Underground comprehensive pipe gallery inspection system

Abstract

The invention discloses an underground comprehensive pipe gallery inspection system, which includes an unmanned aerial vehicle flight platform, a flight controller, an RGB-D camera and a lidar obstacle avoidance sensor. The RGB-D camera collects visual point cloud data of a comprehensive pipe gallery; the lidar obstacle avoidance sensor collects environmental obstacle data of the comprehensive pipe gallery; the obtained visual point cloud data and environment obstacle data are transmitted to the flight controller; the flight controller comprehensively analyzes the visual point cloud data and the environmental obstacle data and generates an inspection flight map according to analysis results; and according to guidance of the inspection flight map, the unmanned aerial vehicle flight platformrealizes the guidance of autonomous obstacle avoidance cruise and fixed point hover to automatically inspect the comprehensive pipe gallery. The unmanned aerial vehicle flight platform is provided with an information acquisition part to collect environmental index data in the underground comprehensive pipe gallery in real time, the manual work is replaced by the unmanned aerial vehicle flight platform to complete pipe gallery inspection and patrol at high efficiency and high quality, the reliability is high, the stability is good, and the defects that existing crawler type travelling inspection robots or track type travelling robots are high in cost and difficult to put into the market in bulk are overcome.

Description

technical field [0001] The invention relates to the technical field of intelligent pipe gallery equipment, in particular to an underground comprehensive pipe gallery inspection system. Background technique [0002] The comprehensive pipeline corridor (called "common ditch" in Japan) is the comprehensive corridor of underground urban pipelines. Build a tunnel space underground in the city, integrate various engineering pipelines such as power, communication, gas, heating, water supply and drainage, etc., and set up special inspection ports, hoisting ports and monitoring systems, and implement unified planning, design, construction and Management is an important infrastructure and "lifeline" to ensure the operation of a city. [0003] After a long period of exploration, a large number of underground pipe gallery projects have been built in my country. As of the end of 2015, the length of pipe corridors built and under construction in my country was 1600km; under the encourag...

AI Technical Summary

Problems solved by technology

Manual inspection of the pipe gallery, simple qualitative judgment of the sensory perception of the operating equipment, mainly through the senses of seeing, touching, hearing, and smelling, mainly including external damage, rust, smoke, fire, peculiar smell, and abnormality of the equipment Sound and other inspections are based on personal judgment standards, with large subjective differences and low efficiency. The demand for labor and operating funds is very large. The most important thing is that the life safety of maintenance personnel cannot be guaranteed.

[0005] In response to the above problems, some companies have proposed and developed some crawler-type walking inspection robots or track-type walking robots, but the cost of this method is high, and there are still certain problems in the mobility and obstacle avoidance capabilities of the robot. Robots can only simulate running in optimized scenarios, and it is difficult to put them into mass production and application in the market

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