| Industrial robots have developed rapidly.Since the concept of industrial robots was mentioned,it has been studied and implemented by researchers.At present,different countries focuse on its development and vigorously train relevant personnel,the development of industrial robots is increasing rapidly.It combined with the related technology in the field of electric power not only can improve the production efficiently,but also can make it more reliable and safe.It is the development direction of intelligent power equipment.At this stage of industrial robot development,the development of hardware has been able to meet the needs of most situations,but the development of software is the essence and soul of an industrial robot.Therefore,this paper combined the characteristics of the electricity field,in view of the cable tunnel problems,designed a monitoring platform for intelligent monitoring of cable tunnels.This paper designed monitoring platform for underground cable tunnel,which can unmanned observe the internal condition of the tunnel and identify the internal road of the tunnel.The software architecture of the monitoring platform choosed the mode of server-client,the client acted as the intermediary between server and hardware platform.The overall design used PC as the server,Android device as the client which placed on the robot.The server was based on WPF framework,using C# programming language,and the client was based on Android system,using Java programming language.System data transmission was realized by Bluetooth and Socket transmission mechanism,the information exchange between client and hardware platform was realized by Bluetooth transmission,and the information exchange between server and client was realized by Socket transmission mechanism.The stability of large data transmission was achieved by subcontracting and combining.The data display part was displayed by WPF chart control and instrument control.The system also had the function of path planning.The recognition of Road area was realized by local OSTU processing combined with trapezoidal approximation prediction.Finally,cable tunnel monitoring platform with functions of position controlling,information displaying and path planning was established.The results show that,as a monitoring platform for cable tunnel,the system can identify the road area in the environment of cable tunnel,and the recognition effect is better than OSTU algorithm.The system provides reliable help for the unmanned service of cable tunnel inspection. |
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