以無人載具攝錄影片進行局限空間測量之可行性評估研究- 以雨水下水道為例

Abstract

隨著極端氣候的影響，雨水下水道成為都市防災的重要建設之一。其主要功能為疏通市區道路逕流，來防止路面積淹水情形發生。因此雨水下水道的妥善及更新成為了都會區財產安全的首選課題。但因民生及逕流廢水流入、結構性破損崩落、以及各大電信業者纜線縱橫交錯等因素，導致下水道現有的排水流量遭受影響。本研究發想於雨水下水道縱走及巡檢，有鑑於傳統的人工調查潛在的安全隱患和量測誤差，希望以更安全便捷的方式去完成任務，達到巡檢、量測、建模等目的。本研究將以下水道機器人與防撞無人機針對局限空間之調查應用進行比對，選擇不同尺寸及狀況的箱涵去執行調查任務。透過回傳成果分析比較，提升雨水下水道之無人調查巡檢之可行性。探索不同類型之無人載具對於不同狀況下的影響，調查成果對於後續資料應用的成效，並期望透過攝影測量法將成果影像建模並加以利用。Since the impact of extreme weather, stormwater sewers have become one of the important constructions for urban disaster prevention. Its main function is to dredge the path flow of urban roads to prevent flooding of the road area. Therefore, the maintenance and renewal of storm water sewers have become the first choice for property safety in metropolitan areas. However, due to factors such as the inflow of residential and construction runoff wastewater, structural damage and collapse, and the crossing of cables from major telecommunications companies, the existing drainage flow of the storm water sewer system has been affected.In this case study, it is based on the inspection of stormwater sewers. Instead of the traditional manual investigation of potential safety hazards and measurement errors. Hope to complete tasks in a safer and more convenient way to achieve inspection, measurement, modeling, etc. This study compares the survey of sewer robots and anti-collision drones in confined spaces, with different types of sewer condition. The study aims to explore the impact of different types of unmanned vehicles in various scenarios, assess the effectiveness of the investigation's results for subsequent data applications, and expects to utilize photogrammetry to create models from the collected imagery for further utilization.