电缆管道巡检机器人远程测控系统的研究与实现  

Telemonitoring System for Cable Pipeline Inspection Robot

作　　者：吴璋[1] 佃松宜[1] 龚永铭[2] 刘涛[1] 彭聿松[1] 

机构地区：[1]四川大学电气信息学院,四川成都610065 [2]国家电网浙江省电力公司衢州电力局,浙江衢州324000

出　　处：《测控技术》2013年第9期32-36,共5页Measurement & Control Technology

摘　　要：采用图形化编程语言LabVIEW,通过构建多循环应用程序框架,开发了一种用于电缆管道巡检遥操作机器人的新型远程测控系统。该系统能够远程控制机器人在电缆管道内的运动并实时监测机器人沿管内行进时的位置和姿态,能通过机器人获取管内视频信息并进行Canny算子边缘处理以及对管内敷设电缆的温度监测。实际运行结果表明,该测控系统设计新颖、运行可靠、功能实用,对类似遥操作机器人的远程监测与控制系统开发有较好的参考作用。The graphical programming language LabVIEW is used to develop a novel telemomtonng system Ior the teleoperation of cable pipeline inspection robot by constructing the framework of the multi-loop applica- tions. The system can remotely control the robot movement and real-time monitor the position and attitude of the robot while moving along the pipes. The video information in the pipes can be achieved and processed by Canny algorithm. The temperature of the cables laid along the pipe can be monitored. The results of practical experiment show that this telemonitoring system, with the characteristics of reliable operation and practical functions, is a good reference for development on similar monitoring systems of teleoperation robots.

关 键 词：电缆管道 巡检机器人 LABVIEW 多循环 远程测控 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]