用激光雷达无人机高效巡检密林斜坡，提升防滑设施监测效率。
LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
- 基于激光雷达设计可穿梭密林的四旋翼无人机，兼顾机动性与续航。
- 在5个防护栏和1处滑坡区实测中成功完成复杂环境巡检。
- 适合城市地质灾害巡查人员、基础设施维护团队使用。
本文提出一种面向密集植被环境下斜坡巡检的激光雷达四旋翼无人机系统。香港等城市易受气候灾害影响，常引发山体滑坡。为降低风险，土木工程拓展署（CEDD）已在易发区域设置钢制柔性挡土屏障。但需定期巡检以发现可能影响屏障功能的异常。传统人工巡检受限于陡峭地形和茂密植被，成本高且困难。相比而言，搭载激光雷达与摄像头的无人机具备更强地形适应性和可达性。然而，在密集植被中开展斜坡巡检仍面临挑战：硬件上需平衡飞行器在狭窄空间中的机动性、续航时间及传感器配置；软件上则需实现复杂环境下的避障导航。为此，我们开发了一套基于激光雷达的四旋翼无人机系统及其配套软件。通过非运行场景的功能测试验证系统可行性后，应CEDD邀请，我们在六个实地环境进行了部署，包括五个位于密林中的柔性挡土屏障及一处曾发生滑坡的斜坡。实验结果表明，该系统在复杂环境中具备显著巡检优势。
原文摘要 · Abstract (English)
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil Engineering and Development Department (CEDD) has constructed steel flexible debris-resisting barriers on vulnerable natural catchments to protect residents. However, it is necessary to carry out regular inspections to identify any anomalies, which may affect the proper functioning of the barriers. Traditional manual inspection methods face challenges and high costs due to steep terrain and dense vegetation. Compared to manual inspection, unmanned aerial vehicles (UAVs) equipped with LiDAR sensors and cameras have advantages such as maneuverability in complex terrain, and access to narrow areas and high spots. However, conducting slope inspections using UAVs in dense vegetation poses significant challenges. First, in terms of hardware, the overall design of the UAV must carefully consider its maneuverability in narrow spaces, flight time, and the types of onboard sensors required for effective inspection. Second, regarding software, navigation algorithms need to be designed to enable obstacle avoidance flight in dense vegetation environments. To overcome these challenges, we develop a LiDAR-based quadrotor, accompanied by a comprehensive software system. The goal is to deploy our quadrotor in field environments to achieve efficient slope inspection. To assess the feasibility of our hardware and software system, we conduct functional tests in non-operational scenarios. Subsequently, invited by CEDD, we deploy our quadrotor in six field environments, including five flexible debris-resisting barriers located in dense vegetation and one slope that experienced a landslide. These experiments demonstrated the superiority of our quadrotor in slope inspection.
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