CN221007275U - Scanning nacelle for detecting drainage box culvert - Google Patents

Abstract

The utility model discloses a scanning nacelle for detecting a drainage box culvert, which comprises a nacelle body, a first motor, a first arc-shaped plate, a second motor, a third motor, a second arc-shaped plate, a fourth motor and a mounting platform, wherein the nacelle body is provided with a first motor and a second motor; the first motor is fixed at the bottom of the nacelle body; the back of the opening of the first arc-shaped plate is fixed with the output shaft of the first motor; the second motor is fixed on the side wall of one side of the opening of the first arc-shaped plate, and the output shaft of the second motor is fixed with a first rotating shaft; the third motor is fixed on the side wall of the first rotating shaft; the back of the opening of the second arc-shaped plate is fixed with the output shaft of the third motor; the fourth motor is fixed on the side wall of one side of the opening of the second arc-shaped plate; the mounting platform is arranged at the opening of the second arc-shaped plate and fixedly connected with the output shaft of the fourth motor, and a fixing mechanism for fixing the scanning detection equipment is arranged on the mounting platform. The utility model can adjust the position and the angle of the scanning detection equipment so as to solve the problem of dead angle in the scanning process.

Description

Scanning nacelle for detecting drainage box culvert

Technical Field

The utility model relates to the technical field of municipal engineering, in particular to a scanning nacelle for detecting a drainage box culvert.

Background

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 condition of the urban river needs to be detected by adopting technical means regularly.

Because the drainage box culvert belongs to a closed limited space, the problems of sludge accumulation, poor natural ventilation, bad odor fumigation, accumulation of a large amount of harmful gas, insufficient oxygen content and the like exist in complex internal environment, the risk of manual culvert entering detection mode operation is extremely high, and then the mobile travelling device is adopted to carry scanning detection equipment to move in the drainage box culvert for detection, so that the manual culvert entering detection is replaced.

Meanwhile, in order to avoid the problem that the travelling device is blocked by sludge accumulation to walk, a suspended track is erected in the drainage box culvert, scanning equipment is installed on a nacelle along the suspended track to detect, but the scanning detection equipment installed on the nacelle at present has detection dead angles, so that the detection precision is not high.

Disclosure of utility model

The utility model aims to provide a scanning nacelle for detecting a drainage box culvert, which can adjust the position and the angle of scanning detection equipment to scan a drainage box culvert area shielded by a nacelle body so as to solve the problem of dead scanning angles in the scanning process.

The technical scheme of the utility model is as follows: a scanning nacelle for detecting a drainage box culvert comprises a nacelle body, a first motor, a first arc-shaped plate, a second motor, a third motor, a second arc-shaped plate, a fourth motor and a mounting platform; the first motor is fixed at the bottom of the nacelle body, and the output shaft is vertically arranged; the opening of the first arc-shaped plate is arranged opposite to the first motor, and the back of the opening of the first arc-shaped plate is fixedly connected with the output shaft of the first motor; the second motor is fixed on the side wall of one side of the opening of the first arc-shaped plate, the output shaft of the second motor is connected with a first rotating shaft, and the other end of the first rotating shaft is rotationally connected with the side wall of the other side of the opening of the first arc-shaped plate; the third motor is fixed on the side wall of the first rotating shaft, and an output shaft of the third motor is perpendicular to the first rotating shaft; the opening of the second arc-shaped plate is arranged back to the third motor, and the back of the opening of the second arc-shaped plate is fixedly connected with the output shaft of the third motor; the fourth motor is fixed on the side wall of one side of the opening of the second arc-shaped plate, and the output shaft of the fourth motor is horizontally arranged; the mounting platform sets up the opening part of second arc, one side lateral wall of mounting platform with the output shaft fixed connection of fourth motor, mounting platform dorsad fourth motor's lateral wall through the third pivot with the second arc rotates to be connected, is equipped with the fixed establishment who is used for fixed scanning check out test set on the mounting platform.

Preferably, as a further improvement of the utility model, a first bearing seat is fixed on the side wall of the first arc-shaped plate, which is opposite to the second motor, one end of the first rotating shaft, which is far away from the second motor, is rotationally connected with the first bearing seat, a second bearing seat is fixed on the side wall of the second arc-shaped plate, which is opposite to the fourth motor, and one end of the third rotating shaft, which is far away from the mounting platform, is rotationally connected with the second bearing seat.

Preferably, as a further improvement of the utility model, the fixing mechanism comprises a U-shaped bolt, an opening of the U-shaped bolt is opposite to the mounting platform, a through hole for allowing a threaded section of the U-shaped bolt to pass through is formed in the mounting platform, and a nut is connected to the threaded section of the U-shaped bolt in a threaded manner.

Preferably, as a further improvement of the present utility model, the nacelle body is of a box structure, a power module and a controller are arranged in the nacelle body, the controller is electrically connected with the power module, the first motor, the second motor, the third motor and the fourth motor are respectively electrically connected with the controller, a wireless communication module is arranged on the controller, and the wireless communication module is in signal connection with an external remote controller.

Preferably, as a further improvement of the utility model, the nacelle body is provided with a travelling mechanism, the travelling mechanism is used for driving the nacelle body to travel along a steel rope track erected in the drainage box culvert, and the travelling mechanism comprises a fifth motor, two transmission shafts and two groups of belt transmission assemblies; the fifth motor is fixed on the inner wall of the nacelle body and is electrically connected with the controller; two transmission shafts are horizontally erected in the nacelle body, two ends of each transmission shaft extend out of the nacelle body and are fixedly provided with travelling wheels, a first annular groove is formed in the circumference of each travelling wheel, the steel rope track is clamped in the first annular groove, and the steel rope track is in contact with the bottoms of the travelling wheels; one group of belt transmission components are respectively connected with the output shaft of the fifth 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 utility model, the anti-derailment device further comprises an anti-derailment device, the anti-derailment device comprises two connecting shafts arranged in the nacelle body, the two connecting shafts are located under the two transmission shafts in a one-to-one correspondence manner, guide notches arranged along the vertical direction are arranged on the side walls of the nacelle body opposite to the two connecting shafts, the two connecting shafts are respectively clamped in the guide notches, two ends of the two connecting shafts extend to the nacelle body and are fixedly provided with limiting wheels, four limiting wheels are respectively located under the four travelling wheels in a corresponding manner, a second annular groove is arranged in the circumferential direction of each limiting wheel, a steel rope track is clamped between the first annular groove and the second annular groove, and a space adjusting assembly is arranged between the two connecting shafts and the two transmission shafts and is used for adjusting the vertical space between the connecting shafts and the transmission shafts.

Preferably, as a further improvement of the present utility model, the spacing adjustment assembly includes a link and at least one screw; the connecting rod is arranged between the two connecting shafts, and two ends of the connecting rod are fixed with the side walls of the two connecting shafts; at least one screw rod is vertically fixed at the top of connecting rod, and the upper end of screw rod extends to the top outside threaded connection of nacelle body has the spiral stem, and the cover is fixed with the collar on the screw rod, and the outside cover of screw rod is equipped with the spring, and the one end and the collar of spring are connected, the other end of spring with the interior top surface of nacelle body are connected.

Preferably, as a further improvement of the present utility model, an illumination system and an image pickup system are mounted on the front side wall of the nacelle body, and the illumination system and the image pickup system are respectively electrically connected with the controller.

Compared with the prior art, the utility model has the beneficial effects that:

1. The first motor, the second motor, the third motor and the fourth motor can drive the mounting platform to rotate at four angles, which is equivalent to a four-axis scanning cradle head, so that the position and angle of the three-dimensional scanning equipment can be adjusted, the three-dimensional scanning equipment can extend out to the side face of the nacelle body, the area where the box culvert at the top of the nacelle body is shielded can be scanned, the problem that scanning dead angles exist in the scanning process is solved, and the detection precision is improved.

2. According to the utility model, the remote control travelling mechanism can be realized to drive the nacelle body to automatically travel on the track in the drainage box culvert, the scanning detection equipment arranged on the mounting platform is utilized to scan and detect the interior of the drainage box culvert, and the whole process does not need manual assistance in the interior, so that the problem that the life safety of the nacelle body is endangered through manual detection under the complex condition is avoided.

Drawings

FIG. 1 is a schematic perspective view of the present utility model at a first viewing angle;

FIG. 2 is a schematic diagram of a front view of the present utility model;

FIG. 3 is a schematic perspective view of the second view of the present utility model;

FIG. 4 is a schematic view of the internal structure of the nacelle body of the present utility model;

FIG. 5 is a schematic view of a spacing adjustment assembly according to the present utility model;

FIG. 6 is a schematic view of the structure of the mounting platform of the present utility model at a first scan angle;

FIG. 7 is a schematic view of the structure of the mounting platform at a second scan angle according to the present utility model;

Fig. 8 is a schematic structural view of the present utility model when the scanning detection apparatus is fixed by the fixing mechanism.

Detailed Description

Specific embodiments of the present utility model will now be described in detail with reference to FIGS. 1-8. In the description of the utility model, 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 utility model 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 utility model.

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 utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

Example 1

As shown in fig. 1, 2, 3, 6, 7 and 8, an embodiment of the present utility model provides a scanning nacelle for detecting a drainage box culvert, which includes a nacelle body 1, a first motor 21, a first arc 22, a second motor 23, a third motor 25, a second arc 26, a fourth motor 27 and a mounting platform 3; the first motor 21 is fixed at the bottom of the nacelle body 2, and the output shaft is vertically arranged; the opening of the first arc-shaped plate 22 is arranged opposite to the first motor 21, and the back of the opening of the first arc-shaped plate 22 is fixedly connected with the output shaft of the first motor 21; the second motor 23 is fixed on one side wall of the opening of the first arc-shaped plate 22, a first rotating shaft 24 which is horizontally arranged is fixed on the output shaft of the second motor 23, and the other end of the first rotating shaft 24 is rotationally connected with the other side wall of the opening of the first arc-shaped plate 22; the third motor 25 is fixed on the side wall of the first rotating shaft 24, and the output shaft of the third motor 25 is arranged perpendicular to the first rotating shaft 24; the opening of the second arc-shaped plate 26 is arranged opposite to the third motor 25, and the back of the opening of the second arc-shaped plate 26 is fixedly connected with the output shaft of the third motor 25; the fourth motor 27 is fixed on one side wall of the opening of the second arc-shaped plate 26, and the output shaft of the fourth motor 27 is horizontally arranged; the mounting platform 3 sets up the opening part at second arc 26, and the one side lateral wall of mounting platform 3 and the output shaft fixed connection of fourth motor 27, and the mounting platform 3 is opposite to the lateral wall of fourth motor 27 and is connected with second arc 26 rotation through the third pivot 28 that the level set up, is equipped with the fixed establishment who is used for fixed scanning check out test set on the mounting platform 3.

In this embodiment, the first motor 21, the second motor 23, the third motor 25 and the fourth motor 27 can drive the installation platform 3 to rotate at four angles, which is equivalent to a four-axis scanning cradle head, as shown in fig. 7, the first motor 21 is controlled to drive the first arc plate 22 to rotate 90 degrees, the second motor 23 is controlled to drive the first rotating shaft 24 to rotate 90 degrees, so that the scanning detection equipment can extend to the side surface of the nacelle body 1, and other shafts can control the cradle head to rotate, so that the shielded area of the box culvert at the top of the nacelle body 1 can be scanned.

Further, as shown in fig. 1 and fig. 2, in order to make the rotation of the first rotating shaft 24 smoother, a first bearing seat 221 is fixed on a side wall of the opening of the first arc plate 22, which is opposite to the second motor 23, one end of the first rotating shaft 24, which is far away from the second motor 23, is rotationally connected with the first bearing seat 221, in order to make the rotation of the third rotating shaft 28 smoother, a second bearing seat 261 is fixed on a side wall of the opening of the second arc plate 26, which is opposite to the fourth motor 27, and one end of the third rotating shaft 28, which is far away from the mounting platform 3, is rotationally connected with the second bearing seat 261.

Specifically, as shown in fig. 1, 3 and 8, as an alternative embodiment of the fixing mechanism, an opening of a U-bolt 4,U of the fixing mechanism in this embodiment is disposed opposite to the mounting platform 3, a through hole for passing a threaded section of the U-bolt 4 is disposed on the mounting platform 3, and a nut is screwed on the threaded section of the U-bolt 4.

When the scanning detection equipment is installed, the nut is unscrewed, then the scanning detection equipment is placed in an area formed between the opening of the U-shaped bolt 4 and the installation platform 3, then the nut is screwed, and the scanning detection equipment is clamped and fixed by utilizing the cooperation of the U-shaped bolt 4 and the installation platform 3.

Example 2

In this embodiment, based on embodiment 1, as shown in fig. 3 and fig. 4, the nacelle body 1 is a box structure, a power module and a controller are disposed in the nacelle body 1, the controller is electrically connected with the power module, the first motor 21, the second motor 23, the third motor 25 and the fourth motor 27 are respectively electrically connected with the controller, a wireless communication module is disposed on the controller, the wireless communication module is in signal connection with an external remote controller, wherein the power module is a storage battery, a switch lock is disposed on a rear cover of the nacelle body 1, the rear cover of the nacelle body 1 can be opened, the storage battery is conveniently placed in, the wireless communication module is bluetooth or wifi, and the scanning detection device is a SLAM three-dimensional scanning detection device, in this embodiment, an operator can remotely control the operation of each electrical element disposed on the nacelle body 1 by using wireless remote control, thereby facilitating the realization of the adjustment of the scanning angle of the scanning detection device.

Example 3

In this embodiment, as shown in fig. 4 to 6, in order to enable the nacelle body 1 to move inside the drainage box culvert to perform scanning acquisition on the drainage box culvert, a travelling mechanism is provided on the nacelle body 1, and the travelling mechanism is used for driving the nacelle body 1 to travel along the steel rope track 5 erected inside the drainage box culvert, and comprises a fifth motor 61, two transmission shafts 62 and two groups of belt transmission assemblies 65; the fifth motor 61 is fixed on the inner wall of the nacelle body 1, and the fifth motor 61 is electrically connected with the controller; two transmission shafts 62 are horizontally erected in the nacelle body 1, two ends of each transmission shaft 62 extend to the outside of the nacelle body 1 and are fixedly provided with travelling wheels 63, a first annular groove 64 is formed in the circumference of each travelling wheel 63, a steel rope track 5 is clamped in the first annular groove 64, and the steel rope track 5 is in contact with the bottoms of the travelling wheels 63; one set of belt drive assemblies 65 is connected to the output shaft of the fifth motor 61 and one of the drive shafts 62, respectively, and the other set of belt drive assemblies 65 is connected to both drive shafts 62, respectively.

In this embodiment, when the interior of the drainage box culvert is scanned and detected, the travelling wheel 63 arranged on the nacelle body 1 is suspended on the steel rope track 5, a signal is sent through an external remote controller, the wireless communication module is arranged on the controller to travel and receive and control the rotation of the fifth motor 61 through the controller, the two transmission shafts 62 are driven to rotate through the two groups of belt transmission assemblies 65 in the process of rotating the fifth motor 61, and the travelling wheel 63 can be driven to rotate while the transmission shafts 62 rotate, so that the travelling wheel 63 is utilized to drive the nacelle body 2 to travel along the steel rope track 5, the interior three-dimensional data of the drainage box culvert is scanned and detected through the scanning detection equipment fixed on the mounting platform 3 in the process of traveling the nacelle body 1, and the whole scanning detection process does not need manual travel, so that the method is very convenient.

Further, as shown in fig. 2, fig. 4 and fig. 5, considering that derailment problem easily occurs in the process that the nacelle body 1 advances on the steel rope track 5 through the travelling wheels 63, the nacelle body 1 falls, and therefore, the anti-derailment device further comprises an anti-derailment component, the anti-derailment component comprises two connecting shafts 71 arranged in the nacelle body 1, the two connecting shafts 71 are located under the two transmission shafts 62 in a one-to-one correspondence manner, guide notches 72 arranged in the vertical direction are formed in the side walls of the nacelle body 1, the two connecting shafts 71 are respectively clamped in the guide notches 72, two ends of the two connecting shafts 71 extend to the nacelle body 1 and are externally fixed with limit wheels 73, the four limit wheels 73 are respectively located under the four travelling wheels 63, the circumference of each limit wheel 73 is provided with a second annular groove 74, the steel rope track 5 is clamped between the first annular groove 64 and the second annular groove 74, a spacing adjusting component is arranged between the two connecting shafts 71 and the two transmission shafts 62, and the spacing adjusting component is used for adjusting the vertical spacing between the connecting shafts 71 and the transmission shafts 62.

In this embodiment, when the nacelle body 1 is suspended, the vertical distance between the connecting shaft 71 and the transmission shaft 62 is adjusted by the distance adjusting mechanism, so that the travelling wheel 63 is separated from the limiting wheel 73, then the travelling wheel 63 is suspended on the steel rope rail 5, the vertical distance between the connecting shaft 71 and the transmission shaft 62 is adjusted by the distance adjusting mechanism, so that the travelling wheel 63 is close to the limiting wheel 73, and the steel rope rail 5 is clamped between the first annular groove 64 and the second annular groove 74, so that the nacelle body 1 can be prevented from falling sideways.

In particular, as shown in fig. 4 and 5, as an alternative embodiment of the pitch adjustment assembly, the pitch adjustment assembly includes a link 81 and at least one screw 82; the connecting rod 81 is arranged between the two connecting shafts 71, and two ends of the connecting rod 81 are fixed with the side walls of the two connecting shafts 71; at least one screw 82 is vertically fixed at the top of the connecting rod 81, a spiral rotating handle 83 is connected to the upper end of the screw 82 extending to the outer side of the top of the nacelle body 1 in a threaded mode, a mounting ring 84 is fixedly sleeved on the screw 82, a spring 85 is sleeved on the outer side of the screw 82, one end of the spring 85 is connected with the mounting ring 84, and the other end of the spring 85 is connected with the inner top surface of the nacelle body 1.

In this embodiment, it should be noted that, in the naturally opened state, the travelling wheel 63 and the limiting wheel 73 are in a separated state, the spring 85 is in a compressed state, the travelling wheel 63 and the limiting wheel 73 are in a close state, therefore, when the vertical distance between the connecting shaft 71 and the transmission shaft 62 is adjusted by the distance adjusting mechanism, so that the travelling wheel 63 and the limiting wheel 73 are separated, the spiral rotating handle 83 is screwed, the screw 82 is moved downwards, at this time, the spring 85 is not compressed any more, so that the connecting rod 81 drives the two connecting shafts 71 to move downwards rapidly along the guide notch 72, so that the limiting wheel 73 moves downwards and separates from the travelling wheel 63, then the nacelle body 1 is placed on the steel rope rail 5, and the steel rope rail 5 is located between the first annular groove 64 and the second annular groove 74, and then the spiral rotating handle 83 is screwed, so that the screw 82 moves upwards, the connecting shafts 71 are driven by the connecting rod 81 to move upwards along the guide notch 72, and the spring 85 is compressed by the mounting ring 84, so that the travelling wheel 73 moves upwards and is close to the travelling wheel 63 and is clamped between the first annular groove 64 and the second annular groove 74.

In summary, the steps of the utility model are as follows:

The nacelle body 1 is taken out from the equipment box, the switch lock is opened, and the storage battery is installed in the nacelle body 1.

The spiral rotating handle 83 at the top of the derailing prevention device is loosened, at the moment, the limiting wheel 73 moves downwards under the action of the spring 85, the device is mounted on the mounted steel rope rail 5 at the current inlet, the two rails are positioned in the travelling wheel grooves, the spiral rotating handle 83 is screwed to drive the limiting wheel 73 to ascend, and the steel rope rail 5 is clamped between the travelling wheel 63 and the limiting wheel 73 to prevent derailing.

And loosening the nuts on the U-shaped bolts 4, installing the SLAM three-dimensional scanning detection equipment on the installation platform 3, and screwing the nuts through the U-shaped bolts 4 to fix the three-dimensional scanning equipment.

And starting a power switch of the equipment, and adopting a remote control end program to wirelessly connect the equipment, wherein the equipment is subjected to running self-checking and parameter setting, including whether the operation of each integrated system is normal or not and whether the operation of each rotating shaft is normal or not.

And starting the lighting system and the camera system to work, and checking the internal environment and the obstacles of the drainage box culvert in real time.

The remote controller program is used for remotely controlling the travelling mechanism to drive the nacelle body 1 to advance and retreat along the steel rope track 5, the operation equipment is operated to a position needing to be scanned, the SLAM three-dimensional scanning detection equipment is remotely started to start scanning work and store point cloud data, synchronous photographing and shooting are performed, when scanning detection is performed, the four-axis scanning cradle head is remotely controlled to realize the requirement on adjustment of the scanning angle, and after the current detection section is scanned, the whole equipment is remotely controlled to a drainage box culvert outlet.

And recovering the four-axis scanning cradle head to an initial position, disconnecting the remote control equipment, powering off the equipment, and checking the data storage condition.

After confirming the data, the spiral rotating handle 83 is loosened, the equipment is detached from the steel rope track 5, and the equipment is encased after decontamination.

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

Claims (8)

1. A scanning nacelle for drainage box culvert detection, comprising a nacelle body (1), characterized in that it further comprises:

The first motor (21) is fixed at the bottom of the nacelle body (2), and the output shaft is vertically arranged;

The opening of the first arc-shaped plate (22) is opposite to the first motor (21), and the back of the opening of the first arc-shaped plate (22) is fixedly connected with the output shaft of the first motor (21);

The second motor (23) is fixed on the side wall of one side of the opening of the first arc-shaped plate (22), the output shaft of the second motor (23) is connected with a first rotating shaft (24), and the other end of the first rotating shaft (24) is rotationally connected with the side wall of the other side of the opening of the first arc-shaped plate (22);

The third motor (25) is fixed on the side wall of the first rotating shaft (24), and an output shaft of the third motor (25) is perpendicular to the first rotating shaft (24);

the opening of the second arc-shaped plate (26) is opposite to the third motor (25), and the back of the opening of the second arc-shaped plate (26) is fixedly connected with the output shaft of the third motor (25);

The fourth motor (27) is fixed on the side wall of one side of the opening of the second arc-shaped plate (26), and the output shaft of the fourth motor (27) is horizontally arranged;

the mounting platform (3) is arranged at the opening of the second arc-shaped plate (26), one side wall of the mounting platform (3) is fixedly connected with the output shaft of the fourth motor (27), the side wall of the mounting platform (3) opposite to the fourth motor (27) is rotationally connected with the second arc-shaped plate (26) through a third rotating shaft (28), and a fixing mechanism for fixing the scanning detection equipment is arranged on the mounting platform (3).

2. The scanning nacelle for detecting a drainage box culvert according to claim 1, wherein a first bearing seat (221) is fixed on the side wall of the opening of the first arc-shaped plate (22) opposite to the second motor (23), one end of the first rotating shaft (24) far away from the second motor (23) is rotationally connected with the first bearing seat (221), a second bearing seat (261) is fixed on the side wall of the opening of the second arc-shaped plate (26) opposite to the fourth motor (27), and one end of the third rotating shaft (28) far away from the mounting platform (3) is rotationally connected with the second bearing seat (261).

3. The scanning pod for detecting the culvert of the drainage tank according to claim 1, wherein the fixing mechanism comprises a U-shaped bolt (4), an opening of the U-shaped bolt (4) is opposite to the mounting platform (3), a through hole for enabling a threaded section of the U-shaped bolt (4) to pass through is formed in the mounting platform (3), and a nut is connected to the threaded section of the U-shaped bolt (4) in a threaded mode.

4. The scanning pod for detecting the culvert of the drainage tank according to claim 1, wherein the pod body (1) is of a box structure, a power module and a controller are arranged in the pod body (1), the controller is electrically connected with the power module, the first motor (21), the second motor (23), the third motor (25) and the fourth motor (27) are respectively electrically connected with the controller, a wireless communication module is arranged on the controller, and the wireless communication module is in signal connection with an external remote controller.

5. The scanning pod for detection of a drainage box culvert according to claim 4, characterized in that the pod body (1) is provided with a running mechanism for driving the pod body (1) to run along a steel rope track (5) erected inside the drainage box culvert, the running mechanism comprising:

a fifth motor (61) fixed on the inner wall of the nacelle body (1), the fifth motor (61) being electrically connected with the controller;

the two transmission shafts (62) are horizontally erected in the nacelle body (1), two ends of each transmission shaft (62) extend to the outside of the nacelle body (1) and are fixedly provided with travelling wheels (63), first annular grooves (64) are formed in the circumference of each travelling wheel (63), the steel rope track (5) is clamped in each first annular groove (64), and the steel rope track (5) is in contact with the bottoms of the travelling wheels (63);

And two groups of belt transmission assemblies (65), wherein one group of belt transmission assemblies (65) is respectively connected with the output shaft of the fifth motor (61) and one transmission shaft (62), and the other group of belt transmission assemblies (65) is respectively connected with the two transmission shafts (62).

6. The scanning nacelle for detecting the box culvert of the drainage box according to claim 5, further comprising an anti-derailment assembly, wherein the anti-derailment assembly comprises two connecting shafts (71) arranged in the nacelle body (1), the two connecting shafts (71) are located under the two transmission shafts (62) in a one-to-one correspondence mode, guide notches (72) arranged along the vertical direction are formed in the side walls of the nacelle body (1) opposite to the two connecting shafts (71), the two connecting shafts (71) are respectively clamped in the guide notches (72), two ends of the two connecting shafts (71) extend to the nacelle body (1) and are externally fixed with limiting wheels (73), four limiting wheels (73) are respectively located under the four travelling wheels (63), second annular grooves (74) are formed in the circumference of each limiting wheel (73), the steel rope track (5) is clamped between the first annular grooves (64) and the second annular grooves (74), and the two connecting shafts (71) and the two transmission shafts (62) are provided with spacing adjusting assemblies for adjusting the spacing between the two transmission shafts (62) and the vertical spacing assemblies.

7. The scan pod for drainage box culvert detection of claim 6 wherein the spacing adjustment assembly comprises:

The connecting rod (81) is arranged between the two connecting shafts (71), and two ends of the connecting rod (81) are fixed with the side walls of the two connecting shafts (71);

At least one screw rod (82), vertical fixing is in the top of connecting rod (81), and the upper end of screw rod (82) extends to the top outside threaded connection of nacelle body (1) has spiral rotating handle (83), and the cover is fixed with collar (84) on screw rod (82), and the outside cover of screw rod (82) is equipped with spring (85), and one end and the collar (84) of spring (85) are connected, the other end of spring (85) with the interior top surface of nacelle body (1) is connected.

8. The scanning pod for detection of a drainage box culvert according to claim 4, characterized in that an illumination system and a camera system are mounted on the front side wall of the pod body (2), and are electrically connected with the controller respectively.