Research on Key Technologies of Cable Tunnel Inspection Robot

摘要

Aiming at the key technical problems of cable tunnel inspection robot, this paper builds the control system of cable tunnel inspection robot based on NVIDIA Jetson TX2 and STM32F407. By designing a motion mechanical structure to meet the requirements of the inspection robot walking freely on the fixed track of the tunnel, designing a positioning scheme based on Radio Frequency Identification (RFID) to enable the robot to quickly and accurately acquire the location information, and designing a multi-channel audio and video processing scheme to enable the robot to have online diagnosis, video coding, audio coding and decoding and multimedia streaming capabilities. The experimental results confirm the feasibility of the proposed scheme.