多模态全光智能机器人巡检系统设计

Design of Multi-Modal Sensing All-Optical Intelligent Robot Inspection System

为保证巡检机器人工作状态的稳定性以及安全性,在危险工况下代替人工完成巡检任务,设计了一种基于光学传感器多模态传感的移动机器人巡检系统。该巡检系统搭载深度相机、声振动传感器、气体浓度检测装置、红外热成像仪等传感模块,能够采取自动路径规划或人工手动遥控的方式工作;搭配成熟的图像处理和声纹识别算法,机器人在巡检过程中能即时判断待测设备运行噪声、热缺陷、设备外观、仪表读数等特征有无异常;通过局域网通信方式与智能仪控系统配合,替代人工实现大范围内被控设备的自动监测。实验结果表明,该巡检机器人能在复杂环境中进行高效、准确的巡检工作。通过多模态信息融合技术准确识别和定位故障点,自主决策最优的巡检路径。同时,全光智能技术保证了机器人高速数据传输和处理能力,大大提高巡检效率和质量,为恶劣条件下提高变电站智能化的运维水平提供了一种新型辅助手段。

In order to ensure the stability and safety of the working state of the patrol robot,the inspection task is completed instead of manual under dangerous working conditions.In this paper,a mobile robot patrol system based on multimodal sensing of optical sensors is designed.The patrol system is equipped with depth camera,acoustic vibration sensor,gas concentration detection device,infrared thermal imager and other sensing modules,which can work in the form of automatic path planning or manual remote control.Equipped with mature image processing and voiceprint recognition algorithms,the robot can instantly determine whether there are abnormalities in the operating noise,thermal defects,equipment appearance,instrument readings and other characteristics of the equipment to be tested during the inspection process.Through LAN communication and intelligent instrument control system,replace manual to realize automatic monitoring of controlled equipment in a large range.Experimental results show that the patrol robot can carry out efficient and accurate inspection work in complex environments.Through multimodal information fusion technology,fault points are accurately identified and located,and the optimal inspection path is independently decided.At the same time,all-optical intelligent technology ensures the high-speed data transmission and processing capacity of the robot,greatly improves the efficiency and quality of inspection,and provides a new auxiliary means for improving the intelligent operation and maintenance level of substations under harsh conditions.