CN109405895A - Cable tunnel monitoring management system - Google Patents
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- CN109405895A CN109405895A CN201811643470.4A CN201811643470A CN109405895A CN 109405895 A CN109405895 A CN 109405895A CN 201811643470 A CN201811643470 A CN 201811643470A CN 109405895 A CN109405895 A CN 109405895A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 47
- 238000001931 thermography Methods 0.000 claims abstract description 25
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- 238000001514 detection method Methods 0.000 claims description 29
- 238000007689 inspection Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
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- G—PHYSICS
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
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Abstract
The present invention relates to a kind of cable tunnel monitoring management systems comprising crusing robot, three-dimensional modeling equipment and monitor terminal, in which: thermal imaging device and visible image capturing head are provided on crusing robot；Three-dimensional modeling equipment is connect with crusing robot, the status data for being acquired according to the location information and crusing robot of crusing robot, is carried out three-dimensional modeling to power equipment, is generated three-dimensional live picture；Monitor terminal is connect with crusing robot and three-dimensional modeling equipment respectively, and monitor terminal includes display screen, and display screen is for showing thermal imaging video, visible light video and three-dimensional live image.Above-mentioned cable tunnel monitoring management system, the visible light video and thermal imaging video acquired in real time based on crusing robot real-time position information, the threedimensional model of power equipment, crusing robot, the real-time status of power equipment in cable tunnel can be carried out intuitively, rich in relief presentation, the Man machine interaction of lifting system.
Description
Technical field
The present invention relates to technical field of power systems, more particularly to a kind of cable tunnel monitoring management system.
Background technique
At present robot cable tunnel monitoring system realized in cable tunnel some power equipments and environment carry out
Real time monitoring.Existing robot cable tunnel monitoring system is based on two-dimensional approach and carries out map presentation, shows on two-dimensional map
The arrangement of important equipment in tunnel.Robot monitoring data are then presented by way of data drawing list.Two-dimensional map sum number
All very not intuitive according to the displaying of chart, user-interaction experience is poor.
Summary of the invention
Based on this, it is necessary to poor, the non-intuitive problem in interface for traditional robot cable tunnel monitoring system interactivity,
A kind of cable tunnel monitoring management system is provided.
A kind of cable tunnel monitoring management system comprising crusing robot, three-dimensional modeling equipment and monitor terminal,
In: crusing robot is used to acquire the status data of the power equipment within the scope of current detection, is provided with heat on crusing robot
Imaging device and visible image capturing head, thermal imaging device for obtaining thermal imaging video in real time, it is seen that light video camera head is for real-time
Obtain visible light video；Three-dimensional modeling equipment is connect with crusing robot, for the location information and shape according to crusing robot
State data carry out three-dimensional modeling to power equipment, generate three-dimensional live picture；Monitor terminal respectively with crusing robot and three-dimensional
Modelling apparatus connection, monitor terminal include display screen, and display screen is for showing thermal imaging video, visible light video and three-dimensional live
Image.
Above-mentioned cable tunnel monitoring management system, the three-dimensional mould based on crusing robot real-time position information, power equipment
The visible light video and thermal imaging video that type, crusing robot acquire in real time, to the change in location of tunnel internal power equipment, different
Object etc. is monitored, and is based on robot real time position, holder angle, the 3D at real-time display robot visible light visual angle to realize
Model display.The real-time status of power equipment in cable tunnel can be carried out intuitively, rich in relief presentation, promotion system
The Man machine interaction of system.
Cable tunnel monitoring management system further includes data processing equipment, data processing dress in one of the embodiments,
It sets and is connect respectively with crusing robot, three-dimensional modeling equipment and monitor terminal；Data processing equipment includes image processing module, is used
In the status data according to power equipment, data mark is added in the three-dimensional live image of power equipment.
Data processing equipment further includes detection module in one of the embodiments, detection module respectively with image procossing
Module and crusing robot connection；Whether the status data that detection module is used to detect each power equipment meets preset standard；
Image processing module is also used to when the status data of power equipment does not meet preset standard, to the three-dimensional live figure of power equipment
Label processing as carrying out pre-set color；Display screen is also used to show the three-dimensional live image after label.
Data processing equipment further includes word processing module, word processing module and detection in one of the embodiments,
Module is connected with monitor terminal；Word processing module is used for when the status data of power equipment does not meet preset standard, according to
Status data generates text prompting message；Display screen is also used to show text prompting message.
Monitor terminal further includes alarm device in one of the embodiments, and alarm device is used for the shape when power equipment
When state data do not meet preset standard, warning information is issued.
Display screen is also used to show the status data of power equipment in one of the embodiments,.
Monitor terminal further includes input unit and instruction sending device in one of the embodiments,；Input unit is used for
Receive the location information of user's input；Instruction sending device is used to generate location updating instruction according to location information, and by position
More new command is sent to crusing robot；Crusing robot is moved to the corresponding position of location information according to location updating instruction.
Cable tunnel monitoring management system further includes third party's data-interface, third number formulary in one of the embodiments,
It is connect according to interface with monitor terminal, for obtaining detection data from third party system；Display screen is also used to show detection data.
Crusing robot is used to acquire the surface temperature of the power equipment within the scope of current detection in one of the embodiments,
Spend at least one such as information, ambient humidity information, gas concentration information and equipment appearance data.
In one of the embodiments, power equipment include in electric power cable, cable connector, ground line and control cabinet extremely
Few one kind.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the cable tunnel monitoring management system of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the cable tunnel monitoring management system of another embodiment of the present invention；
Fig. 3 is the display interface signal of the monitor terminal in the cable tunnel monitoring management system of one embodiment of the invention
Figure；
Fig. 4 is the structural schematic diagram of the monitor terminal in the cable tunnel monitoring management system of one embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
For example, a kind of cable tunnel monitoring management system comprising crusing robot, three-dimensional modeling equipment and monitoring are eventually
End, in which: crusing robot is used to acquire the status data of the power equipment within the scope of current detection, is arranged on crusing robot
There are thermal imaging device and visible image capturing head, thermal imaging device for obtaining thermal imaging video in real time, it is seen that light video camera head is used for
Visible light video is obtained in real time；Three-dimensional modeling equipment is connect with crusing robot, for the location information according to crusing robot
And status data, three-dimensional modeling is carried out to power equipment, generates three-dimensional live picture；Monitor terminal respectively with crusing robot and
The connection of three-dimensional modeling equipment, monitor terminal include display screen, and display screen is for showing thermal imaging video, visible light video and three-dimensional
Real scene image.
In one embodiment, as shown in Figure 1, providing a kind of cable tunnel monitoring management system 10 comprising survey monitor
Device people 110, three-dimensional modeling equipment 120 and monitor terminal 130, wherein crusing robot 110 is for acquiring within the scope of current detection
Power equipment status data.The status data includes that the surface temperature information of power equipment, ambient humidity information, gas are dense
Spend at least one such as information and equipment appearance data.
Thermal imaging device 111 and visible image capturing head 112 are provided on crusing robot 110, thermal imaging device 111 is used for
Thermal imaging video is obtained in real time, passes through the temperature on power equipment surface within the scope of thermal imaging device 111 in real time record current detection
Distribution situation.Visible image capturing head 112 is worked as obtaining visible light video in real time by 112 real-time monitoring of visible image capturing head
Situation in preceding detection range in the shape situation and cable tunnel of power equipment.
Three-dimensional modeling equipment 120 is connect with crusing robot 110.One embodiment is three-dimensional modeling equipment 120 and inspection
Network is communicatively coupled by wireless communication for robot 110.For example, three-dimensional modeling equipment 120 passes through with crusing robot 110
WIFI, 2G network, 3G network, 4G network or 5G network are communicatively coupled.Three-dimensional modeling equipment 120 is used for according to inspection machine
The location information and status data of people carries out three-dimensional modeling to power equipment, generates three-dimensional live picture.
In one embodiment, cable tunnel monitoring management system is additionally provided with BIM model database and data base administration mould
Block is wherein stored with the power equipment in the three-dimensional modeling data and cable tunnel of cable tunnel in BIM model database
Three-dimensional modeling data further includes stacked relation information of the equipment in tunnel threedimensional model.Database management module be used for by
The model data store of tunnel and power equipment is stated to BIM model database.Three-dimensional modeling equipment 120 is according to BIM model data
The data and information of storage in library establish BIM (Building Information to cable tunnel and equipment therein
Modeling, Building Information Model) model.It is this using digitizing technique by establishing virtual power equipment threedimensional model
A model provides complete and actual conditions consistent power equipment engineering information library.The information bank not only includes that description power is set
Standby geological information, professional attributes and status information further comprises the state letter of non-component object such as space, motor behavior etc.
Breath.
One embodiment is that parameter information and power equipment of the three-dimensional modeling equipment 120 based on power equipment are in cable tunnel
Physical location in road establishes cable tunnel and power equipment therein and is based on true threedimensional model, electricity in threedimensional model
Physical location setting of the reference by location of power equipment in cable tunnel.In this way, the geography information of power equipment is integrated into three
In dimension module, it can clearly show the layout and positional relationship of power equipment, maintain easily personnel and grasp power equipment in advance
Installation site and mounting means.
Wherein, three-dimensional modeling equipment 120 to electric power cable, cable connector, ground line, control cabinet in cable tunnel etc. extremely
A kind of few important equipment carries out BIM three-dimensional modeling.
Monitor terminal 130 is connect with crusing robot 110 and three-dimensional modeling equipment 120 respectively.One embodiment is to monitor
Network is communicatively coupled terminal 130 by wireless communication with crusing robot 110.For example, monitor terminal 130 and inspection machine
People 110 is communicatively coupled by WIFI, 2G network, 3G network, 4G network or 5G network.
Wherein, monitor terminal 130 includes display screen 131, and display screen 131 is for showing thermal imaging video, visible light video
And three-dimensional live image.In one embodiment, display screen 131 in the same interface different windows simultaneously show heat at
As video, visible light video and three-dimensional live image.Wherein, the window of thermal imaging video, the window of visible light video and three-dimensional
The size of the window of real scene image can be identical or different.One example is that the window of three-dimensional live image is regarded greater than visible light
The window of frequency and the window of thermal imaging video.
Above-mentioned cable tunnel monitoring management system, the three-dimensional mould based on crusing robot real-time position information, power equipment
The visible light video and thermal imaging video that type, crusing robot acquire in real time, to the change in location of tunnel internal power equipment, different
Object etc. is monitored.Robot real time position, holder angle, the 3D at real-time display robot visible light visual angle are based on to realize
Model display.The real-time status of power equipment in cable tunnel can be carried out intuitively, rich in relief presentation, promotion system
The Man machine interaction of system.
In one embodiment, classify for that can be positioned by search convenient for user, by device type or by equipment state
Device status information is searched, three-dimensional modeling equipment 120 is also used to the circuit cable inside cable tunnel, equipment, building building
Etc. classifying, and provide category filter window and classification Display directory.In this way, even if equipment is more in tunnel, device distribution
It is stacked mutually between comparatively dense, equipment, can search and show power equipment rapidly, promote the maintenance management efficiency of user.
In one embodiment, monitor terminal further includes input unit, detects user's crawl by input unit and determines electric power
The operation of equipment is individually shown the threedimensional model of the power equipment of user's crawl and device parameter information.Wherein, equipment
Parameter information includes the standby information such as title, device type, time of putting into operation, operating status.In one embodiment, join also according to equipment
Number information assesses the health status of equipment, will expire to service life in the three-dimensional model or health status is poor
Power equipment is highlighted, to facilitate tunnel asset management and operation management.
In one embodiment, to be managed convenient for user to cable tunnel and power equipment therein, cable tunnel
The display screen of monitoring management system 10 provides real time monitoring window, three-dimensional live window, Task Management window, data query window
Mouth, system configuration window etc..Receive click or touch control operation of the user to any one window, will be clicked or the window of touch-control
Mouth is switched to main window and is shown.
In one embodiment, as shown in Fig. 2, cable tunnel monitoring management system further includes data processing equipment 140, number
It is connect respectively with crusing robot 110, three-dimensional modeling equipment 120 and monitor terminal 130 according to processing unit；Data processing equipment packet
Image processing module is included, for the status data according to power equipment, adds data in the three-dimensional live image of power equipment
Mark.Such as shown in Fig. 3, the A phase cable temperature in a threephase cable is 50.8 DEG C, then in the threedimensional model of the A phase cable
50.8 DEG C of data mark is added in image.In this way, can real-time status data combine and be shown based on true threedimensional model,
It is more intuitive.
In one embodiment, data processing equipment further includes detection module, detection module respectively with image processing module
And crusing robot connection；Whether the status data that detection module is used to detect each power equipment meets preset standard；Image
Processing module is also used to when the status data of power equipment does not meet preset standard, to the three-dimensional live image of power equipment into
The label of row pre-set color is handled；Display screen is also used to show the three-dimensional live image after label.For example, threephase cable
Preset standard includes that temperature is no more than 40 DEG C, and the A phase cable real time temperature of certain current threephase cable is 50.8 DEG C, is not met default
Standard, then the highlight mark of certain color/filling-tag processing is carried out to the three-dimensional live image of the A phase cable.Such as when
When the actual temperature of the A phase cable exceeds 40 DEG C of value less than 10 DEG C, it is high that yellow is carried out to the three-dimensional live image of the A phase cable
Bright label processing；When the actual temperature of the A phase cable is more than or equal to 10 DEG C beyond 40 DEG C of value, to the three-dimensional of the A phase cable
Real scene image carries out red highlight mark processing.In this way, user or operation management personnel are easy fastly by the visual cues of color
Speed navigates to abnormal equipment, helps to improve the operation management efficiency of power equipment.
In one embodiment, data processing equipment further includes word processing module, word processing module and detection module
It is connected with monitor terminal；Word processing module is used for when the status data of power equipment does not meet preset standard, according to state
Data generate text prompting message；Display screen is also used to show text prompting message.As shown in figure 3, working as certain cable surface temperature
When degree is beyond its preset standard range, show that the text of " overtemperature alarm occurs in XX cable surface temperature " reminds letter in display screen
Breath, so that operation management personnel quickly notes abnormalities equipment.
In one embodiment, monitor terminal further includes alarm device, and alarm device is used for the status number when power equipment
When according to not meeting preset standard, warning information is issued.One embodiment is that alarm device includes sound alarm device.For example, accusing
Alarm device includes buzzer, when the status data of power equipment does not meet preset standard, issues buzzing alarm.For another example, it alerts
Device includes speech player, when the status data of power equipment does not meet preset standard, plays the alert information of language.Pass through sound
Can attract rapidly operation management personnel note that so as to the timely discovering device exception of operation management personnel and safeguarded.
In one embodiment, display screen is also used to show the status data of power equipment.Such as shown in Fig. 3, pass through fortune
Dimension robot and the thermal imaging device being arranged thereon detect the A phase surface temperature, B phase surface temperature, C phase table of certain threephase cable
Face temperature is respectively 50.8 DEG C, 30.2 DEG C, 30.5 DEG C.The three-phase surface of the threephase cable is then shown in the specific position of display screen
Temperature data.In the present embodiment, the real-time geographical locations information based on crusing robot, by crusing robot acquisition data with
Three-dimensional live is presented along, and data are carried out based on showing in true model, more intuitively.
In one embodiment, as shown in figure 4, monitor terminal further includes input unit 132 and instruction sending device 133；
Input unit 132 is used to receive the location information of user's input；Instruction sending device 133 is used to generate position according to location information
More new command, and location updating instruction is sent to crusing robot；Crusing robot is moved to position according to location updating instruction
Confidence ceases corresponding position.After movement, the detection range of crusing robot changes, and crusing robot is to new detection range
The status data of interior power equipment is acquired, it is seen that light video camera head and thermal imaging device also carry out the scene in New Century Planned Textbook
Image supervisory control.
In one embodiment, three-dimensional live shows that range defaults the real time position progress of crusing robot 110 at any time in real time
Transformation.In one embodiment, three-dimensional live show range default at any time the real time position of crusing robot 110, holder angle and
Robot visible light visual angle carries out real-time transform.When user needs to check other positions, new displaying can be specified with input unit
Range.For example, being dragged in three-dimensional live image by mouse, or moved up and down by keyboard to specify new displaying model
It encloses.
Wherein, the geographical location information of crusing robot 110 is output to three-dimensional modeling equipment 120 by software interface, and three
Modelling apparatus 120 is tieed up according to the variation of the geographical location information of crusing robot 110, adjusts the displaying range of threedimensional model, and
Threedimensional model in range adjusted is shown by display screen, the effect being servo-actuated with crusing robot 110 is presented.
In one embodiment, input unit can also receive the instruction of picture scaling or picture rotation instruction of user's input,
And according to instruction left rotation and right rotation or zoom three-dimensional live picture.
In one embodiment, cable tunnel monitoring management system further includes third party's data-interface, and third party's data connect
Mouth is connect with monitor terminal, for obtaining detection data from third party system；Display screen is also used to show detection data.Wherein,
Third party system includes but is not limited to power & environment supervision system, environmental monitoring system, video monitoring system, fire door system, gate inhibition
Control system, temperature and humidity control system etc., fire protection alarm system.From third party system obtain detection data include but is not limited to
Environmental data, gas concentration data, line load data etc..
In one embodiment, Data Integration that above-mentioned third party system is detected to cable tunnel monitoring management system, with
Third party system realizes linkage.
In one embodiment, by environmental information, gas concentration information, equipment surface temperature, equipment appearance analysis etc. data,
Real-time geographic information based on crusing robot 110 is fused in three-dimensional live picture.By in power equipment threedimensional model
In color and label real time inspection status of electric power, tunnel ambient temperature and humidity and fuel gas distribution, and can in tunnel
Rotating ring system, video monitoring system, fire door system, entrance access control system docking, realize blower, water pump work feelings
Condition, fire resistant doorsets are opened and closed situation, the real-time display of entrance gate inhibition state and personal information.
The present invention passes through the intelligent robot cable tunnel monitoring system based on BIM modeling and geographical location information.It will pass
Two-dimensional map presentation mode of uniting is converted into three-dimensional solid show.By the foundation of BIM standard device model, it is based on robot
Real-time geographical locations information realization realizes the interactive management of tunnel critical asset to cable tunnel three-dimensional real-time monitoring.Pass through 3D
The equipment state of model changes, and more intuitively shows the real-time status in current tunnel system.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of cable tunnel monitoring management system, which is characterized in that the system comprises crusing robots, three-dimensional modeling equipment
And monitor terminal, in which:
The crusing robot is used to acquire the status data of power equipment within the scope of current detection, on the crusing robot
It is provided with thermal imaging device and visible image capturing head, the thermal imaging device is described visible for obtaining thermal imaging video in real time
Light video camera head for obtaining visible light video in real time；
The three-dimensional modeling equipment is connect with the crusing robot, for according to the crusing robot location information and institute
Status data is stated, three-dimensional modeling is carried out to the power equipment, generates three-dimensional live picture；
The monitor terminal is connect with the crusing robot and the three-dimensional modeling equipment respectively, and the monitor terminal includes aobvious
Display screen, the display screen is for showing the thermal imaging video, the visible light video and the three-dimensional live image.
2. cable tunnel monitoring management system according to claim 1, which is characterized in that the cable tunnel monitoring management
System further includes data processing equipment, the data processing equipment respectively with the crusing robot, the three-dimensional modeling equipment
It is connected with the monitor terminal；
The data processing equipment includes image processing module, for the status data according to the power equipment, in the electricity
Data mark is added in the three-dimensional live image of power equipment.
3. cable tunnel monitoring management system according to claim 2, which is characterized in that the data processing equipment also wraps
Detection module is included, the detection module is connect with described image processing module and the crusing robot respectively；
Whether the status data that the detection module is used to detect each power equipment meets preset standard；
Described image processing module is also used to when the status data of the power equipment does not meet preset standard, to the electric power
The three-dimensional live image of equipment carries out the label processing of pre-set color；
The display screen is also used to show the three-dimensional live image after label.
4. cable tunnel monitoring management system according to claim 3, which is characterized in that the data processing equipment also wraps
Word processing module is included, the word processing module is connect with the detection module and the monitor terminal；
The word processing module is used for when the status data of the power equipment does not meet preset standard, according to the state
Data generate text prompting message；
The display screen is also used to show the text prompting message.
5. the cable tunnel monitoring management system stated according to claim 3, which is characterized in that the monitor terminal further includes alarm
Device, the alarm device are used for when the status data of the power equipment does not meet preset standard, issue warning information.
6. cable tunnel monitoring management system according to claim 1, which is characterized in that the display screen is also used to show
The status data of the power equipment.
7. cable tunnel monitoring management system according to claim 1, which is characterized in that the monitor terminal further includes defeated
Enter device and instruction sending device；
The input unit is used to receive the location information of user's input；
Described instruction sending device instructs the location updating for generating location updating instruction according to the positional information
It is sent to the crusing robot；
The crusing robot is moved to the corresponding position of the location information according to location updating instruction.
8. cable tunnel monitoring management system according to claim 1, which is characterized in that the cable tunnel monitoring management
System further includes third party's data-interface, and third party's data-interface is connect with the monitor terminal, for being from third party
System obtains detection data；
The display screen is also used to show the detection data.
9. cable tunnel monitoring management system according to any one of claim 1 to 8, which is characterized in that the inspection
Robot is used to acquire surface temperature information, ambient humidity information, the gas concentration letter of the power equipment within the scope of current detection
At least one such as breath and equipment appearance data.
10. cable tunnel monitoring management system according to any one of claim 1 to 8, which is characterized in that the electric power
Equipment includes at least one of electric power cable, cable connector, ground line and control cabinet.
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| CN201811643470.4A CN109405895A (en) | 2018-12-29 | 2018-12-29 | Cable tunnel monitoring management system |
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| CN201811643470.4A CN109405895A (en) | 2018-12-29 | 2018-12-29 | Cable tunnel monitoring management system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110196378A (en) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | Inside plant detection method, device, equipment and storage medium |
| CN110209552A (en) * | 2019-05-29 | 2019-09-06 | 北京百度网讯科技有限公司 | A kind of device management method and device |
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| CN110543344A (en) * | 2019-08-22 | 2019-12-06 | 上海晋泷科技有限公司 | information display method and device in virtual scene, electronic device and storage medium |
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| CN117688787A (en) * | 2024-02-04 | 2024-03-12 | 广东电网有限责任公司广州供电局 | Disaster simulation processing method and device for cable tunnel and electronic equipment |
| CN117688787B (en) * | 2024-02-04 | 2024-05-17 | 广东电网有限责任公司广州供电局 | Disaster simulation processing method and device for cable tunnel and electronic equipment |
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