Pipe network inspection method, device and system

The embodiment of the invention discloses a pipe network inspection method, device and system, the method is applied to inspection equipment, and the method comprises the steps that an inspection instruction is received, and the inspection instruction at least comprises a target detection point and a target position of the target detection point; according to the current pose of the inspection equipment and the target position, determining an inspection path of the inspection equipment in an inspection map; controlling the inspection equipment to reach the target detection point according to the inspection path; and performing pipeline fault detection on a pipeline corresponding to the target detection point in the pipe network so as to realize pipeline inspection. 本申请实施例公开了一种管网巡检方法、装置及系统，所述方法应用于巡检设备，方法包括：接收巡检指令，所述巡检指令至少包括目标检测点和所述目标检测点的目标位置；根据所述巡检设备的当前位姿和所述目标位置，在巡检地图中确定所述巡检设备的巡检路径；根据所述巡检路径，控制所述巡检设备到达所述目标检测点；对所述目标检测点在所述管网中对应的管道进行管道故障检测，以实现管道巡检。