Cable tunnel detection method and system based on robot

The invention provides a cable tunnel detection method and system based on a robot. The cable tunnel detection method comprises the following steps: acquiring environment monitoring data acquired by an environment sensor group in real time, and performing safety monitoring on a current cable tunnel environment in a data fusion and data simultaneous analysis mode; the method comprises the following steps: acquiring image information of a cable through a visual sensor, and performing image data preprocessing on an image to obtain a denoised image; and processing the image through an image segmentation method to obtain shielding information in the image. The cable tunnel detection system comprises modules corresponding to the steps of the cable tunnel detection method. 本发明提出了一种基于机器人的电缆隧道检测方法和系统。所述电缆隧道检测方法包括实时采集环境传感器组获取的环境监测数据，并通过数据融合和数据联立分析方式对当前电缆隧道环境进行安全性监控；通过视觉传感器采集电缆的图像信息，并对所述图像进行图像数据预处理，获得降噪后的图像；通过图像分割方法对所述图像进行处理，获取图像中的遮挡信息。所述电缆隧道检测系统包括与所述电缆隧道检测方法步骤对应的模块。