Research On Detection Robot System For Pipeline Cable Fault

With the development of urbanization,many places choose to lay power cables in the form of underground pipes.On the one hand,it avoids taking up too much space,and on the other hand,it also ensures the beauty of the city.However,when the cable fails,the detection and location of the fault has always been a difficult problem for electricians,especially the location problem.In recent years,with the continuous development and maturity of robotics technology,the research and application of mobile robotics technology has also expanded to all walks of life.How to use mobile robots to assist power personnel in detecting and locating faulty cables in underground cable ducts to improve efficiency and reduce costs,the industry has been doing research in this area in recent years.Facing pipeline and cable faults,this topic proposes a mobile robot as the main body,equipped with various sensors,using SLAM,autonomous exploration of unknown environments,and fault point detection and marking technologies to detect and locate underground pipeline cable faults at low cost and high cost.Efficient scheme.The main research work of this thesis is as follows:First of all,the research and simulation analysis of several SLAM algorithms such as GMapping,Karto,Cartographer and Hector commonly used in the industry are carried out.Hector is more suitable for the complex environment of underground pipelines,but because the algorithm only relies on lidar,it lacks the complete six-degree-of-freedom information of the robot.,Under the premise of controlling costs,combined with multi-sensor data and EKF,the existing SLAM algorithm is improved to be suitable for cable pipeline scenarios,and the motion distortion problem of lidar is corrected.Secondly,by controlling the temperature and magnetic field sensors,the fault information of the cable is detected,and then the fault point is marked on the constructed map through data transmission and coordinate conversion.Compared with the way of arranging fault detectors in underground pipelines or using radio frequency transceivers,the implementation cost of this solution is lower,and the location of fault points can be accurately marked for reference by power personnel,avoiding extensive digging and mining.Improved work efficiency.Finally,the research and analysis of the autonomous exploration problem of the detection robot in the unknown environment is carried out.This problem is divided into two subproblems,which are autonomous target point selection and path planning.Based on the Frontier-Based method,this thesis does not consider the size of the mobile robot structure when selecting the target point in the exploration boundary,and the collision occurs in a small space.The method of least squares fitting is proposed for screening;Since the detection range of temperature and magnetic field sensors differs greatly from the problem of missing fault points,a maximum detection range based on small-range sensors is proposed as the exploration boundary.On the problem of global path planning,the A* search algorithm and Dijkstra algorithm are studied and analyzed,and the simulation verification is carried out with Matlab.Finally,by building a simulation scene for verification,it can be seen from the experimental results that an accurate map can be constructed with low cost and high efficiency,and the location information of cable faults can be accurately marked.