Research And Design Of Underground Cable Trench Condition Monitoring Robot

As an important part of underground transmission and distribution network,underground cable trench is an indispensable facility in the construction of power network.Long-term operation of power cables in the underground cable trench will lead to the aging and discharge of the external insulation of cables.In addition,the accumulation of combustible gases such as methane and other gases produced by the microbial decomposition of some plant and animal corpses in the cable trench may eventually cause fire and explosion.Due to the narrow and complex internal environment of underground cable trench,it is particularly difficult for Manual inspection.Therefore,the use of robots instead of manual inspection is of great significance for early detection of hidden dangers in underground cable trenches,reducing the failure rate and improving the stability of power grid operation.Firstly,the operation environment of the robot and the operation requirements of power cables in underground cable trenches are analyzed,and the design requirements and functions of the robot are summarized.The design scheme of the robot body structure is developed.the common walking mode of the inspection robot is analyzed,three robot walking mechanisms suitable for the underground cable trench are designed and experiments are carried out,and the advantages and disadvantages of the three walking modes are analyzed.It is determined that the multi-joint crawler type is used as the robot walking mechanism.On this basis,the overall structure of the robot control system is determined,and the hardware of the robot control system with STM32F103RTC6 as the micro-control unit is designed,including the hardware circuits of the dual CPU system,the motion drive system,the state detection system,the autonomous navigation and obstacle avoidance system,the communication system and the power supply system.According to the operating environment of the robot,the overall scheme of the autonomous navigation and obstacle avoidance system is proposed and the motion model of the robot is established.The SLAM algorithm based on Rao-Blackwellised particle filter is used to locate and map the robot simultaneously.The ACML algorithm is used to locate the position of the robot in the map.An improved Lite path planning algorithm is designed,and finally realize the autonomous navigation and obstacle avoidance control strategy.The software part of the robot ontology control system based on the embedded real-time operating system FreeRTOS and the software part of the human-computer interaction interface designed with the Qt development framework as the compiling environment and written in C++language are designed.Finally,the prototype of the robot is developed,and the simulation experiments and field experiments are carried out to test the robot's walking and climbing function,autonomous navigation and obstacle avoidance system,state detection system and communication performance,and to verify the feasibility and stability of the robot.