Pipeline corridor inspection device

Abstract

The present invention discloses a pipeline corridor inspection device, including a track arranged in the pipeline corridor, a rail car installed on the track, and a charging device for charging the battery of an inspection drone, and the inspection drone can be connected and separated with the corresponding rail car through a docking device. In the pipeline corridor inspection device provided by the present application, by arranging a track in the pipeline corridor and arranging a rail car that can move along the track, when the inspection drone is connected to the rail car, the rail car drives the inspection drone to move, thereby avoiding the situation where the inspection drone consumes more energy during work. At the same time, by arranging a charging device for charging the inspection drone in the pipeline corridor inspection device, the battery of the inspection drone can be charged, so that the inspection drone can be used after charging in the pipeline corridor, thereby improving the working efficiency of the inspection drone.

Description

Technical Field

[0001] The present invention relates to the technical field of internal inspection of a pipe gallery, and in particular to a pipe gallery inspection device. Background Art

[0002] With the development of cities, underground pipe corridors have begun to spread across major cities, and daily inspection of pipe corridors is a task of pipe corridor management. At present, the inspection of underground urban pipe corridors is mainly completed manually. Due to the long pipe corridors, the inspection task requires a lot of time and manpower, and this work is relatively boring.

[0003] Inspection drones are usually used for pipeline corridor inspections. Specifically, inspection drones are flown in the pipeline corridor to detect the internal status of the pipeline corridor. Due to the complex internal environment of the pipeline corridor and various protrusions (metal frames, etc.), the drone needs to autonomously avoid obstacles in real time throughout the process; at the same time, there is no GPS positioning inside the pipeline corridor, and it can only rely on UWB and other visual means. However, the narrow and long terrain of the pipeline corridor makes it difficult to use UWB to achieve full-time automatic positioning, resulting in low safety of inspection drone inspections. At the same time, due to the long pipeline corridor, the inspection drone needs to return to the outside of the pipeline corridor for charging after a certain period of inspection, resulting in low working efficiency of the inspection drone. Summary of the invention

[0004] The purpose of the present invention is to provide a pipeline corridor inspection device, which improves the working efficiency of the inspection drone.

[0005] To achieve the above-mentioned purpose, the present invention provides a pipeline corridor inspection device, including an inspection drone, characterized in that it also includes a track arranged in the pipeline corridor, a rail car installed on the track, and a charging device for charging the battery of the inspection drone, and the inspection drone can be connected and separated from the corresponding rail car through a docking device.

[0006] Preferably, the charging device is arranged on the rail vehicle, and when the inspection drone is connected to the rail vehicle, the battery is connected to the charging device.

[0007] Preferably, the charging device is powered in the same manner as the rail vehicle, and the charging device can be plugged into the inspection drone.

[0008] Preferably, the charging device is a wireless charging device.

[0009] Preferably, the charging device is fixedly connected to the end of the pipe gallery.

[0010] Preferably, the track and the track car are provided in the pipe gallery between two adjacent fire doors, and the track car can drive the inspection drone to move along the track.

[0011] Preferably, a charging device is installed on the docking device, and when the inspection drone is connected to the rail car, the charging device charges the inspection drone.

[0012] Preferably, the rail vehicle includes a slider and an intermediate cabin, the slider is located in the slide groove of the track, the intermediate cabin is located at the bottom of the slider, and a drive motor is provided inside the intermediate cabin, the drive motor is used to drive the rail vehicle to travel, and the docking device is located at the bottom of the intermediate cabin.

[0013] Preferably, the railcar is provided with a first visual mark;

[0014] It also includes UWB base stations arranged at several locations on the pipe gallery, and the UWB base stations are used to locate the inspection drone inside the pipe gallery;

[0015] The inspection drone comprises:

[0016] A positioning device, the positioning device comprising a UWB tag, the positioning device obtaining the global position of the inspection drone in the tunnel during inspection by measuring the distance between the UWB tag and the UWB base station arranged in the tunnel;

[0017] A first positioning camera, which is located at the top of the inspection drone, with a lens facing upward, and is used to detect and identify the first visual mark, and obtain the relative position of the inspection drone and the rail car by visual means, so as to provide positioning information for the inspection drone and achieve docking;

[0018] Ultrasonic sensors are distributed around the inspection drone to achieve autonomous obstacle avoidance by measuring surrounding obstacles;

[0019] Inspection camera, which is used to capture the internal status of the pipe gallery;

[0020] A pipe gallery detection sensor is connected to the inspection camera and integrated on the pan-tilt platform of the inspection drone to detect the operating status of the pipe gallery.

[0021] Preferably, it also includes a ground monitoring console and a second visual mark set on the fire door. The inspection drone also includes a second positioning camera for identifying the second visual mark. The second positioning camera is located on the side end of the inspection drone to guide the flight direction of the inspection drone. The ground monitoring console communicates with the inspection drone through a data transmission device and obtains the inspection information of the inspection drone in the corridor.

[0022] In the above technical scheme, the tunnel inspection device provided by the present invention includes a patrol drone, a rail car installed on a track arranged in the tunnel, and a charging device for charging the battery of the patrol drone. The patrol drone can be connected and separated with the corresponding rail car through a docking device. It can be seen from the above description that in the tunnel inspection device provided by the present application, by arranging a track in the tunnel and arranging a rail car that can move along the track, when the patrol drone is connected to the rail car, the rail car drives the patrol drone to move, thereby avoiding the situation where the patrol drone consumes more energy during work. At the same time, by arranging a charging device for charging the patrol drone in the tunnel inspection device, it is possible to charge the battery of the patrol drone, so that the patrol drone can be used after charging in the tunnel, which effectively increases the patrol operation time of the patrol drone in the flight state, thereby improving the work efficiency of the patrol drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 A layout diagram of a pipe gallery inspection device provided in an embodiment of the present invention;

[0025] Figure 2 A partial enlarged view of the pipe gallery inspection device provided in an embodiment of the present invention;

[0026] Figure 3 This is a diagram of the installation location of the inspection drone provided in the embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the structure of an inspection drone provided by an embodiment of the present invention;

[0028] Figure 5 A brief structural diagram of the inspection drone provided by an embodiment of the present invention;

[0029] Figure 6 A working principle diagram of the inspection drone provided by an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the structure of a data transmission device provided by an embodiment of the present invention.

[0031] in Figure 1-7 Middle: 1-pipeline gallery, 2-track;

[0032] 3-rail car, 31-limiting circle;

[0033] 4-inspection drone, 41-duct, 42-hook, 43-inspection camera, 44-pipeline corridor detection sensor, 45-fuselage, 46-first positioning camera, 47-ultrasonic sensor, 48-second positioning camera, 49-UWB tag, 410-drone onboard computer, 411-data transmission module, 412-image transmission module, 413-WiFi device, 414-data transmission device;

[0034] 5- Fire door, 51- Opening. DETAILED DESCRIPTION

[0035] The core of the present invention is to provide a pipeline corridor inspection device, which improves the working efficiency of the inspection drone.

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation modes.

[0037] Please refer to Figures 1 to 7 .

[0038] In a specific embodiment, the pipe corridor inspection device provided by the specific embodiment of the present invention includes an inspection drone, a track 2 arranged in the pipe corridor 1, a rail car 3 installed on the track 2, and a charging device for charging the battery of the inspection drone, wherein the rail car 3 drives the inspection drone 4 to move along the track 2. The drone is not limited in type and material, and can be any of an open drone, a ducted drone, and a micro-aircraft. As shown in the figure, the inspection drone 4 can be a ducted drone with a duct 41.

[0039] Specifically, the inspection drone can dock with the rail car 3 without performing inspection tasks, and the drone's battery can be charged through the power system of the pipeline corridor 1.

[0040] The charging device is arranged on the rail vehicle 3 , and when the inspection drone is connected to the rail vehicle 3 , the storage battery is connected to the charging device.

[0041] In order to facilitate the laying of the circuit, it is preferred that the charging device is powered in the same manner as the rail vehicle 3, and the charging device can be plugged into the inspection drone.

[0042] In order to facilitate charging of the battery, preferably, the charging device is a wireless charging device.

[0043] Of course, the traditional plug-in charging method can also be used. Specifically, a plug can be set on the inspection drone 4, and a socket that matches the plug can be set on the charging device of the rail car 3. When the inspection drone 4 cooperates with the rail car 3, the plug is just plugged into the socket. Specifically, the charging device can be fixedly set on the rail car 3 to charge the inspection drone 4 at all times during the inspection process to ensure sufficient power; it can also be fixedly set at both ends of the pipe gallery 1 or the track 2 to supplement the power of the inspection drone 4 when it is not in the inspection state.

[0044] Specifically, one of the pipe gallery 1 and the rail car 3 is provided with a slide groove, and the other is provided with a track 2 that cooperates with the slide groove. Preferably, the rail car 3 moves along the length direction of the pipe gallery 1. The track 2 can be a C-shaped hanging rail or an I-shaped hanging rail. In order to improve the connection stability, there can be two slide grooves, which are arranged in parallel, and the slide grooves and the track 2 are arranged one by one.

[0045] In order to facilitate the cooperation between the inspection drone 4 and the rail car 3, preferably, the track 2 is arranged on the top of the inner wall of the pipe gallery 1. Specifically, the track 2 is laid on the ceiling of the underground pipe gallery 1, and the inspection drone 4 is installed at the bottom of the rail car 3. Of course, the position of the track 2 can be modified according to actual needs.

[0046] It can be seen from the above description that in the pipe gallery inspection device provided in the specific embodiment of the present application, by setting a track 2 in the pipe gallery 1 and setting a track car 3 that can move along the track 2, when the inspection drone is connected to the track car 3, the inspection drone is driven to move by the track car 3, thereby avoiding the situation where the inspection drone consumes more energy during work. At the same time, by setting a charging device for charging the inspection drone in the pipe gallery inspection device, the battery of the inspection drone can be charged, so that the inspection drone can be used after charging in the pipe gallery, thereby improving the working efficiency of the inspection drone.

[0047] At the same time, by setting a track 2 in the pipe gallery 1 and setting a rail car 3 that can move along the track 2, when the inspection drone 4 is connected to the rail car 3, the inspection drone 4 is driven by the rail car 3 to perform full-course autonomous inspection or quickly reach the suspected fault area for inspection. At the same time, the inspection drone 4 can automatically pass through the fire door and cooperate with the rail car 3 in the next section of the pipe gallery for inspection. Compared with the technical bottleneck that the inspection drone in the traditional solution cannot conduct full-course autonomous inspection due to factors such as the high difficulty of positioning in the pipe gallery and the complex environment, the inspection drone 4 provided by the present invention has high safety and high work efficiency.

[0048] Furthermore, a track 2 and a railcar 3 installed on the track 2 are provided in the pipe gallery 1 between two adjacent fire doors 5, wherein when the fire door 5 is opened, the fire door 5 forms an opening 51 for the inspection drone 4 to pass through. Since the railcar 3 cannot pass through the fire door 5, a railcar 3 is arranged between two fire doors 5. The railcar 3 serves as a carrier for carrying the drone, and the same inspection drone 4 can realize the inspection work in multiple pipe galleries 1.

[0049] Specifically, the docking device includes an electromagnetic component provided on the rail car 3, an electromagnetic control device for controlling the electromagnetic component to gain or lose power, and a suction component provided on the inspection drone 4 and capable of being attracted to the electromagnetic component. Specifically, the electromagnetic component may be an electromagnetic suction cup. Specifically, when docking is required, the electromagnetic suction cup on the rail car 3 is powered on, the inspection drone 4 is adsorbed and fixed by the electromagnetic suction cup, and the flight control system of the inspection drone 4 is turned off; when separation is required, the flight control system of the inspection drone 4 is turned on, the electromagnetic suction cup of the rail car 3 is powered off, stops working, and the inspection drone 4 is separated from the rail car 3.

[0050] Specifically, preferably, the charging device is installed on the docking device. When the inspection drone 4 is connected to the rail car 3, the charging device charges the inspection drone 4. The power system of the pipeline corridor 1 can be connected to the battery module of the drone for real-time charging.

[0051] At the same time, the docking mechanism between the inspection drone 4 and the rail car 3 has the functions of fixing and charging, which solves the problem of limited flight time and mileage of the existing inspection drone 4, and can perform inspection tasks stably for a long time, making the automatic inspection solution more feasible and practical.

[0052] Of course, in another specific embodiment, the docking device includes a hook 42 and a limit ring 31 engaged with the hook 42, one of the hook 42 and the limit ring 31 is arranged on the rail car 3, and the other is arranged on the inspection drone 4. When docking is required, the position of the docking mechanism is adjusted to achieve hanging and fixing, and the flight control system of the inspection drone 4 is turned off; when separation is required, the flight control system of the inspection drone 4 is turned on, and the relative position of the docking structure is adjusted to achieve the separation of the inspection drone 4 from the rail car 3.

[0053] The railcar 3 includes a slider and an intermediate cabin; the slider is located in the slide groove of the track 2; the intermediate cabin is located at the bottom of the slider, and a drive motor is arranged inside the intermediate cabin, the drive motor is used to drive the railcar 3, and the docking device is located at the bottom of the intermediate cabin. Specifically, the charging module is an energy supply module arranged in the intermediate cabin of the railcar 3, the power input end of the energy supply module is connected to the power system of the tunnel 1, and the power transmission end is connected to the drive motor to provide power to the drive motor. At the same time, the power transmission end is also connected to the docking mechanism at the bottom of the railcar 3. During the docking process between the UAV and the railcar 3, the UAV is charged through the docking mechanism.

[0054] The railcar is provided with a first visual mark; specifically, the first visual mark is arranged around the middle cabin, that is, a plurality of railcars 3 with the first visual mark are arranged on the track 2. The first visual mark guides the drone to approach the railcar, and the drone is docked and fixed through the docking device such as the hook or magnetic suction cup. Of course, the docking device can be a vacuum adsorption structure, and the inspection drone 4 can be docked with the railcar 3 through vacuum adsorption.

[0055] The inspection drone 4 includes a fuselage 45 , a positioning device, a first positioning camera 46 , an ultrasonic sensor 47 , an inspection camera 43 , and a pipe gallery detection sensor 44 , among which the positioning device, the first positioning camera 46 , the ultrasonic sensor 47 , the inspection camera 43 , and the pipe gallery detection sensor 44 are all arranged on the fuselage 45 .

[0056] The positioning device includes a UWB tag 49, wherein the UWB tag 49 cooperates with a UWB base station 7, and the UWB base station 7 is located in the pipe gallery and is fixed. The positioning device obtains the global position of the drone in the pipe gallery 1 during inspection by measuring the distance between the UWB tag 49 and the UWB base station 7 arranged in the pipe gallery 1, and the inspection drone 4 uses UWB technology to achieve global positioning. The pipe gallery inspection device also includes a UWB base station 7 arranged at several locations in the pipe gallery 1, which can realize the global positioning of the drone inside the pipe gallery 1. The UWB base station 7 obtains power through the wires arranged in the pipe gallery 1, and uses the mark it carries to provide a local point reference landmark for the inspection drone 4.

[0057] The first positioning camera 46 is located at the top of the inspection drone 4. The first positioning camera 46 faces upward to detect and identify the first visual mark, and obtains the relative position of the inspection drone 4 and the rail vehicle 3 by visual means, providing accurate local positioning information for the inspection drone 4. The inspection drone 4 uses the first positioning camera 46 and the first visual mark to approach the rail vehicle 3 and achieve docking with the rail vehicle 3.

[0058] Ultrasonic sensors 47 are distributed around the inspection drone 4 to achieve autonomous obstacle avoidance by measuring surrounding obstacles, thereby improving the flight safety of the inspection drone 4.

[0059] The inspection camera 43 is used to photograph the internal state of the pipeline gallery 1 .

[0060] The pipe gallery detection sensor 44 is connected to the inspection camera 43 and integrated on the inspection drone 4 gimbal to detect the operation status of the pipe gallery 1. The pipe gallery detection sensor 44 can be a gas sensor, a sound sensor, an infrared sensor, a visible light camera, etc.

[0061] In consideration of reducing the weight of the drone, saving costs, and facilitating transportation, the fuselage 45 of the inspection drone 4 is preferably made of foam material, so that more loads can be used to carry various sensors.

[0062] Furthermore, the pipe gallery inspection device further includes a second visual mark arranged on the fire door 5, and the inspection drone 4 further includes a second positioning camera 48 for identifying the second visual mark, and the second positioning camera 48 is located at the side end of the inspection drone 4, and specifically, the second positioning camera 48 is located at the front end of the fuselage 45. The first visual mark and the second visual mark are arranged to guide the flight direction of the drone, and guide the flight direction of the inspection drone 4.

[0063] Furthermore, the tunnel inspection device also includes a ground monitoring console 6, which communicates with the inspection drone 4 through a data transmission device and other equipment, sends commands to the inspection drone 4, and obtains the inspection information of the inspection drone 4 in the tunnel 1, wherein the data transmission device includes a WiFi device 413, a data transmission module 411, a picture transmission module 412, etc. Specifically, the drone obtains various information in the tunnel 1 through the inspection camera 43 and the tunnel detection sensor 44, and sends it to the ground monitoring console 6 through the data transmission module 411, the picture transmission module 412, and the WiFi device 413. The ground monitoring console 6 is used to monitor the situation of the inspection drone 4 in the tunnel 1, send execution instructions to the inspection drone 4, and receive information fed back by the inspection drone 4.

[0064] When the tunnel inspection device starts inspection, the rail car 3 is attached to the track 2, and the inspection drone 4 is connected to the rail car 3 through the docking mechanism. The rail car 3 moves along the track 2 through electric drive. The inspection drone 4 uses the inspection camera 43 and the tunnel detection sensor 44 to obtain information in the tunnel 1 and transmits it to the ground monitoring station through WiFi. When encountering the fire door 5, the inspection drone 4 detaches from the rail car 3 through the docking mechanism, and obtains the marking information of the rail car 3 through the first positioning camera 46 on the inspection drone 4. The inspection drone 4 realizes autonomous positioning and obstacle avoidance in the tunnel 1 by combining the marking information of the rail car 3 and the drone onboard computer 410 of the inspection drone 4. The second positioning camera 48 is used to detect the second visual mark on the fire door 5, and the drone is guided to pass through the fire door 5 through the second visual mark, thereby obtaining the marking information of the next section of the rail car 3, and the first visual mark and the first positioning camera 46 are used to obtain the relative posture of the inspection drone 4 and the rail car 3, and guide the inspection drone 4 to dock with the rail car 3 to continue the inspection task. Specifically, the operation of the railcar 3 can be suspended, and the inspection drone 4 can be fixed to the railcar 3 for observation; during the inspection process, the inspection drone 4 can be controlled to detach from the railcar 3 for suspicious areas that require detailed inspection, and the inspection drone 4 can be controlled to approach the area to be inspected for multi-angle observation.

[0065] In order to facilitate the inspection drone 4 to perform the inspection task in a timely and efficient manner, when the railcar 3 is at the initial position, the railcar 3 is located at the same end of the pipe gallery 1. For example, when the inspection drone 4 flies from left to right, the initial position of the railcar 3 is located on the left side, so that when the inspection drone 4 flies from one section of the pipe gallery 1 to the next section of the pipe gallery 1, it can dock with the railcar 3 quickly.

[0066] Furthermore, the tunnel inspection device also includes a patrol reset device for controlling the railcar 3 to reset. Specifically, the patrol reset device includes a limit switch arranged at the end of the track 2 and a drive control mechanism for driving the railcar 3 to move in the reverse direction. When the railcar 3 touches the limit switch, the drive control mechanism drives the railcar 3 to move in the reverse direction to the initial position. When the inspection drone 4 is inspecting the tunnel 1, when it is necessary to stop midway on the track 2, the railcar 3 stops working, and the inspection drone 4 is separated from the railcar 3. At this time, the railcar stops running, and the railcar 3 restarts after the inspection drone 4 is in place. Considering that if the limit switch is simply automatically controlled, there may be deviations in the coordination with the inspection drone 4. Preferably, a control structure for controlling the operation of the limit switch is provided outdoors, that is, the operation of the limit switch is manually controlled by the ground station staff.

[0067] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0068] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pipeline corridor inspection device, comprising an inspection drone (4), characterized in that: It also includes a track (2) arranged in the pipe gallery (1), a track vehicle (3) installed on the track (2), and a charging device for charging a battery of the inspection drone (4); the inspection drone (4) can be connected to and separated from the corresponding track vehicle (3) through a docking device; The rail (2) and the rail vehicle (3) are provided in the pipe gallery (1) between two adjacent fire doors (5), and the rail vehicle (3) can drive the inspection drone (4) to move along the rail (2); The rail vehicle (3) is provided with a first visual mark, and the inspection drone (4) includes a first positioning camera (46). The first positioning camera (46) is located at the top of the inspection drone (4), and the lens of the first positioning camera (46) faces upwards, and is used to detect and identify the first visual mark, and obtain the relative position of the inspection drone (4) and the rail vehicle (3) by visual means, so as to provide positioning information for the inspection drone (4) and achieve docking; It also includes a ground monitoring console (6) and a second visual mark arranged on the fire door (5); the inspection drone (4) also includes a second positioning camera (48) for identifying the second visual mark; the second positioning camera (48) is located at the side end of the inspection drone (4) and guides the flight direction of the inspection drone (4); the ground monitoring console (6) communicates with the inspection drone (4) via a data transmission device (414) and obtains inspection information of the inspection drone (4) in the pipe gallery (1); The fire door (5) forms an opening (51) for the inspection drone (4) to pass through; When encountering the fire door (5), the inspection drone (4) detaches from the rail car (3) through the docking device, and obtains the marking information of the rail car (3) through the first positioning camera (46) on the inspection drone (4), combines the marking information of the rail car (3) and the drone onboard computer (410) of the inspection drone (4) to achieve autonomous positioning and obstacle avoidance of the drone in the tunnel 1, uses the second positioning camera (48) to detect the second visual mark on the fire door (5), guides the drone through the fire door (5) through the second visual mark, thereby obtaining the marking information of the next section of the rail car (3), obtains the relative position of the inspection drone (4) and the rail car (3) through the first visual mark and the first positioning camera (46), and guides the inspection drone (4) to dock with the rail car (3) to continue the inspection task.

2. The pipeline corridor inspection device according to claim 1 is characterized in that: The charging device is arranged on the rail vehicle (3), and when the inspection drone is connected to the rail vehicle (3), the storage battery is connected to the charging device.

3. The pipe gallery inspection device according to claim 2, characterized in that: The charging device is powered in the same manner as the rail vehicle (3), and the charging device can be plugged into the inspection drone.

4. The pipeline corridor inspection device according to claim 1, characterized in that: The charging device is a wireless charging device.

5. The pipeline corridor inspection device according to claim 1, characterized in that: The charging device is fixedly connected to the end of the pipe gallery (1).

6. The pipeline corridor inspection device according to claim 1, characterized in that: A charging device is mounted on the docking device, and when the inspection drone is connected to the rail vehicle (3), the charging device charges the inspection drone (4).

7. The pipeline corridor inspection device according to claim 1, characterized in that: The rail vehicle (3) comprises a slider and an intermediate cabin, the slider being located in a slide groove of the track (2), the intermediate cabin being located below the slider, and a drive motor being arranged inside the intermediate cabin, the drive motor being used to drive the rail vehicle (3) to travel, and the docking device being located below the intermediate cabin.

8. The pipeline corridor inspection device according to claim 1, characterized in that: It also includes UWB base stations (7) arranged at a plurality of locations on the pipe gallery (1), wherein the UWB base stations (7) are used to locate the inspection drone (4) inside the pipe gallery (1); The inspection drone (4) comprises: A positioning device, the positioning device comprising a UWB tag (49), the positioning device acquiring the global position of the inspection drone (4) in the pipe gallery (1) during inspection by measuring the distance between the UWB tag (49) and the UWB base station (7) arranged in the pipe gallery (1); Ultrasonic sensors (47), the ultrasonic sensors (47) being distributed around the inspection drone (4) and realizing autonomous obstacle avoidance by measuring surrounding obstacles; An inspection camera (43), the inspection camera (43) being used to capture the internal state of the pipe gallery (1); A pipe gallery detection sensor (44), the pipe gallery detection sensor (44) is connected to the inspection camera (43) and integrated on the pan / tilt platform of the inspection drone (4), and is used to detect the operating status of the pipe gallery (1).

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