Design and realization of integrated patrol-robot system for underground pipe gallery

Underground pipe gallery is a mixture of municipal utilities pipelines, such as power, communication, gas, water supply and drainage, heat, etc. it is the core of a city's normal operation. Therefore, it is vital to monitor the operation of the underground pipe gallery. In view of the current lack of underground pipe gallery manual monitoring and the limitation of multiply camera monitoring, this paper based on Raspberry Pi 3B as the hardware development platform, combined with infrared thermal imager, Infrared camera camera and the temperature and humidity of toxic and harmful gases, flammable and explosive gas and other gas sensors, take use of remote video surveillance, robot and image processing technology to design a real-time monitoring system for underground pipe gallery. The system can not only collect the operating environment parameters of the underground pipe gallery, but also carry out the Infrared camera image and infrared image acquisition for the running environment. The back-end of the system analyzes the collected parameters and gives alerts in an emergency. Compared with the traditional monitoring method, this system greatly improves the efficiency of monitoring, reduces the cost of inspection, and enhances the security of inspection. The experiment shows this monitoring system has good practicability.