Cable-type detection device and method for drainage pipe defects and conditions

Abstract

The present application proposes a cable-type detection device and method for drainage pipe defects and status, the device including a detection system and a cable system, the detection system including an inspection carrier and a camera device, the camera device being installed on the inspection carrier; the cable system including an integrated cable, a connecting cable, a cable restraint protection device and a control device, the control device including a drive unit, a transmission unit, a first cable reel, a second cable reel and an integrated controller, the first end of the integrated cable is connected to the integrated cable socket of the inspection carrier, the second end of the integrated cable is wound around the first cable reel and electrically connected to the integrated controller, 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 drive unit drives the first cable reel and the second cable reel to rotate simultaneously through the transmission unit, so that one of the integrated cable and the connecting cable is released while the other is stored; the present application is suitable for the detection of drainage pipe defects.

Description

Technical Field

[0001] The present application relates to the technical field of drainage pipe detection, and in particular to a drainage pipe defect and status cable-type detection device and detection method. Background Art

[0002] Urban pipe networks collect and transport rainwater, urban sewage, and industrial wastewater. They also shoulder crucial responsibilities such as preventing and controlling water pollution and flood control. However, due to factors such as natural aging, sewage erosion, and stress damage, drainage pipes can develop defects such as collapse, blockage, deformation, and misalignment. These defects not only affect the proper function of drainage pipes but can also lead to serious problems such as environmental pollution, road flooding, and traffic disruptions. Therefore, detecting drainage pipe defects is crucial.

[0003] At present, drainage pipe defect detection usually adopts CCTV detection technology, sonar detection technology, etc. CCTV detection technology can realize the real-time collection and transmission of video information inside the drainage pipe, and can obtain real-time image data of internal defects in the pipe, but the pipe needs to be properly sealed, pumped and cleaned before implementation, and the detection efficiency is low. Sonar detection technology can realize the detection of drainage pipe defects in the full pipe state, without the need for pipe sealing and water diversion, but it is not suitable for the detection of defects in non-full pipes, and it is difficult to detect defects above the liquid level. Therefore, the current drainage pipe defect detection technology is difficult to efficiently solve the existing detection technology problems, and there is still a need to develop more efficient, more applicable and more effective detection technology. Summary of the Invention

[0004] This application provides a cable-type detection device and method for drainage pipe defects and conditions, which at least to some extent solves one of the technical problems in the related art. The technical solution of this application is as follows:

[0005] According to a first aspect of an embodiment of the present application, a cable-type detection device for defects and status of a drainage pipe is provided, comprising: a detection system and a cable system, the detection system comprising an inspection carrier and a camera device, the camera device being mounted on the inspection carrier; the cable system comprising an integrated cable, a connecting cable, a cable restraint and protection device, and a control device, the control device comprising a drive unit, a transmission unit, a first cable drum, a second cable drum, and an integrated controller, the first end of the integrated cable being connected to the integrated cable socket at the first end of the inspection carrier, the second end of the integrated cable being wound around the first cable drum and electrically connected to the integrated controller, the integrated cable drum being connected to the camera device; the first end of the connecting cable being connected to the second end of the inspection carrier, the second end of the connecting cable being wound around the second cable drum; the drive unit drives the first cable drum and the second cable drum to rotate simultaneously through the transmission unit, so that one of the integrated cable and the connecting cable is released while the other is stored; the cable restraint and protection device comprises a well protection device and a pipeline trajectory restraint structure for protecting and constraining the integrated cable and the connecting cable;

[0006] The inspection carrier includes a carrier connector, two inverted U-shaped carrier frames and a shock-absorbing and stabilizing swing curtain. The integrated cable socket is provided 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 half-wrap the two ends of the carrier connector respectively, the side surface 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 provided at the two ends of the lower convex part of the shock-absorbing and stabilizing swing curtain, and the integrated cable socket is connected to the two camera devices through a video cable;

[0007] 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, and the first rolling shaft passes through the first shaft cylinder and is connected to the plug at both ends; symmetrically distributed moving tracks are provided 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.

[0008] According to a second aspect of an embodiment of the present application, a drainage pipe detection method is provided. The drainage pipe detection method is implemented using the drainage pipe defect and status cable-type detection device described in the first aspect. The method includes:

[0009] Turning on the camera device, and driving the first cable drum and the second cable drum to rotate simultaneously by the driving unit, so that the integrated cable is stored in the first cable drum and the connecting cable is released from the second cable drum, thereby moving the detection system along the drainage pipe;

[0010] The video information collected by the camera device is obtained from the integrated controller, and the drainage pipe is inspected using the video information.

[0011] In some implementations, an ultrasonic sensor is provided on 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:

[0012] collecting a first distance between the detection system and the top of the drainage pipe by the ultrasonic sensor;

[0013] collecting a second distance between the detection system and the liquid level in the drainage pipe by the ultrasonic liquid level sensor;

[0014] 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 of the top of the drainage pipe from the liquid surface;

[0015] The difference between the cross-sectional diameter of the drainage pipe and the first height is calculated to obtain liquid level information of the drainage pipe.

[0016] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0017] The detection device of the present application is suitable for detecting defects in drainage pipes and can detect defects above the liquid level in the pipes; it can realize real-time collection and transmission of video information inside the drainage pipes under normal operation of the pipe network, and thus detect defects in the drainage pipes; the detection device of this solution is small in size, can be applied to the detection of drainage pipes of various specifications, and has high detection efficiency.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A schematic diagram of the overall structure of a cable-type detection device for drainage pipe defects and conditions provided in an embodiment of the present application;

[0021] Figure 2A schematic diagram of the structure of a detection system provided in an embodiment of the present application;

[0022] Figure 3 A partial enlarged view of the upper portion of a shock-absorbing and stable swing curtain provided in an embodiment of the present application;

[0023] Figure 4 A partially enlarged view of a rotation stabilizer structure provided in an embodiment of the present application;

[0024] Figure 5 A schematic structural diagram of a cable restraint and protection device at an inspection well position provided by an embodiment of the present application;

[0025] Figure 6 A schematic structural diagram of a cable restraint and protection device provided in an embodiment of the present application at the position of a horizontal drainage pipe;

[0026] Figure 7 A schematic structural diagram of a cabinet portion provided in an embodiment of the present application;

[0027] Figure 8 A partially enlarged view of a gear fixing structure provided in an embodiment of the present application;

[0028] Figure 9 A partially enlarged view of the bottom of a second cable reel provided in an embodiment of the present application;

[0029] Figure 10 This is a partially enlarged view of a rectangular cable restraint structure provided in an embodiment of the present application.

[0030] In the picture:

[0031] 1-Inspection carrier, 2-Block, 3-Moving track, 4-First shaft cylinder, 5-Shock-absorbing stable swing curtain, 6-First rolling shaft, 7-First side rail, 8-First ball, 9-Ultrasonic sensor, 10-Integrated cable socket, 11-Video cable, 12-Integrated cable, 13-Cable buffer, 14-First safety buckle, 15-First fixed cone, 16-First ring groove, 17-Carrier connector, 18-First nut, 19-First slot, 20-First fixing ring, 21-Connecting cable, 22-First nut, 23-First fixed shaft, 24-second ball, 25-rotation stabilizer, 26-low elasticity spring, 27-main spring, 28-first protective cap, 29-first fill light, 30-main camera, 31-waterproof eaves, 32-protective roller, 33-top camera, 34-second fill light, 35-fixing rod, 36-cable through hole, 37-first ball groove, 38-third ball, 39-second fixed cone, 40-lifting rod, 41-first buffer spring, 42-second safety buckle, 43-fourth ball, 44-second ball groove, 45-cable insertion tube, 4 6-First cable protection tube, 47-Fixed spring, 48-Second cable protection tube, 49-Spring clip, 50-Cabinet, 51-Battery, 52-Communication antenna, 53-Integrated controller, 54-Opening, 55-Power cord, 56-Power controller, 57-First motor, 58-Drive gear, 59-Second driven gear, 60-Second rotary rod, 61-First chain, 62-Gear fixing rod, 63-Second slot, 64-First chassis, 65-Fifth ball bearing, 66-Second cable drum, 67-Second intermediate shaft, 68-Support Plate, 69-cabinet door, 70-cable protection cap, 71-first chassis support rod, 72-third slot, 73-second chassis, 74-sixth ball bearing, 75-first intermediate shaft, 76-control cable, 77-first gear, 78-chain rotation shaft, 79-third driven gear, 80-cross bar, 81-vertical rod, 82-limiting pulley, 83-second chain, 84-motor control box, 85-drainage pipe, 86-ultrasonic liquid level sensor, 87-first cable drum, 88-inspection well, 89-first driven gear, 90-carrier frame. DETAILED DESCRIPTION

[0032] In order to enable ordinary people 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 with reference to the accompanying drawings.

[0033] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims. In addition, in the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0035] The following describes the drainage pipe defect and status cable-type detection device and detection method according to an embodiment of the present application with reference to the accompanying drawings.

[0036] The embodiment of the present application provides a cable-type detection device for drainage pipe defects and status. Figures 1 to 10 As shown, the drainage 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 an integrated cable 12, a connecting cable 21, a cable restraint protection device and a control device, and the control device includes a drive unit, a transmission unit, a first cable drum 87, a second cable drum 66 and an integrated controller 53, the first end of the integrated cable 12 is connected to the integrated cable socket 10 at the first end of the inspection carrier 1, and the second end of the integrated cable 12 is wound around the first cable drum 87 and connected to the integrated cable socket 10 at the first end of the inspection carrier 1. The integrated controller 53 is electrically connected, and the integrated cable socket 10 is connected to the camera device; the first end of the connecting cable 21 is connected to the second end of the inspection carrier 1, and the second end of the connecting cable 21 is wound around the second cable drum 66; the driving unit drives the first cable drum 87 and the second cable drum 66 to rotate simultaneously through the transmission unit, so that one of the integrated cable 12 and the connecting cable 21 is released while the other is stored; the cable restraint protection device includes a well protection device and a pipeline trajectory restraint structure for protecting and restraining the integrated cable 12 and the connecting cable 21.

[0037] Thus, the signal required by the inspection carrier 1 is transmitted through the integrated cable 12, a closed-loop track is formed by combining the integrated cable 12 with the connecting cable 21, and the first cable reel 87 and the second cable reel 66 are driven to rotate simultaneously by the driving unit, so that the integrated cable 12 is stored in the first cable reel 87, and the connecting cable is released from the second cable reel 66, so that the detection system moves along the drainage pipe 85; during the movement, the video information in the drainage pipe 85 is collected by the camera 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 realize the transmission of signals and power.

[0038] The cable-type drainage pipe defect and status detection device of the present embodiment is suitable for detecting drainage pipe defects, including those above the liquid level. It can capture and transmit real-time video information from within the drainage pipe during normal operation, thereby detecting drainage pipe defects. The device is compact and suitable for inspecting drainage pipes of various specifications, with high detection efficiency. It is used in municipal drainage networks to detect drainage pipe defects and status, and to collect internal pipe image data.

[0039] This solution forms a cable-type mobile track in the drainage pipe through the integrated cables and connecting cables at both ends of the detection system, which directly reduces the tires and corresponding connecting components required by conventional inspection robots, making the structural part of the detection device of this solution located in the drainage pipe smaller in size and lighter in weight, and can be applied to drainage pipes of various specifications; the control device can realize the flexible storage and release of the integrated cables and connecting cables, 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, so that the maneuverability of the detection device is greatly improved, the cost of pipeline water transfer is greatly reduced, and the detection efficiency is effectively improved.

[0040] In some embodiments, as Figure 2 As shown, an ultrasonic sensor 9 is provided on the top of the inspection carrier 1, and an ultrasonic liquid level sensor 86 is provided on the side of the inspection carrier 1. The ultrasonic sensor 9 and the ultrasonic liquid level sensor 86 are both connected to the integrated cable socket 10. The ultrasonic sensor 9 can collect the first distance from itself to the top of the drainage pipe 85, and the ultrasonic liquid level sensor 86 can collect the second distance from itself to the liquid surface in the drainage pipe. In combination with 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 in the drainage pipe can be obtained.

[0041] The detection device of this embodiment transmits the information data of each sensor through the cable of the cable-type movable track, so the signal is more stable and can avoid the physical isolation interference of the drainage pipe.

[0042] In some embodiments, as Figure 2 As shown, the inspection carrier 1 includes a carrier connector 17, two inverted U-shaped carrier frames 90 and a shock-absorbing and stabilizing swing 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 the connecting cable 21; the two carrier frames 90 half-wrap the two ends of the carrier connector 17 respectively, and the carrier frames 90 are fixedly connected to the carrier connector 17; the side of the shock-absorbing and stabilizing swing curtain 5 is in a convex shape, and the top of the shock-absorbing and stabilizing swing curtain 5 is slidably mounted on the middle part of the carrier connector 17; the two camera devices are respectively provided at the two ends of the lower convex part of the shock-absorbing and stabilizing swing curtain, and the integrated cable socket 10 is connected to the two camera devices through a video cable 11.

[0043] Thus, the integrated cable 12 and the connection cable 21 are connected via the carrier connector 17 .

[0044] In some embodiments, as Figure 3 As shown, the shock-absorbing and stabilizing swing curtain 5 includes a swing curtain body, a first rolling shaft 6, a first shaft cylinder 4 and a plug 2. The inner center of the swing curtain body is fixedly connected to the hollow first shaft cylinder 4. The first rolling shaft 6 passes through the first shaft cylinder 4 and is connected to the plug 2 at both ends; symmetrically distributed movable tracks 3 are provided on the left and right sides of the upper surface of the carrier connector 17. The movable tracks 3 are located between the carrier connector 17 and the carrier frame 90. The carrier frame 90 can play a certain restraining 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 movable tracks 3 to make the shock-absorbing and stabilizing swing curtain 5 swing on the upper surface of the carrier connector 17 with the first rolling shaft 6 as the axis.

[0045] Thus, the plug 2 is embedded in the arc-shaped movable track 3, and the first rolling axis 6 can move along the movable track 3, so that the shock-absorbing and stabilizing swing curtain 5 swings with the first rolling axis 6 as the axis, thereby utilizing the inertia of the shock-absorbing and stabilizing swing curtain 5 itself to keep the camera device in a vertical state within a certain range, so as to ensure the shooting angle of the camera device.

[0046] In some embodiments, as Figure 3 As shown, the shock-absorbing and stabilizing swing curtain 5 also includes a first side rail 7, which is cylindrical and has a plurality of first balls 8 embedded therein. The first balls 8 are movably arranged in the first side rail 7 and a small part of the first balls 8 are exposed 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 swing curtain body, and the first balls 8 are in contact with the outer surface of the carrier connector 17.

[0047] Thus, the friction resistance at the contact position between the shock-absorbing and stabilizing swing curtain 5 and the carrier connector 17 can be reduced by the first side rail 7 .

[0048] In some embodiments, as Figure 2 and Figure 4As shown, the inspection carrier 1 also includes a rotation stabilizer 25, and the two rotation stabilizers 25 are respectively arranged at the two ends of the lower convex part of the shock-absorbing and stabilizing swing curtain to stabilize the two camera devices; the rotation 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 of the camera device, and the two ends of the first fixed shaft 23 are respectively connected to a stabilizer body, and the stabilizer body is connected to the hole at the corresponding position of the shock-absorbing and stabilizing swing curtain 5 through the main spring 27; the two ends of the main spring 27 are also connected with a low-elasticity spring 26, the main spring 27 penetrates into the low-elasticity spring 26 and is entangled with it to form a double stability guarantee.

[0049] Furthermore, a first protective cap 28 is provided on the outside of the rotation stabilizer 25 to protect the low-elasticity spring 26 and the main spring 27, while also preventing the second ball bearing 24 from sliding off. Thus, the first fixed shaft 23 is connected to the center of gravity of the camera device, allowing the camera device to rotate around the rotation stabilizer 25.

[0050] In summary, the vibration interference caused by the cable-type movable track to the detection system during movement can be significantly reduced by using the shock-absorbing stable swing curtain and the rotation stabilizer, making the camera device of the detection system more stable and the collected data more real and reliable.

[0051] In some embodiments, the camera device includes a main camera 30 and a top camera 33. The main camera 30 has a waterproof canopy 31 on its upper surface. The two sides of the waterproof canopy 31 extend in a streamlined shape and have a curved bottom. Two top cameras 33 are located below the waterproof canopy 31 on either side. The top surfaces of the top cameras 33 are inclined. The front ends of the main camera 30 and the top cameras 33 are respectively equipped with a first fill light 29 and a second fill light 34. Both the main camera 30 and the top cameras 33 are multi-angle miniature cameras.

[0052] Thus, the main camera 30 and the top camera 33 can each capture video information from different angles of the drainage pipe 85, enabling comprehensive pipe inspection. The top camera 33's sloped shape facilitates smooth water diversion. Furthermore, the use of a multi-angle miniature camera enables all-around, seamless video and image capture without a rotating mechanism, significantly reducing the size and weight of the camera device.

[0053] In some embodiments, protective rollers 32 are provided at the top and middle bottom positions of the inspection carrier 1 and the top and bottom positions of the main camera 30 to reduce collision friction resistance during movement.

[0054] In some embodiments, a cable buffer 13 is provided on both the integrated cable 12 and the connecting cable 21. The cable buffer 13 is cylindrical and is used to accommodate cables in a wound state. The cable buffer 13 includes two-part structures 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 through-hole 36. The cable buffer 13 can pass through the cable through-hole 36 without affecting the operation of the connecting cable 21.

[0055] Therefore, the entangled cable can be placed through the cylindrical cable buffer 13, and 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 entangled cable inside, thereby providing buffering protection when the cable is over-stretched.

[0056] In some embodiments, a first fixing 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 fixing cone 15 through a first card groove 19 provided at the center of the end, and the second end of the carrier connector 17 is connected to the first annular groove 16 and the first nut 18 respectively through a first fixing ring 20 and a first nut 22 provided on the periphery.

[0057] Thus, the first fixing cone 15 is embedded in the first clamping groove 19, and the first fixing ring 20 is embedded in the first ring 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 double waterproof protection.

[0058] In some embodiments, as Figure 1 and Figure 5 As shown, the well protection device includes a second cable protection tube 48, a spring clamp 49, a first cable protection tube 46 and a cable lifting structure. The bottom of the cable lifting structure is fixedly connected to the first cable protection tube 46, and the bottom of the first cable protection tube 46 is fixedly connected to the upper part of the spring clamp 49. The spring clamp 49 clamps the second cable protection tube 48. The second cable protection tube 48 is used to protect the integrated cable 12 passing through it; wherein, the spring clamp 49 can clamp the first cable protection tube 46 through the fixed spring 47.

[0059] The first cable protection cylinder 46 is hollow inside, and a cable insertion cylinder 45 is provided at the center of the first cable protection cylinder 46. The top and bottom of the cable insertion cylinder 45 are both provided with a second ball groove 44 that partially encloses the fourth ball 43 to reduce friction when the connecting cable 21 passes through the cable insertion cylinder 45.

[0060] The cable hoisting structure includes a fixedly connected hoisting rod 40 and a cylindrical second safety buckle 42. The hoisting rod 40 is used to fix the cable hoisting structure to the inspection well wall through the second fixing cone 39 passing through the through hole therein; the second safety buckle 42 is provided with a first buffer spring 41 inside to provide a buffering effect when the second safety buckle 42 is separated when the tension reaches a set value.

[0061] The pipeline trajectory constraint structure includes a cable through-hole 36 for limiting the moving trajectory of the connecting cable 21 to the top of the drainage pipeline 85. The top and bottom of the cable through-hole 36 are both provided with a first ball groove 37 partially enclosing the third ball 38 to reduce friction when the connecting cable 21 passes through the cable through-hole 36; Figure 6 As shown, a portion of the cable through-holes 36 are directly fixed to the top of the drainage pipe, and another portion of the cable through-holes 36 are fixed to the top of the drainage pipe 85 through the fixing rods 35 .

[0062] Thus, a first cable protection tube 46 is installed on the manhole wall, and the hoisting rod 40 is fixed to the manhole wall via a second fixing cone 39, allowing the first and second cable protection tubes 46, 48 to be laid along the manhole wall without affecting personnel going down the manhole. The second safety buckle 42 detaches when the tension reaches a set value, and the first buffer spring 41 inside provides buffering protection. The first cable protection tube 46 is hollow inside, with a cable insertion tube 45 located in the middle. When the connecting cable 21 passes through the first cable protection tube 46, the fourth ball 43 reduces collision and friction resistance. The second cable protection tube 48 is clamped by a spring clamp 49, allowing the integrated cable 12 and the detection system to pass through the second cable protection tube 48. When the second cable protection tube 48 is subjected to a set downward tension, it detaches from the spring clamp 49, thereby providing buffering protection for the integrated cable 12. Both ends of the second cable protection tube 48 are fixed to the top of the horizontal drainage pipe 85 via fixing rods 35. The connecting cable 21 can pass through the cable through-hole 36 , a portion of the cable through-hole 36 is directly fixed to the top of the drainage pipe, and another portion of the cable through-hole 36 is fixed to the top of the horizontal drainage pipe 85 through the fixing rod 35 , and the third ball 38 can reduce the friction resistance when the connecting cable 21 passes through the cable through-hole 36 .

[0063] In some embodiments, as Figure 7 As shown, the driving unit includes a first motor 57 and a power controller 56 , and the power controller 56 controls the operation of the first motor 57 ;

[0064] 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 mounted on the bottom of the first motor 57. The driving gear 58 drives the first and second driven gears 89, 59 to rotate simultaneously through the first chain 61. The first driven gear 89 is fixedly connected to the top of the first cable drum 87 via a first rotating rod at its center. The second driven gear 59 is fixedly connected to the top of the second cable drum 66 via a second rotating rod 60 at its center.

[0065] The control device is arranged in the cabinet 50. The interior of the cabinet 50 is divided into two parts, upper and lower parts, by a support plate 68. The first driven gear 89 and the second driven gear 59 are respectively mounted on the support plate 68 through a gear fixing structure.

[0066] like Figure 7 and Figure 8 As shown, the gear fixing structure includes a gear fixing rod 62, a second slot 63, a first chassis 64 and a fifth ball 65. The second slot 63 is set on the support plate 68, and the fifth ball 65 is set in the second slot 63. The top of the fifth ball 65 covers 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;

[0067] like Figure 7 and Figure 9 As shown, the bottom of the first cable tray 87 and the bottom of the second cable tray 66 are respectively fixedly connected to a first chassis support rod 71, and the bottom of the first chassis support rod 71 is fixedly connected to the second chassis 73. A sixth rolling ball 74 is provided at the lower portion of the second chassis 73. The second chassis 73 and the sixth rolling ball 74 are both disposed inside a third slot 72, and the third slot 72 is fixed to the bottom of the cabinet 50.

[0068] The cabinet 50 is also provided with two cable winding restraint devices, which are used to respectively realize the regular winding of the integrated cable 12 on the first cable drum 87 and the regular winding of the connecting cable 21 on the second cable drum 66;

[0069] The cable winding restraint device includes a first gear 77, a third driven gear 79, a chain rotating shaft 78, a rectangular cable restraint structure, a limiting pulley 82, a second chain 83 and a second motor.

[0070] The second motor is located in 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 engaged with the first gear 77 and the third driven gear 79, and the second motor is fixedly connected to the first gear 77; the two adjacent chain rotating shafts 78 on the second chain 83 are fixed to the rectangular cable restraint structure, such as Figure 10As shown, the rectangular cable restraint structure includes two cross bars 80 and two vertical bars 81 connected together, and the cross bars 80 of the rectangular cable restraint structure are sleeved with a limiting pulley 82; the integrated controller 53 is also connected to the power controller 56 and the second motor.

[0071] As an example, an opening 54 is provided on the top of the cabinet 50, and the power lines 55 of the drive unit and the second motor are connected to the power supply of the pump station through the opening 54. The drive unit and the second motor are powered by the power supply of the pump station, and a cabinet door 69 is provided on the cabinet 50.

[0072] Thus, the cabinet 50 can be arranged at a surface location such as in the pump station yard, and the integrated cable 12 and the connecting cable 21 extend from the inspection well 88 adjacent to the pump station to the surface and connect 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 and stop, speed and direction of the first motor 57 are controlled by the power controller 56 on the top of the cabinet 50; the first motor 57 drives the driving gear 58 to drive the first driven gear 89 and the second driven gear 59 at both ends to rotate, and the first driven gear 89 and the second driven gear 59 can respectively drive their respective The corresponding first chassis 64 rotates, and the fifth ball 65 can reduce the friction 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 be connected to the first cable drum 87; the second rotating rod 60 can pass through the corresponding second slot 63 and the first chassis 64 without contact, and be connected to the second cable drum 66; since the winding directions of the integrated cable 12 and the connecting cable 21 on the first intermediate shaft 75 and the second intermediate shaft 67 are different respectively, the rotation of the first cable drum 87 and the second cable drum 66 can realize the release of one cable of the integrated cable 12 and the connecting cable 21 and the storage of the other cable. When the first cable reel 87 and the second cable reel 66 rotate, the sixth ball 74 can reduce the friction of the second chassis 73; the integrated cable 12 is inserted into the first intermediate shaft 75 in the middle of the first cable reel 87, and connected to the battery 51 and the integrated controller 53, so as to realize the transmission of signals and power; the integrated controller 53 is respectively connected to the communication antenna 52 and the battery 51; a control cable 76 is connected to the top of the motor control box 84, and the control cable 76 can transmit power and control signals; the connecting cable 21 and the integrated cable 12 can both pass through the limiting pulley 82 to reduce friction resistance; as the first gear 77 rotates, the position of the rectangular cable constraint structure can be changed, thereby changing the winding position of the connecting cable 21 and the integrated cable 12 to prevent local accumulation of cables.

[0073] The implementation process of the detection device is as follows:

[0074] The cabinet 50 is placed inside the pump station yard near the inspection well 88, and the power supply of the pump station is used to provide energy for the entire detection device. The detection device of this embodiment is arranged in two situations: a new drainage pipe 85 and an existing drainage pipe 85. When applied to a newly built drainage pipe 85, when laying the drainage pipe 85, cable holes 36, first cable protective tubes 46, second cable protective tubes 48 and other structures can be set up at the corresponding positions of multiple inspection wells 88 on the inspection route, and the cable holes 36 can be fixed in the drainage pipe 85 on the inspection route; then the connecting cable 21 is passed through the erected cable holes 36, first cable protective tubes 46 and other structures one by one along the inspection route starting from the inspection well 88 in the pump station courtyard until it reaches the starting position of the inspection route; similarly, the integrated cable 12 is passed through the protective pipe at the inspection well 88 in the pump station courtyard, and starts to pass through the second cable protective tubes 48 in each inspection well 88 one by one along the inspection route until it reaches the inspection well 88 near the starting position of the inspection route; the inspection carrier 1 is connected to the connecting cable 21 and the integrated cable 12 respectively to complete the layout. When applied to an existing drainage pipe 85, workers are required to carry out water operations in the well. The drainage pipe 85 is not full of water. Cable holes 36 are fixed at the junctions of all inspection wells 88 and the drainage pipe 85 on the inspection route, and the first cable protection tube 46 and the second cable protection tube 48 are fixed along the wall of each inspection well 88. Because the water in the drainage pipe 85 is flowing, a hollow floating ball tied with a line is placed at the upstream starting point of the inspection route. The float is first passed through the first cable hole 36 at the starting point that is close to the wall of the drainage pipe 85, and the float is allowed to float with the flow of water. The water flows to the adjacent inspection well 88, and the worker picks up the float and passes it through the cable through-hole 36 and the first cable protective tube 46 at the inspection well 88. Similarly, after passing through multiple cable through-holes 36 and the first cable protective tube 46 at the inspection well 88 and reaching the cable through-hole 36 at the downstream end, the worker connects the wire end of the float to the connecting cable 21, pulls the float and carries the connecting cable 21 through each cable through-hole 36 and the first cable protective tube 46, and finally passes the connecting cable 21 through all the cable through-holes 36 and the first cable protective tube 46, and inserts the connecting cable 21 into the cabinet. Then, using the same method, a hollow floating ball tied with a line is placed at the starting point upstream of the inspection, passed through the cable through-hole 36 located slightly below, and allowed to float with the water flow to the adjacent inspection well 88. After the worker picks up the float, it is passed through the second cable protective tube 48 at the inspection well 88, and then the second cable protective tube 48 is fixed to the well wall; and so on, until the float reaches the inspection well 88 at the end of the inspection route.Then, connect the wire end of the float to the integrated cable 12, pull the float and the integrated cable 12 through the second cable protective tube 48 at each inspection well 88 on each inspection route, and finally pass the integrated cable 12 through the protective 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 route, connect the inspection carrier 1 to the connecting cable 21 and the integrated cable 12 respectively to complete the layout. After the cable system is arranged, turn on the detection device, test the cable system, and test the smoothness of the detection system passing through each node such as the second cable protective tube 48. Use appropriate pulling force to pull open the cable buffers 13 at both ends of the detection system to test whether the first safety buckle 14 is successfully disengaged.

[0075] Based on any of the above embodiments, an embodiment of the present application further provides a drainage pipe detection method, the method comprising:

[0076] Step S101: Turn on the camera device and use the driving unit to drive the first cable drum and the second cable drum to rotate simultaneously, so that the integrated cable is stored in the first cable drum and the connecting cable is released from the second cable drum, thereby moving the detection system along the drainage pipe;

[0077] Step S102: Obtain video information collected by the camera device from the integrated controller, and detect the drainage pipe through the video information.

[0078] In some embodiments, an ultrasonic sensor is provided on 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 also includes the following contents:

[0079] The first distance between the detection system and the top of the drainage pipe is collected by an ultrasonic sensor;

[0080] The second distance between the detection system and the liquid level in the drainage pipe is collected by an ultrasonic liquid level sensor;

[0081] 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 of the top of the drainage pipe from the liquid surface;

[0082] The difference between the cross-sectional diameter of the drainage pipe and the first height is calculated to obtain liquid level information of the drainage pipe.

[0083] The drainage pipe detection method of this embodiment adopts the above-mentioned detection device, and drives the detection system to move along the drainage pipe through the integrated cable and the connecting cable. It can realize the real-time collection and transmission of video information inside the drainage pipe under the normal operation of the pipeline network; at the same time, combined with the ultrasonic sensor and ultrasonic liquid level sensor on the detection system, it can obtain the liquid level information of the drainage pipe.

[0084] In the descriptions of the foregoing embodiments, the reference terms "some embodiments," "examples," or "an example" and the like mean that the specific features, structures, materials, or characteristics described in conjunction 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, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0085] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the claims.

[0086] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A cable-type detection device for drainage pipe defects and status, characterized in that: include: Detection system and cable system, the detection system includes an inspection carrier and a camera device, the camera device is installed on the inspection carrier; the cable system includes an integrated 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 an integrated controller, the first end of the integrated cable is connected to the integrated cable socket at the first end of the inspection carrier, the second end of the integrated cable is wound around the first cable reel and electrically connected to the integrated controller, the integrated 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 one of the integrated cable and the connecting cable is released while the other is stored; the cable restraint and protection device includes a well protection device and a pipeline trajectory constraint structure for protecting and constraining the integrated cable and the connecting cable; The inspection carrier includes a carrier connector, two inverted U-shaped carrier frames and a shock-absorbing and stabilizing swing curtain. The integrated cable socket is provided 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 half-wrap the two ends of the carrier connector respectively, the side surface 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 provided at the two ends of the lower convex part of the shock-absorbing and stabilizing swing curtain, and the integrated 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, and the first rolling shaft passes through the first shaft cylinder and is connected to the plug at both ends; symmetrically distributed moving tracks are provided 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.

2. The drainage pipe defect and status cable detection device according to claim 1, characterized in that: The inspection carrier also includes a rotation stabilizer, and the two rotation stabilizers are respectively arranged at the two ends of the convex lower part 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 of the camera device, the two ends of the first fixed shaft are respectively connected to one of the stabilizer bodies, and the stabilizer body is connected to the holes at the corresponding positions of the shock-absorbing and stabilizing swing curtain through the main spring; the two ends of the main spring are also connected with low-elasticity springs, and the main spring penetrates into the low-elasticity spring and is wrapped around it.

3. The drainage pipe defect and status cable detection device according to claim 2, characterized in that: The shock-absorbing and stabilizing swing curtain also includes a first side rail, which is cylindrical and has a plurality of first balls embedded therein. The first balls are movably arranged in the first side rail and a small portion of the first balls are exposed 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 swing curtain body, and the first balls are in contact with the outer surface of the carrier connector.

4. The drainage pipe defect and status cable detection device according to claim 2, characterized in that: The camera device includes a main camera and a top camera. The upper surface of the main camera is provided with a waterproof eaves. The two sides of the waterproof eaves extend in a streamlined shape and are bent at the bottom. The two top cameras are respectively arranged below the two sides of the waterproof eaves. The upper surface of the top camera is in a sloped shape; the front ends of the main camera and the top camera are respectively provided with a first fill light and a second fill light.

5. The drainage pipe defect and status cable detection device according to claim 1, characterized in that: The integrated cable and the connecting cable are both provided with a cable buffer, which is cylindrical and used to accommodate the cables in a wound state; the cable buffer comprises a two-part structure connected by a first safety buckle; A first fixing cone and a first annular groove are provided inside the second end of the carrier connector, and a first nut is provided at the end of the second end of the carrier connector; the second end of the carrier connector is connected to the first fixing cone through a first clamping groove provided at the center of the end, and the second end of the carrier connector is connected to the first annular groove and the first nut respectively through a first fixing ring and a first nut provided on the periphery.

6. The drainage pipe defect and status cable detection device according to claim 1, characterized in that: The well protection device includes a second cable protection cylinder, a spring clamp, a first cable protection cylinder and a cable hanging structure. The bottom of the cable hanging 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 clamp. The spring clamp clamps the second cable protection cylinder. The second cable protection cylinder is used to protect the integrated cable passing through the interior. The interior of the first cable protection cylinder is hollow, a cable insertion cylinder is provided at the center of the interior of the first cable protection cylinder, and a second ball groove partially enclosing the fourth ball is provided at the top and bottom of the cable insertion cylinder; The cable hanging structure includes a fixedly connected hanging rod and a second cylindrical safety buckle. The hanging rod is used to fix the cable hanging structure to the wall of the inspection well through a second fixing cone passing through a through hole therein; the second safety buckle is provided with a first buffer spring inside for buffering when the tension reaches a set value and the second safety buckle is separated. The pipeline trajectory constraint structure includes a cable through-hole for limiting the moving trajectory of the connecting cable to the top of the drainage pipeline, and the top and bottom of the cable through-hole are both provided with a first ball groove partially wrapping the third ball.

7. The drainage pipe defect and status cable detection device according to claim 1, characterized in that: The driving 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 mounted on the bottom of the first motor. The driving gear drives the first and second driven gears to rotate simultaneously through the first chain. The first driven gear is fixedly connected to the top of the first cable drum via a first rotating rod at its center, and the second driven gear is fixedly connected to the top of the second cable drum via a second rotating rod at its center. The control device is arranged in a cabinet, the interior of the cabinet is divided into upper and lower parts by a support plate, and the first driven gear and the second driven gear are respectively mounted on the support plate through a gear fixing structure; The gear fixing structure includes a gear fixing rod, a second slot, a first chassis and a fifth ball, wherein the second slot is provided on the support plate, the fifth ball is provided in the second slot, the top of the fifth ball covers the first chassis, and the upper surface of the first chassis is fixedly connected to the first driven gear or the second driven gear via a plurality of the gear fixing rods; The bottom of the first cable reel and the second cable reel are respectively fixedly connected to a first chassis support rod, the bottom of the first chassis support rod is fixedly connected to the second chassis, and a rollable sixth ball is provided at the lower part of the second chassis. The second chassis and the sixth ball are both arranged inside the third slot, and the third slot is fixed to the bottom of the cabinet.

8. The cable-type detection device for drainage pipe defects and conditions according to claim 7, characterized in that: The cabinet is also provided with two cable winding restraint devices, which are used to respectively realize the regular winding of the integrated cable on the first cable drum and the regular winding of the connecting cable on the second cable drum; 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 in the 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, the two ends of the second chain are respectively engaged with the first gear and the third driven gear, and the second motor is fixedly connected to the first gear; the rectangular cable restraint structure is fixed on two adjacent chain rotation shafts on the second chain, and the rectangular cable restraint structure includes two cross bars and two vertical bars connected together, and the limiting pulley is sleeved on the cross bar of the rectangular cable restraint structure; The integrated controller is also connected to the power controller and the second motor.

9. A drainage pipe detection method, characterized in that: The drainage pipe detection method is implemented using the drainage pipe defect and status cable-type detection device according to any one of claims 1 to 8, and the method comprises: Turning on the camera device, and driving the first cable drum and the second cable drum to rotate simultaneously by the driving unit, so that the integrated cable is stored in the first cable drum and the connecting cable is released from the second cable drum, thereby moving the detection system along the drainage pipe; The video information collected by the camera device is obtained from the integrated controller, and the drainage pipe is inspected using the video information.

10. A drainage pipe detection method according to claim 9, characterized in that: An ultrasonic sensor is provided on the top of the detection system, and an ultrasonic liquid level sensor is provided on the side of the detection system; the method further comprises: collecting a first distance between the detection system and the top of the drainage pipe by the ultrasonic sensor; collecting a second distance between the detection system and the liquid level in the drainage pipe by 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 of the top of the drainage pipe from the liquid surface; The difference between the cross-sectional diameter of the drainage pipe and the first height is calculated to obtain liquid level information of the drainage pipe.

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