AUTONOMOUS UAV TO INSPECT COMMUNICATION MANHOLES

Abstract

 We have developed an autonomous UAV (Unmanned Aerial Vehicle) that can efficiently and safely perform inspection work of communication manholes for long-term maintenance of underground structures. In order to make UAVs fly autonomously in the underground space, we constructed a method to estimate the self-position of UAVs using laser and ultrasonic distance measurement sensors and cameras, and a flight method using the estimated self-position information. We also examined the guard structure of the UAV suitable for flying in a small space such as a manhole. As a result of the flight verification of the UAV in the actual size manhole, it was confirmed that a series of flight operations from the ground to the inside of the manhole, the movement and imaging in the manhole body, the exit from the manhole, and the landing were realized completely automatically, and images for inspection could be taken. This enables the inspector to inspect the manhole using the UAV’s image without entering the manhole.