| Stable and safe operation of the electric power system is vital for the economic life.With the project of high voltage cables into the ground,more and more underground cable tunnel were built.Proper inspection and maintenance of high voltage cable tunnel must be done to keep it's safety,but the work is dangerous.The research content of this paper is the project of the high-voltage cable tunnel inspection which is carried out based on the cooperation of Shenyang Electric Power Bureau.According to the structured environment characteristics of the cable tunnel in Shenyang,we carried out the design of the inspection system.A wheeled robot named Shenyang Cable Tunnel Inspection Robot(SCIR)is proposed and developed for the structured environment.The robot has the advantages of the differential drive wheel,four wheel drive mode and the track type mechanism.First,with Feasibility research of the cable tunnel environment,we designed the inspection system and mechanical structure of the robot plan for several main terrain.We put forward the mechanical linkage between the arm movement and switching of the driving mode.A special wheel structure was designed following the lateral step environment in the cable tunnel.To optimize the size structure of each part,we researched the mechanism motion parameters and motion performance.In order to save energy,we optimized the transmission system,linkage plan and the spatial distribution of the robot,and do some verified experiments.The performance of the robot is analyzed in several extreme environments.Through the optimization of wheel radius and centre-of-gravity position,we improved obstacle performance.Then,according to the characteristics of tunnel environment and mechanism movement,the control system is designed as follows: The hardware system is designed based on the NIsbrio9636,which is composed of the upper operating part,the lower layer processing unit and the sensing device.The software control system is designed based on Labview.As for the function,visual interface is adapted in the inspection robot,for easy to operate the handle remote control method achieving semi autonomous control;and device is equipped with a high-definition camera and seven kinds of gas collecting sensors to return images with the gas inside the tunnel,bridge communication is based on 5.8GHz channel to ensure the stable and reliable which is able to complete the inspection task requirements.Last,The robot prototype is made,and the experiment is carried out under the tunnel environment.The system's communication ability,the reliability of the control system,interface definition,inspection robot obstacle climbing and terrain adaptation function are verified through the test.The experimental data verified that the robot we designed can complete the task of cable tunnel inspection,which lay the foundation for the further research. |
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