Development of a suspended intelligent detection system for pipe culverts

To solve the problems of low detection efficiency, high safety risk and production cost of urban pipe culverts and drainage outlets, a suspended intelligent detection system has been developed. The system adopts self-developed RGBD camera and amphibious suspended carrier, and develops 3D reconstruction technology of underground space, which can realize the output of panoramic 3D models. Test results show that the robot has strong adaptability to the underground environment, and the modeling error and positioning accuracy can meet the engineering requirements. The system overcomes the limitation that detectors installed on traditional carriers cannot fully adapt to the complex environment inside the pipe culvert, and has been applied in several water environment and utility tunnel projects.