Self-adaptive ultrasonic wave and image information fused nondestructive pipeline detection system and self-adaptive ultrasonic wave and image information fused nondestructive pipeline detection method

The invention provides a nondestructive pipeline detection system and method based on self-adaptive ultrasonic wave and image information fusion, a self-adaptive advancing device comprises an annular frame and self-adaptive advancing wheel sets, the annular frame is provided with a through space for accommodating a pipeline, and the self-adaptive advancing wheel sets are uniformly distributed in the annular frame in the circumferential direction; the ultrasonic flaw detection assembly is arranged in the annular frame in a circumferential adjustment manner and comprises an ultrasonic transmitter and a receiver; the camera assembly can be arranged in the annular frame in a circumferential adjustment mode. The control device is connected with the self-adaptive advancing device, the ultrasonic flaw detection assembly and the camera assembly, and is configured to control the self-adaptive advancing device to advance in the length direction of the pipeline and control the ultrasonic flaw detection assembly and the