simultaneously through the transmission unit, so that while one of the comprehensive cable 12 and the connection cable 21 is released, the other is received; the cable restraint and protection device includes a well protection device and a pipeline trajectory restraint structure for protecting and restraining the trajectory of the comprehensive cable 12 and the connection cable 21.

[0016] Thus, the signals required by the inspection carrier 1 are transmitted through the integrated cable 12. The integrated cable 12 and the connection cable 21 are combined to form a closed-loop track. The first cable reel 87 and the second cable reel 66 are driven to rotate simultaneously by the drive unit, so that the integrated cable 12 is stored in the first cable reel 87, and at the same time, the connection cable is released from the second cable reel 66, thereby enabling the detection system to move along the drainage pipe 85. During the movement, video information inside the drainage pipe 85 is collected by the imaging device to detect the drainage pipe 85 based on the video information. The integrated cable 12 can be inserted into the integrated cable socket 10 to achieve signal and power transmission.

[0017] The cable-type detection device for drainage pipe defects and status in the embodiments of the present application is applicable to the detection of drainage pipe defects and can detect defects above the liquid level of the pipe. It can realize the real-time collection and transmission of video information inside the drainage pipe under the condition of normal operation of the pipe network, and then detect drainage pipe defects. The detection device of this solution is small in volume, applicable to the detection of drainage pipes of various specifications, and has high detection efficiency. It is applied to the municipal drainage pipe network to detect drainage pipe network defects and status and collect internal image data of the pipe.

[0018] In this solution, the integrated cable and the connection cable at both ends of the detection system form a cable-type mobile track inside the drainage pipe, directly reducing the tires and corresponding connecting components necessary for conventional inspection robots, making the volume of the structural part of the detection device of this solution inside the drainage pipe smaller and lighter, and applicable to drainage pipes of various specifications. The control device can flexibly store and release the integrated cable and the connection cable, so that the moving speed of the detection system is not limited by the working conditions of the drainage pipe, and the moving speed of the detection system can be adjusted according to actual needs, greatly improving the mobility of the detection device, greatly reducing the cost of pipe water transfer, and effectively improving the detection efficiency at the same time.

[0019] In some embodiments, as Figure 2 shown, an ultrasonic sensor 9 is provided on the top of the inspection carrier 1, and an ultrasonic liquid level sensor 86 is arranged on the side of the inspection carrier 1. Both the ultrasonic sensor 9 and the ultrasonic liquid level sensor 86 are connected to the integrated cable socket 10. The first distance between itself and the top of the drainage pipe 85 can be collected by the ultrasonic sensor 9, and the second distance between itself and the liquid level inside the drainage pipe can be collected by the ultrasonic liquid level sensor 86. By combining the known third distance between the ultrasonic sensor 9 and the ultrasonic liquid level sensor 86 and the cross-sectional diameter of the drainage pipe, the liquid level information inside the drainage pipe can be obtained.

[0020] For the detection device of this embodiment, the information data of each sensor is transmitted through the cable of the cable-type mobile track, and the signal is more stable, which can avoid the physical isolation interference of the drainage pipe.

[0021] In some embodiments, as Figure 2 shown, the inspection carrier 1 includes a carrier connector 17, two inverted U-shaped carrier frames 90, and a shock-absorbing and stabilizing pendulum curtain 5. An integrated cable socket 10 is provided inside the first end of the carrier connector 17, and the second end of the carrier connector 17 is connected to an adapter cable 21. The two carrier frames 90 respectively semi-wrap the two ends of the carrier connector 17, and the carrier frames 90 are fixedly connected to the carrier connector 17. The side surface of the shock-absorbing and stabilizing pendulum curtain 5 is convex, and the top of the shock-absorbing and stabilizing pendulum curtain 5 is slidably mounted on the middle part of the carrier connector 17. Two imaging devices are respectively arranged at both ends of the lower part of the convex shape of the shock-absorbing and stabilizing pendulum curtain, and the integrated cable socket 10 is connected to the two imaging devices through video cables 11.

[0022] Thus, the integrated cable 12 and the adapter cable 21 are respectively connected through the carrier connector 17.

[0023] In some embodiments, as Figure 3 shown, the shock-absorbing and stabilizing pendulum curtain 5 includes a curtain body, a first rolling shaft 6, a first shaft cylinder 4, and a plug 2. A hollow first shaft cylinder 4 is fixedly connected to the center of the inner side of the curtain body. The first rolling shaft 6 passes through the first shaft cylinder 4 and both ends are connected to the plug 2. Symmetrically distributed moving tracks 3 are provided on the left and right sides of the upper surface of the carrier connector 17. The moving tracks 3 are located between the carrier connector 17 and the carrier frames 90, and the carrier frames 90 can play a certain constraining role on the plugs 2 at both ends of the first rolling shaft 6. The plugs 2 at both ends of the first rolling shaft 6 cooperate with the moving tracks 3 so that the shock-absorbing and stabilizing pendulum curtain 5 swings on the upper surface of the carrier connector 17 with the first rolling shaft 6 as the axis.

[0024] Thus, by embedding the plugs 2 into the arc-shaped moving tracks 3, the first rolling shaft 6 can move along the moving tracks 3, so that the shock-absorbing and stabilizing pendulum curtain 5 swings with the first rolling shaft 6 as the axis, thereby using the inertia of the shock-absorbing and stabilizing pendulum curtain 5 itself to keep the imaging device in a vertical state within a certain range to ensure the imaging angle of the imaging device.

[0025] In some embodiments, as Figure 3 shown, the shock-absorbing and stabilizing pendulum curtain 5 further includes a first side rail 7. The first side rail 7 is cylindrical and a plurality of first balls 8 are embedded inside. The first balls 8 are movably arranged inside the first side rail 7 and a small part of them protrude from the first side rail 7 through the through holes on the first side rail 7. The two first side rails 7 are respectively fixed to the inner surfaces of the front and rear sides of the curtain body, and the first balls 8 are in contact with the outer surface of the carrier connector 17.

[0026] Thus, the first side rail 7 can reduce the frictional resistance at the contact position between the shock-absorbing and stabilizing pendulum curtain 5 and the carrier connector 17.

[0027] In some embodiments, as Figure 2 and Figure 4As shown in the figure, the inspection carrier 1 further includes a rotary stabilizer 25. Two rotary stabilizers 25 are respectively disposed at both ends of the lower part of the shock-absorbing and stabilizing pendulum curtain in a convex shape to stabilize the two camera devices. The rotary stabilizer 25 includes a stabilizer body wrapped with a second ball 24, a first fixed shaft 23, and a main spring 27. The center of the first fixed shaft 23 is connected to the center of gravity position of the camera device. Both ends of the first fixed shaft 23 are respectively connected to a stabilizer body. The stabilizer body is connected to a hole at a corresponding position of the shock-absorbing and stabilizing pendulum curtain 5 through the main spring 27. Low-elasticity springs 26 are also connected to both ends of the main spring 27. The main spring 27 penetrates into the low-elasticity spring 26 and winds around it to form a double-stabilization guarantee.

[0028] Further, a first protective cap 28 is provided outside the rotary stabilizer 25 to protect the low-elasticity spring 26 and the main spring 27, and at the same time prevent the second ball 24 from slipping. Thus, the center of gravity position of the camera device is connected to the first fixed shaft 23, and the camera device can rotate around the rotary stabilizer 25 as the center.

[0029] In summary, through the shock-absorbing and stabilizing pendulum curtain and the rotary stabilizer, the vibration interference brought to the detection system by the cable-type mobile track during the movement can be significantly reduced, making the camera device of the detection system more stable and the collected data more real and reliable.

[0030] In some embodiments, the camera device includes a main camera 30 and a top camera 33. A waterproof eaves 31 is provided on the upper surface of the main camera 30. Both sides of the waterproof eaves 31 extend in a streamline shape and the bottom is bent up. Two top cameras 33 are respectively disposed below both sides of the waterproof eaves 31. The upper surface of the top camera 33 is in an inclined plane shape. First supplementary lights 29 and second supplementary lights 34 are respectively provided at the front ends of the main camera 30 and the top camera 33. Among them, both the main camera 30 and the top camera 33 are multi-angle micro cameras.

[0031] Thus, the video information in different angular ranges of the drainage pipe 85 can be respectively collected by the main camera 30 and the top camera 33 for sufficient pipeline detection; the inclined plane shape of the top camera 33 can smoothly conduct water. Also, by using multi-angle micro cameras, the all-round and non-blind-angle video and image acquisition can be realized without the setting of a rotating structure, greatly reducing the volume and weight of the camera device.

[0032] In some embodiments, protective rollers 32 are provided at the top of both ends and the middle bottom position of the inspection carrier 1, and at the top and bottom positions of the main camera 30 to reduce the collision friction resistance during the movement.

[0033] In some embodiments, cable buffers 13 are provided on both the integrated cable 12 and the connecting cable 21. The cable buffer 13 is in a cylindrical shape and is used to accommodate the cable in a wound state. The cable buffer 13 includes two structural parts connected by a first safety buckle 14. The number of cable buffers 13 on the connecting cable 21 is one or more. The cable buffer 13 is adapted to the cable perforation 36 and can pass through the cable perforation 36 without affecting the operation of the connecting cable 21.

[0034] Thus, the cable in a wound state can be placed through the cylindrical cable buffer 13. The middle position of the cable buffer 13 is connected by the first safety buckle 14. When the pulling force reaches the set value, the cable buffer 13 can be separated to release the cable in the wound state inside it, playing a role in buffering and protecting the cable from excessive stretching.

[0035] In some embodiments, a first fixed cone 15 and a first annular groove 16 are provided inside the second end of the carrier connector 17, and a first nut 18 is provided at the end of the second end of the carrier connector 17. The second end of the carrier connector 17 is connected to the first fixed cone 15 in a matching manner through a first card slot 19 provided at the center of the end. The second end of the carrier connector 17 is connected to the first annular groove 16 and the first nut 18 in a matching manner through a first fixing ring 20 and a first nut 22 provided on the outer periphery respectively.

[0036] Thus, the first fixed cone 15 is embedded in the first card slot 19, and the first fixing ring 20 is embedded in the first annular groove 16 to achieve fixation and waterproofing. The first nut 18 is screwed into the first nut 22, and the first fixing ring 20 and the first nut 22 can form a double waterproof protection.

[0037] In some embodiments, as Figure 1 and Figure 5 shown, the well protection device includes a second cable protection cylinder 48, a spring clip 49, a first cable protection cylinder 46, and a cable hoisting structure. The bottom of the cable hoisting structure is fixedly connected to the first cable protection cylinder 46. The bottom of the first cable protection cylinder 46 is fixedly connected to the upper part of the spring clip 49. The spring clip 49 clamps the second cable protection cylinder 48. The second cable protection cylinder 48 is used to protect the integrated cable 12 passing through its interior. Among them, the spring clip 49 can clamp the first cable protection cylinder 46 through the fixed spring 47.

[0038] The interior of the first cable protection cylinder 46 is in a cylindrical hollow shape. A cable insertion cylinder 45 is provided at the center of the interior of the first cable protection cylinder 46. Second ball grooves 44 partially wrapping the fourth balls 43 are provided at the top and bottom of the cable insertion cylinder 45 to reduce the friction when the connecting cable 21 passes through the cable insertion cylinder 45. The cable hoisting structure includes a hoisting rod 40 fixedly connected and a second safety buckle 42 in a cylindrical shape. The hoisting rod 40 is used to fix the cable hoisting structure to the well wall of the inspection well by passing a second fixing cone 39 through a through hole thereon. Inside the second safety buckle 42, there is a first buffer spring 41 for buffering when the tensile force it bears reaches a set value and separates. The pipeline trajectory constraint structure includes a cable perforation 36 for limiting the movement trajectory of the connecting cable 21 to the inner top of the drainage pipeline 85. First ball grooves 37 partially wrapping third balls 38 are provided at the top and bottom of the cable perforation 36 to reduce the friction when the connecting cable 21 passes through the cable perforation 36. As Figure 6 shown, a part of the cable perforation 36 is directly fixed to the top of the drainage pipeline, and another part of the cable perforation 36 is fixed to the top of the drainage pipeline 85 through a fixing rod 35.

[0039] Therefore, a first cable protection cylinder 46 is arranged on the well wall of the inspection well. The hoisting rod 40 is fixed to the well wall of the inspection well through the second fixing cone 39, so that the first cable protection cylinder 46 and the second cable protection cylinder 48 can be arranged along the well wall of the inspection well without affecting the personnel entering the well. When the tensile force borne by the second safety buckle 42 reaches the set value, it can separate, and the first buffer spring 41 inside it provides buffer protection. The inside of the first cable protection cylinder 46 is in a cylindrical hollow shape. At the middle position inside it, there is a cable insertion cylinder 45. When the connecting cable 21 passes through the first cable protection cylinder 46, the fourth balls 43 can reduce the collision and frictional resistance. The second cable protection cylinder 48 is clamped by a spring clip 49. The integrated cable 12 and the detection system can pass through the second cable protection cylinder 48. When the second cable protection cylinder 48 receives a set downward tensile force, it can break away from the spring clip 49, thereby realizing the buffer protection for the integrated cable 12. Both ends of the second cable protection cylinder 48 are fixed to the top of the horizontal drainage pipeline 85 through fixing rods 35. The connecting cable 21 can pass through the cable perforation 36. A part of the cable perforation 36 is directly fixed to the top of the drainage pipeline, and another part of the cable perforation 36 is fixed to the top of the horizontal drainage pipeline 85 through a fixing rod 35. The third balls 38 can reduce the frictional resistance when the connecting cable 21 passes through the cable perforation 36.

[0040] In some embodiments, as Figure 7 shown, the driving unit includes a first motor 57 and a power controller 56. The power controller 56 controls the operation of the first motor 57. The transmission unit includes a driving gear 58, a first chain 61, a first driven gear 89, and a second driven gear 59. The driving gear 58 is installed at the bottom of the first motor 57. The driving gear 58 drives the first driven gear 89 and the second driven gear 59 to rotate simultaneously through the first chain 61. The first driven gear 89 is fixedly connected to the top of the first wire reel 87 through a first rotating rod at its center, and the second driven gear 59 is fixedly connected to the top of the second wire reel 66 through a second rotating rod 60 at its center. The control device is arranged inside the cabinet 50. The interior of the cabinet 50 is divided into upper and lower parts by a support plate 68. The first driven gear 89 and the second driven gear 59 are respectively installed on the upper surface of the support plate 68 through a gear fixing structure. As Figure 7 and Figure 8 shown, the gear fixing structure includes a gear fixing rod 62, a second card slot 63, a first chassis 64, and a fifth ball 65. The second card slot 63 is arranged on the support plate 68. The fifth ball 65 is arranged inside the second card slot 63. The top of the fifth ball 65 is covered by the first chassis 64. The upper surface of the first chassis 64 is fixedly connected to the first driven gear 89 or the second driven gear 59 through multiple gear fixing rods 62. As Figure 7 and Figure 9 shown, the bottoms of the first wire reel 87 and the second wire reel 66 are respectively fixedly connected to a first chassis support rod 71. The bottom of the first chassis support rod 71 is fixedly connected to the second chassis 73. A rotatable sixth ball 74 is arranged at the lower part of the second chassis 73. The second chassis 73 and the sixth ball 74 are both arranged inside a third card slot 72. The third card slot 72 is fixed to the bottom of the cabinet 50. Two wire winding restraint devices are also arranged on the cabinet 50, which are respectively used to realize the regular winding of the integrated wire 12 on the first wire reel 87 and the regular winding of the connection wire 21 on the second wire reel 66. The wire winding restraint device includes a first gear 77, a third driven gear 79, a chain rotating shaft 78, a rectangular wire restraint structure, a limiting pulley 82, a second chain 83, and a second motor. The second motor is located inside the motor control box 84. The first gear 77 and the third driven gear 79 are respectively located at the upper and lower ends of the motor control box 84. The two ends of the second chain 83 are respectively meshed with the first gear 77 and the third driven gear 79. The second motor is fixedly connected to the first gear 77. The rectangular wire restraint structure is fixed on two adjacent chain rotating shafts 78 on the second chain 83. As Figure 10 shown, the rectangular wire restraint structure includes two cross bars 80 and two vertical bars 81 connected together. The limiting pulley 82 is sleeved on the cross bar 80 of the rectangular wire restraint structure. The integrated controller 53 is also connected to the power controller 56 and the second motor.

[0041] As an example, an opening 54 is provided at the top of the cabinet 50, and the power supply lines 55 of the drive unit and the second motor are connected to the power supply of the pumping station through the opening 54. The drive unit and the second motor are powered by the power supply of the pumping station, and a cabinet door 69 is provided on the cabinet 50.

[0042] Thus, the cabinet 50 can be arranged at a ground surface position such as in the pumping station yard. The integrated cable 12 and the connection cable 21 extend from the inspection well 88 adjacent to the pumping station to the ground surface and are connected to the cabinet 50. A protective pipe for protecting the integrated cable 12 is provided between the bottom of the adjacent inspection well 88 and the cabinet 50; the start, stop, rotation speed, and steering of the first motor 57 are controlled by the power controller 56 at the top of the cabinet 50; driven by the first motor 57, the driving gear 58 drives the first driven gears 89 and the second driven gear 59 at both ends to rotate. The first driven gear 89 and the second driven gear 59 can respectively drive their corresponding first chassis 64 to rotate, and the fifth ball 65 can reduce the frictional resistance of the first chassis 64; the first rotating rod can pass through the corresponding second slot 63 and the first chassis 64 without contact and is connected to the first cable reel 87; the second rotating rod 60 can pass through the corresponding second slot 63 and the first chassis 64 without contact and is connected to the second cable reel 66; since the winding directions of the integrated cable 12 and the connection cable 21 on the first intermediate shaft 75 and the second intermediate shaft 67 are different, the rotation of the first cable reel 87 and the second cable reel 66 can realize the release of one cable and the storage of the other cable in the integrated cable 12 and the connection cable 21. When the first cable reel 87 and the second cable reel 66 rotate, the sixth ball 74 can reduce the frictional force of the second chassis 73; the integrated cable 12 is inserted into the interior of the first intermediate shaft 75 in the middle of the first cable reel 87 and is connected to the battery 51 and the integrated controller 53, enabling the transmission of signals and power; the integrated controller 53 is respectively connected to the communication antenna 52 and the battery 51; the top of the motor control box 84 is connected with a control cable 76, and the control cable 76 can transmit power and control signals; both the connection cable 21 and the integrated cable 12 can pass through the limit pulley 82 to reduce the frictional resistance; as the first gear 77 rotates, the position of the rectangular cable restraint structure can be changed, thereby changing the winding position of the connection cable 21 and the integrated cable 12 and preventing the cables from piling up locally.

[0043] The implementation process of the detection device is as follows: Place the cabinet 50 inside the pump station yard near the inspection well 88, and supply energy to the entire detection device through the power supply of the pump station. The layout of the detection device in this embodiment is divided into two cases: newly built drainage pipe 85 and existing drainage pipe 85. When applied to the newly built drainage pipe 85, during the laying of the drainage pipe 85, structures such as cable perforations 36, first cable protection cylinders 46, and second cable protection cylinders 48 can be erected at corresponding positions of multiple inspection wells 88 on the inspection route, and the cable perforations 36 are fixed inside the drainage pipe 85 on the inspection route; then connect the connecting cable 21 starts from the inspection well 88 in the pump station yard and passes through the erected cable perforations 36, first cable protection cylinders 46 and other structures one by one along the inspection route until reaching the starting position of the inspection route; similarly, pass the integrated cable 12 through the protection pipe at the inspection well 88 in the pump station yard and start passing through the second cable protection cylinders 48 in each inspection well 88 one by one along the inspection route until reaching the inspection well 88 near the starting position of the inspection route; connect the inspection carrier 1 to the connecting cable 21 and the integrated cable 12 respectively to complete the layout. When applied to the existing drainage pipe 85, workers need to carry out the operation of going down the well with water. The water state in the drainage pipe 85 is in a non-full pipe state. Fix the cable perforations 36 at the junction of all inspection wells 88 on the inspection route and the drainage pipe 85, and fix the first cable protection cylinder 46 and the second cable protection cylinder 48 along the well wall of each inspection well 88; because the water in the drainage pipe 85 is flowing, place a floating hollow float tied with a line at the upstream starting point of the inspection route. First, pass the float through the first cable perforation 36 closely attached to the pipe wall of the drainage pipe 85 at the starting point, and let the float float along with the water flow to the adjacent inspection well 88. The worker picks up the float and passes it through the cable perforation 36 and the first cable protection cylinder 46 at this inspection well 88, and so on. After passing through the cable perforations 36 and the first cable protection cylinders 46 at multiple inspection wells 88 and reaching the cable perforation 36 at the downstream end, connect the end of the line of the float to the connecting cable 21, pull the float and drive the connecting cable 21 into each cable perforation 36 and the first cable protection cylinder 46, and finally insert the connecting cable 21 into all the cable perforations 36 and the first cable protection cylinders 46, and insert the connecting cable 21 into the cabinet. Subsequently, in the same way, place a floating hollow float tied with a line at the upstream starting point of the inspection, pass it through the cable perforation 36 at a slightly lower position, let the floating float tied with a line float along with the water flow to the adjacent inspection well 88. After the worker picks up the float, pass it through the second cable protection cylinder 48 at this inspection well 88, and then fix the second cable protection cylinder 48 on the well wall; and so on until the float reaches the inspection well 88 at the end of the inspection route.Subsequently, connect the wire end at the end of the float ball to the integrated cable 12, pull the float ball and the integrated cable 12 through the second cable protection cylinder 48 at each inspection well 88 on each inspection line, and finally pass the integrated cable 12 through the protection pipe at the inspection well 88 in the pump station yard and insert it into the cabinet; at the inspection well 88 at the starting point of the inspection line, connect the inspection carrier 1 to the connection cable 21 and the integrated cable 12 respectively to complete the layout. After the cable system is arranged, turn on the detection device, run the cable system for trial operation, and test the smoothness of the detection system passing through each node such as the second cable protection cylinder 48. Pull the cable buffers 13 at both ends of the detection system with appropriate tension to test whether the first safety buckle 14 can be unbuckled smoothly.

[0044] Based on any of the above embodiments, the embodiment of the present application further provides a drainage pipe detection method, which includes: Step S101, turn on the camera device, and drive the first cable reel and the second cable reel to rotate simultaneously through the drive unit, so that the integrated cable is stored in the first cable reel, and at the same time the connection cable is released from the second cable reel, so that the detection system moves along the drainage pipe; Step S102, obtain the video information collected by the camera device from the integrated controller, and detect the drainage pipe through the video information.

[0045] In some embodiments, an ultrasonic sensor is provided at the top of the detection system, and an ultrasonic liquid level sensor is provided on the side of the detection system; the detection method of this embodiment further includes the following contents: Collect the first distance between the detection system and the top of the drainage pipe through the ultrasonic sensor; Collect the second distance between the detection system and the liquid level in the drainage pipe through the ultrasonic liquid level sensor; Sum the first distance, the second distance, and the third distance between the ultrasonic sensor and the ultrasonic liquid level sensor to obtain the first height from the top of the drainage pipe to the liquid level; Calculate the difference between the cross-sectional diameter of the drainage pipe and the first height to obtain the liquid level information of the drainage pipe.

[0046] The drainage pipe detection method of this embodiment uses the above detection device to drive the detection system to move along the drainage pipe through the integrated cable and the connection cable, and can realize the real-time collection and transmission of the internal video information of the drainage pipe under the condition that the pipe network is running normally; at the same time, combined with the ultrasonic sensor and the ultrasonic liquid level sensor on the detection system, the liquid level information of the drainage pipe can be obtained.

[0047] In the description of the foregoing embodiments, the descriptions referring to terms such as "some embodiments", "examples", or "an example" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0048] Other embodiments of the present application will be readily contemplated by those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present application are pointed out by the claims.

[0049] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A cable - type detection device for defects and status of drainage pipes, characterized in that, Comprising: A detection system and a cable system. The detection system includes an inspection carrier and a camera device, and the camera device is installed on the inspection carrier; the cable system includes a comprehensive cable, a connecting cable, a cable restraint and protection device, and a control device. The control device includes a driving unit, a transmission unit, a first cable reel, a second cable reel, and a comprehensive controller. The first end of the comprehensive cable is connected to the comprehensive cable socket at the first end of the inspection carrier, the second end of the comprehensive cable is wound around the first cable reel and electrically connected to the comprehensive controller, and the comprehensive cable socket is connected to the camera device; the first end of the connecting cable is connected to the second end of the inspection carrier, and the second end of the connecting cable is wound around the second cable reel; the driving unit drives the first cable reel and the second cable reel to rotate simultaneously through the transmission unit, so that while one of the comprehensive cable and the connecting cable is released, the other is retracted; the cable restraint and protection device includes a well protection device and a pipeline trajectory restraint structure for protecting and restraining the trajectory of the comprehensive cable and the connecting cable.

2. The cable-type detection device for drainage pipeline defects and status according to claim 1, wherein The inspection carrier includes a carrier connector, two inverted U-shaped carrier frames, and a shock-absorbing and stabilizing swing curtain. The comprehensive cable socket is arranged inside the first end of the carrier connector, and the second end of the carrier connector is connected to the connecting cable; the two carrier frames respectively half-wrap the two ends of the carrier connector. The side of the shock-absorbing and stabilizing swing curtain is convex, and the top of the shock-absorbing and stabilizing swing curtain is slidably mounted on the middle part of the carrier connector; the two camera devices are respectively arranged at both ends of the lower part of the convex shape of the shock-absorbing and stabilizing swing curtain, and the comprehensive cable socket is connected to the two camera devices through a video cable; The shock-absorbing and stabilizing swing curtain includes a swing curtain body, a first rolling shaft, a first shaft cylinder, and a plug. The inner center of the swing curtain body is fixedly connected to the hollow first shaft cylinder, the first rolling shaft passes through the first shaft cylinder and both ends are connected to the plug; symmetrically distributed moving tracks are arranged on the left and right sides of the upper surface of the carrier connector, and the moving tracks are located between the carrier connector and the carrier frame, and the plugs at both ends of the first rolling shaft cooperate with the moving tracks; The inspection carrier further includes a rotation stabilizer. The two rotation stabilizers are respectively arranged at both ends of the lower part of the convex shape of the shock-absorbing and stabilizing swing curtain to stabilize the two camera devices; the rotation stabilizer includes a stabilizer body wrapped with a second ball, a first fixed shaft, and a main spring. The center of the first fixed shaft is connected to the center of gravity position of the camera device, both ends of the first fixed shaft are respectively connected to a stabilizer body, and the stabilizer body is connected to a hole at the corresponding position of the shock-absorbing and stabilizing swing curtain through the main spring; low-elastic springs are also connected to both ends of the main spring, and the main spring passes through and winds around the low-elastic spring.

3. The cable type detection device for drainage pipeline defects and status according to claim 2, characterized in that, The shock-absorbing and stabilizing swing curtain further includes a first side rail, which is cylindrical and has a plurality of first balls embedded therein. The first balls are movably arranged within the first side rail and a small portion thereof protrudes from the first side rail through the through holes on the first side rail; the two first side rails are respectively fixed to the inner surfaces of the front and rear sides of the curtain body, and the first balls are in contact with the outer surface of the carrier connector.

4. The cable-type detection device for drainage pipe defects and status according to claim 2, characterized in that, The imaging device includes a main camera and a top camera. A waterproof eaves is provided on the upper surface of the main camera. The two sides of the waterproof eaves extend in a streamline shape and the bottom is bent upwards. The two top cameras are respectively arranged below the two sides of the waterproof eaves, and the upper surface of the top camera is in an inclined plane shape; a first supplementary light and a second supplementary light are respectively provided at the front ends of the main camera and the top camera.

5. The cable-type detection device for drainage pipe defects and status according to claim 1, characterized in that Cable buffers are provided on both the integrated cable and the connection cable. The cable buffer is cylindrical and is used to accommodate the cable in a wound state; the cable buffer includes two parts connected by a first safety buckle; A first fixed cone and a first annular groove are arranged inside the second end of the carrier connector, and a first nut is arranged at the end of the second end of the carrier connector; the second end of the carrier connector is connected in a matching manner with the first fixed cone through a first card slot arranged at the center of the end, and the second end of the carrier connector is respectively connected in a matching manner with the first annular groove and the first nut through a first fixing ring and a first nut arranged on the outer circumference.

6. The cable-type detection device for drainage pipeline defects and status according to claim 1, characterized in that The well protection device includes a second cable protection cylinder, a spring clip, a first cable protection cylinder and a cable hoisting structure. The bottom of the cable hoisting structure is fixedly connected to the first cable protection cylinder. The bottom of the first cable protection cylinder is fixedly connected to the upper part of the spring clip. The spring clip clamps the second cable protection cylinder, and the second cable protection cylinder is used to protect the integrated cable passing through its interior; The interior of the first cable protection cylinder is in a cylindrical hollow shape, and a cable insertion cylinder is arranged at the center of the interior of the first cable protection cylinder. Second ball grooves partially wrapping fourth balls are arranged at the top and bottom of the cable insertion cylinder; The cable hoisting structure includes a hoisting rod and a cylindrical second safety buckle fixedly connected thereto. The hoisting rod is used to fix the cable hoisting structure to the inspection well wall by passing a second fixed cone through the through hole thereon; a first buffer spring for buffering when the tension borne by the second safety buckle reaches a set value and separates is arranged inside the second safety buckle; The pipeline trajectory constraint structure includes a cable through hole for limiting the movement trajectory of the connection cable to the inner top of the drainage pipeline. First ball grooves partially wrapping third balls are arranged at the top and bottom of the cable through hole.

7. The cable type detection device for drainage pipeline defects and states according to claim 1, characterized in that, The drive unit includes a first motor and a power controller, and the power controller controls the operation of the first motor; The transmission unit includes a driving gear, a first chain, a first driven gear, and a second driven gear. The driving gear is installed at the bottom of the first motor. The driving gear drives the first driven gear and the second driven gear to rotate simultaneously through the first chain. The first driven gear is fixedly connected to the top of the first cable reel through a first rotating rod at its center. The second driven gear is fixedly connected to the top of the second cable reel through a second rotating rod at its center. The control device is arranged inside the cabinet. The inside of the cabinet is divided into upper and lower parts by a support plate. The first driven gear and the second driven gear are respectively installed on the support plate through a gear fixing structure. The gear fixing structure includes a gear fixing rod, a second card slot, a first chassis, and a fifth ball. The second card slot is arranged on the support plate. The fifth ball is arranged in the second card slot. The top of the fifth ball covers the first chassis. The upper surface of the first chassis is fixedly connected to the first driven gear or the second driven gear through a plurality of the gear fixing rods. A first chassis support rod is fixedly connected to the bottom of each of the first cable reel and the second cable reel. The bottom of the first chassis support rod is fixedly connected to a second chassis. A rollable sixth ball is arranged at the lower part of the second chassis. The second chassis and the sixth ball are both arranged inside a third card slot. The third card slot is fixed to the bottom of the cabinet.

8. The cable-type detection device for drainage pipeline defects and status according to claim 7, characterized in that, Two cable winding restraint devices are further arranged on the cabinet, which are respectively used to realize the regular winding of the comprehensive cable on the first cable reel and the regular winding of the connection cable on the second cable reel. The cable winding restraint device includes a first gear, a third driven gear, a chain rotating shaft, a rectangular cable restraint structure, a limiting pulley, a second chain, and a second motor. The second motor is located inside a motor control box. The first gear and the third driven gear are respectively located at the upper and lower ends of the motor control box. Two ends of the second chain are respectively meshed with the first gear and the third driven gear. The second motor is fixedly connected to the first gear. The rectangular cable restraint structure is fixed on two adjacent chain rotating shafts on the second chain. The rectangular cable restraint structure includes two cross bars and two vertical bars connected together. The limiting pulley is sleeved on the cross bar of the rectangular cable restraint structure. The comprehensive controller is further connected to the power controller and the second motor.

9. A drainage pipeline detection method, characterized in that, The drainage pipeline detection method is implemented by using the drainage pipeline defect and status cable type detection device according to any one of claims 1 to 8. The method includes: Turn on the imaging device, and drive the first cable reel and the second cable reel to rotate simultaneously through the driving unit, so that the comprehensive cable is stored in the first cable reel, and at the same time, the connection cable is released from the second cable reel, so that the detection system moves along the drainage pipeline. Obtain the video information collected by the imaging device from the comprehensive controller, and detect the drainage pipeline through the video information.

10. A method for detecting a drainage pipe according to claim 9, characterized in that, An ultrasonic sensor is provided at the top of the detection system, and an ultrasonic liquid level sensor is provided on the side of the detection system; the method further includes: Collecting a first distance between the detection system and the top of the drainage pipe through the ultrasonic sensor; Collecting a second distance between the detection system and the liquid level in the drainage pipe through the ultrasonic liquid level sensor; Summing the first distance, the second distance, and a third distance between the ultrasonic sensor and the ultrasonic liquid level sensor to obtain a first height from the top of the drainage pipe to the liquid level; Calculating the difference between the cross-sectional diameter of the drainage pipe and the first height to obtain the liquid level information of the drainage pipe.

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