Inspection device and method for limiting diameter intermediate value of municipal pipeline

Abstract

The invention relates to an inspection device and method for limiting a diameter intermediate value of a municipal pipeline, and the inspection device comprises lower derrick groups which are arranged in a vertical shaft of the municipal pipeline with the limited diameter intermediate value, rotating table groups which are arranged on the lower derrick groups, and inspection device assemblies which are arranged between the lower derrick groups. According to the inspection device, on-line monitoring on the municipal pipeline with the limited diameter intermediate value is achieved, the rotating table set is supported through the lower derrick set, and the inspection device assembly is driven to rotate in the municipal pipeline with the limited diameter intermediate value in all directions through the rotating table set; monitoring signals are picked up from the inner wall of the municipal pipeline with the limited diameter intermediate value along the circumferential line at different angle positions; the technical problems that municipal pipelines in a small limit diameter value are generally detected by using a pipeline inspection vehicle, and municipal pipelines in a large limit diameter value are generally detected by using a pipeline inspection unmanned aerial vehicle are solved, so that the municipal pipelines in an intermediate limit diameter value can be inspected.

Description

Technical Field

[0001] This invention relates to an inspection device and method, and more particularly to an inspection device and method for municipal pipelines with a limited diameter intermediate value. Background Technology

[0002] Municipal pipelines are a crucial component of municipal infrastructure. To ensure their safe operation, inspection devices are essential for municipal construction and inspection. However, existing inspection devices for municipal pipelines lack a specific design for pipelines with intermediate diameter limits. Pipelines with small diameter limits are typically inspected using pipeline inspection vehicles, while those with large diameter limits are usually inspected using pipeline inspection drones. Due to the limited inspection range of pipeline inspection vehicles and the limited throughput of pipeline inspection drones in these areas, they are unsuitable for inspecting municipal pipelines with intermediate diameter limits. This invention, through its technical feature of acquiring monitoring signals at angular positions along the circumference of the inner wall of municipal pipelines with intermediate diameter limits, effectively explores and studies the technical problem that municipal pipelines with small diameter limits are generally inspected using pipeline inspection vehicles, while municipal pipelines with large diameter limits are generally inspected using pipeline inspection drones. The statements herein provide only background information related to this invention and do not necessarily constitute prior art. Based on the technical disclosure provided by the applicant on June 4, 2025, which addresses practical technical problems encountered during the work process, and the existing technical problems, technical features, and technical effects in similar patent documents and background information obtained through retrieval, the technical solution of this invention is proposed. Summary of the Invention

[0003] The subject of this invention is an inspection device for municipal pipelines with a limited diameter. The subject of this invention is an inspection method for municipal pipelines with a limited intermediate diameter.

[0004] In order to overcome the above-mentioned technical shortcomings, the purpose of this invention is to provide an inspection device and method for municipal pipelines with limited diameter median values, which is therefore suitable for inspecting municipal pipelines with limited diameter median values.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: an inspection device for municipal pipelines with a limited diameter intermediate value, comprising a lower well frame assembly installed in the vertical shaft of the municipal pipeline with the limited diameter intermediate value, a rotating platform assembly installed on the lower well frame assembly, and an inspection device assembly installed between the lower well frame assemblies.

[0006] By incorporating a lower derrick assembly, a rotating platform assembly, and an inspection device assembly, the system enables online monitoring of municipal pipelines with intermediate diameter limits. The lower derrick assembly supports the rotating platform assembly, which in turn drives the inspection device assembly to rotate omnidirectionally within the municipal pipeline with intermediate diameter limits. This allows for the acquisition of monitoring signals along the circumference of the pipeline's inner wall at angular positions. This design solves the technical problem that pipeline inspection vehicles are typically used to inspect municipal pipelines with small diameter limits, while drones are typically used to inspect municipal pipelines with large diameter limits. Therefore, this system is suitable for inspecting municipal pipelines with intermediate diameter limits.

[0007] This invention designs a method for interconnecting the lower well frame assembly, the rotating platform assembly, and the inspection device assembly by picking up monitoring signals at angular positions along the circumference of the inner wall of a municipal pipeline with a limited diameter at an intermediate value.

[0008] This invention designs a method for interconnecting the rotating platform assembly, the lower well frame assembly, and the inspection device assembly in a manner that allows for omnidirectional rotation within a municipal pipeline with a limited diameter.

[0009] The present invention designs a lower derrick assembly comprising a first lower derrick and a second lower derrick.

[0010] The present invention designs a rotating platform assembly comprising a first rotating platform and a second rotating platform.

[0011] The present invention designs an inspection device assembly that includes a cable, a rope-climbing vehicle, an image acquisition head, and a flaw detection sensor.

[0012] The technical effects of the above six solutions are as follows: they enable online monitoring of the inner wall of municipal pipelines with intermediate diameter limits by a detection cable car, ensuring the inspection effect of municipal pipelines with intermediate diameter limits.

[0013] The present invention comprises a first rotating platform on a first lower derrick, a second rotating platform on a second lower derrick, and a cable between the first and second rotating platforms. A cable-climbing vehicle is mounted on the cable, and an image pickup head and a flaw detection sensor are mounted on the cable-climbing vehicle.

[0014] The technical effect of the above technical solution is that the basic technical solution of the present invention is composed of the first lower derrick, the first rotating platform, the second lower derrick, the second rotating platform, the cable, the rope climbing vehicle, the image pickup head, and the flaw detection sensor, which solves the technical problem of the present invention.

[0015] The present invention is designed such that the first lower derrick and the second lower derrick are respectively configured as ladder-shaped frame bodies, and the middle of the first lower derrick is configured to be fitted and connected to the first rotating platform, and the middle of the second lower derrick is configured to be fitted and connected to the second rotating platform.

[0016] The technical effect of the above technical solution is that it enables the sinking frame support of the first and second rotating platforms.

[0017] The present invention is designed such that mounting holes are respectively provided on the rotating platform portion of the first rotating platform and the rotating platform portion of the second rotating platform, and the mounting holes are configured to be connected to the intermediate connecting bolt located on the cable. The outer shell of the rotating platform portion located on the first rotating platform is configured to be connected to the first lower derrick, and the outer shell of the rotating platform portion located on the second rotating platform is configured to be connected to the second lower derrick.

[0018] The present invention designs a rotating platform that is an electric rotary table and has mounting holes on the middle rotating body of the rotating platform. The mounting holes are threaded holes and the four mounting holes are arranged at intervals along the periphery of the middle rotating body of the rotating platform.

[0019] The technical effect of the above two solutions is that they enable the cable to be rotated and supported.

[0020] The present invention is designed such that the cable is a steel wire rope, one end of which is connected to a first rotating platform via an intermediate connecting bolt, the other end of which is connected to a second rotating platform via an intermediate connecting bolt, and the cable is connected to a rope climbing vehicle.

[0021] The technical effect of the above solution is that it enables the climbing rope vehicle to be supported by four cables.

[0022] This invention designs a rope climbing vehicle comprising a seat, a cylinder, a rod I, an ear seat I, a drive wheel, a motor, a friction wheel, a battery, a screw I, a plate, a rod II, and a fan. The seat has a receiving hole I in the middle of its transverse direction, receiving holes II at its transverse edge, and receiving holes III at its upper end face edge. The corners of the upper and lower end faces of the seat are connected to the inner end faces of the rod I, and the middle edge of the upper and lower end faces of the seat is connected to the lower end face of the ear seat I. The corners of the left and right sides of the seat are connected to the inner end faces of the rod II, and the outer end face of the rod I is connected to the lower end of the peripheral side of the cylinder. The lower end of the ear seat I is rotatably connected to the shaft of the drive wheel, and the upper end of the ear seat I is connected to the shaft of the friction wheel. The head is rotated and connected. The inner shaft of the power wheel is connected to the end shaft of the motor unit, and the housing of the motor unit is connected to the inner side of the ear seat I through the intermediate connecting rod. The outer end face of the rod II is connected to the inner end face of the plate unit, and the receiving hole II is connected to the battery unit. The receiving hole III is threadedly connected to the screw I, and the inner end face of the screw I is contacted with the housing of the battery unit. The peripheral side of the fan unit's housing is connected to the peripheral side of the rod II, and the cylinder is connected to the cable sleeve. The power wheel and friction wheel are respectively connected to the cable clamp. The receiving hole I is respectively connected to the image pickup head, the flaw detection sensor, and the PLC controller, and the PLC controller's power interface is connected to the output interface of the battery unit through a switch.

[0023] This invention comprises the following components: a seat portion configured as a rectangular block and a cylindrical portion configured as a tubular body; rod portions I and II configured as rods, and lug portion I configured as a double-plate lug; a drive wheel configured as a disc with annular grooves on its peripheral sides, the annular grooves of the drive wheel being connected to a cable; a motor portion configured as a drive motor and a friction wheel configured as a rubber wheel; a battery portion configured as a rechargeable lithium battery and a screw portion I configured as an internal hexagonal bolt; a plate portion configured as a V-shaped sheet and a fan portion configured as an exhaust fan; a receiving hole I configured as a circular hole and a receiving hole II configured as a rectangular hole; and a receiving hole III configured as a threaded hole. Furthermore, the receiving hole III is arranged at intervals along the longitudinal center line of the base. The inner port of the receiving hole III is located on the inner wall of the receiving hole II. The PLC controller is connected to the motor part, fan part, image pickup head and flaw detection sensor respectively. Two battery parts are located on the base and multiple screw parts I are located between the base and the battery parts. Two cylinder parts, two rod parts I, one ear seat part I, one power wheel, one motor part and one friction wheel are set to form a set of climbing components. One plate part, four rod parts II and one fan part are set to form a set of blowing components. The four sets of climbing components and the two sets of blowing components are respectively located on the base.

[0024] The technical effect of the above two solutions is that they enable movement and displacement on the cable.

[0025] The present invention designs an image pickup head as an image sensor, and the housing of the image pickup head is configured to be embeddedly connected to a rope climbing vehicle. The output interface of the image pickup head is configured to be connected to a PLC controller.

[0026] The present invention designs an ultrasonic flaw detection sensor, wherein the housing of the flaw detection sensor is embedded and connected to a rope climbing vehicle, and the output interface of the flaw detection sensor is connected to a PLC controller.

[0027] The technical effect of the above two solutions is that they enable the detection of the inner wall condition of municipal pipelines with a limited diameter.

[0028] The present invention designs an intermediate connecting bolt located between the cable and the first rotating platform and the second rotating platform, which includes a screw part II, a frame part and a rod part III. The inner end of the screw part II is configured to be rotatably connected to the vertical part of the frame part, one end of the rod part III is configured to be connected to the middle of the inner end face of one of the horizontal parts of the frame part, and the other end of the rod part III is configured to be connected to the middle of the inner end face of another horizontal part of the frame part. The screw part II is configured to be threadedly connected to the first rotating platform and the second rotating platform respectively, and the rod part III is configured to be connected to the cable.

[0029] The present invention is designed such that the screw part II is configured as an internal hexagonal bolt with an annular groove at the inner end, and the frame part is configured as a U-shaped plate with a through hole in the vertical part. The annular groove of the screw part II is configured to connect with the through hole of the frame part, and the rod part III is configured as a rod.

[0030] The technical effect of the above two solutions is that they enable the cable to be installed with tension.

[0031] The present invention is designed such that the first lower derrick, the first rotating platform, the second lower derrick, the second rotating platform, the cable and the rope climbing vehicle, the image pickup head and the flaw detection sensor are arranged in a manner that picks up the rotation signal.

[0032] The present invention is designed such that the screw part II is connected to the mounting hole body.

[0033] The present invention comprises a mobile vehicle, an upper structure assembly, and an adjusting screw, wherein the upper structure assembly is mounted on the mobile vehicle, a lower derrick is mounted on the upper structure assembly, and an adjusting screw and a rotating platform are respectively mounted on the lower derrick.

[0034] The technical effect of the above technical solution is that the basic technical solution of the present invention is formed by the mobile vehicle, the upper structure component and the adjusting screw, which solves the technical problem of the present invention.

[0035] The present invention is designed such that a receiving hole IV is provided on the lower end face of the plate of the lower derrick and a receiving hole V is provided in the middle of the plate. The front and rear sides of the plate are configured to be slidably connected to the upper assembly, and the upper end face of the plate is configured to be connected to the upper assembly. The receiving hole IV is configured to be threadedly connected to the adjusting screw, and the receiving hole V is configured to be connected to the rotating platform.

[0036] The present invention is designed such that the plate is configured as a rectangular sheet and the receiving hole IV is configured as a threaded hole, the receiving hole IV is configured to be arranged at intervals along the longitudinal center line of the plate and the receiving hole V is configured as a hole.

[0037] The technical effect of the above two solutions is that they enable the placement of plate supports in the vertical shaft of a municipal pipeline located at the midpoint of the restricted diameter.

[0038] The present invention designs a mobile vehicle comprising a vehicle body, a lug part II, a lug part III, and a lug part IV. The rear side of the vehicle body frame is connected to the inner end face of lug part II, the upper end face of the vehicle body frame is connected to the inner end face of lug part III, and the front side of the upper end face of the vehicle body frame is connected to the inner end face of lug part IV. The front side of the upper end face of the vehicle body frame, lug part II, lug part III, and lug part IV are respectively connected to the upper body assembly.

[0039] The present invention is designed such that the vehicle part is configured as a trailer and the ear seat part II, ear seat part III and ear seat part IV are respectively configured as double plate ear seats.

[0040] The technical effect of the above two solutions is that they enable the movement and displacement by a tractor.

[0041] This invention designs an upper assembly comprising a tilting plate, a telescopic cylinder, a guide seat, a follower wheel I, a follower wheel II, a winch, a lug V, and a lug VI. A receiving hole VI is provided in the middle of the vertical portion of the tilting plate. The upper edge of the horizontal portion of the tilting plate is connected to the inner end face of the guide seat, and the middle of the lower end face of the tilting plate is connected to the inner end face of lug V. The middle of the rear side of the lower end face of the tilting plate is connected to the inner end face of lug VI. Follower wheel I and follower wheel II are respectively connected to the winch. The wire rope clamping connection of the part is provided. The receiving hole body VI is configured to be connected to the wire rope of the winch part, and the inner side of the guide seat is configured to be connected to the plate part in a receiving manner. One end of the telescopic cylinder part is configured to be connected to the ear seat Ⅴ via a pin, and the other end of the telescopic cylinder part and the ear seat Ⅵ are respectively configured to be connected to the moving car via pins. The ends of the follower wheel part I and the follower wheel part II are respectively configured to be rotatably connected to the moving car, and the wire rope end of the winch part is configured to be connected to the plate part. The lower end face of the winch part is configured to be connected to the moving car.

[0042] The present invention comprises an L-shaped plate-like part for the flipping plate and an electric cylinder for the telescopic cylinder. The guide seat is a block-like body with a groove on its inner side, and the groove on the guide seat is connected to the plate. The guide seats are arranged at intervals along the horizontal center line of the flipping plate. The follower wheel I and follower wheel II are respectively disc-shaped bodies with annular grooves on their peripheral sides. The winch is an electric winch. The ear seat V and ear seat VI are respectively double-plate ear seats. The receiving hole VI is a hole-like body.

[0043] The technical effect of the above two solutions is that they enable the plate to be flipped and supported.

[0044] The present invention is designed such that the adjusting screw is configured as a hexagonal bolt and the inner end of the adjusting screw is configured to be threadedly connected to the plate. The adjusting screws are arranged at intervals along the longitudinal center line of the plate.

[0045] The technical effect of the above solution is that it enables the plate to be supported by rotating bolts.

[0046] The present invention is designed such that the mobile vehicle, the superstructure assembly, and the plate are arranged in a vertically flipped manner, and the mobile vehicle, the superstructure assembly, the plate, and the adjusting screw are arranged in a manner that adjusts the height.

[0047] This invention features a design where multiple adjusting screws are mounted on a plate, the centerline of the moving vehicle and the centerline of the upper assembly are aligned on the same straight line, the telescopic cylinder is connected to the lug part III, the follower wheel part I and the follower wheel part II are respectively connected to the lug part IV, the winch part is connected to the vehicle part, the lug VI is connected to the lug part II, and the receiving hole body V is connected to the rotating table part.

[0048] This invention designs an inspection method for municipal pipelines with a limited diameter median value. The steps are as follows: an inspection device assembly enables online monitoring of the municipal pipeline with a limited diameter median value; a lower frame assembly supports the rotating platform assembly; the rotating platform assembly drives the inspection device assembly to rotate omnidirectionally within the municipal pipeline with a limited diameter median value, thereby enabling the acquisition of monitoring signals at angular positions along the circumference of the inner wall of the municipal pipeline with a limited diameter median value.

[0049] The technical effect of the above technical solution is that it highlights the technical feature of picking up monitoring signals along the circumference of the inner wall of municipal pipelines with limited diameter at intermediate values, and introduces its application in the technical field of inspection methods for municipal pipelines with limited diameter at intermediate values.

[0050] The present invention is designed with the following steps: When an inspection of a municipal pipeline with a restricted diameter is required, a municipal pipeline robot is placed in one of the vertical shafts located at both ends of the municipal pipeline with a restricted diameter. One end of a cable is connected to the municipal pipeline robot, allowing the municipal pipeline robot to move within the municipal pipeline with a restricted diameter. When the municipal pipeline robot reaches the other vertical shaft located at both ends of the municipal pipeline with a restricted diameter, one end of the cable is separated from the municipal pipeline robot, and the municipal pipeline robot is removed from the other vertical shaft located at both ends of the municipal pipeline with a restricted diameter. This allows four cables to be placed into the municipal pipeline with a restricted diameter, and the first lower shaft frame and the rope-climbing vehicle are placed in the section with the restricted diameter. In one of the two vertical shafts at the ends of the municipal pipeline with the specified diameter, the second lower shaft is placed in the other vertical shaft at the ends of the municipal pipeline with the specified diameter. One end of the cable is threaded through the first cylinder and placed into the annular groove of the power wheel, then threaded through the second cylinder, so that the peripheral side of the friction wheel acts on the cable, thereby installing four cables on the cable climbing vehicle. The ends of the cables are wound around pole III and connected together by wire rope buckles, thereby connecting the cables to the intermediate connecting bolts. The screw part II is rotated in the through hole of the mounting body and the frame part to keep the cables taut, thereby installing the cable climbing vehicle, image pickup head and flaw detection sensor on the municipal pipeline with the specified diameter. Inside the pipeline, the battery unit is connected to the PLC controller, which is then activated. This activates the motor unit, fan unit, image pickup head, and flaw detection sensor. The motor unit drives the power wheel to rotate on the lug I, and the friction wheel also rotates on the lug I. Under the action of the power wheel and friction wheel, the cylinder slides on the cable. A rope-climbing trolley moves the image pickup head and flaw detection sensor towards one of the two vertical shafts located at the midpoint of the restricted diameter municipal pipeline. The fan unit discharges airflow into the restricted diameter municipal pipeline, blowing against its inner wall. The image pickup head picks up image signals from the first arc surface of the inner wall of the restricted diameter municipal pipeline. The sensor then... The flaw detection sensor performs flaw detection on the third arc surface of the inner wall of a municipal pipeline with a restricted diameter. Once the climbing trolley reaches one of the two vertical shafts located at either end of the municipal pipeline with the restricted diameter, the motor is deactivated, and the rotating platform is activated. After the rotating platform rotates 180°, it deactivates, and the motor is activated again. The climbing trolley then moves the image pickup head and flaw detection sensor to one of the two vertical shafts located at either end of the municipal pipeline with the restricted diameter. The image pickup head captures image signals from the third arc surface of the inner wall of the municipal pipeline with the restricted diameter, while the flaw detection sensor performs flaw detection on the first arc surface of the inner wall of the municipal pipeline with the restricted diameter.Once the rope-climbing vehicle reaches one of the vertical shafts at either end of the municipal pipeline with the midpoint of the restricted diameter, the motor is deactivated and the rotating platform is activated. After the rotating platform rotates 90°, it deactivates again, and the motor is activated. The rope-climbing vehicle then moves the image pickup head and flaw detection sensor to the other vertical shaft at either end of the municipal pipeline with the midpoint of the restricted diameter. The image pickup head captures image signals from the second curved surface of the inner wall of the municipal pipeline with the midpoint of the restricted diameter, and the flaw detection sensor performs flaw detection on the fourth curved surface of the inner wall of the municipal pipeline with the midpoint of the restricted diameter. Once the rope-climbing vehicle reaches the other vertical shaft at either end of the municipal pipeline with the midpoint of the restricted diameter, the motor is deactivated and the rotating platform is activated. After the rotating platform rotates 180°, it deactivates again, and the motor is activated. The rope-climbing vehicle then moves the image pickup head and flaw detection sensor to the other vertical shaft at either end of the municipal pipeline with the midpoint of the restricted diameter. The system moves between one of the two shafts of the municipal pipeline. An image acquisition head captures image signals from the fourth arc surface of the inner wall of the municipal pipeline with a restricted diameter. A flaw detection sensor then performs flaw detection on the second arc surface of the inner wall of the municipal pipeline with a restricted diameter. Once the rope-climbing vehicle reaches one of the two shafts located at the two ends of the municipal pipeline with a restricted diameter, the inspection of that section of the municipal pipeline is completed. The battery unit is then disconnected from the PLC controller, making the PLC controller non-operating. The motor unit, fan unit, image acquisition head, and flaw detection sensor are also deactivated. The cable end is separated from the pole section III using a wire rope hook. The cable is then removed from the drum, between the power wheel and the friction wheel. The first lower shaft and rope-climbing vehicle are removed from one of the two shafts located at the two ends of the municipal pipeline with a restricted diameter. The second lower shaft is removed from the other shaft located at the two ends of the municipal pipeline with a restricted diameter. Finally, the cable is removed from the municipal pipeline with a restricted diameter.

[0051] The technical effect of the above solution is that it enables online monitoring of the inner wall of municipal pipelines with a limited diameter by a detection cable car, divided into segmented areas.

[0052] The present invention comprises the following steps: When the rotating platform needs to be placed into the vertical shaft of a municipal pipeline with a restricted diameter, the moving vehicle is moved so that the plate is positioned at the upper end face of the vertical shaft. According to the depth of the vertical shaft, the inner end of the adjusting screw rotates within the receiving hole IV to adjust the support height of the adjusting screw, putting the winch into operation. The winch unwinds, and the telescopic cylinder extends. The ends of the telescopic cylinder rotate on ear seats V and III, respectively, while ear seat VI rotates on ear seat II. Follower wheel I and follower wheel II rotate within ear seat IV, allowing the wire rope of the winch to pass between follower wheel I and follower wheel II. This puts the tilting plate in a vertical position, and the front and rear sides of the plate slide downwards in the U-shaped groove of the guide seat, allowing the plate to enter the vertical shaft of the municipal pipeline with a restricted diameter. The winch continues to unwind, bringing the flange of the adjusting screw into contact with the bottom wall of the shaft of the municipal pipeline at the midpoint of the limiting diameter. This places the plate and rotating platform into the shaft, putting the winch in a non-working state. When it is necessary to remove the rotating platform from the shaft, the winch is put into working mode, and it begins to wind up. The wire rope passes in the opposite direction between follower wheel I and follower wheel II. The front and rear sides of the plate slide upward in the groove of the guide seat, placing the plate between the guide seats. The telescopic cylinder is then in a retracted state, with its ends rotating in opposite directions on ear seat V and ear seat III, and ear seat VI rotating in the opposite direction on ear seat II. This brings the tilting plate to a horizontal position, and the winch continues to wind up, bringing the wire rope taut. The winch is then put into a non-working state.

[0053] The technical effect of the above solution is that it enables the plate to be placed in the vertical shaft of the municipal pipeline located at the midpoint of the restricted diameter.

[0054] In this technical solution, the municipal pipeline with a limited diameter refers to a municipal pipeline with a diameter of 800-1500mm.

[0055] In this technical solution, the monitoring signal acquisition along the circumferential angle position of the inner wall of the municipal pipeline with the limited diameter median value is achieved by the rotating table assembly and the inspection device assembly.

[0056] In this technical solution, the key technical features are the lower well frame assembly, the rotating platform assembly, and the inspection device assembly that collect monitoring signals along the circumference at angular positions on the inner wall of a municipal pipeline with a limited diameter. In the technical field of inspection devices and methods for municipal pipelines with limited diameters, this solution is novel, inventive, and practical. The terminology used in this technical solution can be explained and understood using patent literature in this technical field. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of one of the first embodiments of an inspection device for limiting the median diameter of municipal pipelines according to the present invention. Figure 2 This is a schematic diagram of the structure of the rope climbing vehicle 4. Figure 3 This is a schematic diagram of the intermediate connecting bolt located between cable 3 and the first rotating platform 20 and the second rotating platform 40. Figure 4 This is a schematic diagram of the third first embodiment of an inspection device for limiting the median diameter of municipal pipelines according to the present invention. First lower derrick -10, First rotating platform -20, Second lower derrick -30, Second rotating platform -40, Cable -3, Rope climbing vehicle -4, Image pickup head -5, Flaw detection sensor -6, Moving vehicle -9, Upper assembly -8, Adjusting screw -7, Rotating platform section -21, Mounting hole body -22, Seat section -41, Cylinder section -42, Rod section I -401, Ear seat section I -44, Power wheel -45, Motor section -402, Friction wheel -46, Battery section -47, Screw section I -48, Plate section -49, Rod section II -403, Fan section -400, Receiving Hole I -404, Receiving Hole II -405, Receiving Hole III -406, Screw Part II -50, Frame Part -60, Rod Part III -70, Plate Part -11, Receiving Hole IV -12, Receiving Hole V -13, Car Part -91, Ear Seat Part II -92, Ear Seat Part III -93, Ear Seat Part IV -94, Tilting Plate Part -81, Telescopic Cylinder Part -82, Guide Seat -83, Follower Wheel Part I -84, Follower Wheel Part II -85, Winch Part -86, Ear Seat V -87, Ear Seat VI -88, Receiving Hole VI -89. Detailed Implementation

[0059] According to the examination guidelines, terms such as “having,” “comprising,” and “including” used in this invention should be understood as not dispensing the presence or addition of one or more other elements or combinations thereof.

[0060] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. In addition, unless otherwise specified, the equipment and materials used in the following embodiments are commercially available. Unless otherwise specified, please make improvements according to conventional methods in the art.

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] An inspection device for municipal pipelines with limited intermediate diameters. Figure 1As one of the first embodiments of the present invention, this embodiment is described in detail with reference to the accompanying drawings. It includes a first lower derrick 10, a first rotating platform 20, a second lower derrick 30, a second rotating platform 40, a cable 3, a rope climbing vehicle 4, an image pickup head 5, and a flaw detection sensor 6. The first rotating platform 20 is arranged on the first lower derrick 10, and the second rotating platform 40 is arranged on the second lower derrick 30. The cable 3 is arranged between the first rotating platform 20 and the second rotating platform 40. The rope climbing vehicle 4 is arranged on the cable 3, and the image pickup head 5 and the flaw detection sensor 6 are respectively arranged on the rope climbing vehicle 4.

[0065] The second embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this embodiment, the first lower derrick 10 and the second lower derrick 30 are respectively configured as ladder-shaped frames, and the middle of the first lower derrick 10 is configured to be fitted and connected to the first rotating platform 20, and the middle of the second lower derrick 30 is configured to be fitted and connected to the second rotating platform 40.

[0066] The first lower derrick 10 and the second lower derrick 30 form a support connection point for the first rotating platform 20 and the second rotating platform 40. The first lower derrick 10 is connected to the first rotating platform 20, and the second lower derrick 30 is connected to the second rotating platform 40. The technical purpose is to serve as a support carrier for the first rotating platform 20 and the second rotating platform 40.

[0067] In this embodiment, mounting holes 22 are respectively provided on the rotating platform portion 21 of the first rotating platform 20 and the rotating platform portion 21 of the second rotating platform 40, and the mounting holes 22 are configured to be connected to the intermediate connecting bolts located on the cable 3. The outer shell of the rotating platform portion 21 on the first rotating platform 20 is configured to be connected to the first lower derrick 10, and the outer shell of the rotating platform portion 21 on the second rotating platform 40 is configured to be connected to the second lower derrick 30.

[0068] The first rotating platform 20 and the second rotating platform 40 form a support connection point for the first lower derrick 10, the second lower derrick 30 and the cable 3. The rotating platform 21 realizes the connection with the first lower derrick 10, the connection with the second lower derrick 30 and the connection with the cable 3. Its technical purpose is to serve as a component for supporting and connecting the cable 3.

[0069] In this embodiment, the rotating platform 21 is configured as an electric rotary platform and a mounting hole 22 is provided on the middle rotating body of the rotating platform 21. The mounting hole 22 is configured as a threaded hole and the four mounting holes 22 are arranged at intervals along the periphery outline of the middle rotating body of the rotating platform 21.

[0070] Its technical purpose is to achieve a tensioned support connection for cable 3.

[0071] In this embodiment, the cable 3 is a steel wire rope, and one end of the cable 3 is connected to the first rotating platform 20 via an intermediate connecting bolt. The other end of the cable 3 is connected to the second rotating platform 40 via an intermediate connecting bolt, and the cable 3 is connected to the rope climbing vehicle 4.

[0072] The cable 3 forms a support connection point for the first rotating platform 20, the second rotating platform 40, and the climbing rope 4. The cable 3 connects to the first rotating platform 20, the second rotating platform 40, and the climbing rope 4. Its technical purpose is to serve as a support carrier for the climbing rope 4.

[0073] In this embodiment, the rope climbing vehicle 4 is configured to include a seat 41, a cylinder 42, a rod I 401, an ear seat I 44, a drive wheel 45, a motor 402, a friction wheel 46, a battery 47, a screw I 48, a plate 49, a rod II 403, and a fan 400. A receiving hole I 404 is provided in the transverse middle of the seat 41, a receiving hole II 405 is provided at the transverse edge of the seat 41, and a receiving hole III 406 is provided at the upper end face edge of the seat 41. The upper and lower end face corners of the seat 41 are configured to connect with the inner end face of the rod I 401, and the middle edge of the upper and lower end face of the seat 41 is configured to connect with the lower end face of the ear seat I 44. The left and right side corners of the seat 41 are configured to connect with the inner end face of the rod II 403, and the outer end face of the rod I 401 is configured to connect with the lower end of the peripheral side of the cylinder 42. The lower end of the ear seat I 44 is configured to be rotatably connected to the shaft of the drive wheel 45, and the upper end of the ear seat I 44 is configured to be rotatably connected to the shaft of the drive wheel 45. The drive wheel 45 is configured to be rotatably connected to the shaft of the friction wheel 46. The inner shaft of the drive wheel 45 is configured to be connected to the end shaft of the motor part 402, and the housing of the motor part 402 is configured to be connected to the inner side of the ear part I 44 via an intermediate connecting rod. The outer end face of the rod part II 403 is configured to be connected to the inner end face of the plate part 49, and the receiving hole II 405 is configured to be connected to the battery part 47. The receiving hole III 406 is configured to be threadedly connected to the screw part I 48, and the inner end face of the screw part I 48 is configured to be contacted with the housing of the battery part 47. The peripheral side of the housing of the fan part 400 is configured to be connected to the peripheral side of the rod part II 403, and the cylinder part 42 is configured to be sleeved with the cable 3. The drive wheel 45 and the friction wheel 46 are respectively configured to be clamped with the cable 3. The receiving hole I 404 is respectively configured to be connected to the image pickup head 5, the flaw detection sensor 6, and the PLC controller, and the power interface of the PLC controller is configured to be connected to the output interface of the battery part 47 via a switch.

[0074] The cable-climbing vehicle 4 forms a support connection point for the cable 3, image pickup head 5, and flaw detection sensor 6. The cylindrical part 42, the power wheel 45, and the friction wheel 46 are used to connect to the cable 3. The receiving hole body I 404 is used to connect to the image pickup head 5 and the flaw detection sensor 6. The seat part 41, the rod part I 401, the ear part I 44, the motor part 402, the battery part 47, the screw part I 48, the plate part 49, the rod part II 403, the fan part 400, the receiving hole body II 405, and the receiving hole body III 406 are used to enable movement on the cable 3. Its technical purpose is to serve as a support carrier for the image pickup head 5 and the flaw detection sensor 6.

[0075] In this embodiment, the seat 41 is a rectangular block and the cylindrical part 42 is a tubular body; the rod part I 401 and rod part II 403 are respectively rod-shaped and the lug part I 44 is a double-plate lug; the drive wheel 45 is a disc-shaped body with an annular groove on its peripheral side, and the annular groove of the drive wheel 45 is connected to the cable 3; the motor part 402 is a drive motor and the friction wheel 46 is a rubber wheel; the battery part 47 is a rechargeable lithium battery and the screw part I 48 is an internal hex bolt; the plate part 49 is a V-shaped plate and the fan part 400 is an exhaust fan; the receiving hole I 404 is a circular hole and the receiving hole II 405 is a rectangular hole; the receiving hole III 406 is a threaded hole and the receiving hole III 404 405 406 406 407 408 409 40 ... 406 is arranged at intervals along the longitudinal centerline of the base 41. The inner port of the receiving hole Ⅲ 406 is set on the inner wall of the receiving hole Ⅱ 405. The PLC controller is respectively connected to the motor 402, the fan 400, the image pickup head 5 and the flaw detection sensor 6. Two battery parts 47 are set on the base 41 and multiple screw parts Ⅰ 48 are set between the base 41 and the battery parts 47. Two cylinder parts 42, two rod parts Ⅰ 401, one ear seat part Ⅰ 44, one power wheel 45, one motor part 402 and one friction wheel 46 are set to form a set of climbing components. One plate part 49, four rod parts Ⅱ 403 and one fan part 400 are set to form a set of blowing components. The four sets of climbing components and the two sets of blowing components are respectively set on the base 41.

[0076] Its technical purpose is to achieve a hole-type support connection between the image pickup head 5 and the flaw detection sensor 6.

[0077] In this embodiment, the image pickup head 5 is configured as an image sensor and the housing of the image pickup head 5 is configured to be embeddedly connected to the rope climbing vehicle 4. The output interface of the image pickup head 5 is configured to be connected to the PLC controller.

[0078] The image pickup head 5 forms a support connection point for the rope climbing vehicle 4. The image pickup head 5 enables the connection with the rope climbing vehicle 4. Its technical purpose is to serve as a component for picking up image signals from the inner wall of a municipal pipeline with a limited diameter.

[0079] In this embodiment, the flaw detection sensor 6 is set as an ultrasonic flaw detection sensor and the housing of the flaw detection sensor 6 is set to be embeddedly connected to the rope climbing vehicle 4. The output interface of the flaw detection sensor 6 is set to be connected to the PLC controller.

[0080] The flaw detection sensor 6 forms a support connection point for the rope climbing vehicle 4. The flaw detection sensor 6 enables the connection with the rope climbing vehicle 4. Its technical purpose is to serve as a component for flaw detection treatment of the inner wall of municipal pipelines with a limited diameter.

[0081] In this embodiment, the intermediate connecting bolt located between the cable 3 and the first rotating platform 20 and the second rotating platform 40 is configured to include a screw part II 50, a frame part 60 and a rod part III 70. The inner end of the screw part II 50 is configured to be rotatably connected to the vertical part of the frame part 60. One end of the rod part III 70 is configured to be connected to the middle of the inner end face of one of the horizontal parts of the frame part 60, and the other end of the rod part III 70 is configured to be connected to the middle of the inner end face of another horizontal part of the frame part 60. The screw part II 50 is configured to be threadedly connected to the first rotating platform 20 and the second rotating platform 40 respectively, and the rod part III 70 is configured to be connected to the cable 3.

[0082] The intermediate connecting bolt forms a support connection point for the first rotating platform 20, the second rotating platform 40, and the cable 3. The screw part II 50 connects to the first rotating platform 20 and the second rotating platform 40, and the rod part III 70 connects to the cable 3. The frame part 60 connects the screw part II 50 and the rod part III 70. Its technical purpose is to serve as a component for connecting the cable 3 to the first rotating platform 20 and the second rotating platform 40.

[0083] In this embodiment, the screw part II 50 is configured as an internal hexagonal bolt with an annular groove at the inner end, and the frame part 60 is configured as a U-shaped plate with a through hole in the vertical part. The annular groove of the screw part II 50 is configured to connect with the through hole of the frame part 60, and the rod part III 70 is configured as a rod.

[0084] In this embodiment, the first lower derrick 10, the first rotating platform 20, the second lower derrick 30, the second rotating platform 40, the cable 3, the rope climbing vehicle 4, the image pickup head 5, and the flaw detection sensor 6 are arranged in a manner that picks up the rotational signal, and the screw part II 50 is arranged to be connected to the mounting hole body 22.

[0085] The present invention will be further described below with reference to embodiments. These embodiments are intended to illustrate the present invention and not to further limit the present invention.

[0086] A method for inspecting municipal pipelines with a limited diameter, one of the first embodiments of the present invention, comprises the following steps: When an inspection of a section of municipal pipeline with a limited diameter is required, a municipal pipeline robot is placed in one of the vertical shafts located at both ends of the municipal pipeline with a limited diameter. One end of a cable 3 is connected to the municipal pipeline robot, allowing the municipal pipeline robot to move within the municipal pipeline with a limited diameter. When the municipal pipeline robot reaches the other vertical shaft located at both ends of the municipal pipeline with a limited diameter, one end of the cable 3 is separated from the municipal pipeline robot, and the municipal pipeline robot is removed from the other vertical shaft located at both ends of the municipal pipeline with a limited diameter, thereby placing four cables 3 into the municipal pipeline with a limited diameter. The first lower shaft 10 and the rope climbing vehicle 4 are placed in one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit. The second lower shaft 30 is placed in the other vertical shaft at both ends of the municipal pipeline with the intermediate diameter limit. One end of the cable 3 is threaded through the first cylinder 42 and placed into the annular groove of the power wheel 45, and then threaded through the second cylinder 42, so that the peripheral side of the friction wheel 46 acts on the cable 3, thereby installing four cables 3 on the rope climbing vehicle 4. The ends of the cables 3 are wrapped around the pole Ⅲ 70, and the ends of the cables 3 are connected together by wire rope buckles, thereby connecting the cables 3 to the intermediate connecting bolt. The screw part Ⅱ 50 is rotated in the through hole of the mounting hole 22 and the frame part 60 to keep the cables 3 taut. Thus, the rope climbing vehicle 4, the image pickup head 5, and the flaw detection sensor 6 are installed in the municipal pipeline with the intermediate diameter limit. The battery unit 47 is connected to the PLC controller, the PLC controller is activated, and the motor unit 402, fan unit 400, image pickup head 5, and flaw detection sensor 6 are activated. The motor unit 402 drives the power wheel 45 to rotate on the lug part I 44, and the friction wheel 46 rotates on the lug part I 44. Under the action of the power wheel 45 and the friction wheel 46, the cylinder part 42 slides on the cable 3. The climbing rope trolley 4 drives the image pickup head 5 and flaw detection sensor 6 to move towards one of the two vertical shafts located at the middle of the restricted diameter municipal pipeline. The fan unit 400 discharges airflow into the middle of the restricted diameter municipal pipeline, blowing air onto the inner wall of the middle of the restricted diameter municipal pipeline. The image pickup head 5... The image signal is captured on the first arc surface of the inner wall of the municipal pipeline with a restricted diameter. The flaw detection sensor 6 then performs flaw detection on the third arc surface of the inner wall of the municipal pipeline with a restricted diameter. Once the climbing rope trolley 4 reaches one of the two vertical shafts located at the ends of the municipal pipeline with a restricted diameter, the motor unit 402 is deactivated, and the rotating table unit 21 is activated. After the rotating table unit 21 rotates 180°, it is deactivated again, and the motor unit 402 is activated. The climbing rope trolley 4 then moves the image acquisition head 5 and the flaw detection sensor 6 towards one of the two vertical shafts located at the ends of the municipal pipeline with a restricted diameter. The image acquisition head 5 then performs flaw detection on the third arc surface of the inner wall of the municipal pipeline with a restricted diameter. Image signals are captured from the third curved surface of the inner wall. The flaw detection sensor 6 performs flaw detection on the first curved surface of the inner wall of the municipal pipe with the limited diameter. Once the climbing rope trolley 4 reaches one of the vertical shafts at either end of the municipal pipe with the limited diameter, the motor 402 is deactivated, and the rotating platform 21 is activated. After the rotating platform 21 rotates 90°, it is deactivated again, and the motor 402 is activated. The climbing rope trolley 4 then moves the image pickup head 5 and the flaw detection sensor 6 to the other vertical shaft at either end of the municipal pipe with the limited diameter. The image pickup head 5 captures images from the second curved surface of the inner wall of the municipal pipe with the limited diameter. Image signals are captured by the flaw detection sensor 6 on the fourth arc surface of the inner wall of the municipal pipeline with a restricted diameter. Once the climbing rope trolley 4 reaches the other shaft located at one end of the municipal pipeline with a restricted diameter, the motor 402 is deactivated, and the rotating platform 21 is activated. After the rotating platform 21 rotates 180°, it is deactivated again, and the motor 402 is activated. The climbing rope trolley 4 then moves the image pickup head 5 and the flaw detection sensor 6 towards one of the shafts at either end of the municipal pipeline with a restricted diameter. The image pickup head 5 captures image signals from the fourth arc surface of the inner wall of the municipal pipeline with a restricted diameter, and the flaw detection sensor 6...The second arc surface of the inner wall of the municipal pipeline with the intermediate diameter limit is subjected to flaw detection. After the rope-climbing vehicle 4 reaches one of the vertical shafts located at both ends of the municipal pipeline with the intermediate diameter limit, the inspection of this section of the municipal pipeline with the intermediate diameter limit is completed. The battery unit 47 is then disconnected from the PLC controller, the PLC controller is put into a non-operating state, and the motor unit 402, fan unit 400, image pickup head 5, and flaw detection sensor 6 are also put into a non-operating state. By using a wire rope hook, separate the end of the cable 3 from the pole Ⅲ70, remove the cable 3 from the cylinder 42 between the power wheel 45 and the friction wheel 46, remove the first lower derrick 10 and the rope climbing vehicle 4 from one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit, remove the second lower derrick 30 from the other vertical shaft at both ends of the municipal pipeline with the intermediate diameter limit, and remove the cable 3 from the municipal pipeline with the intermediate diameter limit.

[0087] An inspection device for municipal pipelines with limited intermediate diameters. Figure 4 This is the third embodiment of the first embodiment of the present invention. This embodiment is described in detail with reference to the accompanying drawings. It includes a mobile vehicle 9, an upper assembly 8 and an adjusting screw 7. The upper assembly 8 is provided on the mobile vehicle 9. A lower derrick is provided on the upper assembly 8. The adjusting screw 7 and the rotating platform 21 are respectively provided on the lower derrick.

[0088] In this embodiment, a receiving hole IV12 is provided on the lower end face of the plate portion 11 of the lower derrick, and a receiving hole V13 is provided in the middle of the plate portion 11. The front and rear sides of the plate portion 11 are configured to be slidably connected to the upper assembly 8, and the upper end face of the plate portion 11 is configured to be connected to the upper assembly 8. The receiving hole IV12 is configured to be threadedly connected to the adjusting screw 7, and the receiving hole V13 is configured to be connected to the rotating table portion 21.

[0089] The lower derrick forms a support connection point for the rotating platform 21, the upper assembly 8, and the adjusting screw 7. The receiving hole body V13 connects to the rotating platform 21, the plate 11 connects to the upper assembly 8, and the receiving hole body IV12 connects to the adjusting screw 7. Its technical purpose is to serve as a support carrier for the rotating platform 21 and the adjusting screw 7.

[0090] In this embodiment, the plate portion 11 is configured as a rectangular sheet and the receiving hole body IV 12 is configured as a threaded hole body. The receiving hole bodies IV 12 are arranged at intervals along the longitudinal center line of the plate portion 11 and the receiving hole body V 13 is configured as a hole body.

[0091] Its technical objective is to achieve a hole-type support connection between the rotating platform 21 and the adjusting screw 7.

[0092] In this embodiment, the mobile vehicle 9 is configured to include a vehicle section 91, a lug section II 92, a lug section III 93, and a lug section IV 94. The middle of the rear side of the frame of the vehicle section 91 is connected to the inner end face of the lug section II 92. The middle of the upper end face of the frame of the vehicle section 91 is connected to the inner end face of the lug section III 93. The middle of the front side of the upper end face of the frame of the vehicle section 91 is connected to the inner end face of the lug section IV 94. The middle of the front side of the upper end face of the frame of the vehicle section 91, the lug section II 92, the lug section III 93, and the lug section IV 94 are respectively connected to the upper assembly 8.

[0093] The moving vehicle 9 forms a support connection point for the upper structure component 8. The connection with the upper structure component 8 is achieved by the vehicle part 91, the ear seat part II 92, the ear seat part III 93 and the ear seat part IV 94. Its technical purpose is to serve as a support carrier for the upper structure component 8.

[0094] In this embodiment, the vehicle part 91 is configured as a trailer, and the ear seat parts II 92, III 93 and IV 94 are respectively configured as double-plate ear seats.

[0095] Its technical objective is to achieve a motion-body-type support connection for the upper component 8.

[0096] In this embodiment, the upper assembly 8 is configured to include a tilting plate portion 81, a telescopic cylinder portion 82, a guide seat 83, a follower wheel portion I 84, a follower wheel portion II 85, a winch portion 86, a lug seat V 87, and a lug seat VI 88. A receiving hole VI 89 is provided in the middle of the vertical portion of the tilting plate portion 81. The upper end face edge of the horizontal portion of the tilting plate portion 81 is configured to connect with the inner end face of the guide seat 83, and the middle of the lower end face of the tilting plate portion 81 is configured to connect with the inner end face of the lug seat V 87. The middle of the rear side of the lower end face of the tilting plate portion 81 is configured to connect with the inner end face of the lug seat VI 88. The follower wheel portion I 84 and the follower wheel portion II 85 are respectively configured to connect with… The wire rope clamping connection of the winch section 86 is configured to be connected to the wire rope of the winch section 86, and the inner side of the guide seat 83 is configured to be connected to the plate section 11. One end of the telescopic cylinder section 82 is configured to be connected to the ear seat 87 via a pin, and the other end of the telescopic cylinder section 82 and the ear seat 88 are respectively configured to be connected to the moving carriage 9 via pins. The ends of the follower wheel section I 84 and the follower wheel section II 85 are respectively configured to be rotatably connected to the moving carriage 9, and the end of the wire rope of the winch section 86 is configured to be connected to the plate section 11. The lower end face of the winch section 86 is configured to be connected to the moving carriage 9.

[0097] The upper assembly 8 forms a support connection point for the plate section 11 and the moving vehicle 9. The guide seat 83 connects it to the plate section 11, the telescopic cylinder section 82, the follower wheel section I 84, the follower wheel section II 85, the winch section 86, and the ear seat VI 88 connect it to the moving vehicle 9, the tilting plate section 81 connects it to the guide seat 83, the ear seat V 87 connects it to the telescopic cylinder section 82, and the receiving hole VI 89 connects it to the winch section 86. Its technical purpose is to serve as a support carrier for the plate section 11.

[0098] In this embodiment, the flip plate part 81 is configured as an L-shaped sheet and the telescopic cylinder part 82 is configured as an electric cylinder. The guide seat 83 is configured as a block with a C-shaped groove on the inner side and the C-shaped groove of the guide seat 83 is configured to be connected to the plate part 11. The guide seat 83 is configured to be arranged at intervals along the horizontal center line of the flip plate part 81. The follower wheel part I 84 and the follower wheel part II 85 are respectively configured as discs with annular grooves on the peripheral side. The winch part 86 is configured as an electric winch and the ear seat V 87 and the ear seat VI 88 are respectively configured as double-plate ear seats. The receiving hole VI 89 is configured as a hole.

[0099] Its technical objective is to achieve a groove-type sliding support connection for the plate 11.

[0100] In this embodiment, the adjusting screw 7 is a hexagonal bolt and the inner end of the adjusting screw 7 is threadedly connected to the plate portion 11. The adjusting screw 7 is arranged at intervals along the longitudinal center line of the plate portion 11.

[0101] By adjusting the screw 7, a support connection point for the plate part 11 is formed. The connection with the plate part 11 is achieved by adjusting the screw 7. Its technical purpose is to serve as a component for adjusting the height of the support point of the plate part 11 in the shaft.

[0102] In this embodiment, the mobile vehicle 9, the upper assembly 8, and the plate 11 are arranged in a vertically tilted manner, and the mobile vehicle 9, the upper assembly 8, the plate 11, and the adjusting screws 7 are arranged in a height-adjusting manner. Multiple adjusting screws 7 are arranged on the plate 11. The center line of the mobile vehicle 9 and the center line of the upper assembly 8 are arranged on the same straight line. The telescopic cylinder 82 is connected to the ear seat Ⅲ 93. The follower wheel Ⅰ 84 and the follower wheel Ⅱ 85 are respectively connected to the ear seat Ⅳ 94. The winch 86 is connected to the vehicle 91. The ear seat Ⅵ 88 is connected to the ear seat Ⅱ 92, and the receiving hole Ⅴ 13 is connected to the rotating table 21.

[0103] A method for inspecting municipal pipelines with a limited diameter, according to the second embodiment of the present invention, comprises the following steps: When the rotating platform 21 needs to be placed in the shaft of the municipal pipeline with the limited diameter, the moving vehicle 9 is moved so that the plate 11 is positioned at the upper end face of the shaft. According to the depth of the shaft, the inner end of the adjusting screw 7 rotates within the receiving hole IV 12 to adjust the support height of the adjusting screw 7, putting the winch 86 into operation. The winch 86 unwinds, and the telescopic cylinder 82 is extended. The ends of the telescopic cylinder 82 rotate on the lugs V 87 and III 93 respectively. 8 rotates on the ear seat part II 92, and the follower wheel parts I 84 and II 85 rotate on the ear seat part IV 94 respectively, so that the wire rope of the winch part 86 passes between the follower wheel parts I 84 and II 85, so that the tilting plate part 81 is in a vertical state, and the front and rear sides of the plate part 11 slide downward in the C-shaped groove of the guide seat 83, so that the plate part 11 enters the vertical shaft of the municipal pipeline located at the middle value of the restricted diameter. Then the winch part 86 continues to unwind, so that the flange of the adjusting screw 7 contacts the bottom wall of the vertical shaft of the municipal pipeline located at the middle value of the restricted diameter, thereby placing the plate part 11 and the rotating platform part 21 into the vertical shaft of the municipal pipeline located at the middle value of the restricted diameter, so that the winch part 86 is in a non-working state. When the rotating platform 21 needs to be removed from the vertical shaft of the municipal pipeline located at the midpoint of the restricted diameter, the winch 86 is put into operation, the winch 86 is wound up, and the wire rope of the winch 86 passes in the opposite direction between the follower wheel I 84 and the follower wheel II 85. The front and rear sides of the plate 11 slide upward in the C-shaped groove of the guide seat 83, and the plate 11 is placed between the guide seats 83. The telescopic cylinder 82 is in the retracted state, and the ends of the telescopic cylinder 82 rotate in the opposite direction on the ear seat V 87 and the ear seat III 93 respectively. The ear seat VI 88 rotates in the opposite direction on the ear seat II 92, so that the tilting plate 81 is in a horizontal state. The winch 86 continues to wind up, so that the wire rope of the winch 86 is in a taut state, and the winch 86 is put into a non-operating state.

[0104] In verifying this invention, the inventors abandoned the existing technical features of using pipeline inspection vehicles for inspection of municipal pipelines with small limiting diameters and using pipeline inspection drones for inspection of municipal pipelines with large limiting diameters. Instead, they first proposed a technical feature of picking up monitoring signals at angular positions along the circumference of the inner wall of municipal pipelines with intermediate limiting diameters. This resulted in the first unexpected technical effect: enabling the use of a soft track rope as a motion support in municipal pipelines with intermediate limiting diameters, thus satisfying the requirements for inspection movement in these pipelines. The second unexpected technical effect was achieved: enabling the use of a soft track rope as a motion support in municipal pipelines with intermediate limiting diameters. The first rotating platform 20, the second lower derrick 30, the second rotating platform 40, and the intermediate connecting bolts connect the cable 3, increasing the tension of the cable 3 and enabling the cable-climbing vehicle 4 to be rotated. This results in a third unexpected technical effect: the image pickup head 5 and the flaw detection sensor 6 are installed on the cable 3 by the cable-climbing vehicle 4. The movement performance of the cable-climbing vehicle 4 on the cable 3 is improved through the seat 41, cylinder 42, rod I 401, lug I 44, drive wheel 45, motor 402, and friction wheel 46. Furthermore, the airflow is used to blow air onto the inner wall of the municipal pipeline with a limited diameter, achieving [the desired effect]. The fourth unexpected technical effect: It enabled the inspection of municipal pipelines with intermediate diameter limits using the image pickup head 5 and the flaw detection sensor 6, increasing the detection surface on the inner wall of these pipelines and improving inspection accuracy. The fifth unexpected technical effect: It enabled the mobile vehicle 9 and the upper assembly 8 to provide motion support for the plate section 11 and the rotating platform section 21, expanding the inspection route length and improving inspection efficiency. The fifth unexpected technical effect: It enabled the adjusting screw 7 to support the plate section 11 and the rotating platform section 21. Adjusting the installation position within the limited-diameter intermediate-value municipal pipeline improved the detection range of the image pickup head 5 and the flaw detection sensor 6, enhancing their correspondence with the inner wall of the pipeline. This resulted in a sixth unexpected technical effect: eliminating interference factors from pipeline inspection vehicles and drones during inspections of limited-diameter intermediate-value municipal pipelines. This improved the specific inspection space requirements of such pipelines and ensured the smooth movement of the inspection device. Consequently, a seventh unexpected technical effect was achieved: expanding the range of non-pipeline inspection vehicle and drone-based inspection devices to meet the inspection needs of limited-diameter intermediate-value municipal pipelines.

[0105] In the second embodiment of the present invention, the lower well frame assembly, the rotating platform assembly, and the inspection device assembly are interconnected in a manner that the monitoring signals are picked up at angular positions along the circumference of the inner wall of the municipal pipeline with the limited diameter at the median value.

[0106] In this embodiment, the rotating platform assembly, the lower well frame assembly, and the inspection device assembly are interconnected in a manner that allows for omnidirectional rotation within a municipal pipeline with a limited diameter.

[0107] In this embodiment, the lower derrick assembly includes a first lower derrick 10 and a second lower derrick 30.

[0108] In this embodiment, the rotating platform assembly is configured to include a first rotating platform 20 and a second rotating platform 40.

[0109] In this embodiment, the inspection device assembly is configured to include a cable 3, a rope-climbing vehicle 4, an image pickup head 5, and a flaw detection sensor 6.

[0110] The second embodiment of the present invention is based on the first embodiment. In the second embodiment of the present invention, the steps are as follows: the inspection device assembly realizes online monitoring of the municipal pipeline with the intermediate limit diameter; the lower frame assembly supports the rotating platform assembly; the rotating platform assembly drives the inspection device assembly to rotate omnidirectionally within the municipal pipeline with the intermediate limit diameter, thereby realizing the acquisition of monitoring signals at angular positions along the circumference of the inner wall of the municipal pipeline with the intermediate limit diameter. The second embodiment of the present invention is based on the first embodiment.

[0111] This invention has the following characteristics: 1. Due to the design of the lower derrick assembly, rotating platform assembly, and inspection device assembly, online monitoring of municipal pipelines with intermediate limiting diameters is achieved through the inspection device assembly. The lower derrick assembly supports the rotating platform assembly, which in turn drives the inspection device assembly to rotate omnidirectionally within the municipal pipeline with intermediate limiting diameters. This enables the acquisition of monitoring signals along the circumference of the inner wall of the municipal pipeline with intermediate limiting diameters at angular positions. This solves the technical problem that municipal pipelines with small limiting diameters are generally inspected using pipeline inspection vehicles, while municipal pipelines with large limiting diameters are generally inspected using pipeline inspection drones. Therefore, it is suitable for inspecting municipal pipelines with intermediate limiting diameters.

[0112] 2. Due to the design of the first lower well frame 10 and the second lower well frame 30, the support structure was realized in the vertical shaft of the municipal pipeline located at the midpoint of the restricted diameter.

[0113] 3. Due to the design of the first rotating platform 20 and the second rotating platform 40, the inspection device assembly is able to rotate within the municipal pipeline with a limited diameter.

[0114] 4. By designing cable 3, rope climbing vehicle 4, image pickup head 5, and flaw detection sensor 6, online monitoring of municipal pipelines with limited diameter median values ​​was achieved.

[0115] 5. Due to the design of the mobile vehicle 9, the upper assembly 8 and the adjusting screw 7, the first lower derrick 10, the second lower derrick 30, the first rotating platform 20 and the second rotating platform 40 can be transported and placed.

[0116] 6. Because the design limits the numerical range of the structural shape, the numerical range is a technical feature in the technical solution of this invention, and is not a technical feature obtained by formula calculation or a limited number of experiments. The experiment shows that the technical feature of this numerical range has achieved very good technical effect.

[0117] 7. Due to the design of the technical features of this invention, and the combined effect of the individual and collective technical features, experiments have shown that the performance indicators of this invention are at least 1.7 times that of existing performance indicators, and the invention has been evaluated to have good market value.

[0118] Other technical features that connect to the lower well frame assembly, rotating platform assembly, and inspection device assembly for picking up monitoring signals along the circumferential angle position of the inner wall of the municipal pipeline with the limited diameter median value are also embodiments of the present invention. Furthermore, the technical features of the above embodiments can be combined arbitrarily. In order to meet the requirements of the Patent Law, the Patent Implementation Regulations, and the Examination Guidelines, all possible combinations of the technical features in the above embodiments will not be described.

[0119] The above embodiments are merely one implementation of the inspection device and method for limiting the intermediate diameter of municipal pipelines provided by the present invention. Any other modifications to the solution provided by the present invention, the addition or reduction of features or steps, or the application of the present invention to other technical fields similar to the present invention, shall all fall within the protection scope of the present invention.

Claims

1. An inspection device for municipal pipelines with a limited intermediate diameter, characterized in that: It includes a lower well frame assembly installed in a vertical shaft of a municipal pipeline with a limited diameter, a rotating platform assembly installed on the lower well frame assembly, and an inspection device assembly installed between the lower well frame assemblies.

2. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 1, characterized in that: The lower well frame assembly, rotating platform assembly, and inspection device assembly are interconnected by picking up monitoring signals at angular positions along the circumference of the inner wall of the municipal pipeline with the limited diameter at the median value.

3. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 2, characterized in that: The rotating platform assembly is interconnected with the lower well frame assembly and inspection device assembly by rotating it omnidirectionally in a municipal pipeline with a limited diameter.

4. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 1, characterized in that: The lower derrick assembly includes a first lower derrick (10) and a second lower derrick (30). Alternatively, the rotary table assembly may be configured to include a first rotary table (20) and a second rotary table (40). Alternatively, the inspection device assembly may be configured to include a cable (3), a rope-climbing vehicle (4), an image pickup head (5), and a flaw detection sensor (6).

5. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 4, characterized in that: A first rotating platform (20) is provided on the first lower derrick (10), a second rotating platform (40) is provided on the second lower derrick (30), and a cable (3) is provided between the first rotating platform (20) and the second rotating platform (40). A rope climbing vehicle (4) is provided on the cable (3), and an image pickup head (5) and a flaw detection sensor (6) are respectively provided on the rope climbing vehicle (4).

6. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 5, characterized in that: The first lower derrick (10) and the second lower derrick (30) are respectively configured as ladder-shaped frames, with the middle of the first lower derrick (10) being fitted to the first rotating platform (20), and the middle of the second lower derrick (30) being fitted to the second rotating platform (40). Alternatively, mounting holes (22) are provided on the rotating platform portion (21) of the first rotating platform (20) and the rotating platform portion (21) of the second rotating platform (40), and the mounting holes (22) are configured to be connected to the intermediate connecting bolts located on the cable (3). The outer shell of the rotating platform portion (21) on the first rotating platform (20) is configured to be connected to the first lower derrick (10), and the outer shell of the rotating platform portion (21) on the second rotating platform (40) is configured to be connected to the second lower derrick (30). Alternatively, the rotating platform (21) may be configured as an electric rotary table, and mounting holes (22) may be provided on the intermediate rotating body of the rotating platform (21). The mounting holes (22) may be threaded holes, and the four mounting holes (22) may be arranged at intervals along the periphery of the intermediate rotating body of the rotating platform (21). Alternatively, the cable (3) is a steel wire rope, and one end of the cable (3) is connected to the first rotating platform (20) via an intermediate connecting bolt, and the other end of the cable (3) is connected to the second rotating platform (40) via an intermediate connecting bolt, and the cable (3) is connected to the rope climbing vehicle (4). Alternatively, the rope climbing vehicle (4) is configured to include a seat (41), a cylinder (42), a rod I (401), an ear seat I (44), a drive wheel (45), a motor (402), a friction wheel (46), a battery (47), a screw I (48), a plate (49), a rod II (403), and a fan (400). A receiving hole I (404) is provided in the transverse middle of the seat (41), a receiving hole II (405) is provided at the transverse edge of the seat (41), and a receiving hole is provided at the upper end face edge of the seat (41). Body III (406), the upper and lower end face corners of the seat (41) are configured to connect with the inner end face of the rod I (401), and the middle edge of the upper and lower end face of the seat (41) is configured to connect with the lower end face of the ear seat I (44). The left and right side corners of the seat (41) are configured to connect with the inner end face of the rod II (403), and the outer end face of the rod I (401) is configured to connect with the lower end of the peripheral side of the cylinder (42). The lower end of the ear seat I (44) is configured to be rotatably connected to the shaft of the drive wheel (45). The upper end is configured to be rotatably connected to the shaft of the friction wheel (46), the inner shaft of the power wheel (45) is configured to be connected to the end shaft of the motor part (402), and the housing of the motor part (402) is configured to be connected to the inner side of the ear part I (44) via an intermediate connecting rod, the outer end face of the rod part II (403) is configured to be connected to the inner end face of the plate part (49), and the receiving hole II (405) is configured to be connected to the battery part (47), and the receiving hole III (406) is configured to be threadedly connected to the screw part I (48), and the inner end of the screw part I (48) is configured to be connected to the battery part (47). The surface is configured to be connected to the housing of the battery section (47) in contact. The peripheral side of the housing of the fan section (400) is configured to be connected to the peripheral side of the rod section II (403), and the cylinder section (42) is configured to be connected to the cable (3) in a sleeve-type connection. The power wheel (45) and the friction wheel (46) are respectively configured to be connected to the cable (3) in a clamping type. The receiving hole I (404) is respectively configured to be connected to the image pickup head (5), the flaw detection sensor (6), and the PLC controller. The power interface of the PLC controller is configured to be connected to the output interface of the battery section (47) through a switch. Alternatively, the seat (41) is a rectangular block and the cylindrical part (42) is a tubular body; the rod part I (401) and rod part II (403) are rod-shaped and the lug part I (44) is a double-plate lug; the drive wheel (45) is a disc-shaped body with annular grooves on its peripheral side and the annular grooves of the drive wheel (45) are connected to the cable (3); the motor part (402) is a drive motor and the friction wheel (46) is a rubber wheel; the battery part (47) is a rechargeable lithium battery and the screw part I (48) is an internal hex bolt; the plate part (49) is a V-shaped plate and the fan part (400) is an exhaust fan; the receiving hole I (404) is a circular hole and the receiving hole II (405) is a rectangular hole; the receiving hole III (406) is a threaded hole and the receiving hole III (406) is a... The components are arranged at intervals along the longitudinal centerline of the base (41). The inner port of the receiving hole III (406) is located on the inner wall of the receiving hole II (405). The PLC controller is connected to the motor (402), fan (400), image pickup head (5), and flaw detection sensor (6). Two battery units (47) are located on the base (41), and multiple screw units I (48) are located between the base (41) and the battery units (47). Two cylinder units (42), two rod units I (401), one ear seat unit I (44), one power wheel (45), one motor unit (402), and one friction wheel (46) are arranged to form a set of crawling components. One plate unit (49), four rod units II (403), and one fan unit (400) are arranged to form a set of blowing components. The four sets of crawling components and the two sets of blowing components are respectively located on the base (41). Alternatively, the image pickup head (5) is configured as an image sensor and the housing of the image pickup head (5) is configured to be embeddedly connected to the rope climbing vehicle (4), and the output interface of the image pickup head (5) is configured to be connected to the PLC controller. Alternatively, the flaw detection sensor (6) can be configured as an ultrasonic flaw detection sensor, and the housing of the flaw detection sensor (6) can be embeddedly connected to the rope climbing vehicle (4). The output interface of the flaw detection sensor (6) can be connected to the PLC controller. Alternatively, the intermediate connecting bolt located between the cable (3) and the first rotating platform (20) and the second rotating platform (40) is configured to include a screw part II (50), a frame part (60) and a rod part III (70), with the inner end of the screw part II (50) configured to be rotatably connected to the vertical part of the frame part (60), one end of the rod part III (70) configured to be connected to the middle of the inner end face of one of the horizontal parts of the frame part (60), and the other end of the rod part III (70) configured to be connected to the middle of the inner end face of another horizontal part of the frame part (60), the screw part II (50) configured to be threadedly connected to the first rotating platform (20) and the second rotating platform (40) respectively, and the rod part III (70) configured to be connected to the cable (3). Alternatively, the screw part II (50) is configured as an internal hexagonal bolt with an annular groove at the inner end, and the frame part (60) is configured as a U-shaped plate with a through hole in the vertical part, the annular groove of the screw part II (50) is configured to connect with the through hole of the frame part (60), and the rod part III (70) is configured as a rod. Alternatively, the first lower derrick (10), the first rotating platform (20), the second lower derrick (30), the second rotating platform (40), the cable (3), and the rope climbing vehicle (4) are arranged with the image pickup head (5) and the flaw detection sensor (6) according to the method of picking up the rotation signal. Alternatively, the screw part II (50) is configured to connect with the mounting hole body (22).

7. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 1, characterized in that: It includes a mobile vehicle (9), an upper structure assembly (8) and an adjusting screw (7), and the upper structure assembly (8) is provided on the mobile vehicle (9). The lower derrick is provided on the upper structure assembly (8), and the adjusting screw (7) and the rotating platform (21) are respectively provided on the lower derrick.

8. The inspection device for limiting the intermediate diameter of municipal pipelines according to claim 7, characterized in that: A receiving hole IV (12) is provided on the lower end face of the plate (11) of the lower derrick, and a receiving hole V (13) is provided in the middle of the plate (11). The front and rear sides of the plate (11) are configured to be slidably connected to the upper assembly (8), and the upper end face of the plate (11) is configured to be connected to the upper assembly (8). The receiving hole IV (12) is configured to be threadedly connected to the adjusting screw (7), and the receiving hole V (13) is configured to be connected to the rotating table (21). Alternatively, the plate (11) is configured as a rectangular sheet and the receiving hole IV (12) is configured as a threaded hole, wherein the receiving holes IV (12) are arranged at intervals along the longitudinal centerline of the plate (11) and the receiving hole V (13) is configured as a hole. Alternatively, the mobile vehicle (9) is configured to include a vehicle section (91), a lug section II (92), a lug section III (93), and a lug section IV (94), with the rear side of the frame of the vehicle section (91) connected to the inner end face of the lug section II (92), the upper end face of the frame of the vehicle section (91) connected to the inner end face of the lug section III (93), and the front side of the upper end face of the frame of the vehicle section (91) connected to the inner end face of the lug section IV (94). The front side of the upper end face of the frame of the vehicle section (91), the lug section II (92), the lug section III (93), and the lug section IV (94) are respectively connected to the upper assembly (8). Alternatively, the vehicle section (91) is configured as a trailer and the lug section II (92), lug section III (93), and lug section IV (94) are respectively configured as double-plate lugs. Alternatively, the upper assembly (8) is configured to include a tilting plate section (81), a telescopic cylinder section (82), a guide seat (83), a follower wheel section I (84), a follower wheel section II (85), a winch section (86), a lug seat V (87), and a lug seat VI (88), and a receiving hole VI (89) is provided in the middle of the vertical part of the tilting plate section (81), the upper end face edge of the horizontal part of the tilting plate section (81) is configured to connect with the inner end face of the guide seat (83), and the middle of the lower end face of the tilting plate section (81) is configured to connect with the inner end face of the lug seat V (87), the middle of the rear side of the lower end face of the tilting plate section (81) is configured to connect with the inner end face of the lug seat VI (88), and the follower wheel section I (84) and the follower wheel section II (85) are respectively configured to connect with The wire rope clamping connection of the winch section (86) is configured to be connected to the wire rope of the winch section (86) and the inner side of the guide seat (83) is configured to be connected to the plate section (11) in a receiving manner. One end of the telescopic cylinder section (82) is configured to be connected to the ear seat (87) via a pin, and the other end of the telescopic cylinder section (82) and the ear seat (88) are respectively configured to be connected to the moving carriage (9) via pins. The ends of the follower wheel section I (84) and the follower wheel section II (85) are respectively configured to be rotatably connected to the moving carriage (9), and the end of the wire rope of the winch section (86) is configured to be connected to the plate section (11). The lower end face of the winch section (86) is configured to be connected to the moving carriage (9). Alternatively, the flip plate part (81) is configured as an L-shaped plate and the telescopic cylinder part (82) is configured as an electric cylinder, the guide seat (83) is configured as a block with a C-shaped groove on the inner side and the C-shaped groove of the guide seat (83) is configured to be connected to the plate part (11), the guide seat (83) is configured to be arranged at intervals along the horizontal center line of the flip plate part (81), and the follower wheel part I (84) and the follower wheel part II (85) are respectively configured as discs with annular grooves on the peripheral side, the winch part (86) is configured as an electric winch, and the ear seat V (87) and the ear seat VI (88) are respectively configured as double-plate ear seats, and the receiving hole VI (89) is configured as a hole. Alternatively, the adjusting screw (7) can be configured as a hexagonal bolt, and the inner end of the adjusting screw (7) can be configured to be threadedly connected to the plate (11). The adjusting screws (7) can be arranged at intervals along the longitudinal centerline of the plate (11). Alternatively, the mobile vehicle (9) and the upper assembly (8) and the plate (11) are arranged in a vertically tilted manner, and the mobile vehicle (9), the upper assembly (8), and the plate (11) and the adjusting screw (7) are arranged in a height-adjustable manner. Alternatively, multiple adjusting screws (7) are set on the plate (11), the center line of the moving car (9) and the center line of the upper assembly (8) are set on the same straight line, the telescopic cylinder (82) is set to be connected to the ear seat III (93), the follower wheel I (84) and the follower wheel II (85) are respectively set to be connected to the ear seat IV (94), the winch (86) is set to be connected to the car (91), the ear seat VI (88) is set to be connected to the ear seat II (92) and the receiving hole V (13) is set to be connected to the rotating table (21).

9. An inspection method for a municipal pipeline with a limited diameter intermediate value, comprising the following steps: an inspection device assembly enables online monitoring of the municipal pipeline with a limited diameter intermediate value; a lower frame assembly supports a rotating platform assembly; the rotating platform assembly drives the inspection device assembly to rotate omnidirectionally within the municipal pipeline with a limited diameter intermediate value, thereby enabling the acquisition of monitoring signals at angular positions along the circumference of the inner wall of the municipal pipeline with a limited diameter intermediate value.

10. The inspection method for municipal pipelines with limited intermediate diameters according to claim 9, characterized in that: the steps are: When it is necessary to inspect the municipal pipeline with the intermediate diameter limit, a municipal pipeline robot is placed in one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit. One end of the cable (3) is connected to the municipal pipeline robot, so that the municipal pipeline robot moves in the municipal pipeline with the intermediate diameter limit. When the municipal pipeline robot reaches the other vertical shaft at both ends of the municipal pipeline with the intermediate diameter limit, one end of the cable (3) is separated from the municipal pipeline robot, and the municipal pipeline robot is taken out from the other vertical shaft at both ends of the municipal pipeline with the intermediate diameter limit. Thus, the four cables (3) are placed in the municipal pipeline with the intermediate diameter limit, and the first lower shaft frame (10) and the rope climbing vehicle (4) are placed in place. In one of the vertical shafts at both ends of the municipal pipeline with the restricted diameter, the second lower shaft frame (30) is placed in the other vertical shaft at both ends of the municipal pipeline with the restricted diameter. One end of the cable (3) is threaded through the first cylinder (42) and placed into the annular groove of the power wheel (45), and then threaded through the second cylinder (42), so that the peripheral side of the friction wheel (46) acts on the cable (3), thereby installing the four cables (3) on the climbing rope vehicle (4). The ends of the cables (3) are wrapped around the pole III (70), and the ends of the cables (3) are connected together through the wire rope buckle, thereby connecting the cables (3) to the intermediate connecting bolt. The screw part II (50) is installed in the mounting hole (22). The cable (3) is taut in the through hole of the frame (60), thereby installing the climbing car (4), image pickup head (5) and flaw detection sensor (6) in the municipal pipeline with a limited diameter. The battery (47) is connected to the PLC controller, and the PLC controller is in working condition. The motor (402), fan (400), image pickup head (5) and flaw detection sensor (6) are in working condition. The motor (402) drives the power wheel (45) to rotate on the ear seat I (44), and the friction wheel (46) rotates on the ear seat I (44). Under the action of the power wheel (45) and the friction wheel (46), the cylinder (42) slides on the cable (3). The rope-climbing vehicle (4) moves the image pickup head (5) and the flaw detection sensor (6) to one of the two shafts located at the midpoint of the restricted diameter municipal pipeline. The fan unit (400) discharges airflow into the restricted diameter municipal pipeline, blowing against the inner wall of the restricted diameter municipal pipeline. The image pickup head (5) picks up the image signal of the first arc surface of the inner wall of the restricted diameter municipal pipeline. The flaw detection sensor (6) performs flaw detection on the third arc surface of the inner wall of the restricted diameter municipal pipeline. After the rope-climbing vehicle (4) reaches the other shaft located at the midpoint of the restricted diameter municipal pipeline, the motor unit (402) is put into a non-working state, and the rotating table unit (21) is put into a working state.When the rotating platform (21) rotates 180°, it is in a non-working state, and the motor (402) is in a working state. The climbing rope (4) drives the image pickup head (5) and the flaw detection sensor (6) to move to one of the vertical shafts at both ends of the municipal pipeline with the middle limit diameter. The image pickup head (5) picks up the image signal of the third arc surface of the inner wall of the municipal pipeline with the middle limit diameter, and the flaw detection sensor (6) performs flaw detection on the first arc surface of the inner wall of the municipal pipeline with the middle limit diameter. After the climbing rope (4) reaches one of the vertical shafts at both ends of the municipal pipeline with the middle limit diameter, the motor (402) is in a non-working state, and the rotating platform (21) is in a working state. In the following state, when the rotating platform (21) rotates 90°, putting it in a non-working state, the motor (402) is put into working state. The image pickup head (5) and the flaw detection sensor (6) are driven by the climbing rope trolley (4) to move to the other shaft at one end of the municipal pipeline with the middle limit diameter. The image pickup head (5) picks up the image signal of the second arc surface of the inner wall of the municipal pipeline with the middle limit diameter, and the flaw detection sensor (6) performs flaw detection on the fourth arc surface of the inner wall of the municipal pipeline with the middle limit diameter. After the climbing rope trolley (4) reaches the other shaft at one end of the municipal pipeline with the middle limit diameter, the motor (402) is put into a non-working state, and the rotating platform (21) is put into working state. When the rotating platform (21) is rotated 180° to a non-working state, the motor (402) is put into working state. The image pickup head (5) and the flaw detection sensor (6) are moved by the climbing rope trolley (4) to one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit. The image pickup head (5) picks up image signals from the fourth arc surface of the inner wall of the municipal pipeline with the intermediate diameter limit, and the flaw detection sensor (6) performs flaw detection on the second arc surface of the inner wall of the municipal pipeline with the intermediate diameter limit. Once the climbing rope trolley (4) reaches one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit, the inspection of that section of the municipal pipeline with the intermediate diameter limit is completed. The battery unit (47) is disconnected from the PLC controller, making the PLC controller non-working. The motor unit (402), fan unit (400), image pickup head (5), and flaw detection sensor (6) are also non-working. The end of the cable (3) is separated from the pole III (70) by the wire rope hook. The cable (3) is taken out from the drum (42) between the power wheel (45) and the friction wheel (46). The first lower derrick (10) and the rope climbing vehicle (4) are taken out from one of the vertical shafts at both ends of the municipal pipeline with the intermediate diameter limit. The second lower derrick (30) is taken out from the other vertical shaft at both ends of the municipal pipeline with the intermediate diameter limit. The cable (3) is taken out from the municipal pipeline with the intermediate diameter limit. Alternatively, the steps are: When the rotating platform (21) needs to be placed into the shaft of the municipal pipeline with the intermediate diameter limit, the moving vehicle (9) is moved so that the plate (11) is located at the upper end face of the shaft of the municipal pipeline with the intermediate diameter limit. According to the depth of the shaft of the municipal pipeline with the intermediate diameter limit, the inner end of the adjusting screw (7) is rotated in the receiving hole IV (12) to adjust the support height of the adjusting screw (7), so that the winch (86) is in working condition, so that the winch (86) is unwinding, so that the telescopic cylinder (82) is in the extended state, and the ends of the telescopic cylinder (82) are respectively in the ear seat. V (87) and ear seat III (93) rotate, ear seat VI (88) rotates on ear seat II (92), follower wheel I (84) and follower wheel II (85) rotate on ear seat IV (94) respectively, so that the wire rope of the winch part (86) passes between follower wheel I (84) and follower wheel II (85), so that the tilting plate part (81) is in a vertical state, and the front and rear sides of the plate part (11) slide downward in the C-shaped groove of the guide seat (83), so that the plate part (11) enters the vertical shaft of the municipal pipeline located at the middle value of the restricted diameter, and then the winch part (86) rotates on ear seat III (93 ... wire rope of the winch part (86) rotates on ear seat II (92), and the wire rope of the winch part (86) rotates on ear seat III (93) respectively, and the wire rope of the winch part (86) rotates on ear seat II (92), and the wire rope of the winch part (86) rotates on ear seat III (93) respectively, and the wire rope of the winch part (86) rotates on ear seat II (92), and the wire rope of the winch part (86) rotates on ear seat III (93) respectively, and the wire rope of the winch part (86 Continue unwinding until the flange of the adjusting screw (7) contacts the bottom wall of the shaft of the municipal pipeline with the intermediate diameter limit, thereby placing the plate part (11) and the rotating platform part (21) into the shaft of the municipal pipeline with the intermediate diameter limit, so that the winch part (86) is in a non-working state. When it is necessary to remove the rotating platform part (21) from the shaft of the municipal pipeline with the intermediate diameter limit, the winch part (86) is put into a working state, and the winch part (86) is wound up, so that the wire rope of the winch part (86) passes in the opposite direction between the follower pulley part I (84) and the follower pulley part II (85). The front and rear sides of the plate (11) slide upward in the groove of the guide seat (83), and the plate (11) is placed between the guide seats (83), so that the telescopic cylinder (82) is in a retracted state. The ends of the telescopic cylinder (82) rotate in opposite directions on the ear seat V (87) and ear seat III (93), respectively. The ear seat VI (88) rotates in opposite directions on the ear seat II (92), so that the flipping plate (81) is in a horizontal state, so that the winch (86) continues to wind up, so that the wire rope of the winch (86) is in a taut state, and so that the winch (86) is in a non-working state.

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