System Design of 3D LiDAR-based Underground Integrated Pipeline Corridor Inspection Robot for Positioning and Map Building

摘要

Urban underground integrated pipe corridor is used for the water, electricity, gas, communications, and other pipelines into the underground space to effectively alleviate road traffic congestion, urban construction infrastructure, and other problems. After the completion of the corridor, the corridor inspection is a huge problem, as the underground space is complex and difficult to locate. For the need to detect the concentration of toxic and harmful gases inside the corridor, it is difficult to ensure the safety of the lives of the underground staff. With the development of artificial intelligence and digital twin, the corridor inspection robot gradually becomes the “perfect candidate” for inspection work. Thus, we present a system design of 3D LIDAR-based robot positioning and map building underground where GPS is not available.