| At present,our country’s power demand continues to grow,and the power grid is constantly expanding,the distribution network cable tunnel has become an important infrastructure for urban power supply.Traditional manual inspections have some shortcomings for its low frequency and long intervals.It is difficult to find problems such as cable loss,skin damage,degradation of insulation performance and abnormal environment of cable tunnels in time.Additionally,the high labor intensity and high risk will cause threat for the inspection personnel easily.In order to ensure the safe operation of the power grid after a large amount of power cables are heavily invested,in the thesis,a ropeway-type cable tunnel intelligent inspection robot is studied and designed,which will replaces the manual implementation to realize the automatic and regular inspections of underground facilities in the power grid,to discover hidden dangers and faults,to ensure the safe operation of the power system accordingly.Firstly,the harsh environment in the cable tunnel is analyzed in the thesis.Due to the rugged and uneven ground,the final inspection method is determined to be the more advantageous ropeway inspection.The overall scheme of the robot is designed,the mechanical structure,control system software,and control system hardware of the robot are analyzed and designed in detail,and the overall structure design is completed.Secondly,on the basis of the cable tunnel inspection robot,a detection and identification method for the abnormal situation of the cable tunnel is proposed:The first part is to use the YOLO V3 target detection algorithm on the robot to detect the cable tunnel components in real time.The content of the inspection includes whether the cable is stolen,whether the cable sheath is damaged,whether the cable connector is burnt,and whether there is a large area of water in the trench.The second part is to design a partial discharge detection system based on the reflection method.The implementation process are:the robot inspects each cable connector of the cable along the walking track,captures the partial discharge signal through the partial discharge detector of the pan-tilt,analyze the type and location of the partial discharge of the cable in real time,then generate the inspection report.Finally,a prototype of the inspection robot for the distribution network tunnel is developed,and experiments such as precise positioning of the robot in the cable tunnel,environmental detection,cable status detection and cable partial discharge detection are carried out.The experimental results verify the feasibility and practicability of the proposed methods. |
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