智能巡检机器人的电缆缺陷检测关键技术研究

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。

Research on Key Technologies of Cable Inspection for Intelligent Inspection Robot

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.