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Method and apparatus for autonomous exploring underground cavity area using intelligent unmmaned flying object
Method and apparatus for autonomous exploring underground cavity area using intelligent unmmaned flying object
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机译：利用智能无人飞行物体自主探索地下空腔区域的方法和装置
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摘要
The present invention relates to a method and an apparatus for diagnosing and managing equipment and a facility in a wide underground cavity area through underground cavity map data construction using an intelligent unmanned aerial vehicle and autonomous flight training. An aspect of the present invention provides a method for autonomously exploring an underground cavity using an intelligent unmanned aerial vehicle, comprising: a setting mode recognizing and tracking a guide object to generate map data and movement route training data, and recognizing a location tag image; a normal mode obtaining and analyzing a sensor and visual data of equipment and a device in the underground cavity through unmanned autonomous flight based on the movement route training data to diagnose an abnormal state; and an abnormal mode re-recognizing a current location of the unmanned aerial vehicle based on surrounding environmental map data and location tags when the unmanned aerial vehicle is operated again.
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