CN106802374B - Robot-based high-voltage cable detection method and robot - Google Patents
Robot-based high-voltage cable detection method and robot Download PDFInfo
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- CN106802374B CN106802374B CN201611147105.5A CN201611147105A CN106802374B CN 106802374 B CN106802374 B CN 106802374B CN 201611147105 A CN201611147105 A CN 201611147105A CN 106802374 B CN106802374 B CN 106802374B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/12—Measuring electrostatic fields or voltage-potential
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a method for detecting a high-voltage cable based on a robot and the robot, wherein the method comprises the following steps: detecting the electric field intensity on the high-voltage cable based on an electric field intensity detector on the robot; judging whether the electric field intensity is abnormal or not, and if so, acquiring geographical position information of the area based on a GPS module; shooting a high-voltage cable environment video of the area with the abnormal electric field intensity based on a camera device on the robot, and marking the high-voltage cable environment video based on the geographical position information; and storing the marked high-voltage cable environment video to a storage module. According to the embodiment of the invention, the detection and judgment of the electric field intensity abnormity can be realized through the robot, the marking of GPS information and video environment is realized, the source of the abnormal condition can be rapidly acquired, and more accurate analysis is provided for the overhaul of the high-voltage cable. The robot detects the high-voltage cable, and the labor detection cost is saved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for detecting a high-voltage cable based on a robot and the robot.
Background
With the continuous development of robotics, more and more robots are beginning to perform various tasks instead of humans. Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and is researched and developed in the current scientific community in the direction, but the robot is still imperfectly controlled remotely, the application of big data is not popularized yet, the data acquisition of the robot is still in an off-line state, and the deep learning of the robot is also from the storage of local data.
In the prior art, patent document CN105609927A provides a high-voltage cable detection robot with an electric field strength detector, which can be applied to a field or urban pipeline wiring mode, and this device does not provide a solvable scheme for the abnormal electric field strength of the outdoor high-voltage cable, and cannot be based on a self-adaptive detection scheme combining existing communication and GPS, so that the detection of the whole robot is limited.
Disclosure of Invention
The invention provides a method for detecting a high-voltage cable based on a robot and the robot, which realize automatic shooting of an abnormal environment by combining with a GPS (global positioning system) and provide video sources and bases for subsequent detection and playback.
The invention provides a method for detecting a high-voltage cable based on a robot, which comprises the following steps:
detecting the electric field intensity on the high-voltage cable based on an electric field intensity detector on the robot;
judging whether the electric field intensity is abnormal or not, and if so, acquiring geographical position information of the area based on a GPS module;
shooting a high-voltage cable environment video of the area with the abnormal electric field intensity based on a camera device on the robot, and marking the high-voltage cable environment video based on the geographical position information;
and storing the marked high-voltage cable environment video to a storage module.
And judging whether the electric field intensity is abnormal:
acquiring geographic position information of a detection area based on a GPS module;
matching initial electric field intensity in an electric field intensity simulation library based on the robot according to the geographic position information;
and judging whether the initial electric field intensity is consistent with the electric field intensity detected by the detector, and if not, judging that the electric field intensity is abnormal.
The method further comprises the following steps:
acquiring a difference value between the initial electric field intensity and the electric field intensity detected by the detector;
judging whether the difference value exceeds a threshold range;
and when the difference value is judged to exceed the threshold range, sending alarm information to a service center based on a 4G communication module.
The method further comprises the following steps:
and transmitting the high-voltage cable environment video stored in the storage module to a service center in real time.
Correspondingly, the invention also provides a robot for detecting the high-voltage cable, which comprises:
the electric field intensity detector is used for detecting the electric field intensity on the high-voltage cable;
the abnormity judgment module is used for judging whether the electric field intensity is abnormal or not;
the GPS module is used for acquiring the geographical position information of the area;
the camera module is used for shooting the high-voltage cable environment video in the area with the abnormal electric field intensity and marking the high-voltage cable environment video based on the geographical position information;
and the storage module is used for storing the marked high-voltage cable environment video to the storage module.
The exception module includes:
the matching unit is used for matching the initial electric field intensity in the electric field intensity simulation library based on the robot according to the geographic position information;
and the judging unit is used for judging whether the initial electric field intensity is consistent with the electric field intensity detected by the detector, and if not, judging that the electric field intensity is abnormal.
The robot further includes:
a difference module for obtaining the difference between the initial electric field strength and the electric field strength detected by the detector;
the threshold module is used for judging whether the difference value exceeds a threshold range;
and the alarm module is used for sending alarm information to the service center based on the 4G communication module when the difference value is judged to exceed the threshold range.
The robot further includes:
and the communication module is used for transmitting the high-voltage cable environment video stored in the storage module to the service center in real time.
In the invention, the robot can detect and judge the abnormality of the electric field intensity, realize the marking of GPS information and video environment, quickly acquire the source of the abnormal condition and provide more accurate analysis for the overhaul of the high-voltage cable. The robot detects the high-voltage cable, and the labor detection cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for robot-based inspection of high voltage cables in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot for detecting high voltage cables in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an exception module in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The high-voltage cable detection robot provided with the electric field intensity detector comprises a robot main body, wherein a control circuit is arranged in the robot main body and comprises a power supply module, and the power supply module is used for supplying power to a driving motor and the control circuit; the control circuit also comprises a central processing unit, an alarm device, a camera device for acquiring cable video information and a communication device for transmitting the information, wherein the communication device, the alarm device and the camera device are respectively in signal connection with the central processing unit; the camera device is arranged below the robot main body; the communication device comprises a communication chip and a communication antenna in signal connection with the communication chip, and the communication antenna is arranged on the top surface of the robot main body.
Based on the robot, the method can detect the electric field intensity on the high-voltage cable based on the electric field intensity detector on the robot; judging whether the electric field intensity is abnormal or not, and if so, acquiring geographical position information of the area based on a GPS module; shooting a high-voltage cable environment video of the area with the abnormal electric field intensity based on a camera device on the robot, and marking the high-voltage cable environment video based on the geographical position information; and storing the marked high-voltage cable environment video to a storage module.
Specifically, fig. 1 shows a flowchart of a method for detecting a high-voltage cable based on a robot in an embodiment of the present invention, which includes the following steps:
s101, detecting the electric field intensity on the high-voltage cable based on an electric field intensity detector on the robot;
s102, acquiring geographical position information of a detection area based on a GPS module;
s103, matching initial electric field intensity in an electric field intensity simulation library based on the robot according to the geographic position information;
the electric field intensity simulation library is an initial voltage intensity relation database related to the high-voltage cables, namely, each high-voltage cable has an initial electric field intensity in the wiring process, the initial electric field intensities are related and combined with the geographical position information of the high-voltage cable, and the initial electric field intensities are stored in the electric field intensity simulation library so as to be used in the robot detection process.
S104, judging whether the initial electric field intensity is consistent with the electric field intensity detected by the detector, if so, indicating no abnormal condition, and if not, entering S105;
s105, shooting a high-voltage cable environment video of the area with the abnormal electric field intensity based on a camera device on the robot, and marking the high-voltage cable environment video based on the geographical position information;
when the whole electric field intensity is judged to be abnormal, for example, the electric field intensity is much lower than the initial electric field intensity, or the electric field intensity is much higher than the initial electric field intensity, the shooting process of the environmental video is triggered.
S106, storing the marked high-voltage cable environment video to a storage module;
by storing the video of the abnormal condition in the robot storage module, the subsequent video data analysis can be facilitated.
S107, transmitting the high-voltage cable environment video stored in the storage module to a service center in real time;
s108, acquiring a difference value between the initial electric field intensity and the electric field intensity detected by the detector;
s109, judging whether the difference value exceeds a threshold range, if not, ending, and if so, entering S110;
and S110, sending alarm information to a service center based on the 4G communication module.
And for the case of large abnormality, the alarm can be given in real time, so that the rapid tracking and monitoring of the whole service system are caused, and the hidden danger is avoided.
Corresponding fig. 2 also shows a robot for detecting a high voltage cable in an embodiment of the invention, comprising:
the electric field intensity detector is used for detecting the electric field intensity on the high-voltage cable;
the abnormity judgment module is used for judging whether the electric field intensity is abnormal or not;
the GPS module is used for acquiring the geographical position information of the area;
the camera module is used for shooting the high-voltage cable environment video in the area with the abnormal electric field intensity and marking the high-voltage cable environment video based on the geographical position information;
and the storage module is used for storing the marked high-voltage cable environment video to the storage module.
Fig. 3 shows a schematic structural diagram of an exception module in the embodiment of the present invention, where the exception module includes:
the matching unit is used for matching the initial electric field intensity in the electric field intensity simulation library based on the robot according to the geographic position information;
and the judging unit is used for judging whether the initial electric field intensity is consistent with the electric field intensity detected by the detector, and if not, judging that the electric field intensity is abnormal.
The robot further comprises:
a difference module for obtaining the difference between the initial electric field strength and the electric field strength detected by the detector;
the threshold module is used for judging whether the difference value exceeds a threshold range;
and the alarm module is used for sending alarm information to the service center based on the 4G communication module when the difference value is judged to exceed the threshold range.
The robot further comprises:
and the communication module is used for transmitting the high-voltage cable environment video stored in the storage module to the service center in real time.
In conclusion, the robot can detect and judge the abnormity of the electric field intensity, realize the marking of GPS information and a video environment, quickly acquire the source of abnormal conditions and provide more accurate analysis for the overhaul of a high-voltage cable. The robot detects the high-voltage cable, and the labor detection cost is saved.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by instructions associated with hardware via a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
The method for detecting a high-voltage cable based on a robot and the robot provided by the embodiment of the invention are described in detail above, a specific example is applied in the description to explain the principle and the embodiment of the invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. A method for robotically inspecting high voltage cables, comprising:
detecting the electric field intensity on the high-voltage cable based on an electric field intensity detector on the robot;
judging whether the electric field intensity is abnormal or not, and if so, acquiring geographical position information of the area based on a GPS module;
shooting a high-voltage cable environment video of the area with the abnormal electric field intensity based on a camera device on the robot, and marking the high-voltage cable environment video based on the geographical position information;
storing the marked high-voltage cable environment video to a storage module;
and judging whether the electric field intensity is abnormal:
acquiring geographic position information of a detection area based on a GPS module;
matching initial electric field intensity in an electric field intensity simulation library based on the robot according to the geographic position information;
judging whether the initial electric field intensity is consistent with the electric field intensity detected by the detector, and if not, judging that the electric field intensity is abnormal;
the electric field intensity simulation library is an initial voltage intensity relation database related to the high-voltage cables, namely, each high-voltage cable has an initial electric field intensity in the wiring process, the initial electric field intensities are related and combined with the geographical position information of the high-voltage cable, and the initial electric field intensities are stored in the electric field intensity simulation library so as to be used in the robot detection process.
2. The robot-based method of inspecting high voltage cables of claim 1, further comprising:
acquiring a difference value between the initial electric field intensity and the electric field intensity detected by the detector;
judging whether the difference value exceeds a threshold range;
and when the difference value is judged to exceed the threshold range, sending alarm information to a service center based on a 4G communication module.
3. The robot-based method for inspecting high voltage cables according to any of claims 1-2, further comprising:
and transmitting the high-voltage cable environment video stored in the storage module to a service center in real time.
4. A robot for inspecting a high voltage cable, comprising:
the electric field intensity detector is used for detecting the electric field intensity on the high-voltage cable;
the abnormity judgment module is used for judging whether the electric field intensity is abnormal or not;
the GPS module is used for acquiring the geographical position information of the area;
the camera module is used for shooting the high-voltage cable environment video in the area with the abnormal electric field intensity and marking the high-voltage cable environment video based on the geographical position information;
the storage module is used for storing the marked high-voltage cable environment video to the storage module;
the exception module includes:
the matching unit is used for matching the initial electric field intensity in the electric field intensity simulation library based on the robot according to the geographic position information;
the judging unit is used for judging whether the electric field intensity detected by the detector is consistent or not, and if not, judging that the electric field intensity is abnormal;
the electric field intensity simulation library is an initial voltage intensity relation database related to the high-voltage cables, namely, each high-voltage cable has an initial electric field intensity in the wiring process, the initial electric field intensities are related and combined with the geographical position information of the high-voltage cable, and the initial electric field intensities are stored in the electric field intensity simulation library so as to be used in the robot detection process.
5. A robot for inspecting high voltage cables according to claim 4, characterized in that it further comprises:
a difference module for obtaining the difference between the initial electric field strength and the electric field strength detected by the detector;
the threshold module is used for judging whether the difference value exceeds a threshold range;
and the alarm module is used for sending alarm information to the service center based on the 4G communication module when the difference value is judged to exceed the threshold range.
6. A robot for inspecting high voltage cables according to any of claims 4 to 5, characterized in that it further comprises:
and the communication module is used for transmitting the high-voltage cable environment video stored in the storage module to the service center in real time.
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| CN111289794A (en) * | 2020-03-25 | 2020-06-16 | 佛山科学技术学院 | Overvoltage on-line monitoring device based on robot |
| CN114684226A (en) * | 2020-12-31 | 2022-07-01 | 海能达通信股份有限公司 | Method, system, equipment and storage medium for monitoring field intensity |
| CN114167183A (en) * | 2021-12-06 | 2022-03-11 | 国网山东省电力公司汶上县供电公司 | High-voltage cable early warning system and method |
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