基于STM32的电缆管道智能巡检小车设计  

Design of Cable Pipeline Intelligent Inspection Car Based on STM32

作　　者：马海霞 赵睿 冯瑞珏 龙华钊 Ma Haixia;Zhao Rui;Feng Ruijue;Long Huazhao(School of Electrical Engineering,Guangzhou City University of Technology,Guangzhou 510800,China;Department of Electrical Technology,Guangdong Mechanical&Electrical Polytechnic,Guangzhou 510515,China)

机构地区：[1]广州城市理工学院电气工程学院,广州510800 [2]广东机电职业技术学院电气技术系,广州510515

出　　处：《机电工程技术》2021年第10期141-145,共5页Mechanical & Electrical Engineering Technology

基　　金：广州城市理工学院校级大学生创新创业训练计划项目(SRP)(编号:55JY200505)。

摘　　要：针对配电网电缆管道分布广、空间狭窄、巡检难度大的问题,以STM32单片机为核心,以OV7725摄像头作为图像采集设备设计了一种用于电缆排管巡检的智能小车来代替人工巡检。小车采用WiFi通讯方式进行下位机与上位机通讯,采用LED照明。对小车电源的电压与电量关系进行分析,确定了电压与电量的关系曲线。在PC端及手持设备上均可进行小车控制,通过小车摄像头所拍摄图像回传对管道内情况进行观测,图像传输速度超过15帧/s。对小车进行了多次爬坡实验、越障实验、管道行走等实验,小车可通ϕ150 mm、ϕ160 mm、ϕ200 mm等电缆排管,续航时间可达到30 min以上,爬坡角度大于10°,有效通信距离40 m以上。In view of the wide distribution of cable pipelines in distribution network,narrow space,and difficult patrol,STM32 MCU was taken as the core and the OV7725 camera was used as image acquisition equipment to design a kind of intelligent car for cable pipe patrol to replace manual inspection.The car adopted WiFi communication mode to communicate between the lower computer and the upper computer,and adopts LED lighting.The relationship between voltage and electric quantity of trolley power supply was analyzed,and the relationship curve between voltage and electric quantity was determined.The car could be controlled on PC and handheld devices,and the situation in the pipeline could be observed by returning the images shot by the car camera,with the image transmission speed greater than 15 frames/second.The tests show that the vehicle can passϕ150 mm,ϕ160 mm,ϕ200 mm and other cable ducts,the endurance time can reach more than 30 min,the climbing angle is greater than 10°,and the effective communication distance is more than 40 m.

关 键 词：STM32 电缆管道 巡检 排管 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]