CN110687394A - Submarine cable fault automatic rapid positioning navigation device system - Google Patents
Submarine cable fault automatic rapid positioning navigation device system Download PDFInfo
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- CN110687394A CN110687394A CN201910899232.8A CN201910899232A CN110687394A CN 110687394 A CN110687394 A CN 110687394A CN 201910899232 A CN201910899232 A CN 201910899232A CN 110687394 A CN110687394 A CN 110687394A
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- underwater vehicle
- submarine cable
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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
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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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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- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
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Abstract
A submarine cable fault automatic rapid positioning vehicle system comprises a server, a submarine cable monitoring system, an underwater vehicle control system, an underwater vehicle with an adaptive camera module, an image processing module and a client, wherein the submarine cable monitoring system is used for acquiring the position of a fault point, converting the position of the fault point into positioning information and sending the positioning information to the underwater vehicle control system through the server; the underwater vehicle control system is used for receiving the positioning information and the image information and sending an instruction to the underwater vehicle to control the action of the underwater vehicle; the underwater vehicle is used for collecting image information of a fault point through the self-adaptive camera module, processing the image information through the image processing module and transmitting the image information back to the underwater vehicle control system through the server. The system can automatically identify fault information, quickly locate fault points, and acquire field information without manual work, thereby providing reference for subsequent operation, reducing time consumption for fault processing and improving working efficiency.
Description
Technical Field
The invention relates to an aircraft system, in particular to an automatic and rapid positioning aircraft system for submarine cable faults.
Background
With the increase of energy demand, submarine power cables play an increasingly important role as a main means for transmitting high-power electric energy underwater in the process of electric energy transmission. In general, the use of submarine cables for transmitting electric energy is undoubtedly more expensive than aerial cables of the same length, and is therefore of great importance for the management of faults in submarine power cables.
When a current submarine power cable breaks down, fault information is collected manually, the fault approximate range is inquired manually, and then operation and inspection personnel arrive at the site and use an underwater vehicle to search specific faults. In the prior art, the number of fault information transfer nodes is large, the information transfer efficiency is low, the time consumed when operation and inspection personnel arrive at a site is long, meanwhile, the efficiency of searching faults by an underwater vehicle is low, and the influence of the underwater environment is large.
Disclosure of Invention
The invention aims to solve the problems that after a submarine power cable has a trip fault, the information transmission efficiency is low, the time spent by operation and inspection personnel to reach a fault point is long, the efficiency of judging a line fault by an underwater vehicle is low, the influence of the underwater environment is large and the like, and provides an automatic and rapid submarine cable fault positioning vehicle system, which has the following technical scheme:
a submarine cable fault automatic rapid positioning vehicle system comprises a server, a submarine cable monitoring system, an underwater vehicle control system, an underwater vehicle with an adaptive camera module, an image processing module and a client, wherein the submarine cable monitoring system is used for acquiring the position of a fault point, converting the position of the fault point into positioning information and sending the positioning information to the underwater vehicle control system through the server; the underwater vehicle control system is used for receiving the positioning information and the image information and sending an instruction to the underwater vehicle to control the action of the underwater vehicle; the underwater vehicle is used for collecting image information of a fault point through the self-adaptive camera module, processing the image information through the image processing module and transmitting the image information back to the underwater vehicle control system through the server.
And the image processing module is used for receiving and analyzing the image information sent by the underwater vehicle control system and sending the analysis result to the server and the client respectively.
The client is used for receiving a work task instruction issued by the server according to the positioning information and an analysis result sent by the image processing module, generating an inspection report according to the analysis result and sending the inspection report to the server, and the server sends the inspection report to the submarine cable monitoring system.
The client is mobile phone application software, the mobile phone is used as the most common communication equipment, and the information transmission efficiency can be improved by interconnecting the application software and the system.
And the image processing module screens out submarine cable fault images from the shot image stream through mode recognition and an artificial neural network online algorithm.
The submarine cable monitoring system obtains the position of a fault point by carrying out line fault distance measurement on the fault point.
The positioning information is GPS coordinates, Beidou positioning or regional longitude and latitude positioning.
Compared with the prior art, the invention has the beneficial effects that: through the server, the client, the image processing module, the submarine cable monitoring system, the underwater vehicle control system and the underwater vehicle with the self-adaptive camera module, fault information is automatically identified, fault points are quickly located, the fact that field information can be obtained when a detection worker does not need to arrive at the field is achieved, reference is provided for subsequent operation of the detection worker, time consumption for fault processing is reduced, and work efficiency is improved.
Drawings
FIG. 1 is a flow chart 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.
Example 1
As shown in fig. 1, the present system comprises 6 parts: the system comprises a server, a submarine cable monitoring system, an underwater vehicle, an adaptive camera module, an image processing module and a client. The server is an extranet server, submarine cable fault information is directly acquired from a submarine cable monitoring system, the submarine cable fault information is processed to generate a work task, the work task is distributed to a client of a running inspector, the client is application software installed on a mobile phone, and meanwhile GPS coordinates are sent to an underwater vehicle control system. The underwater vehicle control system controls the underwater vehicle to go to a fault point according to the GPS coordinates sent by the server, receives, displays and stores the real-time image acquired by the self-adaptive camera module, and transmits the shot image to the image processing module in real time through a standard physical interface. The underwater vehicle is a carrier of the self-adaptive camera module, the self-adaptive camera module is composed of a visible light camera, an infrared camera and a control unit, and shot images are transmitted to the control unit in real time. The image processing module automatically and quickly and accurately screens out a line fault picture from a shot image stream through pattern recognition, fuzzy control and an artificial neural network online algorithm, and sends the fault picture to a server and a client of a transportation and inspection worker in real time, and the fault picture can also be stored in a body. And the client of the operation personnel receives the task instruction sent by the server, navigates the position of the underwater vehicle for the operation personnel, is connected with the wireless hotspot of the image processing module, receives the fault picture in real time, and automatically generates an investigation report and a next work prompt.
Example 2
When the submarine power cable fails, the submarine cable monitoring system acquires a fault type and a fault point position, the fault type acquisition mode can be judged according to the change condition of electrical indication quantity in a submarine cable station, and the fault point position can use a cable detector to measure the distance from a fault point to a certain monitoring point through the technologies of a fault recording analysis method, an impedance method and the like, so that the fault is positioned according to a cable laying route; in order to facilitate the underwater vehicle to find a fault, the submarine cable monitoring system can convert the monitored distance information into positioning information, the positioning information can be GPS positioning, Beidou positioning or regional longitude and latitude positioning, the positioning information needs to be an accurate coordinate value, and the underwater vehicle control system controls the underwater vehicle to go to the fault point according to the coordinate value; and after the fault information arrives, the camera module is used for acquiring images, and the underwater vehicle control system receives the acquired images, so that the fault information is acquired in time, and basic reference and basis are provided for subsequent fault processing.
Example 3
The server issues a task instruction to the client according to the positioning information, at the moment, a client operation and inspection worker receiving the positioning information navigates to the underwater vehicle according to the positioning information and performs information interconnection with an image processing module of the client operation and inspection worker receiving the positioning information, a line fault image is received in real time, according to the image, the operator can make full preparations, after comprehensively mastering the fault condition, the operator goes to a fault point to perform fault removal, and therefore time consumption of fault removal is reduced, the client can generate an inspection report according to the image information and send the inspection report to a submarine cable monitoring system through the server, the worker of the submarine cable monitoring system can conveniently perform real-time monitoring on the fault processing condition, and potential safety hazards are reduced. Meanwhile, in consideration of confidentiality and data security, the submarine cable monitoring system actually belongs to the intranet data of the power grid, and is connected with an extranet in a server mode, so that extranet resources can be fully utilized to communicate the underwater vehicle, a client and the graphic processing module, and the required confidentiality purpose can be achieved.
Example 4
The camera module carried by the underwater vehicle collects image information of a fault point, processes the image information through the server and transmits the image information back to the underwater vehicle control system to form closed-loop control.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The submarine cable fault automatic rapid positioning vehicle system is characterized by comprising a server, a submarine cable monitoring system, an underwater vehicle control system, an underwater vehicle with an adaptive camera module, an image processing module and a client, wherein the submarine cable monitoring system is used for acquiring the position of a fault point, converting the position of the fault point into positioning information and sending the positioning information to the underwater vehicle control system through the server; the underwater vehicle control system is used for receiving positioning information and image information and sending instructions to the underwater vehicle to control the underwater vehicle to act; the underwater vehicle is used for collecting image information of a fault point through the self-adaptive camera module, processing the image information through the image processing module and transmitting the image information back to the underwater vehicle control system through the server.
2. The submarine cable fault automatic and rapid positioning aircraft system according to claim 1, wherein the image processing module is used for receiving and analyzing image information sent by an underwater vehicle control system, and sending the analysis results to a server and a client respectively.
3. The submarine cable fault automatic and rapid positioning aircraft system according to claim 2, wherein the client is used for receiving a work task instruction issued by the server according to the positioning information and an analysis result sent by the image processing module, generating an inspection report according to the analysis result, and sending the inspection report to the server, and the server sends the inspection report to the submarine cable monitoring system.
4. The submarine cable fault automatic rapid positioning aircraft system according to claim 2 or 3, wherein the client is a mobile phone application.
5. The system of claim 2, wherein the image processing module screens out submarine cable fault images from the captured image stream by pattern recognition and artificial neural network online algorithm.
6. The submarine cable fault automatic rapid positioning vehicle system according to claim 1, wherein the submarine cable monitoring system obtains the fault point location by performing line fault ranging on the fault point.
7. The submarine cable fault automatic and rapid positioning aircraft system according to claim 1, wherein the positioning information is GPS coordinates, beidou positioning or regional longitude and latitude positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910899232.8A CN110687394A (en) | 2019-09-23 | 2019-09-23 | Submarine cable fault automatic rapid positioning navigation device system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910899232.8A CN110687394A (en) | 2019-09-23 | 2019-09-23 | Submarine cable fault automatic rapid positioning navigation device system |
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| CN110687394A true CN110687394A (en) | 2020-01-14 |
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| CN201910899232.8A Pending CN110687394A (en) | 2019-09-23 | 2019-09-23 | Submarine cable fault automatic rapid positioning navigation device system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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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 |
| 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 |
| 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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Application publication date: 20200114 |