Research On Key Technologies Of Intelligent Inspection Robot For Underground Cable Trench

Underground cable trench is an important infrastructure to maintain the normal operation of the city.The cable insulation aging discharge and harmful gas accumulation in the trench caused by long-term work are easy to cause fire or even explosion in the cable trench,so the maintenance requirements are high.However,due to poor internal trafficability,manual inspection is dangerous and labor-intensive.Therefore,the main research content of this paper is to design an inspection robot to replace manual inspection,so as to carry out all-round maintenance and monitoring of underground cable trench.According to the task requirements and practical problems faced by the inspection of underground cable trench,the specific work is as follows:1)Aiming at the complex environment of underground cable trench,cartographer slam technology is used to build the map,and the depth camera and laser radar are fused to make the built map have more abundant internal information.AMCL algorithm is used to locate the robot on the established map.In order to improve the search efficiency,reduce the collision risk and reduce the number of inflection points,the a*algorithm is improved to realize the global path planning.At the same time,the dynamic window method is used to realize the dynamic obstacle avoidance.A new fusion scheme is designed to realize the connection of the two paths.Compared with the existing technologies,the mileage of this scheme is reduced by 6.5%and the time required is reduced by 17.8%in the same scenario.Field experiments verify the feasibility of the robot system.2)In order to prevent the inspection robot from hitting obstacles or cable supports due to overshoot during rapid movement,a closed-loop feedback motor control system is built.SC-PID(Self-coupling PID)control algorithm is selected for experiments.It is found that the SC-PID has anti disturbance ability and response speed can adapt to the internal environment of underground cable trench.And in the field experiment,it can quickly set the parameter optimization.3)Based on the sensor information obtained by the inspection robot,an underground cable trench condition evaluation model is constructed to better evaluate the internal health of the cable trench.Evaluate the air quality according to the concentration obtained by the gas sensor;Calculate the channel capacity and ground flatness to evaluate the trafficability of the cable trench;Water depth and water surface area are comprehensively used to evaluate the degree of ponding.In this paper,the key technologies related to underground cable trench are studied,and the improved a*and DWA fusion navigation algorithm and the depth camera and lidar fusion mapping method are proposed,which significantly improves the robot inspection efficiency;The SC-PID algorithm can quickly control the whole parameters,which makes the robot control system adapt to the ground environment more quickly;The proposed underground cable trench condition evaluation model can quickly reflect the internal health status of the underground cable trench,and make the status monitoring of the underground cable trench more explicit and clear.