电缆管道巡视清理机器人的设计

Design of the Inspection Robot of Cable Pipeline

随着城市电缆管道覆盖面不断扩大,为保证城市供电可靠性,电缆管道的清理巡视工作水平需要不断提高。对于电缆管道中的故障,主要是由堆积在管道内的各种杂物引起。针对这种现象,开发了电缆管道机器人。电缆管道机器人主要包括主控模块,摄像头模块,电机驱动模块,电源模块,倾角模块,通过建立数学模型,采用模糊算法,纠正车体姿态防止行走倾斜。采用图像识别算法,对图像灰度化、二值化处理,去除脉冲噪声,根据图像特征,确定杂物位置,判断电缆管道内杂物分布并进行清理,排除电缆管道内的安全隐患。实验结果证明,该机器人能在电缆管道内平稳可靠工作,具有较大的应用价值。

With the increasing coverage of urban cable pipelines, to ensure the reliability of urban power supply, the level of inspection and inspection of cable pipes needs to be continuously improved. The failure in the cable pipe is mainly caused by various debris piled up in the pipe. In view of this phenomenon, the cable pipe robot is developed. Cable pipe robot mainly includes main control module, camera module, motor drive module, power module, tilt module, through the establishment of mathematical model, fuzzy algorithm, walk to correct body posture to prevent the tilt. By image recognition algorithm, the image grayscale and binarization processing, removal of impulse noise, according to the image characteristics, determine sundry position, to determine the cable pipe distribution and clean up debris, eliminate the potential safety hazard of cable pipe. The experimental results show that the robot can work smoothly and reliably in the cable duct and has great application value.