地熱発電所配管の異常検出に向けたUAVによる3次元計測精度向上手法の提案

抄録

In a geothermal power plant, the soundness of the pipeline is an essential factor that could influence power generation efficiency. However, it is laborious and dangerous for staff to inspect the condition of the pipeline. Therefore, we have developed a system that can conduct inspections automatically by using a small unmanned aerial vehicle (UAV) equipped with Laser Imaging Detection and Ranging (LiDAR). In this research, we focus on increasing point clouds' accuracy and improving the efficiency of inspection route generation. The experimental results show that our system could detect less than 25 mm misalignment and estimate UAV attitude less than 0.05 deg. Furthermore, the efficient inspection route could improve abnormalities detection accuracy from 66.8% to 75.8%.