CN110687394A - Submarine cable fault automatic rapid positioning navigation device system - Google Patents
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Abstract
一种海底电缆故障自动快速定位航行器系统，系统包括服务器、海底电缆监测系统、水下航行器控制系统和携带自适应摄像模块的水下航行器、图像处理模块和客户端，海底电缆监测系统用于获取故障点位置，并将故障点位置转换为定位信息，通过服务器发送到水下航行器控制系统；水下航行器控制系统用于接收定位信息和图像信息，并向水下航行器发送指令控制其行动；水下航行器用于通过自适应摄像模块对故障点的图像信息进行采集，将图像信息通过图像处理模块进行处理后，由服务器传送回水下航行器控制系统。本系统能够自动识别故障信息，快速定位故障点，无需人工，即可获取现场信息，为后续操作提供参考，减少了进行故障处理的时间消耗，提高工作效率。
A submarine cable fault automatic and rapid positioning vehicle system, the system includes a server, a submarine cable monitoring system, an underwater vehicle control system, an underwater vehicle carrying an adaptive camera module, an image processing module and a client, and a submarine cable monitoring system It is used to obtain the location of the fault point, convert the location of the fault point into positioning information, and send it to the underwater vehicle control system through the server; the underwater vehicle control system is used to receive the positioning information and image information, and send it to the underwater vehicle The instructions control its actions; the underwater vehicle is used to collect the image information of the fault point through the adaptive camera module, and after the image information is processed by the image processing module, it is sent back to the underwater vehicle control system by the server. The system can automatically identify fault information, quickly locate the fault point, and obtain on-site information without manual work, providing reference for subsequent operations, reducing the time consumption of fault handling and improving work efficiency.
Description
技术领域technical field
本发明涉及一种航行器系统，尤其涉及一种海底电缆故障自动快速定位航行器系统。The invention relates to an aircraft system, in particular to an automatic and rapid positioning aircraft system for submarine cable faults.
背景技术Background technique
随着能源需求的增加，海底电力电缆作为水下传输大功率电能的主要手段在电力能源输送过程中扮演着越来越重要的角色。在一般情况下,应用海底电缆传输电能无疑要比同样长度的架空电缆昂贵,因此对于海底电力电缆故障的处理显得极为重要。With the increase in energy demand, submarine power cables, as the main means of underwater transmission of high-power electrical energy, play an increasingly important role in the process of power energy transmission. Under normal circumstances, the use of submarine cables to transmit power is undoubtedly more expensive than overhead cables of the same length, so it is extremely important to deal with submarine power cable faults.
当前海底电力电缆发生故障后，主要是由人工收集故障信息、人工查询故障大致范围，然后运检人员到达现场利用水下航行器对具体故障进行查找。现有技术中，故障信息流转节点多、信息传递效率低、运检人员到达现场消耗时间长，同时水下航行器寻找故障的效率较低，且受水下环境影响较大。After the current submarine power cable fails, the fault information is mainly collected manually, the general scope of the fault is manually inquired, and then the inspection personnel arrive at the scene and use the underwater vehicle to find the specific fault. In the prior art, there are many fault information transfer nodes, low information transmission efficiency, and long time for inspection personnel to arrive at the site. Meanwhile, the underwater vehicle has low efficiency in finding faults and is greatly affected by the underwater environment.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了解决海底电力电缆发生跳闸故障后，信息传输效率低下，运检人员到达故障点耗费时间长、利用水下航行器判断线路故障效率低，受水下环境影响大等问题，而提供一种海底电缆故障自动快速定位航行器系统，其技术方案如下：The purpose of the present invention is to solve the problems of low information transmission efficiency, long time for inspection personnel to arrive at the fault point, low efficiency of judging line faults using underwater vehicles, and great influence by the underwater environment after the tripping fault occurs in the submarine power cable, To provide a submarine cable fault automatic and rapid positioning vehicle system, the technical solution is as follows:
一种海底电缆故障自动快速定位航行器系统，系统包括服务器、海底电缆监测系统、水下航行器控制系统和携带自适应摄像模块的水下航行器、图像处理模块和客户端，海底电缆监测系统用于获取故障点位置，并将故障点位置转换为定位信息，通过服务器发送到水下航行器控制系统；水下航行器控制系统用于接收定位信息和图像信息，并向水下航行器发送指令控制其行动；水下航行器用于通过自适应摄像模块对故障点的图像信息进行采集，并将图像信息通过图像处理模块进行处理后，由服务器传送回水下航行器控制系统。A submarine cable fault automatic and rapid positioning vehicle system, the system includes a server, a submarine cable monitoring system, an underwater vehicle control system, an underwater vehicle carrying an adaptive camera module, an image processing module and a client, and a submarine cable monitoring system It is used to obtain the location of the fault point, convert the location of the fault point into positioning information, and send it to the underwater vehicle control system through the server; the underwater vehicle control system is used to receive the positioning information and image information, and send it to the underwater vehicle The instructions control its actions; the underwater vehicle is used to collect the image information of the fault point through the adaptive camera module, and after the image information is processed by the image processing module, it is sent back to the underwater vehicle control system by the server.
图像处理模块，图像处理模块用于接收分析水下航行器控制系统发送的图像信息，并将分析结果分别发送至服务器和客户端。The image processing module is used for receiving and analyzing the image information sent by the underwater vehicle control system, and sending the analysis results to the server and the client respectively.
客户端用于接收服务器根据定位信息下达的工作任务指令和图像处理模块发送的分析结果，并根据分析结果生成巡检报告发送至服务器，服务器将巡检报告发送至海底电缆监测系统。The client is used to receive the work task instructions issued by the server according to the positioning information and the analysis results sent by the image processing module, and generate an inspection report based on the analysis results and send it to the server. The server sends the inspection report to the submarine cable monitoring system.
客户端为手机应用软件，手机作为最常用的通信设备，通过应用软件与系统进行互联可以提高信息传递效率。The client is a mobile phone application software. As the most commonly used communication device, the mobile phone can improve the efficiency of information transmission by interconnecting the application software with the system.
图片处理模块通过模式识别、人工神经网络在线算法，从所拍摄图像流中筛选出海底电缆故障图片。The picture processing module screens out the submarine cable fault pictures from the captured image stream through pattern recognition and artificial neural network online algorithm.
海底电缆监测系统通过对故障点进行线路故障测距获得故障点位置。The submarine cable monitoring system obtains the location of the fault point through the line fault location of the fault point.
定位信息为GPS坐标、北斗定位或区域的经纬定位。The positioning information is GPS coordinates, Beidou positioning or regional latitude and longitude positioning.
与现有技术相比，本发明的有益效果在于：通过服务器、客户端、图像处理模块、海底电缆监测系统、水下航行器控制系统和携带自适应摄像模块的水下航行器，自动识别故障信息，快速定位故障点，实现了在不需要运检人员到达现场时，即可获取现场信息，为运检人员的后续操作提供参考，减少了进行故障处理的时间消耗，提高工作效率。Compared with the prior art, the present invention has the beneficial effects of automatically identifying faults through a server, a client, an image processing module, a submarine cable monitoring system, an underwater vehicle control system and an underwater vehicle carrying an adaptive camera module. information and quickly locate the fault point, so that the on-site information can be obtained when the inspection personnel do not need to arrive at the scene, which provides a reference for the subsequent operations of the inspection personnel, reduces the time consumption of troubleshooting, and improves work efficiency.
附图说明Description of drawings
图1为本发明流程图。Fig. 1 is a flow chart of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例1Example 1
如图1所示，本系统包括6个部分：服务器、海底电缆监测系统、水下航行器、自适应摄像模块、图像处理模块和客户端。服务器为外网服务器，从海底电缆监测系统直接获取海底电缆故障信息、处理信息生成工作任务派发到运检人员的客户端，客户端为安装在手机上的应用软件，并同时发送GPS坐标到水下航行器控制系统。水下航行器控制系统根据服务器发送的GPS坐标，控制水下航行器前往故障点，接收并显示、存储自适应摄像模块获取的实时图像，有标准物理接口将所拍摄图像实时传输到图像处理模块。水下航行器是自适应摄像模块的载体，自适应摄像模块由可见光摄像仪、红外摄像仪和控制单元构成，所拍摄图像实时传输给控制单元。图像处理模块通过模式识别、模糊控制和人工神经网络在线算法，自动地从所拍摄图像流中快速、准确筛选出线路故障图片，并将故障图片实时发送到服务器和运检人员的客户端，也可以本体存储。运检人员的客户端接收服务器发送的任务指令，为运检人员导航到水下航行器所在处，连接图像处理模块的无线热点，实时接收故障照片，自动生成调查报告和下一步工作提示。As shown in Figure 1, the system includes 6 parts: server, submarine cable monitoring system, underwater vehicle, adaptive camera module, image processing module and client. The server is an external network server, which directly obtains the fault information of the submarine cable from the submarine cable monitoring system, processes the information and generates work tasks and distributes it to the client of the inspection personnel. The client is the application software installed on the mobile phone, and at the same time sends the GPS coordinates to the water down the aircraft control system. The underwater vehicle control system controls the underwater vehicle to go to the fault point according to the GPS coordinates sent by the server, receives, displays and stores the real-time images obtained by the adaptive camera module, and has a standard physical interface to transmit the captured images to the image processing module in real time . The underwater vehicle is the carrier of the adaptive camera module. The adaptive camera module is composed of a visible light camera, an infrared camera and a control unit, and the captured images are transmitted to the control unit in real time. Through pattern recognition, fuzzy control and artificial neural network online algorithm, the image processing module automatically filters out the line fault pictures quickly and accurately from the captured image stream, and sends the fault pictures to the server and the client of the inspection personnel in real time. Can be stored on the body. The client of the inspection personnel receives the task instructions sent by the server, navigates to the location of the underwater vehicle for the inspection personnel, connects to the wireless hotspot of the image processing module, receives the fault photos in real time, and automatically generates the investigation report and the next work prompt.
实施例2Example 2
当海底电力电缆故障时海底电缆监测系统获取故障类型及故障点位置，故障类型获取方式可根据海缆站站内的电气指示量的变化情况进行判断，故障点位置可利用电缆探测仪通过故障录波分析法、阻抗法等技术测出故障点距离某一监测点的距离，从而根据电缆敷设路线对故障进行定位；为方便水下航行器查找故障，海底电缆监测系统可以将监测到的距离信息转换为定位信息，该定位信息可以为GPS定位、北斗定位或者区域的经纬定位，这种定位信息需要是一个准确的坐标值，水下航行器控制系统根据此坐标值控制水下航行器前往该故障点；到达后利用摄像模块进行图像采集，再由水下航行器控制系统对采集图像进行接收，从而及时地获取故障信息，为后续故障处理提供基本的参考和依据。When the submarine power cable is faulty, the submarine cable monitoring system obtains the fault type and the fault point location. The fault type acquisition method can be judged according to the change of the electrical indicator in the submarine cable station. The fault point location can be recorded by using the cable detector. Analysis method, impedance method and other technologies measure the distance between the fault point and a monitoring point, so as to locate the fault according to the cable laying route; in order to facilitate the underwater vehicle to find the fault, the submarine cable monitoring system can convert the monitored distance information into For positioning information, the positioning information can be GPS positioning, Beidou positioning or regional latitude and longitude positioning. This positioning information needs to be an accurate coordinate value, and the underwater vehicle control system controls the underwater vehicle to go to the fault according to this coordinate value. After arriving, the camera module is used to collect images, and then the collected images are received by the underwater vehicle control system, so as to obtain fault information in time, and provide basic reference and basis for subsequent fault processing.
实施例3Example 3
服务器根据定位信息向客户端下达任务指令，这时接收到定位信息的客户端运检人员根据此定位信息导航至水下航行器处，并与其图像处理模块进行信息互联，实时接收线路故障图像，根据此类图像，操作人员可以做好充分准备，在全面掌握故障情况以后，再去故障点进行故障排除，从而减少了故障排除的时间消耗，而客户端可以根据图像信息生成巡检报告并通过服务器发送至海底电缆监测系统，便于海底电缆监测系统的人员对故障处理情况进行实时监控，减少安全隐患。同时出于保密和数据安全考虑，海底电缆监测系统实际属于电网的内网数据，所以通过服务器的方式与外网进行连接，既可以充分利用外网资源对水下航行器、客户端及图形处理模块进行通信，也可以达到所需要的保密的目的。The server issues a task instruction to the client according to the positioning information. At this time, the client inspection personnel who receive the positioning information navigate to the underwater vehicle according to the positioning information, and perform information interconnection with its image processing module to receive the line fault image in real time. Based on such images, the operator can be fully prepared, and after fully grasping the fault situation, go to the fault point for troubleshooting, thereby reducing the time consumption of troubleshooting, and the client can generate an inspection report based on the image information and pass The server is sent to the submarine cable monitoring system, so that the personnel of the submarine cable monitoring system can monitor the fault processing situation in real time and reduce potential safety hazards. At the same time, due to confidentiality and data security considerations, the submarine cable monitoring system actually belongs to the internal network data of the power grid, so it is connected to the external network through the server, which can make full use of the external network resources to process underwater vehicles, clients and graphics. The modules communicate with each other, and the required confidentiality can also be achieved.
实施例4Example 4
水下航行器所带有的摄像模块对故障点的图像信息进行采集，并将该图像信息通过服务器进行处理，回传至水下航行器控制系统，形成闭环控制。The camera module of the underwater vehicle collects the image information of the fault point, processes the image information through the server, and sends it back to the underwater vehicle control system to form a closed-loop control.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.
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| CN112549045A (en) * | 2020-12-05 | 2021-03-26 | 武汉千音科技有限公司 | Submarine cable fault detection robot for ocean engineering |
| CN113608538A (en) * | 2021-08-04 | 2021-11-05 | 联想新视界(南昌)人工智能工研院有限公司 | Control service integration method of underwater robot based on 5G edge calculation |
| CN114217174A (en) * | 2021-12-24 | 2022-03-22 | 国网山东省电力公司烟台供电公司 | Submarine cable fault rapid positioning equipment |
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| CN113608538A (en) * | 2021-08-04 | 2021-11-05 | 联想新视界(南昌)人工智能工研院有限公司 | Control service integration method of underwater robot based on 5G edge calculation |
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| CN114217174B (en) * | 2021-12-24 | 2024-02-02 | 国网山东省电力公司烟台供电公司 | Quick positioning equipment of submarine cable trouble |
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