CN117346654A - Drainage box culvert detection system and installation method - Google Patents

Abstract

The invention discloses a drainage box culvert detection system and an installation method, wherein the detection system comprises two suspension devices, a guide structure, a travelling mechanism, SLAM three-dimensional laser scanning equipment and two positioning targets; the two hanging devices are respectively and correspondingly arranged at two inspection wellheads of the section to be detected of the drainage box culvert, and each hanging device is provided with an extension part which extends downwards into the drainage box culvert; the guide structure is connected between the extension parts of the two suspension devices; the travelling mechanism is arranged on the guide structure and is used for travelling along the guide structure; the SLAM three-dimensional laser scanning device is arranged on the travelling mechanism; the two positioning targets are respectively connected with the extending parts of the two suspension devices, and the target surfaces of the two positioning targets are parallel. According to the invention, the guide structure is built in the drainage box culvert in a suspended manner, so that the SLAM three-dimensional laser scanning equipment detects the interior of the drainage box culvert through an aerial mounting remote control operation mode, and the problem that the SLAM three-dimensional laser scanning technology is applied to the drainage box culvert to perform unmanned culvert entering detection is solved.

Description

Drainage box culvert detection system and installation method

Technical Field

The invention relates to the technical field of municipal administration, in particular to a drainage box culvert detection system and an installation method.

Background

Along with urban development and planning adjustment, urban rivers are squeezed and changed into box culverts, or large-size box culverts are built by considering industrial and living drainage when crossing industrial areas and living areas, and in order to comprehensively and accurately master the situation of the drainage box culverts, the stable structure and normal function of the urban river are ensured, and the internal conditions of the urban river need to be detected regularly by adopting technical means.

The drainage box culvert belongs to a closed or semi-closed limited space, the environment is complex, the problems such as sludge accumulation, poor natural ventilation, bad odor fumigation, accumulation of a large amount of harmful gas, insufficient oxygen content and the like exist, the hidden and unexpected danger exists in the manual culvert entering detection, and the existing mode for replacing the manual culvert entering detection is roughly divided into QV detection (PipeQuickViewInstructions), namely pipeline periscope detection, and CCTV detection (Closed Circuit Television), namely pipeline television detection, wherein the pipeline periscope detection carries out video judgment on various complex pipeline conditions by adopting a telescopic rod to send a camera to a detected pipe well, but the problems that the integrity of pipeline section shooting is difficult to ensure, the shooting blind area is more, positioning or inaccurate positioning cannot be carried out and the like exist in the mode; the pipeline television detection is carried out by remotely controlling a robot consisting of a travelling device and a camera to send the pipeline to travel, however, when the detection is carried out on a drainage box culvert with a silted section, siltation can prevent the travelling device from travelling, so that the travelling device such as a wheel type travelling device, a track type travelling device, a ship travelling device, an amphibious travelling device and the like have the problems of sinking, side turning, shelving and the like, the travelling is difficult, the pipeline television detection is poor in low-line beat high effect, and the detection efficiency is seriously influenced or even cannot be implemented.

The three-dimensional laser scanning technology is used as one of effective means for acquiring closed or semi-closed limited space full-element information data, can provide three-dimensional point cloud data for scanning the surface of an object, and can be used for acquiring a high-precision high-resolution digital terrain model, so that the three-dimensional laser scanning technology is applied to the field of detection of the culvert of the drainage box for detection. The SLAM (Simultaneous Localization and Mapping) scanning, namely the three-dimensional mobile laser scanning, can realize self-positioning according to the position and the map in the moving process of the unknown environment, and performs self-positioning and incremental three-dimensional mapping, and has obvious application advantages of the SLAM three-dimensional laser scanning technology especially in the underground or indoor unknown environment.

At present, when SLAM three-dimensional laser scanning detection is carried out, manual handheld scanning equipment is selected to move for measurement, or a carrying mobile robot is carried to move for detection, and the method is applied to a drainage box culvert, the manual handheld scanning equipment moving measurement mode is easily influenced by harmful gas and anoxic problems, harm is generated to a human body, and the carrying mobile robot has the problem that a blocking section prevents a travelling device from travelling, so that the problem of how to apply the SLAM three-dimensional laser scanning technology to the drainage box culvert for unmanned inclusion detection becomes a new problem.

Disclosure of Invention

The invention aims to provide a drainage box culvert detection system and a detection method, and a guide structure is built in suspension in the drainage box culvert, so that SLAM three-dimensional laser scanning equipment detects the inside of the drainage box culvert through an aerial mounting remote control operation mode, and the problem that the SLAM three-dimensional laser scanning technology is applied to the inside of the drainage box culvert to perform unmanned culvert entering detection is solved.

The technical scheme of the invention is as follows: the drainage box culvert detection system comprises two suspension devices, a guide structure, a traveling device, SLAM three-dimensional laser scanning equipment and two positioning targets; the two hanging devices are respectively and correspondingly arranged at two adjacent inspection wellheads of the section to be detected of the drainage box culvert, and each hanging device is provided with an extension part which extends downwards into the drainage box culvert; the guide structure is positioned in the drainage box culvert and is connected between the extending parts of the two suspension devices; the walking device is arranged on the guide structure and used for walking along the guide structure; the SLAM three-dimensional laser scanning device is arranged on the travelling device and used for collecting three-dimensional data in the drainage box culvert; the two positioning targets are arranged in the drainage box culvert and are respectively connected with the extending parts of the two hanging devices, and the target surfaces of the two positioning targets are parallel and used for realizing absolute positioning coordinate conversion on the collected three-dimensional data of the three-dimensional laser scanning equipment.

Preferably, as a further improvement of the present invention, the suspension device includes two sleeves concentrically arranged up and down, a connection lug plate is fixed on the outer side wall of the same side of the two sleeves, the two connection lug plates are connected by an adjusting bolt, a clamping plate is fixed on the outer wall of the same side of the two sleeves, two vertically arranged mounting rods are arranged in the sleeves in a penetrating manner, each sleeve is connected with the mounting rod through a locking structure, the two positioning targets are respectively and correspondingly arranged at the lower ends of the mounting rods in the two suspension devices, and the guiding structure is arranged between the mounting rods in the two suspension devices.

Preferably, as a further development of the invention, the guiding structure comprises a tightener and two rope guides; the wire tightener is arranged on the side wall of the sleeve in one of the hanging devices, the rope is wound on the wire tightener, one end of the rope, which is far away from the wire tightener, is connected with a hook claw part, and a hanging ring for being hung with the hook claw part is fixed on the side wall of the sleeve in the other hanging device; the two rope guides are respectively and correspondingly arranged at the lower ends of the two mounting rods and are used for threading and guiding the ropes and enabling the ropes to be in a horizontal state, and the two positioning targets are respectively and correspondingly connected to the two rope guides and are perpendicular to the ropes.

Preferably, as a further improvement of the present invention, the rope guide includes a U-shaped housing, an opening of the housing is downward arranged, a top of the housing is connected with a bottom of the mounting rod, three pulleys are connected side by side in the opening of the housing, a bottom plate is connected at the opening of the housing in an openable manner, three arc grooves are provided at the top of the bottom plate, the three arc grooves are opposite to wheel grooves of the three pulleys, the rope is a double-rail steel rope, the double-rail steel rope includes two parallel first steel ropes, two ends of the two first steel ropes are fixedly connected through arc connectors, one end of each arc connector opposite to the arc connector is connected with a middle part of the arc connector, one end of each second steel rope opposite to the arc connector is fixedly connected with the hook claw, the double rope is threaded in the groove formed by the three arc grooves and the three pulleys, and the two ends of the double rope are fixedly connected with the middle part of the arc connector, and the two steel ropes are positioned around the bottom of the housing.

Preferably, as a further improvement of the invention, the upper outer side of each inspection wellhead is provided with a triangular support frame, the triangular support frame comprises a top cover, the top cover is in an equilateral triangle shape, a round pipe is vertically arranged at the center of the top cover and used for penetrating the installation rod, one corner of the top cover is provided with a fastening bolt for fixing the installation rod, the upper part of the top cover is provided with a round level, three sides of the top cover are respectively hinged with three frame legs, the upper parts of the frame legs are leg pipes, the inside of each leg pipe is provided with a telescopic leg for adjusting the length of the frame leg, the connecting part of the tail end of each leg pipe and the telescopic leg is provided with a locking screw, the leg pipes of each frame leg are provided with a reinforcing rod, the reinforcing rods and the leg pipes are respectively connected by three damping fixing rings, the other ends of the three reinforcing rods are connected with the same fixing ring, the three leg pipes are provided with scale marks, and the top of the installation rod is connected with a GNSS receiver or a reflecting prism.

Preferably, as a further improvement of the invention, the running gear comprises a nacelle, a motor, two transmission shafts and two sets of belt transmission assemblies; the nacelle is arranged on the double-rail steel rope, and the SLAM three-dimensional laser scanning device is arranged at the bottom of the nacelle; the motor is fixed in the hanging cabin; two transmission shafts are horizontally erected in the nacelle, two ends of each transmission shaft extend to the outside of the nacelle and are fixedly provided with travelling wheels, each travelling wheel is provided with a wheel groove, and four travelling wheels are correspondingly and slidably clamped on two second steel ropes in pairs through the wheel grooves; one group of belt transmission components are respectively connected with the output shaft of the motor and one of the transmission shafts, and the other group of belt transmission components are respectively connected with the two transmission shafts.

Preferably, as a further improvement of the present invention, a four-axis cradle head is arranged at the bottom of the nacelle, and the SLAM three-dimensional laser scanning device is fixed on the four-axis cradle head.

The invention discloses an installation method based on the drainage box culvert detection system, which comprises the following steps:

s1, selecting two adjacent inspection wellheads at a section to be detected of a drainage box culvert;

s2, penetrating the rope into the drainage box culvert from one inspection wellhead, and penetrating the rope out of the other inspection wellhead through the guide device, so that two ends of the rope penetrate through the drainage box culvert to be exposed on the ground of the two inspection shafts respectively;

S3, horizontally hanging the rope at a section to be detected in the drainage box culvert through a hanging device to form a guiding structure, and installing two positioning targets with parallel target surfaces on the two hanging devices;

s4, mounting the SLAM three-dimensional laser scanning equipment on a traveling device, and placing the traveling device on the guide structure.

Preferably, as a further improvement of the present invention, the guiding device in the step S2 includes a target disc and a launching mechanism, and the target disc is disposed in a drainage box culvert at one of the inspection wellheads; the launching mechanism is arranged in a drainage box culvert at the position of another inspection wellhead, the output end of the launching mechanism is connected with a traction needle, the tail part of the traction needle is connected with one end of the rope through a lead wire with the diameter sequentially increased, the launching mechanism is used for launching the traction needle onto a target disc, and the launching mechanism comprises a launching table, a winder, a plurality of first springs and a clamping assembly; the launching platform is arranged in the drainage box culvert, the launching platform is fixed with the wellhead of the drainage box culvert through a fixing assembly, the top of the launching platform is fixed with a sliding rail, and the sliding rail is connected with a sliding block in a sliding manner; the output end of the winder is connected with a first rope body for winding and releasing the first rope body, and one end of the first rope body far away from the winder is connected with the rear side wall of the sliding block; the first springs are horizontally arranged below the launching platform, one ends of the first springs are fixed with the rear side of the bottom of the launching platform, the other ends of the first springs are fixed with connecting plates, the side walls of the connecting plates, which are opposite to the first springs, are connected with second rope bodies, and one ends of the second rope bodies, which are far away from the connecting plates, extend to the upper side of the launching platform and are connected with the front side walls of the sliding blocks; the clamping assembly is arranged on the sliding block and used for clamping the traction needle, the clamping assembly clamps the traction needle when the sliding block is pulled by the first rope body, and the clamping assembly releases the traction needle when the sliding block is pulled by the second rope body.

Preferably, as a further improvement of the present invention, the clamping assembly comprises two first links, two second links and two third links; the two first connecting rods are L-shaped, are horizontally and symmetrically arranged on the two sides in front of the sliding block, arc-shaped clamping plates for clamping the traction needle are fixed at the vertical end of each first connecting rod, two second rope bodies are arranged, and one end of each second rope body far away from the connecting plate is fixed with the front side wall of each first connecting rod correspondingly; the two second connecting rods are symmetrically arranged on two sides of the sliding block, one end of each second connecting rod is hinged with the top of the included angle of each first connecting rod, and the other end of each second connecting rod is hinged with the top of the sliding block; the two third connecting rods are symmetrically arranged on two sides of the sliding block and are positioned on the rear sides of the two second connecting rods, one ends of the two third connecting rods are hinged with the horizontal ends of the two first connecting rods respectively, the middle parts of the two third connecting rods are hinged with the top of the sliding block, and a second spring is connected between the other ends of the two third connecting rods.

Compared with the prior art, the invention has the beneficial effects that:

1. the suspended guide structure is built inside the drainage box culvert through the suspension device, and the travelling device carrying the SLAM three-dimensional laser scanning equipment is placed on the guide structure, so that the SLAM three-dimensional laser scanning equipment can move along the guide structure in a detection mode through aerial mounting remote control operation, unmanned culvert detection can be realized, personnel safety risk is reduced, influence of a silted section can be avoided, the SLAM three-dimensional laser scanning technology is effectively applied to the drainage box culvert to carry out unmanned culvert detection, and a novel technical scheme is provided for the drainage box culvert detection.

2. Through the cooperation of emission mechanism and target dish to adopt "little rope to lead big rope" thinking to pull the rope from an inspection wellhead to another adjacent inspection wellhead department, and erect the rope level in the drain box culvert through linkage, with the ingenious installation that realizes unmanned income of rope track culvert.

3. The carried SLAM three-dimensional laser scanning equipment can carry out full-view 360-degree x 360-degree data acquisition on the non-shielding area in the drainage box culvert through the four-axis cradle head at the bottom of the nacelle, so that the success rate of the drainage box culvert data acquisition with extremely high internal structure similarity is solved, and the complete acquisition of element information in the culvert is ensured.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention in scanning detection;

FIG. 2 is a schematic view of the tripod and the suspension assembly of the present invention;

FIG. 3 is a schematic view of a tripod and a suspension device according to the present invention;

FIG. 4 is a schematic view of a wire tensioner according to the present invention;

FIG. 5 is a schematic view of the tripod of the present invention in its open configuration;

FIG. 6 is a schematic view of the tripod of the present invention in a folded configuration;

fig. 7 is a schematic view of the structure of the double track rope of the present invention;

fig. 8 is a schematic view of the structure of the rope guide of the present invention;

FIG. 9 is a schematic view of the nacelle of the present invention;

FIG. 10 is a schematic diagram of the front view of the nacelle of the present invention;

FIG. 11 is a schematic cross-sectional view of the internal structure of the nacelle of the invention;

FIG. 12 is a schematic front view of a positioning target of the present invention;

FIG. 13 is a schematic perspective view of a positioning target according to the present invention;

FIG. 14 is a schematic view of an optimized installation of the present invention;

FIG. 15 is a schematic view of another optimized installation of the present invention;

FIG. 16 is a schematic view of the structure of the launching mechanism and the target plate of the present invention;

FIG. 17 is a schematic perspective view of a launching mechanism in the present invention;

FIG. 18 is a schematic view of a partially enlarged structure of the launching mechanism of the present invention;

FIG. 19 is a schematic view of the structure of the drag needle of the present invention;

fig. 20 is a schematic top view of a triangular clip according to the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to fig. 1 to 20. In the description of the invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second" may include one or more such features, either explicitly or implicitly; in the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

Example 1

As shown in fig. 1 to 13, an embodiment of the present invention provides a drainage box culvert detection system, including two suspension devices, a guide structure, a running device, a SLAM three-dimensional laser scanning device and two positioning targets 73, where the two suspension devices in the detection system are respectively and correspondingly disposed at two inspection wellhead positions of a section to be detected of the drainage box culvert, the suspension devices have extension parts extending downward into the drainage box culvert, and the guide structure is connected between the extension parts of the two suspension devices so as to suspend the guide structure in the drainage box culvert; running gear sets up on guide structure, running gear can be walked along guide structure by remote control, so set up and make running gear avoid receiving the interference of silting up the section in the walking process, through setting up SLAM three-dimensional laser scanning equipment on running gear, can realize moving and simultaneously carrying out scanning measurement to drainage box culvert inside, thereby realize three-dimensional coordinate point cloud data acquisition to drainage box culvert, with two location targets 73 setting in drainage box culvert, and be connected with two linkage's extension respectively, make two location targets 73's target surface parallel, utilize two location targets 73 to realize carrying out absolute location coordinate conversion to the three-dimensional coordinate point cloud data of three-dimensional laser scanning equipment's collection, so that the follow-up is handled through corresponding software and is generated three-dimensional data model, gather data and be prior art to the process of data processing modeling, this portion is in detail again, mainly adopt unsettled guide structure to guide running gear to drive SLAM three-dimensional laser scanning equipment to detect drainage box culvert in this embodiment, make SLAM three-dimensional laser scanning equipment need not to adopt artifical handheld removal to detect, detect harmful gas and detect the side and be influenced by the guide structure to the laser scanning equipment, can not have influence to the three-dimensional laser scanning culvert to the technology of the scanning equipment, and can not provide the influence to the scanning process to the laser scanning device to the three-dimensional scanning culvert.

Example 2

The specific structure of the suspension device is limited on the basis of embodiment 1, as shown in fig. 2 and 3, the suspension device comprises two sleeves 51 concentrically arranged up and down, a connecting lug plate is fixed on the outer side wall of the same side of the two sleeves 51, two connecting lug plates are connected by an adjusting bolt 52, clamping plates 53 are respectively fixed on the outer wall of the same side of the two sleeves 51, two vertically arranged mounting rods 54 are penetrated in the two sleeves 51, each sleeve 51 is connected with the mounting rod 54 by a locking structure, the locking structure is a locking bolt, two positioning targets 73 are respectively correspondingly arranged at the lower ends of the mounting rods 54 in the two suspension devices, a guiding structure is arranged between the mounting rods 54 in the two suspension devices, in this embodiment, when two hanging devices are installed, the vertical distance between the two sleeves 51 is adjusted through the adjusting bolts 52, then the distance between the two clamping plates 53 is adjusted, the two clamping plates 53 adapt to the distance between the top of the box culvert and the ground, the two clamping plates 53 are clamped on the inner wall and the outer wall of the top of the box culvert, then the installing rods 54 vertically penetrate through each two upper and lower adjacent sleeves 51, the height of the installing rods 54 is adjusted, the lower ends of the installing rods 54 extend into the box culvert, the installing rods 54 are fixed with the two sleeves 51 through the locking bolts by using friction, the positioning targets 73 are installed at the lower end of each installing rod 54, and the guiding structure is connected between the two installing rods 54, so that the box culvert is hung inside the box culvert.

Example 3

This embodiment defines a specific structure of a guide structure on the basis of embodiment 1, as shown in fig. 1 to 3, the guide structure including a wire grip 55 and two rope guides; the tightener 55 is arranged on the side wall of the sleeve 51 in one suspension device, a rope 101 is wound on the tightener 55, one end of the rope 101, which is far away from the tightener, is connected with a hook part 56, and a hanging ring 57 used for being hung with the hook part 56 is fixed on the side wall of the sleeve 51 in the other suspension device; the two rope guides are respectively and correspondingly arranged at the lower ends of the two mounting rods 54 and are used for threading the guide rope 101 and enabling the rope 101 to be in a horizontal state, the two positioning targets 73 are respectively and correspondingly connected to the two rope guides and are perpendicular to the rope 101, one end, far away from the tightener 55, of the rope 101 penetrates through the current inspection wellhead during installation, the middle of the rope 101 penetrates out of the other inspection wellhead by means of the guide device, the middle of the rope 101 penetrates through the two rope guides, the fixed hook claw 56 is arranged at one end, far away from the tightener 55, of the rope 101 and is connected with the hanging ring 57 in a hanging mode by means of the hook claw 56, then the rope 101 is tightened through the tightener 55 and is in a horizontal stretching state under the action of the two rope guides, and therefore a guiding structure of the steel rope guide is formed, and the travelling device can travel along the steel rope guide stably.

Wherein, as an alternative specific embodiment of the tightener 55, as shown in fig. 4, the tightener comprises a mounting bracket 551, a tightening wheel 552, and a hand wheel 553; the mounting frame 551 is U-shaped, and the opening is arranged opposite to the sleeve 51, and the mounting frame 551 is connected to the side wall of the sleeve 51; the wire tightening wheel 552 is arranged in the opening of the mounting frame 551, two ends of the wire tightening wheel 552 are respectively and rotatably connected with the inner wall of the opening of the mounting frame 551, and the rope 101 is wound on the wire tightening wheel 552; the hand wheel 553 sets up in the outside of mounting bracket 57, and hand wheel 553 and the one end shaft suit fixed connection of tight line wheel 552, and wherein hand wheel 553 is the auto-lock hand, can drive tight line wheel 552 through the hand wheel 553 that sets up and rotate to reach the function of release rope 101 and reverse tightening up rope 101, after making rope 101 level to straighten, fix tight line wheel 552 current rotation angle through the auto-lock structure on hand wheel 553, thereby can keep rope 101 to be in the level state of straightening all the time in the testing process.

Wherein, as an alternative specific embodiment of the rope guide, as shown in fig. 3 and 8, the rope guide comprises a U-shaped shell 61, an opening of the shell 61 is downward arranged, the top of the shell 61 is connected with the bottom of the mounting rod 54, three pulleys 62 are connected in parallel in the opening of the shell 61, a bottom plate 63 is connected at the opening of the shell 61 in an openable manner, three arc grooves 64 are arranged at the top of the bottom plate 63, the three arc grooves 64 are opposite to the wheel grooves of the three pulleys 62, the rope 101 is a double-rail steel rope, the double-rail steel rope comprises two first steel ropes 102 which are arranged in parallel, two ends of the two first steel ropes 102 are fixedly connected through arch-shaped connectors 103, a second steel rope 104 is respectively arranged at the outer side of each arch-shaped connector 103, one end of the two second steel ropes 104 opposite to the arch-shaped connectors 103 is connected with the middle part of the arch-shaped connectors 103, one end of one second steel rope 104 facing away from the arched connecting piece 103 is connected with the tightening wheel 552, the other end of the other second steel rope 104 facing away from the arched connecting piece 103 is fixed with the hook claw 56, the double-rail steel rope is penetrated in a limit groove surrounded by three arc grooves 64 and three wheel grooves of the pulleys 62, the positioning target 73 is connected with the bottom thread of the shell 61 in a detachable way, the rope 101 in the embodiment adopts the double-rail steel rope, the equal stress of the two second steel ropes 104 after tightening can be ensured, the installation of the hook claw 56 end of the double-rail steel rope can be facilitated, the tightening of the tightening wheel 55 is facilitated, the stress of the two first steel ropes 102 of the track section is the same in the installation state, the arc sagging is the same, the limit groove can be formed by the matching of the wheel grooves of the three side-by-side arranged pulleys 62 and the three arc grooves 64 arranged on the bottom plate 63, the double-rail steel rope can be conveniently installed, guide its corner to can also fix double rail steel rope and prevent derailment, set up the distance that two first steel ropes 102 are increased simultaneously as reserve pulley in the middle pulley 62 simultaneously in order to increase track stability, the opening both sides lower part of casing 61 all has the round hole that runs through, opens and shuts the bolt with bottom plate 64 and connect on the shell through rope director and opens and shuts, can realize the purpose of easy to assemble double rail steel rope through the bottom plate 64 that can open and shut.

Further, in order to provide the precision of measuring three-dimensional coordinate data of the SLAM three-dimensional laser scanning device, as shown in fig. 1, 5 and 6, a tripod is provided at the upper outer side of each inspection wellhead, the tripod comprises a top cover 74, the top cover 74 is in an equilateral triangle shape, a circular tube is vertically provided at the center of the top cover 74 for penetrating the installation rod 4, a fastening bolt is provided at one corner of the top cover 74 for fixing the installation rod 4, a circular level 75 is provided at the upper part of the top cover 74, three frame legs 76 are hinged to three sides of the top cover 74, the upper part of the frame legs 76 is a leg tube, a telescopic leg for adjusting the length of the frame legs is mounted inside the leg tube, a locking screw is provided at the joint of the tail end of the leg tube and the telescopic leg tube, a reinforcing rod 77 is mounted on the leg tube of the frame leg 76, the reinforcing rod 77 is connected with the leg tube by three damping fixing rings 78, the other ends of the reinforcing rod 77 are connected with the same fixing ring 79, scale marks are provided on the three leg tubes, and the top of the installation rod 4 is connected with a GNSS receiver 71 or a reflecting prism 72.

In this embodiment, when installing the tripod, loosen the locking spiral, pull out the telescopic leg from tripod leg pipe to suitable length, telescopic leg pulls out the length approximation, screw the locking spiral, separate three leg pipes to suitable angle, there is the scale marking on the three leg pipes, reference scale marking ensures to adjust the fixed ring of damping on the leg pipe to the same position, make three leg pipes separation angle unanimous during installation, ensure that the installation pole 54 of installing when the bubble of circular collimator 75 is centered is on the plumb line, place tripod support in box culvert well head suitable position, insert the pipe of tripod support top cap in proper order, in the solid fixed ring 79, screw the fastening bolt of top cap one corner is fixed with the vertical mobile jib, adjust tripod support position and make it be close to the direction that the box culvert needs to scan, make the installation pole 54 be close to, keep can install the distance of two clamping plates 53, loosen the locking spiral of leg pipe lower part, the stretching length of fine setting telescopic leg, make circular collimator 75, the installation pole 54 is in the plumb line, then in the bottom of every casing 61 makes the target 73 be located with two target 73 face-to be parallel to target 73, target surface 73 is located to target surface 73 one by one. The positioning target 73 is shown in fig. 12 and 13, the structure and principle of the positioning target 73 are the same as those of the prior patent with the publication number of CN219244545U, the positioning target 73 is composed of n×n double-sided diamond targets, n is not less than 2, n is a positive integer, meanwhile, a GNSS receiver 71 or a reflecting prism 72 is respectively installed at the top of each installation rod 54, three-dimensional coordinate values are obtained on the ground through the GNSS receiver 71 or the reflecting prism 72, coordinate values are projected to the n×n double-sided diamond targets through the vertical installation rods 54, the plane coordinate values of the n×n double-sided diamond targets are the same as those of the GNSS receiver 71 or the reflecting prism 72, the elevation coordinate values are converted to the n×n double-sided diamond target centers through the length of the vertical installation rods 54 and the diagonal length of the double-sided diamond targets, the center coordinates of the other target surfaces are selected, the distance between two well-head known n×n double-sided diamond target center coordinates and the known distance between the points to be calculated from the n×n double-sided diamond target centers are adopted, the principle of constructing right triangles is adopted, the center coordinates of the other target surface centers are calculated in sequence, the other target surface center coordinates can be verified by using the space geometric figure, the coordinate relationship is verified, the coordinate values are obtained, the absolute positioning coordinate is increased, the absolute positioning accuracy is guaranteed, and the absolute positioning coordinate is realized is ensured, and the absolute positioning coordinate is converted.

As shown in fig. 1, if satellite signals at two inspection wellhead positions of the box culvert section to be detected are both free of shielding and good in signal reception, GNSS receivers are installed on the installation rods 54 of the two wellheads.

As shown in fig. 14, if satellite signals at two inspection wellhead positions of the box culvert section to be detected are blocked or the signals are poor, reflecting prisms are installed on the installation rods 54 of the two wellheads.

As shown in fig. 15, if only one of the box culvert sections to be detected detects that the satellite signal at the wellhead position is blocked or the satellite signal is poor, a reflecting prism is mounted on the mounting rod 54 at the position where the satellite signal is poor, and a GNSS receiver is mounted on the mounting rod 54 at the position where the satellite signal is good.

Further, as an alternative embodiment of the running gear, the running gear includes a nacelle 8, a motor 81, two drive shafts 82, and two sets of belt drive assemblies 84 as shown in fig. 9 to 11; the nacelle 8 is arranged on a double-rail steel rope, and the SLAM three-dimensional laser scanning device is arranged at the bottom of the nacelle 8; the motor 81 is fixed inside the nacelle 8; two transmission shafts 82 are horizontally erected in the nacelle 8, two ends of each transmission shaft 82 extend to the outside of the nacelle 8 and are fixedly provided with travelling wheels 83, each travelling wheel 83 is provided with a wheel groove, and four travelling wheels 83 are correspondingly and slidably clamped on two second steel ropes 104 in pairs through the wheel grooves; one set of belt drive assemblies 84 is connected to the output shaft of the motor 81 and one of the drive shafts 82, respectively, and the other set of belt drive assemblies 84 is connected to both drive shafts 82, respectively.

Wherein be equipped with power module and controller in nacelle 8, the controller is connected with power module and motor 81 electricity respectively, be equipped with wireless communication module on the controller, wireless communication module and external remote controller signal connection, wireless communication module is bluetooth or wifi, in this embodiment, operating personnel send the signal through external remote controller, be equipped with wireless communication module on the controller and accept and rotate through controller control motor 81, motor 81 pivoted in-process drives two transmission shafts 82 through two sets of belt drive components 84 and rotates, transmission shaft 82 pivoted can drive walking wheel 83 and rotate simultaneously, thereby utilize walking wheel 83 to drive nacelle 8 and advance along double track steel cable, drive SLAM three-dimensional laser scanning equipment and carry out the sweep detection while removing.

Further, in order to be able to adjust the scanning angle and the position of the SLAM three-dimensional laser scanning device in the scanning and detecting process of the SLAM three-dimensional laser scanning device, as shown in fig. 1, a four-axis cradle head 9 is arranged at the bottom of the nacelle 8, the three-dimensional laser scanning device is fixed on the four-axis cradle head 9, the scanning angle of the three-dimensional laser scanning device can be adjusted through the set four-axis cradle head 9, so as to avoid scanning dead angles, and specifically as shown in fig. 9 and 10, the four-axis cradle head 9 comprises a first motor 91, a first arc plate 92, a second motor 93, a third motor 95, a second arc plate 96, a fourth motor 97 and a mounting platform 98; the first motor 91 is fixed at the bottom of the nacelle 8, and the output shaft is arranged vertically; the opening of the first arc plate 22 is arranged opposite to the first motor 91, and the back of the opening of the first arc plate 92 is fixedly connected with the output shaft of the first motor 91; the second motor 93 is fixed on one side wall of the opening of the first arc plate 92, a first rotating shaft 94 which is horizontally arranged is fixed on the output shaft of the second motor 93, and the other end of the first rotating shaft 94 is rotationally connected with the other side wall of the opening of the first arc plate 92; the third motor 95 is fixed on the side wall of the first rotating shaft 94, and the output shaft of the third motor 95 is arranged perpendicular to the first rotating shaft 94; the opening of the second arc plate 96 is arranged opposite to the third motor 95, and the back of the opening of the second arc plate 96 is fixedly connected with the output shaft of the third motor 95; the fourth motor 97 is fixed on one side wall of the opening of the second arc-shaped plate 96, and the output shaft of the fourth motor 97 is horizontally arranged; the mounting platform 98 sets up in the opening part of second arc 96, the one side lateral wall of mounting platform 98 and the output shaft fixed connection of fourth motor 97, the mounting platform 98 is opposite to the lateral wall of fourth motor 97 and is connected with second arc 96 rotation through the third pivot 98 that the level set up, install U-shaped bolt 99 on the mounting platform 98, fix SLAM three-dimensional laser scanning equipment through U-shaped bolt 99, in this embodiment, can drive mounting platform 98 through the first motor 91 that sets up, second motor 93, third motor 95 and fourth motor 97 and realize the rotation of four angles, drive first arc 92 through control first motor 91 and rotate 90, drive first pivot 94 through control second motor 93 and rotate 90 for three-dimensional laser scanning equipment can stretch out to the side of nacelle body 1, can control the cloud platform rotation through other axles, can scan nacelle 8 top box culvert and shelter from the region, consequently, make four-axis cloud platform 9 have 360X 360 scanning fields of view, can effectually scan the drain box inside.

Example 3

Considering that the process of threading the rope 101 into the section to be detected inside the drainage box culvert between two inspection wellheads is difficult, the manual culvert-entering traction rope 101 is easily affected by harmful gas and anoxic problems, so the embodiment discloses an installation method of the drainage box culvert detection system, comprising the following steps:

s1, selecting two adjacent inspection wellheads at a section to be detected of the drainage box culvert.

S2, penetrating the rope 101 into the drainage box culvert from one inspection wellhead, and penetrating the rope 101 out of the other inspection wellhead through the guide device, so that two ends of the rope 101 penetrate through the drainage box culvert to be exposed on the ground of the two inspection shafts respectively.

Specifically, as shown in fig. 16 to 19, the guiding device includes a target disc 2 and a launching mechanism, the target disc 2 is disposed in a drainage box culvert at one of inspection wellheads; the launching mechanism is arranged in a drainage box culvert at the position of another inspection wellhead, the output end of the launching mechanism is connected with a traction needle 1, the tail part of the traction needle 1 is connected with one end of a rope 101 through a lead wire with the diameter sequentially increased, the launching mechanism is used for launching the traction needle 1 onto a target disc 2, and the launching mechanism comprises a launching platform 3, a winder 33, a plurality of first springs 35 and a clamping assembly; the launching pad 3 is arranged in the drainage box culvert, the launching pad 3 and the wellhead of the drainage box culvert are fixed through a fixing component, a sliding rail 31 is fixed at the top of the launching pad 3, and a sliding block 32 is connected onto the sliding rail 31 in a sliding manner; the output end of the winder 33 is connected with a first rope 34 for winding and releasing the first rope 34, and one end of the first rope 34 far away from the winder is connected with the rear side wall of the sliding block 32; the first springs 35 are horizontally arranged below the launching pad 3, one ends of the first springs 35 are fixed with the rear side of the bottom of the launching pad 3, the other ends of the first springs 35 are fixed with connecting plates 36, the side walls of the connecting plates 36, which are opposite to the first springs 35, are connected with second rope bodies 37, and one ends of the second rope bodies 37, which are far away from the connecting plates 36, extend to the upper side of the launching pad 3 and are connected with the front side walls of the sliding blocks 32; the clamping component is arranged on the sliding block 32 and is used for clamping the traction needle 1, when the sliding block 32 is pulled by the first rope body 34, the clamping component clamps the traction needle 1, when the sliding block 32 is pulled by the second rope body 37, the clamping component loosens the traction needle 1, when the traction needle 1 is launched by the launching mechanism, the tail part of the traction needle 1 is connected with one end of the rope 101 through leads with sequentially increased diameters, the traction needle 1 is arranged in the clamping component on the launching platform 3, then the launching platform 3 is placed in a drainage box culvert, the launching platform 3 is fixed at an inspection wellhead of the drainage box culvert through the fixing component, the target disc 2 is stretched into the drainage box culvert from another adjacent inspection wellhead through the hanging rod, then the first rope body 34 is wound through the winding device, the sliding block 32 is pulled to move along the guide rail 21 in the winding process of the first rope body 34, and moves to the rear side of the launching platform 3, at this time, the traction needle 5 is clamped and fixed by the clamping assembly, and the sliding block 32 pulls the connecting plate 36 through the second rope 37 in the process of moving to the rear side of the launching platform 3, so that the connecting plate 36 moves to the front side of the launching platform 3, and stretches the plurality of first springs 35, when the winder winds to a certain extent, the first rope 34 is controlled to be loosened, at this time, the first rope 34 does not exert pulling force on the sliding block 32 any more, so that under the elastic force of the plurality of first springs 35, the connecting plate 36 is driven to move to the rear side of the launching platform 3, and the sliding block 32 is pulled through the second rope 37, so that the sliding block 32 moves to the front side of the launching platform 3, at this time, the clamping assembly releases the traction needle 1 in the process of moving along with the sliding block 32, so as to eject the traction needle 1 to be inserted into the target disc 2, take the target disc 2 out from the inspection wellhead, the rope is pulled to the other adjacent inspection wellhead place from one inspection wellhead by adopting the 'small rope pulling rope' concept, two ends of the rope 101 penetrate through the drainage box culvert to be exposed on the ground of the two inspection shafts respectively, and finally, the lead wire connected with the rope 101 and the pulling needle 1 are taken down, so that the rope 101 can be automatically penetrated in the drainage box culvert between the two inspection shafts under the condition of unmanned pulling, and two ends of the rope 101 are exposed on the ground of the two inspection shafts, so that the subsequent steel rope guide rail erection process is realized.

The fixing assembly is shown in fig. 17 and 20, including two triangle-shaped clamps 30 that up-down symmetry set up on the inner and outer wall of box culvert well head, triangle-shaped clamp 30 loops through three clamp piece 301 head and tail and loops through bolted connection shaping, encircle on the inner wall of two triangle-shaped clamps 301 and be fixed with many pairs of installation otic placodes 302, wear to be equipped with mounting bolt 303 between every pair of installation otic placodes 302, connect through mounting bolt 303 between two triangle-shaped clamps 7, be connected with the connecting axle 304 of a plurality of vertical settings on the inner wall of triangle-shaped clamp 7 that is located the top, the lower extreme of a plurality of connecting axles 304 is fixed with the top of launching pad 3, can conveniently assemble through splitting into three clamp piece 301 with triangle-shaped clamp 30, be convenient for pass through the well head with lower part form to assemble in drainage box culvert inside, the interval of two triangle-shaped clamps 30 can be adjusted through the mounting bolt 303 that sets up, thereby utilize triangle-shaped clamp 30 card to hold in the top well head department of box culvert.

Wherein the clamping assembly comprises two first links 41, two second links 43 and two third links 44; the two first connecting rods 41 are L-shaped, two sides in front of the sliding blocks 22 are horizontally and symmetrically arranged, an arc-shaped clamping plate 42 for clamping the traction needle 1 is fixed at the vertical end of each first connecting rod 41, two second rope bodies 37 are arranged, and one end of each second rope body 37 far away from the connecting plate 36 is respectively and correspondingly fixed with the front side wall of each first connecting rod 41; the two second connecting rods 43 are symmetrically arranged on two sides of the sliding block 32, one end of each second connecting rod 43 is hinged to the top of the included angle between the first connecting rod 41, and the other end of each second connecting rod 43 is hinged to the top of the sliding block 32; the two third connecting rods 44 are symmetrically arranged at two sides of the sliding block 32 and are positioned at the rear sides of the two second connecting rods 43, one ends of the two third connecting rods 44 are respectively hinged with the horizontal ends of the two first connecting rods 41 correspondingly, the middle parts of the two third connecting rods 44 are hinged with the top of the sliding block 32, a second spring 45 is connected between the other ends of the two third connecting rods 44, the traction needle 1 is placed between the two arc-shaped clamping plates 42, when the first rope 34 pulls the sliding block 32 backwards, the second connecting rods 43 and the third connecting rods 44 are driven to move backwards, and as the first connecting rods 41 are pulled by the second rope 37, the second rope 37 can apply a forward acting force to the first connecting rods 41, so that the distance between the two arc-shaped clamping plates 42 is reduced, and the traction needle 1 is clamped, and the process is shown in fig. 5; when the first rope 34 no longer applies tension and the second rope 37 pulls the sliding block 32 forward to move, contrary to the transmission principle, the distance between the two arc clamping plates 42 is increased, so that the traction needle 1 is not clamped, the traction needle 1 can be launched, and the whole clamping and loosening process is related to the process of driving the sliding block to move and launch by the launching mechanism, and no other power sources are needed.

S3, horizontally hanging the rope 101 at the position of the section to be detected in the drainage box culvert through a hanging device to form a guiding structure, and installing two positioning targets 73 with parallel target surfaces on the two hanging devices.

The method comprises the specific operation that the vertical distance between two sleeves 51 and two clamping plates 53 is adjusted through an adjusting bolt 52, the two clamping plates 53 are clamped on the inner wall and the outer wall of the top of a drainage box culvert, then a mounting rod 54 is vertically penetrated in each two upper and lower adjacent sleeves 51, the height of the mounting rod 54 is adjusted to enable the lower end of the mounting rod 54 to extend into the drainage box culvert, then the mounting rod 54 and the two sleeves 51 are fixed through a locking bolt by friction force, a rope guide is connected to the lower end of each mounting rod 54, a positioning target 73 is mounted to the bottom of a shell 61 in the rope guide, so that one hanging device is mounted at one inspection wellhead, the other hanging device is mounted at the other inspection wellhead, a wire tightener 55 is mounted on the side wall of the sleeve 51 in one hanging device, a hanging ring 57 is fixed on the side wall of the sleeve 51 in the other hanging device, one end of a rope 101 is connected with the wire tightener 55, a fixing hook 56 is mounted at the other end of the rope 101, the middle part of the rope hook claw is penetrated in the two rope guides by the two rope guides, and then the rope guide is horizontally penetrated by the two rope guides 55;

S4, mounting the SLAM three-dimensional laser scanning equipment on a traveling device, and arranging the traveling device on the guide structure.

Specifically, the SLAM three-dimensional laser scanning apparatus is fixed to the mounting platform 98 in the four-axis head 9 by the U-bolts 99, and then the nacelle 8 is placed on the rope 101 so that the traveling wheel 83 is brought into contact with the rope 101.

When the invention is used for scanning detection, the front side of the nacelle 8 is provided with the camera system and the lighting system, the camera system and the lighting system are electrically connected with the ground control station, after all the systems are installed, an operator performs remote control operation on the ground, and the nacelle 8, the camera system, the lighting system and the SLAM three-dimensional laser scanning equipment are started to wait for 3-5 min to perform environment-adaptive preheating on the equipment; according to the brightness of the interior of the drainage box culvert, the ground control station is used for adjusting the proper brightness and the shooting definition of the illumination light, and the brightness can be adjusted at any time along with the environmental change in the operation process; when the condition inside the drainage box culvert is observed through the camera system and no foreign matters affect the operation of the SLAM three-dimensional laser scanning equipment, the first rotating shaft 94 in the four-shaft cradle head 9 at the bottom of the nacelle 8 is remotely controlled to be inclined forwards by a certain angle in the forward direction, the carried SLAM three-dimensional laser scanning equipment is always automatically kept horizontal under the self-balancing action of the fourth motor 97, and the first arc rotating plate 92 is initially kept in the current state; starting the nacelle 8 to automatically travel along the guide rail of the rope 101 at a constant speed, synchronously starting the SLAM three-dimensional laser scanning and shooting system, and starting to collect point cloud and image data and storing the point cloud and the image data; during the advancing process, the situation of incomplete data acquisition visual angle or other abnormal conditions is observed through the ground control station, and the visual field angle adjustment of the first rotating shaft 94 and the first arc rotating plate 92 can be carried out at any time through the angle adjustment mechanism at the bottom of the nacelle 8; acquisition of data in progress is recorded as a measuring section from the beginning to the end, and the nacelle 8 can only go forward and cannot go backward; if data are required to be collected during the backward movement of the nacelle 8, the direction of the three-dimensional laser scanning device is required to be adjusted to be the backward movement direction through a four-axis cradle head 9 at the bottom of the nacelle 8; in the data acquisition process, if the data on the route after traveling is found to be missing, the angle of the scanning view field can be readjusted to fill in the missing area for scanning and filling in the missing; after the inspection data are not missed, the box culvert scanning of the section to be detected is finished, the power supply of the SLAM three-dimensional laser scanning equipment is firstly turned off, if the nacelle 8 is not at the planned manhole outlet, then the nacelle 8 is remotely controlled to the planned manhole outlet, then all mechanisms in the nacelle 8 are regulated to be in a storage state, finally all other power supplies are turned off, all systems are sequentially disassembled, and the site is cleaned, so that the inspection is finished.

The foregoing disclosure is only illustrative of the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations within the scope of the present invention will be apparent to those skilled in the art.

Claims (10)

1. Drainage box culvert detecting system, its characterized in that includes:

the two hanging devices are respectively and correspondingly arranged at two inspection wellheads of the section to be detected of the drainage box culvert, and each hanging device is provided with an extension part which extends downwards into the drainage box culvert;

the guide structure is positioned in the drainage box culvert and is connected between the extending parts of the two suspension devices;

the walking device is arranged on the guide structure and used for walking along the guide structure;

the SLAM three-dimensional laser scanning device is arranged on the travelling device and used for collecting three-dimensional data in the drainage box culvert;

two positioning targets (73) are arranged in the drainage box culvert and are respectively connected with the extending parts of the two hanging devices, and the target surfaces of the two positioning targets (73) are parallel and are used for realizing absolute positioning coordinate conversion on the collected three-dimensional data of the three-dimensional laser scanning equipment.

2. The drainage box culvert detection system according to claim 1, wherein the suspension device comprises two sleeves (51) which are concentrically arranged up and down, a connecting lug plate is fixed on the outer side wall of the same side of each sleeve (51), an adjusting bolt (52) is connected between the two connecting lug plates, clamping plates (53) are respectively fixed on the outer wall of the same side of each sleeve (51), two vertically arranged mounting rods (54) are arranged in each sleeve (51) in a penetrating manner, each sleeve (51) is connected with each mounting rod (54) through a locking structure, the lower ends of the mounting rods (54) extend into the drainage box culvert, the guide structure is connected between the two mounting rods (54), and two positioning targets (73) are respectively correspondingly connected to the lower ends of the two mounting rods (54).

3. The drainage box culvert detection system of claim 2 wherein the guide structure includes:

the wire tightener (55) is arranged on the side wall of the sleeve (51) in one suspension device, the rope (101) is wound on the wire tightener, one end, far away from the wire tightener, of the rope (101) is connected with the hook claw part (56), and a hanging ring (57) used for being hung with the hook claw part (56) is fixed on the side wall of the sleeve (51) in the other suspension device;

the two rope guides are respectively and correspondingly arranged at the lower ends of the two mounting rods (54) and are used for guiding the ropes (101) in a penetrating mode and enabling the ropes (101) to be in a horizontal state, and the two positioning targets (73) are respectively and correspondingly connected to the two rope guides and are perpendicular to the ropes (101).

4. The drainage box culvert detection system according to claim 3, wherein the rope guide comprises a U-shaped shell (61), an opening of the shell (61) is downwards arranged, the top of the shell (61) is connected with the bottom of the installation rod (54), three pulleys (62) are connected in parallel in the opening of the shell (61), a bottom plate (63) is connected in an openable way at the opening of the shell (61), three arc grooves (64) are formed in the top of the bottom plate (63), the three arc grooves (64) are opposite to wheel grooves of the three pulleys (62), the rope (101) is a double-rail steel rope, two ends of the two first steel ropes (102) are fixedly connected through arc-shaped connecting pieces (103) respectively, a second steel rope (104) is arranged outside each arc-shaped connecting piece (103), one end of each second steel rope (104) opposite to the arc-shaped connecting piece (103) is connected with the middle part of the arc-shaped connecting piece (103), the first steel rope (104) is opposite to the other end of the arc-shaped connecting piece (103) opposite to the hook-shaped connecting piece (56), the double-rail steel rope is arranged in a limiting groove surrounded by three arc-shaped grooves (64) and wheel grooves of three pulleys (62) in a penetrating mode, and the positioning target (73) is connected to the bottom of the shell (61).

5. The drainage box culvert detection system according to claim 2, wherein triangular supports are arranged on the outer sides of the upper portions of each inspection wellhead, each triangular support comprises a top cover (74), each top cover (74) is in an equilateral triangular shape, a round pipe is vertically arranged in the center of each top cover (74) and used for penetrating the corresponding installation rod (4), a fastening bolt is arranged at one corner of each top cover (74) and used for fixing the corresponding installation rod (4), a round level (75) is arranged on the upper portion of each top cover (74), three support legs (76) are hinged to three sides of each top cover (74), leg pipes are arranged on the upper portions of the support legs (76), locking spirals are arranged at the connection positions of the tail ends of the leg pipes and the telescopic legs, reinforcing rods (77) are arranged on the leg pipes of the support legs (76), the reinforcing rods (77) are connected with the leg pipes through three damping fixing rings (78) respectively, the other ends of the three reinforcing rods (77) are connected with the same fixing rings (79), scales (4) are arranged on the three leg pipes, and the top of the installation rod (4) is connected with a GNSS receiver (71) or a reflector (72).

6. The drainage box culvert detection system of claim 4 wherein the running gear comprises:

a nacelle (8) disposed on the double-rail steel rope, the SLAM three-dimensional laser scanning device being disposed at the bottom of the nacelle (8);

A motor (81) fixed inside the nacelle (8);

two transmission shafts (82) are horizontally erected in the nacelle (8), two ends of each transmission shaft (82) extend to the outside of the nacelle (8) and are fixedly provided with travelling wheels (83), each travelling wheel (83) is provided with a wheel groove, and four travelling wheels (83) are correspondingly and slidably clamped on two second steel ropes (104) in pairs through the wheel grooves;

and two groups of belt transmission assemblies (84), wherein one group of belt transmission assemblies (84) is respectively connected with the output shaft of the motor (81) and one transmission shaft (82), and the other group of belt transmission assemblies (84) is respectively connected with the two transmission shafts (82).

7. The drainage box culvert detection system of claim 6, wherein a four-axis cradle head (9) is arranged at the bottom of the nacelle (8), and the SLAM three-dimensional laser scanning device is fixed on the four-axis cradle head (9).

8. The method for installing a drainage box culvert detection system of any one of claims 3-7, comprising the steps of:

s1, selecting two adjacent inspection wellheads at a section to be detected of a drainage box culvert;

s2, penetrating the rope (101) into a drainage box culvert from one inspection wellhead, and penetrating the rope (101) out of the other inspection wellhead through a guide device, so that two ends of the rope (101) penetrate through the drainage box culvert to be exposed on the ground of the two inspection shafts respectively;

S3, horizontally hanging the rope (101) at a section to be detected in the drainage box culvert through a hanging device to form a guide structure, and installing two positioning targets (73) with parallel target surfaces on the two hanging devices;

s4, mounting the SLAM three-dimensional laser scanning equipment on a traveling device, and placing the traveling device on the guide structure.

9. The method for installing a culvert inspection system in accordance with claim 8, wherein the guiding means in step S2 includes:

the target disc (2) is arranged in a drainage box culvert at one of the inspection well heads;

the launching mechanism sets up in the drain box culvert of another one inspection well head department, and launching mechanism's output is connected with and pulls needle (1), the afterbody of pulling needle (1) through the diameter increase in proper order the lead wire with one end of rope (101) is connected, and launching mechanism is used for launching pulling needle (1) to target disk (2), launching mechanism includes:

the launching pad (3) is arranged in the drainage box culvert, the launching pad (3) and the wellhead of the drainage box culvert are fixed through a fixing assembly, a sliding rail (31) is fixed at the top of the launching pad (3), and a sliding block (32) is connected to the sliding rail (31) in a sliding manner;

the output end of the winder (33) is connected with a first rope body (34) for winding and releasing the first rope body (34), and one end of the first rope body (34) far away from the winder is connected with the rear side wall of the sliding block (32);

The first springs (35) are horizontally arranged below the launching platform (3), one ends of the first springs (35) are fixed with the rear side of the bottom of the launching platform (3), the other ends of the first springs (35) are fixed with connecting plates (36), the side walls of the connecting plates (36) opposite to the first springs (35) are connected with second rope bodies (37), and one ends of the second rope bodies (37) away from the connecting plates (36) extend to the upper side of the launching platform (3) and are connected with the front side walls of the sliding blocks (32);

the clamping assembly is arranged on the sliding block (32) and used for clamping the traction needle (1), the clamping assembly clamps the traction needle (1) when the sliding block (32) is pulled by the first rope body (34), and the clamping assembly releases the traction needle (1) when the sliding block (32) is pulled by the second rope body (37).

10. The method of installing a drainage box culvert detection system of claim 9 wherein the clamp assembly includes:

the two first connecting rods (41) are L-shaped and are horizontally and symmetrically arranged on the two sides in front of the sliding block (22), arc-shaped clamping plates (42) for clamping the traction needle (1) are fixed at the vertical end of each first connecting rod (41), two second rope bodies (37) are arranged, and one end, far away from the connecting plate (36), of each second rope body (37) is fixed with the front side wall of each first connecting rod (41) correspondingly;

The two second connecting rods (43) are symmetrically arranged on two sides of the sliding block (32), one end of each second connecting rod (43) is hinged to the top of the included angle of each first connecting rod (41), and the other end of each second connecting rod (43) is hinged to the top of the sliding block (32);

the two third connecting rods (44) are symmetrically arranged on two sides of the sliding block (32) and are positioned on the rear sides of the two second connecting rods (43), one ends of the two third connecting rods (44) are hinged with the horizontal ends of the two first connecting rods (41) respectively correspondingly, the middle parts of the two third connecting rods (44) are hinged with the top of the sliding block (32), and a second spring (45) is connected between the other ends of the two third connecting rods (44).