【作者】 王涛；

【导师】 高湛军； 韩磊；

【作者基本信息】 山东大学 ， 电气工程（专业学位）， 2019， 硕士

【摘要】 在现代城市建设过程中,出于在市容市貌建设上的要求和城市发展建设用地成本节约等原因,各地城市规划建设单位在城市空间利用上不断追求,电力隧道也就在这个大背景下被广泛应用在国内各级城市的建设中来。但是电力隧道作为重要的电力能源输送设施,其深埋于地下,内部环境相对密闭,部分路段存在积水等情况,同时也因建设时代不同,各地的电力隧道在内部设备设施的布局上也存在规范性不足的问题,这些综合因素造成了电力隧道在日常运行巡视、检修时的困难。一般传统的电力隧道内部监控采用固定安装的各种摄像机采集内部设备设施的外观状态,采用传统仪器、表记采集内部设备设施的内环境气体含量、温度和湿度等数据,这种方案基本能够完成日常巡视、检修的要求,但是也存在数据采集手段单一、监控范围和角度受限以及因监控设备多而导致的故障几率大的情况。同时传统的监测设备对于数据的分析处理往往智能化程度不足,面对巨大的数据量,智能化的分析手段就显得非常必要了。当然了,电力隧道内部环境相对恶劣,存在各种坡度、转弯等隧道空间形态,局部路段存在的潮湿和积水情况对于人工巡视造成了极大困难,对于传统的监测设备来说也很难完全适应这些环境。针对上述问题,本论文针对电力系统电力隧道日常巡视、检修的需要,设计了一种自动化、智能化程度高的可移动式智能监测机器人方案,来完成电力隧道日常运检任务,提高电力隧道运检的自动化、智能化程度。本课题主要进行了电力隧道智能监测机器人技术课题的三个方面的技术研究:(1)根据电力隧道内部环境特点设计的运动承载系统,其采用方便施工敷设的轨道式搭载平台来确保机器人的运动范围和监测范围,通过动力传动系统的导向轮系和伺服电机驱动满足隧道内机器人精确可控直线、爬坡、转弯等行走动作,方案根据电力隧道防火门的安装方式和使用特点,设计了隧道内防火门通过方案,解决机器人通过时的防火门障碍问题,保证了机器人在隧道内的无障碍运行。(2)根据电力隧道内部通道形状存在弯角、坡度和强电磁干扰等情况,设计了无线通讯及有线通讯结合的通讯技术方案,采用自愈式光纤链路通讯技术和无线数据漫游方式,来保证监测数据的即时上传的安全性、可靠性和传输效率。(3)设计了通过搭载在线式监测设备的智能监测系统,采用人工智能技术的模式识别技术对隧道内部设备、设施的外观状态、破损情况进行全面监测,同时对于隧道内部环境的积水、沉降、异物入侵情况进行自动监测判断和预警,人工智能技术的应用大大提高了电力隧道的输电运行安全系数。更多还原

【Abstract】 In the process of modern urban construction,due to the requirements of urban appearance construction and the cost saving of urban development and construction land,the urban planning and construction units all over the country continue to pursue the use of urban space.Under this background,power tunnels are widely used in the construction of cities at all levels in China.However,as an important power energy transmission facility,the power tunnel is deeply buried in the ground,the internal environment is relatively closed,and some sections have accumulated water.At the same time,due to the different times of construction,there are also problems in the layout of internal equipment and facilities in power tunnels everywhere,which cause difficulties in daily operation,inspection and maintenance of power tunnels。In general,the traditional internal monitoring of power tunnel adopts various fixed cameras to collect the appearance status of internal equipment and facilities,and adopts traditional instruments and meters to collect the internal environmental gas content,temperature,humidity and other data of internal equipment and facilities This scheme can basically complete the daily inspection and maintenance requirements,but there are also single data collection means,monitoring range and angle Limited and high failure probability caused by many monitoring devices.At the same time,the traditional monitoring equipment for data analysis and processing is often lack of intelligence.Facing the huge amount of data,intelligent analysis means is very necessary.Of course,the internal environment of the power tunnel is relatively bad,there are various slopes,turns and other tunnel space forms,and the moisture and ponding conditions in some sections cause great difficulties for manual inspection,and it is also difficult for traditional monitoring equipment to fully adapt to these environments.In view of the above problems,this paper designs a mobile intelligent monitoring robot with high degree of automation and intelligence for the needs of daily inspection and maintenance of power tunnel in power system,to complete the daily operation and inspection tasks of power tunnel and improve the automation and intelligence of operation and inspection of power tunnel.This paper mainly focuses on three aspects of the technical research of intelligent monitoring robot for power tunnel(1)the motion bearing system designed according to the characteristics of the internal environment of the power tunnel adopts the track type carrying platform which is convenient for construction and laying to ensure the motion range and monitoring range of the robot.Through the guide wheel system of the power transmission system and the servo motor drive,it can meet the requirements of the precise and controllable straight line,climbing,turning and other walking actions of the robot in the tunnel.The scheme is based on the fire door of the power tunnel In order to solve the obstacle problem of the fire door when the robot passes through the tunnel and ensure the robot’s barrier free operation in the tunnel.(2)according to the situation of bend angle,slope and strong electromagnetic interference in the internal channel shape of power tunnel,the communication technology scheme combining wireless communication and wired communication is designed.The self-healing optical fiber link communication technology and wireless data roaming mode are adopted to ensure the safety,reliability and transmission efficiency of the real-time upload of monitoring data.(3)the intelligent monitoring system with on-line monitoring equipment is designed,and the pattern recognition technology of artificial intelligence technology is used to comprehensively monitor the appearance state and damage of the internal equipment and facilities of the tunnel.At the same time,the automatic monitoring judgment and early warning are carried out for the water accumulation,settlement and invasion of different objects in the internal environment of the tunnel.The application of artificial intelligence technology greatly improves the power supply Transmission operation safety factor of power tunnel.更多还原