Study Of Autonomous Navigation Cable Tunnel Inspection Robot

At present,the newly-built tunnels are generally lack of track inspection system,security system and power supply system.In addition,the ground of the tunnels commonly has ladders,ramps,curves.Therefore,both the conventional inspection robots with weak obstacle surmounting ability,and the multi-degree of freedom robots with inflexibility,could not meet the needs of cable tunnel inspection task.To address these problems,the present study explored the integration technology of dual robot,which integrated strong obstacle surmounting mobile robot and dexterous lightweight joint robot,and further put forward a design of autonomous navigation cable tunnel comprehensive inspection robot.The main research components are as follows:The overall scheme of the autonomous navigation cable tunnel comprehensive inspection robot was designed,whose overall dimension,the carrying equipment platform,the design of the lifting arm,the walking mechanism,and the sensor inspection technology were all carefully analyzed.Furthermore,the critical capabilities,including the ground running speed,the climbing speed,were calculated and analyzed,and the research of inspection robot technology based on the crawler robot equipped with lightweight mechanical arm was proposedBased on laser SLAM autonomous navigation system,the accuracy of the robot autonomous navigation was improved by employing the least square matching algorithm Additionally,combining 2D-1/2 visual servo system,wireless data transmission,and processing technology in vision and image processing,this research proposed the circulation and partial discharge independent detection technology based on robot platform,which can greatly improve the safety of traditional manual work,and further has great significance for intelligent operation and maintenance of high-voltage cableThe results showed that the self-navigation cable tunnel comprehensive inspection robot technology based on the crawler robot equipped with lightweight mechanical arm is effective in operating complex inspection tasks by carrying a variety of detection modules or operation modules on the robot's mechanical arm platform.These results have significant engineering and manufacturability.