Cable tunnel automatic inspection method and system based on quadruped robot

Abstract

The invention discloses an automatic cable tunnel inspection method and system based on a quadruped robot, and relates to the field of cable tunnel inspection, and the method comprises the steps: setting a plurality of low-power-consumption high-precision intelligent sensing monitoring devices and a unified interface based on the quadruped robot; setting identification mark feature points and wireless access points in the cable tunnel at certain intervals; based on an image processing technology, the image is processed, and the operation state of the quadruped robot is determined by analyzing the image; based on the millimeter wave radar, detecting the environment in the cable tunnel, and performing obstacle avoidance on the operation road of the quadruped robot; and the operation state of the quadruped robot is determined based on the monitoring results of the gyroscope, the millimeter wave radar and the image processing technology. The system has the advantages that the environment in the cable tunnel is automatically and intelligently detected by using the quadruped robot through various low-power-consumption high-precision intelligent sensing monitoring devices, the inspection efficiency is improved, and the processing period is shortened.

Description

Technical Field

[0001] The present invention relates to the field of cable tunnel inspection, and in particular to a cable tunnel automatic inspection method and system based on a quadruped robot. Background Art

[0002] At present, most inspections of distribution network scenarios are still completed manually. For example, in power pipeline corridors, station buildings and other scenarios, there are many devices, many distribution points and long total mileage, resulting in large amounts of monitoring information, long monitoring distances and short inspection cycles. At the same time, there are problems such as easy accumulation of water, easy generation of harmful gases, poor air circulation, high voltage and high radiation, making manual inspection work extremely difficult. There is an urgent need for pipeline corridor inspection robots to replace manual inspections. At present, there are wheeled inspections, tracked inspections and drone inspections to replace manual inspections in some scenarios, but they all have their limitations.

[0003] Among them, wheel inspection is too dependent on terrain, requiring the ground in the inspection tunnel to be flat, and cannot be applied to complex tunnel environments, and has poor passability. Track inspection requires pre-setting of tracks, has poor adaptability to terrain, and cannot cope with complex geographical environments. The inspection speed is slow and requires manual operation, which is time-consuming and laborious. It is impossible to conduct detailed inspections of cable details, such as insulation layers, conductors, etc.

[0004] The existing inspection system has a low degree of automation, and inspection mainly adopts a machine + human solution. In addition, for the existing quadruped robot system, there are few quadruped robots that use visual perception of unknown environments, and the quadruped robots lack the ability to cope with the environment in cable tunnels. As a result, the quadruped robots have insufficient ability to avoid obstacles and judge their operating status during long-distance walking, thereby limiting their ability to walk in complex terrain. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, an automated inspection method and system for cable tunnels based on a quadruped robot are provided. This technical solution solves the problem that the existing inspection system proposed in the above-mentioned background technology has a low degree of automation, and the inspection mainly adopts a machine + human solution. In addition, for the existing quadruped robot system, there are few quadruped robots that use visual perception to perceive unknown environments, and the quadruped robots lack the ability to cope with the environment in cable tunnels, resulting in insufficient obstacle avoidance and operating status judgment capabilities of the quadruped robots during long-distance walking, thereby limiting their ability to cope with complex terrain.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is: The automatic inspection method of cable tunnel based on quadruped robot includes: Based on the quadruped robot, a variety of low-power and high-precision intelligent sensor monitoring equipment and unified interfaces are set up; At regular intervals, identification feature points and wireless access points are set up in the cable tunnel; Based on image processing technology, the image is processed and the operating status of the quadruped robot is determined by analyzing the image; Based on millimeter-wave radar, the environment in the cable tunnel is detected and obstacles are avoided on the path of the quadruped robot. The operating status of the quadruped robot is determined based on the monitoring results of the gyroscope, millimeter-wave radar and image processing technology.

[0007] Preferably, the quadruped robot is based on the provision of a variety of low-power and high-precision intelligent sensor monitoring equipment and a unified interface, specifically including: According to the hidden dangers that need to be regularly monitored in the pipe gallery and station building and the appearance of the quadruped robot, a variety of low-power and high-precision intelligent sensing monitoring equipment are selected and set up. Among them, the intelligent sensing monitoring equipment includes: temperature and humidity sensors, SF6 gas sensors, noise sensors, smoke sensors, partial discharge sensors, infrared cameras, millimeter-wave radars and gyroscopes; According to the operating voltage environment of the monitoring equipment, various monitoring devices are connected using the left second aviation plug and the right third aviation plug. The left second aviation plug method is: the rated operating voltage is 5V, and various monitoring devices are connected through the USB (Pico) and USB to RS485 interface. The right third aviation plug method is: the rated operating voltage is 12V, and the monitoring devices are connected through network port 1 and network port 2.

[0008] Preferably, the step of setting identification mark feature points and wireless access points in the cable tunnel at regular intervals specifically includes: According to the environmental conditions in the cable tunnel and the potential dangers in the pipe gallery and station building, square marking feature points that can be identified by infrared cameras are set at certain intervals; The grayscale values ​​of the four corner areas of the landmark feature point image are obviously large and increasing, and the middle area has a larger and more obvious grayscale value. , , , are the grayscale values ​​of the four corner points, and ; Wireless access points are set up at certain intervals in the tunnel according to the strength of the wireless signal. Each wireless access point is connected through a switch and interactive communication is carried out through WIFI.

[0009] Preferably, the processing of the image based on the image processing technology and determining the operating state of the quadruped robot by analyzing the image specifically includes: Through the infrared camera, capture the images of the cable tunnel environment and landmark feature points in front of the quadruped robot; According to the gray value algorithm, the images of the cable tunnel environment and the marking feature points are grayed out; According to the grayscale cable tunnel environment picture, based on the Canny operator edge detection model, the cable tunnel environment and the external contour of the landmark feature points in front of the quadruped robot are detected; The external contour of the cable tunnel environment displayed by the Canny operator edge detection model forms a three-dimensional environment map of the working conditions; According to the grayscale values ​​of the four corner points of the landmark feature point image, a coordinate system is established with the corner point with the maximum grayscale value as the coordinate origin and the vertical and horizontal directions as the coordinate axis directions. Coordinate system; According to the deflection of the grab mark feature point image, the deflection information of the quadruped robot is calculated; Calculate the position information of the quadruped robot according to the distance changes of the grabbing mark feature point image; Determine the operating state and position information of the quadruped robot according to the acquired position information and deflection information of the quadruped robot; The gray value algorithm expression is: In the formula, For the Line The grayscale values ​​of the cable tunnel environment and the characteristic points of the signs are as follows: , , is the weighting coefficient of the red, green and blue primary colors of the cable tunnel environment and the sign feature point image, , , The red, green and blue primary colors of the cable tunnel environment and the sign feature point images are in the first Line The weight of the column; The expression for calculating the deflection information of the quadruped robot is: In the formula, The interval time is The average deflection angle of the two landmark feature point images of the same landmark feature point is the deflection angle of the quadruped robot. is the number of corner points of the feature point image other than the origin. The coordinates of the corner points of the feature point image other than the origin. The coordinates of the origin of the image marking the feature points; The expression for calculating the position information of the quadruped robot is: In the formula, The interval time is The distance between the two landmark feature point images of the same landmark feature point, that is, the average distance between the quadruped robot and the landmark feature point, is the conversion ratio of the side lengths of the two landmark feature point images, is the number of other points on the side connected to the origin, are the coordinates of another point on the side connecting the origin, is the error constant term.

[0010] Preferably, the detecting of the environment in the cable tunnel based on the millimeter wave radar and guiding the quadruped robot to avoid obstacles on the running road specifically include: According to the height of the quadruped robot, a millimeter-wave radar is installed in the front and on the left and right sides; According to the ranging formula of millimeter wave radar, calculate the distance when encountering obstacles in three directions; According to the speed measurement formula of millimeter wave radar, calculate the moving speed of the quadruped robot; According to the angle formula of the millimeter-wave radar, calculate the angle between the quadruped robot and the obstacle in front; According to the distance, speed and angle calculation results of the millimeter wave radar, the quadruped robot is guided to move on the road and avoid obstacles; The ranging expression of the millimeter wave radar is: In the formula, is the distance that the quadruped robot reaches the obstacle, The initial phase of the IF signal is obtained by mixing the millimeter wave radar transmitting antenna Tx and the receiving antenna Rx. is the propagation speed of electromagnetic waves, is the initial frequency of the millimeter wave radar transmitting antenna Tx signal; The speed measurement expression of the millimeter wave radar is: In the formula, is the moving speed of the quadruped robot, The millimeter wave radar transmits two The phase difference of the linear frequency modulation pulse, is the time interval between two linear frequency modulation pulses emitted by the millimeter wave radar. is the maximum measurement speed of the millimeter wave radar; The angle expression of the millimeter wave radar is: In the formula, is the angle between the quadruped robot and the obstacle, is a sine function The phase difference; is the maximum measurement angle of the millimeter wave radar.

[0011] Preferably, the monitoring results based on the gyroscope, millimeter wave radar and image processing technology to determine the operating state of the quadruped robot specifically include: Determine the deflection angle of the quadruped robot based on the monitoring results of the gyroscope and image processing technology; Determine the position information and obstacle identification of the quadruped robot based on the monitoring results of millimeter wave radar and image processing technology; According to the edge detection result of the Canny operator, it is determined whether there is an abnormal external contour within the distance measured by the millimeter-wave radar to the obstacle. If so, it is determined that there is an obstacle in front of the quadruped robot. If not, it is determined that there is no obstacle in front of the quadruped robot. The monitoring results of the gyroscope, millimeter-wave radar and image processing technology are recorded and displayed, and the operating status of the quadruped robot is displayed through a visual interface.

[0012] Furthermore, the present invention proposes a cable tunnel automatic inspection system based on a quadruped robot, which is used to implement the cable tunnel automatic inspection method based on a quadruped robot as described above, including: A data acquisition module, which is used to set up a variety of low-power and high-precision intelligent sensor monitoring equipment and a unified interface based on a quadruped robot; set identification mark feature points and wireless access points in the cable tunnel at regular intervals; The data processing module is used to process images based on image processing technology and determine the operating status of the quadruped robot by analyzing the images; detect the environment in the cable tunnel based on millimeter wave radar and avoid obstacles on the operating path of the quadruped robot; and determine the operating status of the quadruped robot based on the monitoring results of the gyroscope, millimeter wave radar and image processing technology.

[0013] Preferably, the data acquisition module includes: A hardware connection unit, which is used to set a variety of low-power and high-precision intelligent sensor monitoring devices and a unified interface based on the quadruped robot; A connection point setting unit is used to set identification mark feature points and wireless access points in the cable tunnel at regular intervals.

[0014] Preferably, the data processing module includes: An image processing unit, wherein the image processing unit is used to process the image based on image processing technology, and determine the operating state of the quadruped robot by analyzing the image; An obstacle avoidance processing unit, which is used to detect the environment in the cable tunnel based on the millimeter wave radar and avoid obstacles on the running path of the quadruped robot; A state monitoring unit is used to determine the operating state of the quadruped robot based on the monitoring results of the gyroscope, millimeter wave radar and image processing technology.

[0015] Compared with the prior art, the present invention has the following beneficial effects: Through a variety of low-power and high-precision intelligent sensing monitoring equipment, the quadruped robot is used to automatically and intelligently detect the environment in the cable tunnel. The image processing technology is used to model the environment in the cable tunnel, and the position and operation status of the quadruped robot are judged by identifying the landmark feature points in the cable tunnel. Secondly, the millimeter-wave radar monitoring technology is used to determine the obstacles in the cable tunnel, and the distance, speed, and angle values ​​obtained by the millimeter-wave radar are used to avoid obstacles. Finally, the operating status of the quadruped robot is monitored by combining the monitoring results of the gyroscope, millimeter-wave radar, and image processing technology, thereby improving the automation and intelligence of the quadruped robot in the process of detecting the cable tunnel environment, effectively improving the inspection efficiency of the cable tunnel and shortening the processing cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of the automatic inspection method for cable tunnels based on a quadruped robot of the present invention; Figure 2 A schematic diagram of a structure of a plurality of low-power and high-precision intelligent sensor monitoring devices and a unified interface is provided based on a quadruped robot of the present invention; Figure 3 The present invention is based on the image processing technology, processes the image, and determines the operating state flow chart of the quadruped robot by analyzing the image; Figure 4 This is a flow chart of detecting the environment in the cable tunnel and avoiding obstacles on the running path of the quadruped robot based on the millimeter wave radar of the present invention. DETAILED DESCRIPTION

[0017] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0018] Reference Figure 1 As shown, the automatic inspection method of cable tunnel based on quadruped robot includes: Based on the quadruped robot, a variety of low-power and high-precision intelligent sensor monitoring equipment and unified interfaces are set up; At regular intervals, identification feature points and wireless access points are set up in the cable tunnel; Based on image processing technology, the image is processed and the operating status of the quadruped robot is determined by analyzing the image; Based on millimeter-wave radar, the environment in the cable tunnel is detected and obstacles are avoided on the path of the quadruped robot. The operating status of the quadruped robot is determined based on the monitoring results of the gyroscope, millimeter-wave radar and image processing technology.

[0019] It can be explained that this solution is to integrate a variety of low-power and high-precision intelligent sensing monitoring equipment, use a quadruped robot to automatically and intelligently detect the environment in the cable tunnel, use image processing technology to model the environment in the cable tunnel, and identify the landmark feature points in the cable tunnel to determine the position and operation status of the quadruped robot. Secondly, through millimeter-wave radar monitoring technology, obstacles in the cable tunnel are determined, and obstacles are avoided through the distance, speed, and angle values ​​obtained by the millimeter-wave radar. Finally, the operating status of the quadruped robot is monitored by combining the monitoring results of the gyroscope, millimeter-wave radar and image processing technology.

[0020] Reference Figure 2 As shown, the quadruped robot is based on the provision of a variety of low-power, high-precision intelligent sensor monitoring equipment and a unified interface, specifically including: According to the hidden dangers that need to be regularly monitored in the pipe gallery and station building and the appearance of the quadruped robot, a variety of low-power and high-precision intelligent sensing monitoring equipment are selected and set up. Among them, the intelligent sensing monitoring equipment includes: temperature and humidity sensors, SF6 gas sensors, noise sensors, smoke sensors, partial discharge sensors, infrared cameras, millimeter-wave radars and gyroscopes; According to the operating voltage environment of the monitoring equipment, various monitoring devices are connected using the left second aviation plug and the right third aviation plug. The left second aviation plug method is: the rated operating voltage is 5V, and various monitoring devices are connected through the USB (Pico) and USB to RS485 interface. The right third aviation plug method is: the rated operating voltage is 12V, and the monitoring devices are connected through network port 1 and network port 2.

[0021] What can be explained is that by analyzing the complex environment of cable tunnels, pipe corridors and station buildings, selecting a variety of suitable low-power and high-precision intelligent sensing monitoring equipment, and combining the appearance of the quadruped robot, a variety of low-power and high-precision intelligent sensing monitoring equipment are integrated into the quadruped robot, and according to the analysis of the operating voltage of the monitoring equipment, the left two aviation plugs and the right three aviation plugs are used to realize the hardware connection between the monitoring equipment and the quadruped robot.

[0022] Reference Figure 3 As shown, the image processing technology is used to process the image, and the operation state of the quadruped robot is determined by analyzing the image, which specifically includes: Through the infrared camera, capture the images of the cable tunnel environment and landmark feature points in front of the quadruped robot; According to the gray value algorithm, the images of the cable tunnel environment and the marking feature points are grayed out; According to the grayscale cable tunnel environment picture, based on the Canny operator edge detection model, the cable tunnel environment and the external contour of the landmark feature points in front of the quadruped robot are detected; The external contour of the cable tunnel environment displayed by the Canny operator edge detection model forms a three-dimensional environment map of the working conditions; According to the grayscale values ​​of the four corner points of the landmark feature point image, a coordinate system is established with the corner point with the maximum grayscale value as the coordinate origin and the vertical and horizontal directions as the coordinate axis directions. Coordinate system; According to the deflection of the grab mark feature point image, the deflection information of the quadruped robot is calculated; Calculate the position information of the quadruped robot according to the distance changes of the grabbing mark feature point image; Determine the operating state and position information of the quadruped robot according to the acquired position information and deflection information of the quadruped robot; The gray value algorithm expression is: In the formula, For the Line The grayscale values ​​of the cable tunnel environment and the characteristic points of the signs are as follows: , , is the weighting coefficient of the red, green and blue primary colors of the cable tunnel environment and the sign feature point image, , , The red, green and blue primary colors of the cable tunnel environment and the sign feature point images are in the first Line The weight of the column; The expression for calculating the deflection information of the quadruped robot is: In the formula, The interval time is The average deflection angle of the two landmark feature point images of the same landmark feature point is the deflection angle of the quadruped robot. is the number of corner points of the feature point image other than the origin. The coordinates of the corner points of the feature point image other than the origin. The coordinates of the origin of the image marking the feature points; The expression for calculating the position information of the quadruped robot is: In the formula, The interval time is The distance between the two landmark feature point images of the same landmark feature point, that is, the average distance between the quadruped robot and the landmark feature point, is the conversion ratio of the side lengths of the two landmark feature point images, is the number of other points on the side connected to the origin, are the coordinates of another point on the side connecting the origin, is the error constant term.

[0023] It can be explained that, according to the invariance of image features, the analysis interval is Two landmark feature point images of the same landmark feature point can be used to calculate the distance between the quadruped robot and the landmark feature point according to the size change of the landmark feature point image. The deflection angle of the quadruped robot can be calculated through the angle change of the landmark feature point image. The image can be recognized through image processing technology to effectively analyze the operating status of the quadruped robot. The landmark feature point has accurate position coordinate information and appropriate regional setting distribution based on big data.

[0024] Reference Figure 4 As shown, the millimeter-wave radar is used to detect the environment in the cable tunnel and avoid obstacles on the running road of the quadruped robot, which specifically includes: According to the height of the quadruped robot, a millimeter-wave radar is installed in the front and on the left and right sides; According to the ranging formula of millimeter wave radar, calculate the distance when encountering obstacles in three directions; According to the speed measurement formula of millimeter wave radar, calculate the moving speed of the quadruped robot; According to the angle formula of the millimeter-wave radar, calculate the angle between the quadruped robot and the obstacle in front; According to the distance, speed and angle calculation results of the millimeter wave radar, the quadruped robot is guided to move on the road and avoid obstacles; The ranging expression of the millimeter wave radar is: In the formula, is the distance that the quadruped robot reaches the obstacle, The initial phase of the IF signal is obtained by mixing the millimeter wave radar transmitting antenna Tx and the receiving antenna Rx. is the propagation speed of electromagnetic waves, is the initial frequency of the millimeter wave radar transmitting antenna Tx signal; The speed measurement expression of the millimeter wave radar is: In the formula, is the moving speed of the quadruped robot, The millimeter wave radar transmits two The phase difference of the linear frequency modulation pulse, is the time interval between two linear frequency modulation pulses emitted by the millimeter wave radar. is the maximum measurement speed of the millimeter wave radar; The angle expression of the millimeter wave radar is: In the formula, is the angle between the quadruped robot and the obstacle, is a sine function The phase difference; is the maximum measurement angle of the millimeter wave radar.

[0025] It can be explained that the millimeter-wave radar detection technology is used to detect the cable tunnel environment. The distance, speed and angle detected by the millimeter-wave radar are used to identify and avoid obstacles for the movement of the quadruped robot in the cable tunnel. The specific obstacle avoidance process is as follows: According to the ranging formula of millimeter wave radar, the distance between the quadruped robot and the obstacles on the left and right sides is calculated. According to big data and experimental tests, the safe distance between the quadruped robot and the obstacles on the left and right sides is obtained, and the threshold is set. , when less than the safety distance When the quadruped robot is adjusted to move toward the center of the cable tunnel; According to the distance values ​​in front and on the left and right sides obtained by the millimeter-wave radar and the angle between the quadruped robot and the obstacle, a right triangle is established, and the safe passage distance of the quadruped robot is calculated using the triangle formula; according to , and fuselage width Value, determine the safe passage distance of the quadruped robot; The triangle formula is used to calculate the safe passage distance of the quadruped robot: In the formula, is the horizontal distance between the quadruped robot and the obstacle, is the distance between the quadruped robot and the obstacle, is the angle between the quadruped robot and the obstacle, is the maximum channel distance that the quadruped robot can pass through, is the distance between the quadruped robot and the obstacles on both sides, The safe distance for the quadruped robot to reach obstacles on the left and right sides; The process of determining the safe passage distance of the quadruped robot is as follows: when When , it means that the quadruped robot has difficulty passing through the current channel and issues an abnormal warning; when When If , it means that the quadruped robot is currently having difficulty passing through the passage, and it is necessary to adjust the quadruped robot to deviate from the obstacles on the left and right sides until .

[0026] Further, based on the same inventive concept as the above-mentioned automatic inspection method for cable tunnels based on a quadruped robot, the present solution also proposes an automatic inspection system for cable tunnels based on a quadruped robot, comprising: A data acquisition module, which is used to set up a variety of low-power and high-precision intelligent sensor monitoring equipment and a unified interface based on a quadruped robot; set identification mark feature points and wireless access points in the cable tunnel at regular intervals; The data processing module is used to process images based on image processing technology and determine the operating status of the quadruped robot by analyzing the images; detect the environment in the cable tunnel based on millimeter wave radar and avoid obstacles on the operating path of the quadruped robot; and determine the operating status of the quadruped robot based on the monitoring results of the gyroscope, millimeter wave radar and image processing technology.

[0027] The data acquisition module includes: A hardware connection unit, which is used to set a variety of low-power and high-precision intelligent sensor monitoring devices and a unified interface based on the quadruped robot; A connection point setting unit is used to set identification mark feature points and wireless access points in the cable tunnel at regular intervals.

[0028] The data processing module includes: An image processing unit, wherein the image processing unit is used to process the image based on image processing technology, and determine the operating state of the quadruped robot by analyzing the image; An obstacle avoidance processing unit, which is used to detect the environment in the cable tunnel based on the millimeter wave radar and avoid obstacles on the running path of the quadruped robot; A state monitoring unit is used to determine the operating state of the quadruped robot based on the monitoring results of the gyroscope, millimeter wave radar and image processing technology.

[0029] To sum up, the advantages of the present invention are: through a variety of low-power and high-precision intelligent sensing monitoring equipment, a quadruped robot is used to automatically and intelligently detect the environment in the cable tunnel, the environment in the cable tunnel is modeled by image processing technology, and the position and operating status of the quadruped robot are judged by identifying the landmark feature points in the cable tunnel. Secondly, through millimeter-wave radar monitoring technology, obstacles in the cable tunnel are judged, and obstacles are avoided by the distance, speed, and angle values ​​obtained by the millimeter-wave radar. Finally, through the monitoring results of the comprehensive gyroscope, millimeter-wave radar and image processing technology, the operating status of the quadruped robot is monitored, thereby improving the automation and intelligence of the quadruped robot in the process of cable tunnel environment detection, effectively improving the inspection efficiency of the cable tunnel and shortening the processing cycle.

[0030] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A cable tunnel automated inspection method based on a quadruped robot, characterized in that: include: Based on the quadruped robot, a variety of low-power and high-precision intelligent sensor monitoring equipment and unified interfaces are set up; At regular intervals, identification feature points and wireless access points are set up in the cable tunnel; Based on image processing technology, the image is processed and the operating status of the quadruped robot is determined by analyzing the image; Based on millimeter-wave radar, the environment in the cable tunnel is detected and obstacles are avoided on the path of the quadruped robot. Determine the operating status of the quadruped robot based on the monitoring results of the gyroscope, millimeter-wave radar and image processing technology; The step of setting identification mark feature points and wireless access points in the cable tunnel at regular intervals specifically includes: According to the environmental conditions in the cable tunnel and the potential dangers in the pipe gallery and station building, square marking feature points that can be identified by infrared cameras are set at certain intervals; The grayscale values ​​of the four corner areas of the landmark feature point image are obviously large and increasing, and the middle area has a larger and more obvious grayscale value. , , , are the grayscale values ​​of the four corner points, and ; Wireless access points are set up at certain intervals in the tunnel according to the wireless signal strength, and each wireless access point is connected through a switch, and interactive communication is carried out through WIFI; The processing of the image based on the image processing technology and determining the running state of the quadruped robot by analyzing the image specifically includes: Through the infrared camera, capture the images of the cable tunnel environment and landmark feature points in front of the quadruped robot; According to the gray value algorithm, the images of the cable tunnel environment and the marking feature points are grayed out; According to the grayscale cable tunnel environment picture, based on the Canny operator edge detection model, the cable tunnel environment and the external contour of the landmark feature points in front of the quadruped robot are detected; The external contour of the cable tunnel environment displayed by the Canny operator edge detection model forms a three-dimensional environment map of the working conditions; According to the grayscale values ​​of the four corner points of the landmark feature point image, a coordinate system is established with the corner point with the maximum grayscale value as the coordinate origin and the vertical and horizontal directions as the coordinate axis directions. Coordinate system; According to the deflection of the grab mark feature point image, the deflection information of the quadruped robot is calculated; Calculate the position information of the quadruped robot according to the distance changes of the grabbing mark feature point image; Determine the operating state and position information of the quadruped robot according to the acquired position information and deflection information of the quadruped robot; The gray value algorithm expression is: In the formula, For the Line The grayscale values ​​of the cable tunnel environment and the characteristic points of the signs are as follows: , , is the weighting coefficient of the red, green and blue primary colors of the cable tunnel environment and the sign feature point image, , , The red, green and blue primary colors of the cable tunnel environment and the sign feature point images are in the first Line The weight of the column; The expression for calculating the deflection information of the quadruped robot is: In the formula, The interval time is The average deflection angle of the two landmark feature point images of the same landmark feature point is the deflection angle of the quadruped robot. is the number of corner points of the feature point image other than the origin. The coordinates of the corner points of the feature point image other than the origin. The coordinates of the origin of the image marking the feature points; The expression for calculating the position information of the quadruped robot is: In the formula, The interval time is The distance between the two landmark feature point images of the same landmark feature point, that is, the average distance between the quadruped robot and the landmark feature point, is the conversion ratio of the side lengths of the two landmark feature point images, is the number of other points on the side connected to the origin, are the coordinates of another point on the side connecting the origin, is the error constant term.

2. The automatic inspection method for cable tunnels based on a quadruped robot according to claim 1 is characterized in that: The quadruped robot is based on the provision of a variety of low-power, high-precision intelligent sensor monitoring equipment and a unified interface, specifically including: According to the hidden dangers that need to be regularly monitored in the pipe gallery and station building and the appearance of the quadruped robot, a variety of low-power and high-precision intelligent sensing monitoring equipment are selected and set up. Among them, the intelligent sensing monitoring equipment includes: temperature and humidity sensors, SF6 gas sensors, noise sensors, smoke sensors, partial discharge sensors, infrared cameras, millimeter-wave radars and gyroscopes; According to the operating voltage environment of the monitoring equipment, various monitoring devices are connected using the left second aviation plug and the right third aviation plug. The left second aviation plug method is: the rated operating voltage is 5V, and various monitoring devices are connected through the USB (Pico) and USB to RS485 interface. The right third aviation plug method is: the rated operating voltage is 12V, and the monitoring devices are connected through network port 1 and network port 2.

3. The automatic inspection method for cable tunnels based on a quadruped robot according to claim 2 is characterized in that: The method of detecting the environment in the cable tunnel based on the millimeter wave radar and guiding the quadruped robot to avoid obstacles on the running road specifically includes: According to the height of the quadruped robot, a millimeter-wave radar is installed in the front and on the left and right sides; According to the ranging formula of millimeter wave radar, calculate the distance when encountering obstacles in three directions; According to the speed measurement formula of millimeter wave radar, calculate the moving speed of the quadruped robot; According to the angle formula of the millimeter-wave radar, calculate the angle between the quadruped robot and the obstacle in front; According to the distance, speed and angle calculation results of the millimeter wave radar, the quadruped robot is guided to move on the road and avoid obstacles; The ranging expression of the millimeter wave radar is: In the formula, is the distance that the quadruped robot reaches the obstacle, The initial phase of the IF signal is obtained by mixing the millimeter wave radar transmitting antenna Tx and the receiving antenna Rx. is the propagation speed of electromagnetic waves, is the initial frequency of the millimeter wave radar transmitting antenna Tx signal; The speed measurement expression of the millimeter wave radar is: In the formula, is the moving speed of the quadruped robot, The millimeter wave radar transmits two The phase difference of the linear frequency modulation pulse, is the time interval between two linear frequency modulation pulses emitted by the millimeter wave radar. is the maximum measurement speed of the millimeter wave radar; The angle expression of the millimeter wave radar is: In the formula, is the angle between the quadruped robot and the obstacle, is a sine function The phase difference; is the maximum measurement angle of the millimeter wave radar.

4. The automatic inspection method for cable tunnels based on a quadruped robot according to claim 3 is characterized in that: The monitoring results based on the gyroscope, millimeter wave radar and image processing technology to determine the operating state of the quadruped robot specifically include: Determine the deflection angle of the quadruped robot based on the monitoring results of the gyroscope and image processing technology; Determine the position information and obstacle identification of the quadruped robot based on the monitoring results of millimeter wave radar and image processing technology; According to the edge detection result of the Canny operator, it is determined whether there is an abnormal external contour within the distance measured by the millimeter-wave radar to the obstacle. If so, it is determined that there is an obstacle in front of the quadruped robot. If not, it is determined that there is no obstacle in front of the quadruped robot. The monitoring results of the gyroscope, millimeter-wave radar and image processing technology are recorded and displayed, and the operating status of the quadruped robot is displayed through a visual interface.

5. A cable tunnel automatic inspection system based on a quadruped robot, used to implement the cable tunnel automatic inspection method based on a quadruped robot as described in any one of claims 1 to 4, characterized in that: include: A data acquisition module, which is used to set up a variety of low-power and high-precision intelligent sensor monitoring devices and a unified interface based on a quadruped robot; At regular intervals, identification feature points and wireless access points are set up in the cable tunnel; A data processing module, which is used to process images based on image processing technology, determine the operating status of the quadruped robot by analyzing the images; detect the environment in the cable tunnel based on millimeter wave radar, and avoid obstacles on the operating path of the quadruped robot; The operating status of the quadruped robot is determined based on the monitoring results of the gyroscope, millimeter-wave radar and image processing technology.

6. The cable tunnel automatic inspection system based on a quadruped robot according to claim 5 is characterized in that: The data acquisition module specifically includes: A hardware connection unit, which is used to set a variety of low-power and high-precision intelligent sensor monitoring devices and a unified interface based on the quadruped robot; A connection point setting unit is used to set identification mark feature points and wireless access points in the cable tunnel at regular intervals.

7. The cable tunnel automatic inspection system based on a quadruped robot according to claim 6 is characterized in that: The data processing module specifically includes: An image processing unit, wherein the image processing unit is used to process the image based on image processing technology, and determine the operating state of the quadruped robot by analyzing the image; An obstacle avoidance processing unit, which is used to detect the environment in the cable tunnel based on the millimeter wave radar and avoid obstacles on the running path of the quadruped robot; A state monitoring unit is used to determine the operating state of the quadruped robot based on the monitoring results of the gyroscope, millimeter wave radar and image processing technology.

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