Inspection well pipeline burial depth measuring device and measuring method

The invention discloses an inspection well pipeline burial depth measuring device, and relates to the technical field of well measurement, the inspection well pipeline burial depth measuring device comprises a falling body, a slow descending assembly, a balance assembly, a measuring assembly and a receiving assembly, the slow descending assembly comprises a first support member, a second support member, a first rotating member rotatably arranged on the first support member, and a measuring rope; the balance assembly comprises a first horizontal piece and a first adjusting piece. The measuring assembly comprises a first laser distance measuring part, a first power supply module, a first horizontal laser generating part, a first sensing part and a first laser receiving part which are arranged in the falling body; the receiving assembly comprises a first camera and a wireless transmission module, and the burial depth of the drainage pipeline is obtained through measurement of the first laser distance measuring p