Six-rotor flying robot used for detecting underground utility tunnel

Abstract

The invention discloses a six-rotor flying robot used for detecting an underground utility tunnel comprising a machine frame, a power driving unit, a sensor unit, an autonomous navigation unit, a camera shooting and illuminating unit, a control unit and a storage unit. The invention uses the six-rotor flying robot as a skeleton, and carries different types of sensors for detecting the interior environment, fuel gas, fuel oil, water pipes and heat networks in the underground utility tunnel. Videos of inner walls, floors, various pipelines and attachments in the underground utility tunnel are shot by the camera shooting and illuminating unit, and stored in the storage unit for later comprehensive analysis and processing by means of computers after being pre-processed by the control unit. On the one hand, the six-rotor flying robot used for the detecting the underground utility tunnel is labor-saving and can be used for routine detection of the underground utility tunnel; on the other hand, the same can be used for detecting and sending back the information inside the underground utility tunnel in the case of disasters, so that following personnel can enter the underground utility tunnel to handle the disasters and to make decisions for rescue. The six-rotor flying robot uses an autonomous navigation method by a combination of laser radar and IMU, so as to overcome the limitation of no GPS signals in underground space.

Description

technical field [0001] The invention relates to the application field of flying robots, in particular to a six-rotor flying robot used for detection of underground comprehensive utility corridors. Background technique [0002] Due to the tension of urban land use and the contradiction of urbanization development, human beings have an increasing demand for the development of underground space, and the scale of development and utilization of underground space is increasing year by year. With the improvement of the degree of urbanization, the scale of urban underground engineering construction continues to expand. In order to centralize the management of various complex underground pipelines in the city, underground comprehensive pipeline corridors, also called common trenches, are built. The comprehensive pipe gallery integrates various engineering pipelines such as power, communication, gas, heating, water supply and drainage, etc., and one construction can realize multiple t...

AI Technical Summary

Problems solved by technology

Among them, because the working mode of the land inspection robot is ground walking inspection, the effective detection range is limited to a small area near the ground of the comprehensive pipe gallery, and cannot detect the condition of the inner wall of the pipe gallery and other ancillary facilities, and cannot obtain comprehensive pipe gallery information. Comprehensive status information within

Flying robots have been applied to underground spaces such as coal mines and tunnels, but because the underground space cannot receive GPS signals, the obstacle avoidance navigation effect of the aircraft is very poor. Due to its characteristics such as flexibility and variability, it is extremely difficult to establish a map library and cannot be well applied; the attempted autonomous flight control method based on visual SLAM has been maturely applied in the space above the ground, but due to the dark environment of the underground pipe gallery, This method cannot be used due to the characteristics of low light and fire and other disasters such as smoke and other characteristics.

To sum up, existing technologies such as networked monitoring, manual inspection, and robot inspection of underground utility tunnels have problems such as heavy design and installation workload, high construction costs, heavy operation and maintenance tasks, time-consuming and laborious, poor safety performance, and few detection parameters, etc. Problems, unable to meet the integrated rapid detection of multiple parameters of the environment and working status of the underground utility tunnel

Images