Research on Intelligent Flight Control-Based Tunnel Drone Inspection System

Urban underground pipelines are the “lifeline” of the city. There are many problems of underground pipelines in our country. Although underground comprehensive pipe gallery is a solution, it also faces challenges. Aiming at the shortcomings of traditional manual and existing robots in pipe gallery inspection, this paper proposes a pipe gallery UAV inspection system based on intelligent flight control. The system integrates multiple algorithms to solve the problems of positioning, obstacle avoidance and defect detection in the complex environment of pipe gallery. Experiments show that the system has small lateral positioning error, good stability, high defect detection accuracy, greatly improved inspection efficiency, and reduced annual operation and maintenance costs. Its hardware design ensures the stable operation of extreme environments, and provides a technical solution with high reliability for the intelligent operation and maintenance of urban underground pipe gallery.