智能巡检机器人的电缆缺陷检测关键技术研究
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摘要
为了满足电力系统运维过程中电缆沟巡检的任务要求,设计了一种智能型电缆沟巡检机器人系统,并对该系统中的电缆缺陷检测关键技术进行研究。提出了一种基于小波变换图像分割与图像轮廓检测的电缆绝缘层破损检测算法和电缆温度异常检测算法,通过在搭建的模拟电缆沟实验环境中对机器人系统进行整体测试,验证了算法的有效性。同时,测试结果表明,设计的机器人巡检系统能够实现实时的电缆缺陷检测,可以满足电力系统电缆巡检的实际要求。
In order to meet the requirements of cable trench inspection in power system operation and maintenance, an intelligent cable trench inspection robot system was designed, and the key technology of cable defect detection of the system was studied. A cable insulation layer damage detection algorithm and cable temperature anomaly detection algorithm based on wavelet transform image segmentation and image contour detection was proposed. The validity of the algorithm was verified by the overall test of the robot system in the simulated cable trench experimental environment. At the same time, the test results show that the robot inspection system designed in this paper can realize real-time cable defect detection, and can meet the practical requirements of power system cable inspection.
In order to meet the requirements of cable trench inspection in power system operation and maintenance, an intelligent cable trench inspection robot system was designed, and the key technology of cable defect detection of the system was studied. A cable insulation layer damage detection algorithm and cable temperature anomaly detection algorithm based on wavelet transform image segmentation and image contour detection was proposed. The validity of the algorithm was verified by the overall test of the robot system in the simulated cable trench experimental environment. At the same time, the test results show that the robot inspection system designed in this paper can realize real-time cable defect detection, and can meet the practical requirements of power system cable inspection.
引文
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[3] 钟修皓,王晓虹,刘文壮,等.智能语音巡检机器人系统的设计与实现[J].电子设计工程,2015(15):5-7.
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[6] 赵越,高守玮,赵龙龙,等.电站智能无线巡检移动机器人系统设计[J].计算机技术与发展,2014(10):26-29,33.
[7] Zou W Y, Wu Y. COFDM: an overview[J]. IEEE Transactions on Broadcasting, 1995, 41(1):1-8.
[8] 万宝华.利用中继器解决山区无线列调区间弱场问题[J].铁道通信信号,2006,42(6):45-47.
[9] 池敬涛.TD-LTE技术在电力无线通信系统中的运用[J].通讯世界,2017(9):40-41.
[10] 宫梓超,卞绍润.电缆隧道通信保障系统研究与应用[J].山东电力技术,2017,44(11):21-24.
[11] 王备贝.电力电缆绝缘缺陷检测方法的研究[D].北京:华北电力大学,2013.
[12] 彭聿松,佃松宜,刘涛,等.电缆管道巡检机器人嵌入式系统的设计与实现[J].计算机工程与设计,2013, 34(5):1630-1634.
[13] 廖利,胡海芝.海底电缆破损红外图像监控方法研究与仿真[J].计算机仿真,2013,30(2):406-409.
[14] Huang Y J, Pan C L, Guo M H.Defect detection for 3D through silicon via based on machine learning approach[J].Nanoscience and Nanotechnology Letters,2017,9(8):1175-1179.
[15] 胡秀珍,隋青美.基于机器视觉的铁芯表面缺陷检测系统研究[J].仪器仪表用户,2017,34(1):21-23.
[16] 刘洲峰,徐庆伟,李春雷.基于小波变换的图像分割研究[J].计算机应用与软件, 2009,26(4):62-64.
[17] 苏春芳,尤彩萍.基于机器视觉的电力电缆检测机器人的研究[J].电脑知识与技术,2013(29):6615-6617.
[18] 郭天太.红外热成像技术在无损检测中的应用[J].机床与液压,2004(2):110-111.