Development And Application Of A Hanging Rail Type Cable Tunnel Intelligent Patrol Robot Equipped With Wireless Fixed-Point Sensors

In recent years,with the growth of China’s economic strength and the demand for urbanization,the State Grid Corporation of China has increased the investment in cable transmission of the transmission grid,making the total mileage of the cable tunnel refreshed.China’s cable tunnel construction has entered a period of rapid development.The shortage of cable operation and maintenance personnel,especially the structural shortage problem,has become increasingly prominent.The tunnel environment and equipment inspections,infrared temperature measurement,ground current measurement,partial discharge detection,defect tracking,and inspection data entry are still heavily dependent on labor.The inspection quality of the manual inspection method is not easy to control and the inspection efficiency is not high,and there are still large potential safety risks.The personal accidents of cable operation and maintenance personnel occur from time to time.The cable tunnel intelligent patrol robot is an effective technical support tool for cable tunnels.The State Grid Corporation has also done some pilot applications in this area.At present,intelligence and automation are not high enough to replace manual inspection.Only when the functions of unmanned operation,smart inspection,active warning,and intelligent decision-making are realized,the tunnel robot can enter the practical stage.In order to achieve this goal,it is necessary to promote the goal of tunnel inspection intelligence.This article draws on the research results of intelligent power inspection robots for hanging rail cable tunnels at home and abroad,designs a cable tunnel inspection robot and a wireless fixed-point sensor matching with the inspection robot.The intelligent line patrol robot basically realizes the positioning function,anti-collision function,mobile video patrol function,infrared thermal imaging function,mobile crossing firewall function,tunnel environment detection function,emergency broadcast,sound and light alarm and other basic functional requirements,which is of great significance for the practical application of intelligent robot.This paper mainly introduces the key technologies of the cable tunnel intelligent patrol robot,such as wireless charging technology,navigation and positioning technology in the tunnel,image and video recognition and analysis technology,and the realization of key core subsystems,such as the function realization of positioning module and anti-collision module.In addition,the robot is also applied to the cable shield of Daming Lake to realize the repeated round-the-clock inspection of the tunnel.The continuous and dynamic data acquisition and system storage of the tunnel are also carried out.Through the combination of manual remote control+full autonomous inspection,global inspection+designated inspection,the system realizes the uninterrupted inspection of power tunnel equipment and environment without omission.On the basis of the existing research on the technology level of electric inspection robot,combined with the special operating environment requirements of the cable tunnel in Darning Lake,the application of the hanging rail type intelligent inspection robot system and sensors in the cable shield in Darning Lake is described in detail.This paper demonstrates the practicability and feasibility of the cable tunnel intelligent patrol robot.