Research On Key Technologies Of 3D Information Sensing For Pipeline UAV

In the past few decades,China's science and technology and industry have achieved rapid development.In order to meet development needs,a large number of underground pipeline projects have been implemented.Due to the complexity of pipeline engineering,regular inspection and maintenance are required.Traditional manual inspection methods are timeconsuming and labor-intensive,and there is a great potential danger to inspectors.In response to the above problems,taking advantage of the convenience of maneuvering of Unmanned Aerial Vehicle(UAV),research and design a three-dimensional information-aware UAV in the pipeline that combines information from multiple sensors such as IMU,lidar,etc.At the same time,based on the differences in pipeline environment,the three-dimensional information perception method of pipeline UAV with different sensor types was studied and experimentally verified.First,a three-dimensional information-aware UAV system for pipelines was constructed.According to the characteristics of the pipeline environment,operation requirements,and the load capacity of the UAV,a software and hardware platform for the UAV is built.Lidar,IMU,and embedded processing platform Jetson TX2 are selected as the three-dimensional environment sensing unit.Secondly,in view of the problem that the lighting conditions in the pipeline environment are not ideal,a 3D information perception method for pipeline environment based on 3D lidar is proposed.By analyzing and comparing a variety of synchronous mapping and positioning methods based on 3D point cloud data,selecting the positioning and mapping method based on graph optimization to process the 3D data of the simulated pipeline environment obtained by the UAV,and constructing a 3D grid map Three-dimensional information perception of the pipeline environment.Then,for the problem of high power consumption and heavy weight of 3D lidar under the condition of UAV load limitation,a 3D information perception method for pipeline environment based on dual 2D lidar is proposed.The system obtains complementary threedimensional information in the pipeline through two horizontal and vertical two-dimensional lidars.Among them,the horizontal lidar data is combined with inertial measurement data to establish a horizontal environmental map in the pipeline,and the vertical direction is used Analyze and fit,establish a vertical environment map in the pipeline,and then obtain complete three-dimensional information in the pipeline.Finally,the experimental results show that the system can realize the perception of threedimensional environmental information in the pipeline.