基于改进D*Lite算法的电缆沟巡检机器人系统设计

Design of cable trench inspection robot system based on improved D*Lite algorithm

摘要:

对地下电缆沟运行状态的在线监测问题，针对电缆沟环境设计了电缆沟巡检机器人系统。分析了地下电缆沟在线监测的需求以及电缆沟环境带来的约束，构建了包含图像模块、温湿度检测、可燃气体检测、运动机构、自动导航模块、上位机系统在内的巡检机器人结构。采用多关节串联结构的履带式底座和双CPU(central pro-cessing unit)设计来减小机器人整体的体积和重量，采用烟花算法改进D*Lite算法，加大机器人本体与障碍物距离，提升规划路径的平滑度，实现了适用于电缆沟环境的路径规划。经现场测试，系统总功耗为94.3W，最小通过宽度为35cm，可穿越坡度不超过30°的障碍，获得满足测量精度要求的多种电缆运行信息，实现了地下电缆沟的自动巡检，满足了地下电缆沟在线监测的要求。

Abstract:

Aiming the problem of on-line monitoring of the running state of underground cable trench, a cable trench inspection robot system is designed according to the cable trench environment. the requirements of on-line monitoring of underground cable trench, as well as the constraints brought by the underground cable trench environment are analyzed, and an inspection robot, including image module, temperature and humidity detection, combustible gas detection, motion mechanism, automatic navigation module, host system etc., are built. Multi-joint series structure crawler and dual central processing unit (CPU) are used to reduce the whole volume and weight of the robot. D*Lite algorithm is improved by fireworks algorithm. In this way, the distance between robot body and obstacles is increased, the smoothness of planning path is improved, and the path planning for cable trench environment is realized. Experiments of the scene show that, the total power consumption is 94.3W, the minimum passing width is 35cm, and could climb over obstacle not high than 30°，meanwhile, it could obtain various cable operation information which are satisfied the demand precision. This robot system realizes the automatic inspection of the underground cable trench, and satisficed the demands of the online monitoring of the underground cable trench.