CN108761290A - Robot and its piping lane electric compartment method for inspecting, system, equipment, storage medium - Google Patents
Robot and its piping lane electric compartment method for inspecting, system, equipment, storage medium Download PDFInfo
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- CN108761290A CN108761290A CN201810689490.9A CN201810689490A CN108761290A CN 108761290 A CN108761290 A CN 108761290A CN 201810689490 A CN201810689490 A CN 201810689490A CN 108761290 A CN108761290 A CN 108761290A
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- piping lane
- electric compartment
- target area
- standard
- standard diagram
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
Abstract
This application discloses a kind of robot and its piping lane electric compartment method for inspecting, system, equipment, storage mediums, including：Using the robot walked in piping lane electric compartment, the infrared thermogram of the target area in the piping lane electric compartment is acquired；Standard diagram corresponding with the infrared thermogram is obtained, infrared thermal imagery standard diagram is obtained；The local discharge characteristic for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively obtains corresponding live local discharge characteristic and standard local discharge characteristic；By comparing the live local discharge characteristic and the standard local discharge characteristic, determine whether the target area shelf depreciation exception occurs, if it is, corresponding first early warning of triggering.The application enters electric compartment without staff and carries out artificial detection in person, can reduce harmful effect of the piping lane electric compartment inspection operation to staff, and can eliminate influence of the artificial subjective factor to inspection result, improve inspection quality.
Description
Technical field
This application involves piping lane electric compartment technical field, more particularly to a kind of robot and its piping lane electric compartment inspection side
Method, system, equipment, storage medium.
Background technology
Currently, the safe and reliable operation due to piping lane electric compartment ceases manner of breathing with the electricity usage situation in a city or area
It closes, so daily need carries out patrol and detection to piping lane electric compartment, to avoid serious shelf depreciation situations such as institute in electric compartment
Caused electric power safety accident.The daily patrol and detection in conventional electric power cabin works mainly by being accomplished manually, and is detected by hand-held
Equipment carries out auxiliary inspection.Since piping lane electric power indoor environment is severe, strong-electromagnetic field is unfavorable for the physical and mental health of staff, by
In mostly 110kV and the above voltage, there is the hidden danger for jeopardizing patrol officer's life security, and due to piping lane distance, cause
Manual inspection labor intensity is very big, and personnel are susceptible to fatigue, to cause inspection of poor quality, in addition, due to manual inspection
Shi Rongyi is influenced by artificial subjective factor, to can also reduce inspection precision of analysis and objectivity.
In summary as can be seen that how to reduce harmful effect and promotion of the piping lane electric compartment inspection operation to staff
Inspection quality is that have problem to be solved at present.
Invention content
In view of this, the application's is designed to provide a kind of robot and its piping lane electric compartment method for inspecting, system, sets
Standby, storage medium can reduce piping lane electric compartment inspection operation to the harmful effect of staff and promote inspection quality.It has
Body scheme is as follows：
In a first aspect, this application discloses a kind of piping lane electric compartment method for inspecting, including：
Using the robot walked in piping lane electric compartment, the infrared heat of the target area in the piping lane electric compartment is acquired
As collection of illustrative plates；
Standard diagram corresponding with the infrared thermogram is obtained, infrared thermal imagery standard diagram is obtained；
The local discharge characteristic for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively obtains corresponding
Live local discharge characteristic and standard local discharge characteristic；
By comparing the live local discharge characteristic and the standard local discharge characteristic, determine that the target area is
It is no shelf depreciation exception occur, if it is, corresponding first early warning of triggering.
Optionally, the piping lane electric compartment method for inspecting further includes：
The Characteristics of The Distribution of Temperature for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively obtains corresponding
Scene temperature distribution characteristics and normal temperature distribution characteristics；
By comparing the scene temperature distribution characteristics and the normal temperature distribution characteristics, determine that the target area is
It is no Temperature Distribution exception occur, if it is, corresponding second early warning of triggering.
Optionally, the piping lane electric compartment method for inspecting further includes：
Using the robot, the visible light collection of illustrative plates of the target area is acquired；
Standard diagram corresponding with the visible light collection of illustrative plates is obtained, visible light standard diagram is obtained；
The cable external appearance characteristic for extracting the visible light collection of illustrative plates and the visible light standard diagram respectively obtains existing accordingly
Field cable external appearance characteristic and standard cable external appearance characteristic；
By comparing the on-site cable external appearance characteristic and the standard cable external appearance characteristic, determine in the target area
Cable with the presence or absence of abnormal, if it is, triggering corresponding third early warning.
Optionally, the process of standard diagram corresponding with the infrared thermogram and the visible light collection of illustrative plates, packet are obtained
It includes：
The regional location for determining the target area, obtains target location；
Standard diagram corresponding with the target location is chosen from preset infrared thermal imagery standard diagram library, is obtained described
Infrared thermal imagery standard diagram；
Corresponding with target location standard diagram is chosen from preset visible light standard diagram library, obtain described in can
Light-exposed standard diagram.
Optionally, the regional location of the determination target area, including：
By machine vision technique, preset station location marker information on the target area is identified, to obtain the target
The regional location in region；
Alternatively, determining the position coordinates of presently described robot；Determine the collection of illustrative plates harvester in presently described robot
Shooting orientation；Using the position coordinates and the shooting orientation, the regional location of the target area is determined.
Optionally, the piping lane electric compartment method for inspecting further includes：
Acquire the ambient temperature information and/or toxic gas content of the target area；
The ambient temperature information of the target area is analyzed, is with the environment temperature on the determination target area
No exception, if it is, corresponding 4th early warning of triggering；
Toxic gas content on the target area is analyzed, with the toxic gas on the determination target area
Whether content is abnormal, if it is, corresponding 5th early warning of triggering.
Optionally, the piping lane electric compartment method for inspecting further includes：
Using big data memory technology, all data of the collected target area are preserved.
Optionally, the piping lane electric compartment method for inspecting further includes：
After triggering any early warning, corresponding hidden danger processing prediction scheme is chosen from preset prediction scheme database；
Prediction scheme is handled according to the hidden danger, generates corresponding control signal, and the control signal is sent to the pipe
In the corresponding instrument equipment of corridor electric compartment, controlled accordingly the corresponding instrument equipment.
Second aspect, this application discloses a kind of piping lane electric compartment cruising inspection systems, including：
Current profile acquisition module, for using the robot walked in piping lane electric compartment, acquiring the piping lane electric power
The infrared thermogram of target area in cabin；
Standard diagram acquisition module obtains infrared heat for obtaining standard diagram corresponding with the infrared thermogram
As standard diagram；
Discharge characteristic extraction module, for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively
Local discharge characteristic obtains corresponding live local discharge characteristic and standard local discharge characteristic；
Electric discharge abnormality detection module, for by comparing the live local discharge characteristic and standard shelf depreciation spy
Sign, determines whether the target area shelf depreciation exception occurs, if it is, corresponding first early warning of triggering.
The third aspect, this application discloses a kind of piping lane electric compartment inspection devices, including processor and memory；Wherein,
The processor realizes aforementioned piping lane electric compartment method for inspecting when executing the computer program preserved in the memory.
Fourth aspect, this application discloses a kind of robots, including aforementioned piping lane electric compartment inspection device.
5th aspect, this application discloses a kind of computer readable storage mediums, for storing computer program；Wherein,
The computer program realizes aforementioned piping lane electric compartment method for inspecting when being executed by processor.
As it can be seen that the application is to complete the inspection to piping lane electric compartment using robot, specifically first with robot
The infrared thermogram of piping lane electric compartment is acquired, the part then extracted respectively in above-mentioned infrared thermogram and standard diagram is put
Electrical feature can determine in corresponding region whether occur finally by two parts of local discharge characteristics that comparison said extracted arrives
Shelf depreciation is abnormal, and based thereon determines whether to need to trigger corresponding early warning.It follows that the application only need to by robot into
Enter electric compartment, and acquire the infrared thermogram of target area, the later stage by analyzing infrared thermogram, can be realized
Detection to the shelf depreciation exception of target area enters electric compartment without staff and carries out artificial detection in person, can
Harmful effect of the piping lane electric compartment inspection operation to staff is reduced, and artificial subjective factor can be eliminated to inspection result
Influence, improve inspection quality.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of piping lane electric compartment method for inspecting flow chart disclosed in the embodiment of the present application；
Fig. 2 is a kind of piping lane electric compartment method for inspecting sub-process figure disclosed in the embodiment of the present application；
Fig. 3 is a kind of piping lane electric compartment method for inspecting sub-process figure disclosed in the embodiment of the present application；
Fig. 4 is a kind of piping lane electric compartment method for inspecting sub-process figure disclosed in the embodiment of the present application；
Fig. 5 is a kind of piping lane electric compartment cruising inspection system structural schematic diagram disclosed in the embodiment of the present application.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
The embodiment of the present application discloses a kind of piping lane electric compartment method for inspecting, and shown in Figure 1, this method includes：
Step S11：Using the robot walked in piping lane electric compartment, the target area in the piping lane electric compartment is acquired
Infrared thermogram.
It is understood that the robot interior in the present embodiment is mounted in advance for acquiring the infrared of piping lane electric compartment
The thermal infrared imager of Thermal imaging spectrum.
It should be pointed out that the robot in the present embodiment has navigation miscellaneous function can by the navigation miscellaneous function
So that robot can carry out independent navigation in piping lane electric compartment.Specifically, the global location letter in piping lane electric compartment
Number stablize in the case of, the robot in the present embodiment can be navigated based on global positioning information.However, actual
In application process, the global positioning signal inside electric compartment is more unstable, to seriously affect global positioning information
Accuracy, for this purpose, the present embodiment can in advance in electric compartment be arranged navigation identification object, such as coat on the ground navigation auxiliary
Line, robot can be identified above-mentioned navigation identification object during electric compartment is walked, and be determined robot with realizing
Position carries out independent navigation then along the navigation identification object recognized.
Step S12：Standard diagram corresponding with the infrared thermogram is obtained, infrared thermal imagery standard diagram is obtained.
It should be pointed out that target area different in the present embodiment corresponds to different infrared thermal imagery standard diagrams.Separately
Outside, above-mentioned steps S12 can be completed by robot, and robot is needed locally to preserve different target areas in advance in this way
Area information and corresponding infrared thermal imagery standard diagram, when robot get either objective region infrared thermogram it
It afterwards, can be from infrared thermal imagery standard diagram corresponding with the target area be locally extracted out.Certainly, robot in the present embodiment
It, can also be pre- to outside by the infrared thermogram real-time Transmission after the infrared thermogram for collecting either objective region
If remote data processing platform, extracted from the information locally pre-saved by the remote data processing platform corresponding
Infrared thermal imagery standard diagram.Specifically, preferentially using communication by collected infrared thermogram in the present embodiment
It is sent to remote data processing platform.In addition, in order to promote data-handling efficiency, the remote data processing platform in the present embodiment
It is preferential to use the data processing platform (DPP) based on cloud.
It is understood that infrared thermal imagery standard diagram refers to not occurring shelf depreciation on target area in the present embodiment
The infrared thermogram acquired when abnormal.
Step S13：The local discharge characteristic of the infrared thermogram and the infrared thermal imagery standard diagram is extracted respectively,
Obtain corresponding live local discharge characteristic and standard local discharge characteristic.
In the present embodiment, above-mentioned steps S13 can specifically be executed by robot, can also be by said distal ends data processing
Platform executes.
In the present embodiment, above-mentioned local discharge characteristic include but not limited to region of discharge size, discharge temp size,
The total quantity of discharge position on specific discharge position and target area.
Step S14：By comparing the live local discharge characteristic and the standard local discharge characteristic, the mesh is determined
Whether mark region there is shelf depreciation exception, if it is, corresponding first early warning of triggering.
It is understood that when shelf depreciation exception currently occurs in target area, above-mentioned scene shelf depreciation is special
Sign is for standard local discharge characteristic, it will usually with region of discharge area is excessive, discharge temp is excessively high, discharge position
Total quantity it is excessive or the features such as new discharge position occur.The present embodiment is based on the two difference, can pass through ratio
To the live local discharge characteristic and the standard local discharge characteristic, put to determine whether the target area part occurs
Electrical anomaly.
It, can be by voice prompt, aobvious in addition, the present embodiment is when shelf depreciation exception occurs in the target area
Show the modes such as picture prompt to trigger above-mentioned first early warning.
As it can be seen that the embodiment of the present application is to complete the inspection to piping lane electric compartment using robot, specifically first with
Robot acquires the infrared thermogram of piping lane electric compartment, then extracts respectively in above-mentioned infrared thermogram and standard diagram
Local discharge characteristic, finally by two parts of local discharge characteristics that comparison said extracted arrives, can determine in corresponding region is
It is no shelf depreciation exception occur, and based thereon determine whether to need to trigger corresponding early warning.It follows that the embodiment of the present application only needs
Enter electric compartment by robot, and acquire the infrared thermogram of target area, the later stage is by carrying out infrared thermogram
Analysis, can realize the detection to the shelf depreciation exception of target area, enter electric compartment in person without staff and carry out
Artificial detection can reduce harmful effect of the piping lane electric compartment inspection operation to staff, and can eliminate artificial subjectivity
Influence of the factor to inspection result, improves inspection quality.
The embodiment of the present application discloses a kind of specific piping lane electric compartment method for inspecting, relative to a upper embodiment, this reality
It applies example and further instruction and optimization has been made to technical solution.Specifically：
It is shown in Figure 2, in order to determine whether the Temperature Distribution on target area exception occurs, in the embodiment of the present application
Piping lane electric compartment method for inspecting can also include：
Step S21：The Characteristics of The Distribution of Temperature of the infrared thermogram and the infrared thermal imagery standard diagram is extracted respectively,
Obtain corresponding scene temperature distribution characteristics and normal temperature distribution characteristics；
Step S22：By comparing the scene temperature distribution characteristics and the normal temperature distribution characteristics, the mesh is determined
Whether mark region there is Temperature Distribution exception, if it is, corresponding second early warning of triggering.
Further, shown in Figure 3, in order to determine whether the optical cable in target area exception occurs, the application is implemented
Example in piping lane electric compartment method for inspecting, can also include：
Step S31：Using the robot, the visible light collection of illustrative plates of the target area is acquired.
It is adopted it is understood that being integrated in advance in robot in the present embodiment and can acquire the image of visible light collection of illustrative plates
Acquisition means.
Step S32：Standard diagram corresponding with the visible light collection of illustrative plates is obtained, visible light standard diagram is obtained.
It is understood that visible light standard diagram refers to not occurring cable exception on target area in the present embodiment
When the visible light collection of illustrative plates that is acquired.
Step S33：The cable external appearance characteristic for extracting the visible light collection of illustrative plates and the visible light standard diagram respectively, obtains
Corresponding on-site cable external appearance characteristic and standard cable external appearance characteristic.
In the present embodiment, the cable external appearance characteristic includes but not limited to cable connector characteristic information and circuit cabling feature
Information.
Step S34：By comparing the on-site cable external appearance characteristic and the standard cable external appearance characteristic, the mesh is determined
The cable in region is marked with the presence or absence of exception, if it is, triggering corresponding third early warning.
It is understood that when the cable in target area occurs abnormal, above-mentioned on-site cable external appearance characteristic phase
For standard cable external appearance characteristic, it will usually there is cable connector to fall off, cable connector deformation, the spies such as circuit cabling is in disorder
Point, the present embodiment are based on the two difference, can by comparing on-site cable external appearance characteristic and standard cable external appearance characteristic,
To determine the cable in the target area with the presence or absence of abnormal.
Further, due in electric compartment on different location cable connector feature and circuit cabling feature etc. exist it is poor
The opposite sex, so the present embodiment can also be based on above-mentioned cable connector characteristic information and circuit cabling characteristic information come to current machine
People positions.For example, the present embodiment after obtaining the cable connector characteristic information in electric compartment on some position, can incite somebody to action
The cable connector characteristic information is compared with the cable connector feature on each position in the electric compartment pre-saved, thus real
Now to the positioning of robot.
In the present embodiment, the mistake of standard diagram corresponding with the infrared thermogram and the visible light collection of illustrative plates is obtained
Journey can specifically include：
The regional location for determining the target area, obtains target location；From preset infrared thermal imagery standard diagram library
Standard diagram corresponding with the target location is chosen, the infrared thermal imagery standard diagram is obtained；And from preset visible light
Standard diagram corresponding with the target location is chosen in standard diagram library, obtains the visible light standard diagram.
It is understood that above-mentioned infrared thermal imagery standard diagram library save different target areas area information and
Corresponding infrared thermal imagery standard diagram, above-mentioned visible light standard diagram library save different target areas area information and
Corresponding visible light standard diagram.
In a specific embodiment, the regional location of the determination target area, can specifically include：
By machine vision technique, preset station location marker information on the target area is identified, to obtain the target
The regional location in region；
It is understood that station location marker information different in the present embodiment corresponds to different regional locations, upper rheme
It sets identification information and can specifically include but be not limited to pattern identification information, Quick Response Code identification information etc..
In another embodiment specific implementation mode, the regional location of the determination target area, can specifically include：
Determine the position coordinates of presently described robot；Determine the shooting of the collection of illustrative plates harvester in presently described robot
Orientation；Using the position coordinates and the shooting orientation, the regional location of the target area is determined.
It is understood that for different position coordinates and different shooting orientation, corresponding target area is not
With, so the different position coordinates and shooting orientation based on above-mentioned robot, it may be determined that go out corresponding target area.
In addition, in the case that global positioning signal in piping lane electric compartment is stablized, the present embodiment can by global-positioning technology come
Determine the position coordinates of presently described robot.And the global positioning signal inside electric compartment it is more unstable in the case of,
The navigation identification object being arranged inside piping lane electric compartment in advance can also be identified, presently described robot is determined to realize
Position coordinates.
Further, shown in Figure 4, in order to realize the further detection to the ambient enviroment of piping lane electric compartment, this Shen
Piping lane electric compartment method for inspecting that please be in embodiment can also include：
Step S41：Acquire the ambient temperature information and/or toxic gas content of the target area.
It is understood that the present embodiment can integrated temperature sensor and poisonous gas detection in robot in advance
Device realizes the purpose of acquisition ambient temperature information and toxic gas content by both devices.
Step S42：The ambient temperature information of the target area is analyzed, with the ring on the determination target area
Whether border temperature is abnormal, if it is, corresponding 4th early warning of triggering.
Step S43：Toxic gas content on the target area is analyzed, on the determination target area
Whether toxic gas content is abnormal, if it is, corresponding 5th early warning of triggering.
Specifically, the present embodiment can directly by above-mentioned ambient temperature information and/or toxic gas content respectively with accordingly
Normal parameter threshold value be compared, to determine whether temperature on current location and/or toxic gas content exception occur.
Further, the present embodiment can also be from the infrared thermogram, visible light collection of illustrative plates, environment of the piping lane electric compartment
It is extracted in the various collected electric compartment status informations by robot such as temperature information, toxic gas content other kinds of new
Key variables, then analyze whether these new key variables have an impact the certain form of exception of piping lane electric compartment, and
It decides whether to be modified original key variables based on above-mentioned analysis result.
Further, it is contemplated that the inside of piping lane electric compartment needs the region detected very more, and robot is acquired each
The data volume of kind data is very big, in order to solve its data storage problem, so the piping lane electric compartment inspection side in the present embodiment
Method can also include：
Using big data memory technology, all data of the collected target area are preserved.
In addition, by big data analysis technology, can also from the collected various electric compartment status informations of robot and
All information being had an impact to same failure are extracted in corresponding state characteristic information, namely are collected from robot
Various electric compartment status informations and corresponding state characteristic information in extract the information with general character, these are with general character
Information same type of failure can be had an impact.
It should be pointed out that any early warning in the present embodiment can pass through the sides such as voice prompt, display picture prompt
Formula is triggered.
In the present embodiment, the piping lane electric compartment method for inspecting can further include：
After triggering any early warning, corresponding hidden danger processing prediction scheme is chosen from preset prediction scheme database；
Prediction scheme is handled according to the hidden danger, generates corresponding control signal, and the control signal is sent to the pipe
In the corresponding instrument equipment of corridor electric compartment, controlled accordingly the corresponding instrument equipment.
Correspondingly, the embodiment of the present application also discloses a kind of piping lane electric compartment cruising inspection system, shown in Figure 5, the system
Including：
Current profile acquisition module 11, for using the robot walked in piping lane electric compartment, acquiring the piping lane electricity
The infrared thermogram of target area in power cabin；
Standard diagram acquisition module 12 obtains infrared for obtaining standard diagram corresponding with the infrared thermogram
Thermal imagery standard diagram；
Discharge characteristic extraction module 13, for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively
Local discharge characteristic, obtain corresponding live local discharge characteristic and standard local discharge characteristic；
Abnormality detection of discharging module 14, for by comparing the live local discharge characteristic and the standard shelf depreciation
Feature, determines whether the target area shelf depreciation exception occurs, if it is, corresponding first early warning of triggering.
Wherein, it can be referred to about the more specifical course of work of above-mentioned modules corresponding disclosed in previous embodiment
Content is no longer repeated herein.
Further, the embodiment of the present application also discloses a kind of piping lane electric compartment inspection device, including processor and storage
Device；Wherein, piping lane disclosed in previous embodiment is realized when the processor executes the computer program preserved in the memory
Electric compartment method for inspecting.
Wherein, phase disclosed in previous embodiment can be referred to about the specific steps of above-mentioned piping lane electric compartment method for inspecting
Content is answered, is no longer repeated herein.
In addition, disclosed herein as well is a kind of robot, including aforementioned disclosed piping lane electric compartment inspection device.It can manage
It solves, the robot in the present embodiment further includes corresponding ground-engaging element and power supply, wherein for continuing for hoisting machine people
Boat ability, the present embodiment can install wireless charging device in robot, can when robot walks in piping lane electric compartment
To carry out wireless charging to the power supply in robot by above-mentioned wireless charging device, patrolling for robot can be substantially improved in this way
Boat ability.
Further, the embodiment of the present application also discloses a kind of computer readable storage medium, for storing computer journey
Sequence；Wherein, piping lane electric compartment method for inspecting disclosed in previous embodiment is realized when the computer program is executed by processor.Its
In, the specific steps about above-mentioned piping lane electric compartment method for inspecting can refer to corresponding contents disclosed in previous embodiment,
This is no longer repeated.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with it is other
The difference of embodiment, just to refer each other for same or similar part between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think to exceed scope of the present application.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
It is situated between above to a kind of robot provided herein and its piping lane electric compartment method for inspecting, system, equipment, storage
Matter is described in detail, and specific examples are used herein to illustrate the principle and implementation manner of the present application, above
The explanation of embodiment is merely used to help understand the present processes and its core concept；Meanwhile for the general skill of this field
Art personnel, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this
Description should not be construed as the limitation to the application.
Claims (12)
1. a kind of piping lane electric compartment method for inspecting, which is characterized in that including：
Using the robot walked in piping lane electric compartment, the Infrared Thermogram of the target area in the piping lane electric compartment is acquired
Spectrum；
Standard diagram corresponding with the infrared thermogram is obtained, infrared thermal imagery standard diagram is obtained；
The local discharge characteristic for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively obtains existing accordingly
Field local discharge characteristic and standard local discharge characteristic；
By comparing the live local discharge characteristic and the standard local discharge characteristic, determine whether the target area goes out
Existing shelf depreciation is abnormal, if it is, corresponding first early warning of triggering.
2. piping lane electric compartment method for inspecting according to claim 1, which is characterized in that further include：
The Characteristics of The Distribution of Temperature for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively obtains existing accordingly
Field Characteristics of The Distribution of Temperature and normal temperature distribution characteristics；
By comparing the scene temperature distribution characteristics and the normal temperature distribution characteristics, determine whether the target area goes out
Existing Temperature Distribution is abnormal, if it is, corresponding second early warning of triggering.
3. piping lane electric compartment method for inspecting according to claim 2, which is characterized in that further include：
Using the robot, the visible light collection of illustrative plates of the target area is acquired；
Standard diagram corresponding with the visible light collection of illustrative plates is obtained, visible light standard diagram is obtained；
The cable external appearance characteristic for extracting the visible light collection of illustrative plates and the visible light standard diagram respectively obtains corresponding scene electricity
Cable external appearance characteristic and standard cable external appearance characteristic；
By comparing the on-site cable external appearance characteristic and the standard cable external appearance characteristic, the electricity in the target area is determined
Cable is with the presence or absence of exception, if it is, triggering corresponding third early warning.
4. piping lane electric compartment method for inspecting according to claim 3, which is characterized in that obtain and the infrared thermogram
The process of standard diagram corresponding with the visible light collection of illustrative plates, including：
The regional location for determining the target area, obtains target location；
Standard diagram corresponding with the target location is chosen from preset infrared thermal imagery standard diagram library, is obtained described infrared
Thermal imagery standard diagram；
Standard diagram corresponding with the target location is chosen from preset visible light standard diagram library, obtains the visible light
Standard diagram.
5. piping lane electric compartment method for inspecting according to claim 4, which is characterized in that the determination target area
Regional location, including：
By machine vision technique, preset station location marker information on the target area is identified, to obtain the target area
Regional location；
Alternatively, determining the position coordinates of presently described robot；Determine the bat of the collection of illustrative plates harvester in presently described robot
Take the photograph orientation；Using the position coordinates and the shooting orientation, the regional location of the target area is determined.
6. piping lane electric compartment method for inspecting according to any one of claims 1 to 5, which is characterized in that further include：
Acquire the ambient temperature information and/or toxic gas content of the target area；
The ambient temperature information of the target area is analyzed, it is whether different with the environment temperature on the determination target area
Often, if it is, corresponding 4th early warning of triggering；
Toxic gas content on the target area is analyzed, with the toxic gas content on the determination target area
It is whether abnormal, if it is, corresponding 5th early warning of triggering.
7. piping lane electric compartment method for inspecting according to claim 6, which is characterized in that further include：
Using big data memory technology, all data of the collected target area are preserved.
8. piping lane electric compartment method for inspecting according to claim 7, which is characterized in that further include：
After triggering any early warning, corresponding hidden danger processing prediction scheme is chosen from preset prediction scheme database；
Prediction scheme is handled according to the hidden danger, generates corresponding control signal, and the control signal is sent to the piping lane electricity
In the corresponding instrument equipment in power cabin, controlled accordingly the corresponding instrument equipment.
9. a kind of piping lane electric compartment cruising inspection system, which is characterized in that including：
Current profile acquisition module, for using the robot walked in piping lane electric compartment, acquiring in the piping lane electric compartment
Target area infrared thermogram；
Standard diagram acquisition module obtains infrared thermal imagery mark for obtaining standard diagram corresponding with the infrared thermogram
Quasi- collection of illustrative plates；
Discharge characteristic extraction module, the part for extracting the infrared thermogram and the infrared thermal imagery standard diagram respectively
Discharge characteristic obtains corresponding live local discharge characteristic and standard local discharge characteristic；
Electric discharge abnormality detection module compares the live local discharge characteristic and the standard local discharge characteristic for passing through,
Determine whether the target area shelf depreciation exception occurs, if it is, corresponding first early warning of triggering.
10. a kind of piping lane electric compartment inspection device, which is characterized in that including processor and memory；Wherein, the processor is held
Such as claim 1 to 8 any one of them piping lane electric compartment inspection is realized when the computer program preserved in the row memory
Method.
11. a kind of robot, which is characterized in that including piping lane electric compartment inspection device as claimed in claim 10.
12. a kind of computer readable storage medium, which is characterized in that for storing computer program；Wherein, the computer journey
Such as claim 1 to 8 any one of them piping lane electric compartment method for inspecting is realized when sequence is executed by processor.
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