CN112863001A - Power distribution room patrol inspection method, device and system - Google Patents
Power distribution room patrol inspection method, device and system Download PDFInfo
- Publication number
- CN112863001A CN112863001A CN202110068140.2A CN202110068140A CN112863001A CN 112863001 A CN112863001 A CN 112863001A CN 202110068140 A CN202110068140 A CN 202110068140A CN 112863001 A CN112863001 A CN 112863001A
- Authority
- CN
- China
- Prior art keywords
- power distribution
- inspection
- obstacle
- image
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Signal Processing (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The application provides a power distribution room patrol inspection method, device and system, which can be used in the financial field or other fields, and the method comprises the following steps: when a target inspection robot reaches an inspection point of a target distribution electric machine room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle; if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image identification model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform; and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model. The conflict between the power distribution machine room inspection and the equipment maintenance can be avoided, the reliability of power distribution machine room inspection can be improved, and the safety of power distribution machine room operation is guaranteed.
Description
Technical Field
The application relates to the technical field of image recognition, in particular to a power distribution room patrol inspection method, device and system.
Background
Traditional mode that power distribution machine room patrolled and examined and mostly adopted the manual work to patrol and examine, along with the continuous development of science and technology, data center scale is bigger and bigger, adopts the manual work to patrol and examine can waste a large amount of manpower resources, consequently considers to adopt the rail mounted to patrol and examine the robot and replace the manual work to patrol and examine. However, the number of machine rooms is large, the total amount of equipment is huge and the amplification is rapid, the failure of hardware equipment occurs frequently, and the collision problem exists between the inspection process of the robot and the emergency maintenance of power distribution equipment.
Disclosure of Invention
To the problems in the prior art, the application provides a power distribution machine room inspection method, device and system, which can avoid conflict between inspection and equipment maintenance of a power distribution machine room, further improve the inspection reliability of the power distribution machine room and ensure the operation safety of the power distribution machine room.
In order to solve the technical problem, the present application provides the following technical solutions:
in a first aspect, the present application provides a power distribution room inspection method, including:
when a target inspection robot reaches an inspection point of a target distribution electric machine room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle;
if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform;
and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
Further, the power distribution room patrol inspection method further includes:
if the obstacle is determined to be a second type of operator according to the obstacle image and a preset first image recognition model, controlling the target inspection robot to send a warning to prompt the obstacle to leave;
and if the obstacle is detected to leave, controlling the target inspection robot to execute an inspection process.
Further, after the controlling the target inspection robot to send a warning to prompt an obstacle to leave, the method further includes:
if the obstacle is detected not to leave within the time range from the starting time of the time point of sending the warning for the first time to the time point when the warning times are equal to the preset warning times, controlling the cradle head to ascend to the top of the power distribution cabinet, and acquiring the image of the power distribution cabinet by using the image acquisition device;
and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
Further, after the obstacle is detected not to leave within a time range from a starting time at which the warning is first sent to a time when the number of times of warning is equal to a preset number of times of warning, the method further includes:
and outputting and displaying the obstacle image.
Further, if it is detected that an obstacle exists in a range where the distance between the inspection track and the target inspection robot is smaller than a preset distance, acquiring an obstacle image corresponding to the obstacle, including:
if an obstacle is detected to exist in the range, in which the distance between the inspection track and the target inspection robot is smaller than the preset distance, according to an ultrasonic sensor arranged at the front end of the target inspection robot, an obstacle image corresponding to the obstacle is acquired.
In a second aspect, the present application provides a power distribution room inspection device, including:
the detection module is used for acquiring an obstacle image corresponding to an obstacle if the obstacle with the distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track when the target inspection robot reaches an inspection point of a target distribution electric machine room;
the acquisition module is used for controlling a cradle head of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point and acquiring a power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cradle head if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image identification model;
and the inspection module is used for determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
Further, distribution machine room inspection device, still include:
the warning module is used for controlling the target inspection robot to send a warning to prompt the obstacle to leave if the obstacle is determined to be a second type of operator according to the obstacle image and a preset first image recognition model;
and the control module is used for controlling the target inspection robot to execute an inspection process if the obstacle is detected to leave.
In a third aspect, the present application provides a power distribution room inspection system, including:
the inspection robot and the inspection device of the power distribution room;
and the inspection robot is in communication connection with the inspection device of the power distribution room.
Further, the inspection robot includes:
the inspection robot comprises an inspection robot main body, a controller arranged in the inspection robot main body, an ultrasonic sensor arranged at the front end of the inspection robot main body, a holder arranged on the inspection robot main body and an image acquisition device arranged on the holder, wherein the ultrasonic sensor, the holder and the image acquisition device are respectively in communication connection with the controller, and the controller is in communication with the power distribution machine room inspection device;
the ultrasonic sensor is used for detecting whether an obstacle exists in a range, in which the distance between the ultrasonic sensor and the target inspection robot is smaller than the preset distance, in the preset inspection track;
the cloud platform is used for adjusting the height of the image acquisition device so as to acquire the image of the power distribution cabinet.
In a fourth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the power distribution room polling method when executing the program.
In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon computer instructions that, when executed, implement the power distribution room polling method.
According to the technical scheme, the power distribution room patrol inspection method, device and system are provided. Wherein, the method comprises the following steps: when a target inspection robot reaches an inspection point of a target distribution electric machine room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle; if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform; determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model, so that the conflict between power distribution room inspection and equipment maintenance can be avoided, the reliability of power distribution room inspection can be improved, and the running safety of the power distribution room can be ensured; specifically, the problem that robot inspection conflicts with field repair of faulty equipment by technicians in the unmanned power distribution room can be solved; the intelligent recognition personnel state and the control rail mounted patrol and examine the robot rely on image recognition technology to accomplish to patrol and examine the task under the maintenance state, avoid the barrier to accomplish to patrol and examine the task under normal condition, can improve the reliability that the rail mounted patrol and examine the robot, can improve the automatic fortune degree of maintaining of distribution machine room, can solve the loaded down with trivial details problem of emergent maintenance fault equipment operation flow among the unmanned aerial vehicle room, can improve emergent maintenance recovery efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a power distribution room inspection method in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a power distribution room polling method in another embodiment of the present application;
FIG. 3 is a schematic flow chart of a power distribution room inspection method in an application example of the present application;
FIG. 4 is a schematic structural diagram of a power distribution room inspection device in the embodiment of the present application;
fig. 5 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the prior art, when a power distribution room has an equipment fault and is maintained, a background needs to be informed to perform emergency braking to enable a robot to keep a current state, and then a technician is informed to perform field maintenance work, so that the inspection task of the robot is stopped at the same time, and the rail type inspection robot cannot avoid obstacles to perform the inspection task. The power distribution machine room has high time requirements for emergency maintenance, the current scheme flow is too complex, the rapid recovery of production and power supply is not facilitated, emergency braking can only be performed, the field maintenance work of technical personnel is influenced when the cloud deck of the robot is in an extended state, the method cannot be used for field operation, a background management system is excessively relied on, and safety risks exist. Based on the above, the scheme considers how to solve the conflict between power distribution room inspection and power distribution equipment emergency maintenance, and provides a power distribution room inspection method, device and system.
In order to avoid the conflict between the power distribution room patrol and the equipment maintenance, and then improve the reliability that the power distribution room patrolled and examined, guarantee the security of power distribution room operation, this application embodiment provides a power distribution room patrol and examine device, the device can be a server or customer end equipment, customer end equipment can include smart mobile phone, panel electronic equipment, network set-top box, portable computer, desktop computer, Personal Digital Assistant (PDA), mobile unit and intelligent wearing equipment etc.. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch and intelligent bracelet etc..
In practical applications, the power distribution room inspection is performed on the server side as described above, or all operations are performed in the client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
The server and the client device may communicate using any suitable network protocol, including network protocols not yet developed at the filing date of this application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.
It should be noted that the method, the device and the system for routing inspection of the power distribution room disclosed by the application can be used in the technical field of finance, and can also be used in any field except the technical field of finance, and the application fields of the method, the device and the system for routing inspection of the power distribution room disclosed by the application are not limited.
The following examples are intended to illustrate the details.
In order to avoid conflict between inspection and equipment maintenance of the power distribution room, and further improve reliability of inspection of the power distribution room and ensure safety of operation of the power distribution room, the embodiment provides a method for inspecting the power distribution room, in which an execution main body is a power distribution room inspection device, the power distribution room inspection device includes but is not limited to a server, and as shown in fig. 1, the method specifically includes the following contents:
step 100: when the target inspection robot reaches an inspection point of a target distribution room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle.
Specifically, the preset routing inspection track may be a preset route for the target routing inspection robot in the target distribution room, and may be set according to actual needs, which is not limited in this application; the inspection point of the target power distribution room can be the position in the preset inspection track, and under the normal condition that no obstacle exists, the target inspection robot can acquire the image of the power distribution cabinet at the inspection point; the preset distance range can be set according to actual needs, and the application is not limited to this. The visible light camera arranged on the target inspection robot can be applied to acquire an image of the obstacle; the ultrasonic sensor arranged on the target inspection robot can be used for judging whether an obstacle with the distance between the target inspection robot and the inspection robot smaller than the preset distance range exists in the inspection track.
Step 200: and if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform.
Specifically, the first type of operator may be a serviceman, and it may be determined whether the obstacle carries a toolbox according to the obstacle image and a preset first image recognition model, and if the toolbox exists, it is determined that the obstacle is the first type of operator, that is, the serviceman, and if the toolbox does not exist, it is determined that the obstacle is a person other than the second type of operator, that is, the serviceman. The height of the holder can be adjusted; the image acquisition device may be a visible light camera; the switch board image may include: images of the left lower side, the right lower side and the right lower side of the power distribution cabinet; training a convolutional neural network model by using a plurality of historical obstacle images and first labels corresponding to the historical obstacle images to obtain a first image recognition model; each first label may indicate the presence or absence of a toolbox.
Step 300: and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
Specifically, the state of the power distribution cabinet may include: fault state, normal operating state and shutdown state; training a convolutional neural network model by using a plurality of power distribution cabinet images and corresponding second labels to obtain a second image recognition model; each second tag may represent one of a fault condition, a normal operation condition, and a shutdown condition; and the client terminal of the maintenance personnel can receive the state of the power distribution cabinet so as to further analyze the power distribution cabinet and improve the maintenance efficiency and accuracy.
As can be seen from the above description, in the power distribution room inspection method provided in this embodiment, when the target inspection robot reaches the inspection point of the target power distribution room, if it is detected that an obstacle whose distance from the target inspection robot is smaller than the preset distance range exists in the preset inspection track, an obstacle image corresponding to the obstacle is acquired; if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform; according to the power distribution cabinet image and a preset second image recognition model, the state of the power distribution cabinet is determined, so that the conflict between power distribution room inspection and equipment maintenance can be avoided, the reliability of power distribution room inspection can be improved, and the running safety of the power distribution room can be ensured; in addition, the accuracy and the intelligent degree of routing inspection can be improved by applying the image recognition technology in the routing inspection process.
In order to further improve the reliability of the routing inspection, as shown in fig. 2, in an embodiment of the present application, the method for routing inspection of the power distribution room further includes:
step 400: and if the obstacle is determined to be a second type of operator according to the obstacle image and a preset first image recognition model, controlling the target inspection robot to send a warning to prompt the obstacle to leave.
Specifically, the second type of worker may be a person other than a serviceman.
Step 500: and if the obstacle is detected to leave, controlling the target inspection robot to execute an inspection process.
Specifically, the detection that the obstacle has left may mean that no obstacle exists in a range in which a distance between the preset inspection track and the target inspection robot is smaller than a preset distance.
In order to further improve the accuracy of the inspection, in an embodiment of the present application, after step 400, the method further includes:
step 600: and if the obstacle is detected not to leave within the time range from the starting time of the time point of sending the warning for the first time to the time point when the warning times are equal to the preset warning times, controlling the cradle head to ascend to the top of the power distribution cabinet, and acquiring the image of the power distribution cabinet by using the image acquisition device.
Specifically, the preset number of warning times may be set according to actual needs, which is not limited in this application.
Step 700: and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
In order to further improve the safety of the power distribution room, in an embodiment of the present application, in step 600, if it is detected that the obstacle does not leave within a time range from a time point of first sending the warning to a time point when the number of warnings is equal to a preset number of warnings, the method further includes:
step 800: and outputting and displaying the obstacle image.
Specifically, obstacle information can be obtained according to the obstacle image and the power distribution cabinet image, whether the power distribution room is intruded for abnormal personnel or not can be monitored in time, and the safety of the power distribution room can be improved.
For the purpose of simply and conveniently realizing the automatic control of the inspection task, in an embodiment of the present application, in step 100, if it is detected that an obstacle exists in a range where the distance between the inspection track and the target inspection robot is smaller than a preset distance, an obstacle image corresponding to the obstacle is acquired, including:
step 101: if an obstacle is detected to exist in the range, in which the distance between the inspection track and the target inspection robot is smaller than the preset distance, according to an ultrasonic sensor arranged at the front end of the target inspection robot, an obstacle image corresponding to the obstacle is acquired.
The inspection robot aims to solve the problem that the conventional inspection robot only has a background emergency braking function and cannot meet the requirement of a data center, namely a power distribution room, on emergency maintenance of power distribution equipment. This application example provides a system of patrolling and examining of distribution computer lab, and the concrete description is as follows:
when an emergency maintenance scene needs to be carried out on power distribution equipment according to a data center emergency plan, technicians enter a power distribution room, a robot in an inspection task detects obstacles in the advancing process according to an ultrasonic sensor, a visible light camera is used for photographing the obstacles, and states of the technicians are identified through an image identification technology (if a tool box is carried, the technicians are judged to be the maintenance personnel, then a detection tripod head is carried out to be lifted to the top of a power distribution cabinet, the angle of the visible light camera is controlled to photograph the left lower side, the right lower side and the right lower side of a cabinet body needing to be inspected, and states of inspection points are determined through intelligent contrastive analysis of the image identification technology). If the technical staff do not carry the tool box, the warning is given out when the obstacle is detected, the obstacle is prompted to leave for three times, the inspection task is continuously carried out if the obstacle leaves the inspection range, the operation that the detection cloud deck is lifted to the top of the power distribution cabinet is carried out if the obstacle does not leave after the prompting, the angle of the visible light camera is controlled to photograph the left lower part, the right lower part and the right lower part of the cabinet body to be inspected, the inspection point state is determined through the intelligent contrast analysis of the image recognition technology, and the normal inspection state is recovered after the ultrasonic sensor detects that the lower part has no obstacle. At this moment, the inspection robot can not influence emergency personnel to maintain the faulty equipment, realizes the inspection robot and normally inspects the task, and on the basis of realizing unmanned inspection machine room, guarantee distribution system safety and stability can solve the problem that the robot inspects the in-process and carries out the conflict of distribution equipment emergency maintenance with technical staff.
Specifically, the cloud platform can rise to the cloud platform at switch board top, it can be that ultrasonic orbital patrols and examines the robot to patrol and examine the robot, and ultrasonic sensor and the module intercommunication that control cloud platform goes up and down, detectable and feedback cloud platform lift process and robot advance to retreat the condition that the in-process met the barrier.
For further explanation of the present solution, referring to fig. 3, in another application example of the present application, the power distribution room inspection method includes:
starting a polling task; s01: arriving at the inspection point (arriving at the next inspection point); s02: judging whether the ultrasonic sensor detects an obstacle or not; s03: the visible light camera records and intelligently identifies the state of the barrier; s04: judging whether the barrier is a maintenance worker; if yes, go to step S05, otherwise go to step S08; s05: the cradle head is lifted to the top of the cabinet to take multi-direction photos and intelligently identify images; s06: continuously executing multidirectional inspection and intelligent image comparison and identification; s07: judging whether the inspection point is the last inspection point; if yes, ending the task, otherwise, returning to the step of 01; s08: the visible light camera records and intelligently identifies the state of the barrier; s09: judging whether the barrier leaves; if yes, go to step S12, otherwise go to step S10; s10: the cradle head is lifted to the top of the cabinet to take pictures in multiple directions, and images are intelligently identified; s11: judging whether an obstacle exists below the device; s12: normally executing the inspection task; and finishing the task.
In order to further explain this scheme, this application embodiment provides a distribution computer lab system of patrolling and examining, includes:
the inspection robot and the inspection device of the power distribution room; and the inspection robot is in communication connection with the inspection device of the power distribution room.
Wherein, patrol and examine the robot and include: the inspection robot comprises an inspection robot main body, a controller arranged in the inspection robot main body, an ultrasonic sensor arranged at the front end of the inspection robot main body, a holder arranged on the inspection robot main body and an image acquisition device arranged on the holder, wherein the ultrasonic sensor, the holder and the image acquisition device are respectively in communication connection with the controller, and the controller is in communication with the power distribution machine room inspection device; the ultrasonic sensor is used for detecting whether an obstacle exists in a range, in which the distance between the ultrasonic sensor and the target inspection robot is smaller than the preset distance, in the preset inspection track; the cloud platform is used for adjusting the height of the image acquisition device so as to acquire the image of the power distribution cabinet.
Specifically, the power distribution room inspection system provided by this embodiment can be used for realizing the power distribution room inspection method provided by the above embodiment, and can avoid conflict between inspection and equipment maintenance of the power distribution room, so that the reliability of inspection of the power distribution room can be improved, and the safety of operation of the power distribution room is ensured.
From the software aspect, in order to avoid the conflict between the power distribution room inspection and the equipment maintenance, and then improve the reliability of the power distribution room inspection, and guarantee the safety of the power distribution room operation, the application provides an embodiment of a power distribution room inspection device for realizing all or part of the contents in the power distribution room inspection method, see fig. 4, the power distribution room inspection device specifically includes the following contents:
the detection module 10 is configured to, when the target inspection robot reaches an inspection point of a target power distribution room, acquire an obstacle image corresponding to an obstacle if it is detected that the obstacle whose distance from the target inspection robot is smaller than a preset distance range exists in a preset inspection track;
the acquisition module 20 is used for controlling the tripod head of the target inspection robot to ascend to the top of the power distribution cabinet at an inspection point and acquiring the image of the power distribution cabinet by using an image acquisition device arranged at the tripod head if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image identification model;
and the inspection module 30 is used for determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
In an embodiment of the present application, the power distribution room inspection device further includes:
and the warning module is used for controlling the target inspection robot to send a warning to prompt the obstacle to leave if the obstacle is determined to be a second type of operating personnel according to the obstacle image and a preset first image recognition model.
And the control module is used for controlling the target inspection robot to execute an inspection process if the obstacle is detected to leave.
The embodiment of the power distribution room inspection device provided in this specification may be specifically used to execute the processing flow of the embodiment of the power distribution room inspection method, and the functions of the embodiment are not described herein again, and reference may be made to the detailed description of the embodiment of the power distribution room inspection method.
According to the above description, the power distribution room polling method, the device and the system provided by the application can avoid conflict between power distribution room polling and equipment maintenance, so that the reliability of power distribution room polling can be improved, and the running safety of the power distribution room can be ensured; specifically, the problem that robot inspection conflicts with field repair of faulty equipment by technicians in the unmanned power distribution room can be solved; the intelligent recognition personnel state and the control rail mounted patrol and examine the robot rely on image recognition technology to accomplish to patrol and examine the task under the maintenance state, avoid the barrier to accomplish to patrol and examine the task under normal condition, can improve the reliability that the rail mounted patrol and examine the robot, can improve the automatic fortune degree of maintaining of distribution machine room, can solve the loaded down with trivial details problem of emergent maintenance fault equipment operation flow among the unmanned aerial vehicle room, can improve emergent maintenance recovery efficiency.
From the hardware aspect, in order to avoid the conflict between the power distribution room patrol and equipment maintenance, and then improve the reliability of the power distribution room patrol, guarantee the security of the power distribution room operation, the application provides an embodiment of an electronic device for realizing all or part of contents in the power distribution room patrol method the electronic device specifically includes the following contents:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between the power distribution room inspection device and relevant equipment such as a user terminal; the electronic device may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the electronic device may be implemented with reference to the embodiment for implementing the power distribution room inspection method and the embodiment for implementing the power distribution room inspection device, which are incorporated herein, and repeated details are not repeated.
Fig. 5 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 5, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this FIG. 5 is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
In one or more embodiments of the present application, the power distribution room routing inspection function may be integrated into the central processor 9100. The central processor 9100 may be configured to control as follows:
step 100: when the target inspection robot reaches an inspection point of a target distribution room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle.
Step 200: and if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform.
Step 300: and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
According to the above description, the electronic device provided by the embodiment of the application can avoid conflict between power distribution room inspection and equipment maintenance, so that the reliability of power distribution room inspection is improved, and the running safety of the power distribution room is ensured.
In another embodiment, the power distribution room inspection device may be configured separately from the central processor 9100, for example, the power distribution room inspection device may be configured as a chip connected to the central processor 9100, and the power distribution room inspection function may be implemented by the control of the central processor.
As shown in fig. 5, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 5; further, the electronic device 9600 may further include components not shown in fig. 5, which may be referred to in the art.
As shown in fig. 5, a central processor 9100, sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, which central processor 9100 receives input and controls the operation of the various components of the electronic device 9600.
The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. Power supply 9170 is used to provide power to electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.
The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.
According to the above description, the electronic device provided by the embodiment of the application can avoid conflict between power distribution room inspection and equipment maintenance, so that the reliability of power distribution room inspection is improved, and the running safety of the power distribution room is ensured.
Embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps in the power distribution room polling method in the foregoing embodiments, where the computer-readable storage medium stores thereon a computer program, and the computer program implements all steps of the power distribution room polling method in the foregoing embodiments when executed by a processor, for example, the processor implements the following steps when executing the computer program:
step 100: when the target inspection robot reaches an inspection point of a target distribution room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle.
Step 200: and if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform.
Step 300: and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
As can be seen from the above description, the computer-readable storage medium provided in the embodiment of the present application can avoid a conflict between power distribution room inspection and equipment maintenance, thereby improving reliability of power distribution room inspection and ensuring safety of power distribution room operation.
In the present application, each embodiment of the method is described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Reference is made to the description of the method embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the present application are explained by applying specific embodiments in the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, 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 application.
Claims (11)
1. A power distribution room patrol inspection method is characterized by comprising the following steps:
when a target inspection robot reaches an inspection point of a target distribution electric machine room, if an obstacle with a distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track, acquiring an obstacle image corresponding to the obstacle;
if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image recognition model, controlling a cloud platform of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point, and acquiring the power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cloud platform;
and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
2. The power distribution room patrol method according to claim 1, further comprising:
if the obstacle is determined to be a second type of operator according to the obstacle image and a preset first image recognition model, controlling the target inspection robot to send a warning to prompt the obstacle to leave;
and if the obstacle is detected to leave, controlling the target inspection robot to execute an inspection process.
3. The power distribution room inspection method according to claim 2, wherein after the controlling the target inspection robot to send a warning to prompt departure of an obstacle, further comprising:
if the obstacle is detected not to leave within the time range from the starting time of the time point of sending the warning for the first time to the time point when the warning times are equal to the preset warning times, controlling the cradle head to ascend to the top of the power distribution cabinet, and acquiring the image of the power distribution cabinet by using the image acquisition device;
and determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
4. The power distribution room patrol method according to claim 3, wherein after the detecting that the obstacle does not leave if in a time range from a starting time at which the warning is first transmitted to a number of times of warning equal to a preset number of times of warning, further comprising:
and outputting and displaying the obstacle image.
5. The power distribution room inspection method according to claim 1, wherein if it is detected that an obstacle exists in a range where a distance between the inspection track and the target inspection robot is smaller than a preset distance, acquiring an obstacle image corresponding to the obstacle comprises:
if an obstacle is detected to exist in the range, in which the distance between the inspection track and the target inspection robot is smaller than the preset distance, according to an ultrasonic sensor arranged at the front end of the target inspection robot, an obstacle image corresponding to the obstacle is acquired.
6. The utility model provides a power distribution machine room inspection device which characterized in that includes:
the detection module is used for acquiring an obstacle image corresponding to an obstacle if the obstacle with the distance smaller than a preset distance range from the target inspection robot is detected to exist in a preset inspection track when the target inspection robot reaches an inspection point of a target distribution electric machine room;
the acquisition module is used for controlling a cradle head of the target inspection robot to ascend to the top of a power distribution cabinet at an inspection point and acquiring a power distribution cabinet image of the power distribution cabinet by using an image acquisition device arranged at the cradle head if the obstacle is determined to be a first type of operator according to the obstacle image and a preset first image identification model;
and the inspection module is used for determining the state of the power distribution cabinet according to the power distribution cabinet image and a preset second image recognition model.
7. The power distribution room inspection device according to claim 6, further comprising:
the warning module is used for controlling the target inspection robot to send a warning to prompt the obstacle to leave if the obstacle is determined to be a second type of operator according to the obstacle image and a preset first image recognition model;
and the control module is used for controlling the target inspection robot to execute an inspection process if the obstacle is detected to leave.
8. The utility model provides a power distribution machine room system of patrolling and examining which characterized in that includes:
an inspection robot and a power distribution room inspection device according to claim 6 or 7;
and the inspection robot is in communication connection with the inspection device of the power distribution room.
9. The power distribution room inspection system according to claim 8, wherein the inspection robot includes:
the inspection robot comprises an inspection robot main body, a controller arranged in the inspection robot main body, an ultrasonic sensor arranged at the front end of the inspection robot main body, a holder arranged on the inspection robot main body and an image acquisition device arranged on the holder, wherein the ultrasonic sensor, the holder and the image acquisition device are respectively in communication connection with the controller, and the controller is in communication with the power distribution machine room inspection device;
the ultrasonic sensor is used for detecting whether an obstacle exists in a range, in which the distance between the ultrasonic sensor and the target inspection robot is smaller than the preset distance, in the preset inspection track;
the cloud platform is used for adjusting the height of the image acquisition device so as to acquire the image of the power distribution cabinet.
10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the power distribution room polling method of any of claims 1 to 5 when executing the program.
11. A computer-readable storage medium having stored thereon computer instructions, wherein the instructions, when executed, implement the power distribution room polling method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110068140.2A CN112863001B (en) | 2021-01-19 | 2021-01-19 | Inspection method, device and system for power distribution machine room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110068140.2A CN112863001B (en) | 2021-01-19 | 2021-01-19 | Inspection method, device and system for power distribution machine room |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112863001A true CN112863001A (en) | 2021-05-28 |
| CN112863001B CN112863001B (en) | 2023-04-28 |
Family
ID=76007173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110068140.2A Active CN112863001B (en) | 2021-01-19 | 2021-01-19 | Inspection method, device and system for power distribution machine room |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112863001B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114093052A (en) * | 2021-11-17 | 2022-02-25 | 中国工商银行股份有限公司 | Intelligent inspection method and system suitable for machine room management |
| CN114240155A (en) * | 2021-12-17 | 2022-03-25 | 中国工商银行股份有限公司 | Method and device for evaluating health degree of equipment in machine room and computer equipment |
| CN114301897A (en) * | 2022-01-05 | 2022-04-08 | 杭州电泰实业有限公司 | Method, system, device and storage medium for automatic inspection of power grid station house |
| CN116841301A (en) * | 2023-09-01 | 2023-10-03 | 杭州义益钛迪信息技术有限公司 | Inspection robot inspection model training method, device, equipment and medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001019016A1 (en) * | 1999-09-10 | 2001-03-15 | Ultra-Scan Corporation | Mobile fingerprint scanner and docking station |
| CN108839016A (en) * | 2018-06-11 | 2018-11-20 | 深圳市百创网络科技有限公司 | Robot method for inspecting, storage medium, computer equipment and crusing robot |
| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
| CN208323358U (en) * | 2018-05-14 | 2019-01-04 | 新疆源启节能科技有限公司 | Low-voltage platform area crusing robot |
| CN109664301A (en) * | 2019-01-17 | 2019-04-23 | 中国石油大学(北京) | Method for inspecting, device, equipment and computer readable storage medium |
| CN210605473U (en) * | 2019-11-12 | 2020-05-22 | 北京华能新锐控制技术有限公司 | Power plant inspection system |
| CN111192377A (en) * | 2020-01-08 | 2020-05-22 | 中国银联股份有限公司 | Image processing method and device |
| CN111404078A (en) * | 2020-04-03 | 2020-07-10 | 国网山东省电力公司禹城市供电公司 | Power transmission line monitoring method and inspection robot for detecting power transmission line |
| CN111476762A (en) * | 2020-03-26 | 2020-07-31 | 南方电网科学研究院有限责任公司 | Obstacle detection method and device of inspection equipment and inspection equipment |
| CN111604888A (en) * | 2020-05-29 | 2020-09-01 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111754647A (en) * | 2020-05-21 | 2020-10-09 | 江苏锐士安防科技有限公司 | Intelligent security robot inspection method based on environment perception |
| CN111769609A (en) * | 2020-06-23 | 2020-10-13 | 张梅 | Intelligent charging method for inspection robot |
| CN112060106A (en) * | 2020-09-11 | 2020-12-11 | 徐州工程学院 | Inspection system of inspection robot for mine and inspection method of inspection robot group |
-
2021
- 2021-01-19 CN CN202110068140.2A patent/CN112863001B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001019016A1 (en) * | 1999-09-10 | 2001-03-15 | Ultra-Scan Corporation | Mobile fingerprint scanner and docking station |
| CN208323358U (en) * | 2018-05-14 | 2019-01-04 | 新疆源启节能科技有限公司 | Low-voltage platform area crusing robot |
| CN108839016A (en) * | 2018-06-11 | 2018-11-20 | 深圳市百创网络科技有限公司 | Robot method for inspecting, storage medium, computer equipment and crusing robot |
| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
| CN109664301A (en) * | 2019-01-17 | 2019-04-23 | 中国石油大学(北京) | Method for inspecting, device, equipment and computer readable storage medium |
| CN210605473U (en) * | 2019-11-12 | 2020-05-22 | 北京华能新锐控制技术有限公司 | Power plant inspection system |
| CN111192377A (en) * | 2020-01-08 | 2020-05-22 | 中国银联股份有限公司 | Image processing method and device |
| CN111476762A (en) * | 2020-03-26 | 2020-07-31 | 南方电网科学研究院有限责任公司 | Obstacle detection method and device of inspection equipment and inspection equipment |
| CN111404078A (en) * | 2020-04-03 | 2020-07-10 | 国网山东省电力公司禹城市供电公司 | Power transmission line monitoring method and inspection robot for detecting power transmission line |
| CN111754647A (en) * | 2020-05-21 | 2020-10-09 | 江苏锐士安防科技有限公司 | Intelligent security robot inspection method based on environment perception |
| CN111604888A (en) * | 2020-05-29 | 2020-09-01 | 珠海格力电器股份有限公司 | Inspection robot control method, inspection system, storage medium and electronic device |
| CN111769609A (en) * | 2020-06-23 | 2020-10-13 | 张梅 | Intelligent charging method for inspection robot |
| CN112060106A (en) * | 2020-09-11 | 2020-12-11 | 徐州工程学院 | Inspection system of inspection robot for mine and inspection method of inspection robot group |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114093052A (en) * | 2021-11-17 | 2022-02-25 | 中国工商银行股份有限公司 | Intelligent inspection method and system suitable for machine room management |
| CN114240155A (en) * | 2021-12-17 | 2022-03-25 | 中国工商银行股份有限公司 | Method and device for evaluating health degree of equipment in machine room and computer equipment |
| CN114301897A (en) * | 2022-01-05 | 2022-04-08 | 杭州电泰实业有限公司 | Method, system, device and storage medium for automatic inspection of power grid station house |
| CN114301897B (en) * | 2022-01-05 | 2024-03-15 | 杭州电泰实业有限公司 | Method, system, device and storage medium for automatic inspection of electric website room |
| CN116841301A (en) * | 2023-09-01 | 2023-10-03 | 杭州义益钛迪信息技术有限公司 | Inspection robot inspection model training method, device, equipment and medium |
| CN116841301B (en) * | 2023-09-01 | 2024-01-09 | 杭州义益钛迪信息技术有限公司 | Inspection robot inspection model training method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112863001B (en) | 2023-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112863001B (en) | Inspection method, device and system for power distribution machine room | |
| CN104243928A (en) | Electronic terminal and remote monitoring method implemented by same | |
| EP4116906A1 (en) | Method for warehouse storage-location monitoring, computer device, and non-volatile storage medium | |
| CN113031591B (en) | Exception handling method and device for material pushing robot, server and storage medium | |
| CN104330985A (en) | Information processing method and device | |
| CN108665595B (en) | Intelligent visual access control system | |
| KR20200030816A (en) | Smart glass device and work instruction method using the same | |
| CN112530205A (en) | Airport parking apron airplane state detection method and device | |
| TWI773898B (en) | Management apparatus and management method thereof for electronic equipment | |
| CN111107326B (en) | Method, device and system for monitoring sample state in sample shear line | |
| CN116486506A (en) | Method and equipment for executing patrol task information | |
| KR20140056674A (en) | Commnication service system, method and apparatus for supporting process of accident in the system | |
| CN112518778B (en) | Control method of intelligent man-machine fusion scene based on service robot | |
| CN113085882B (en) | Fault processing method and device, electronic equipment and storage medium | |
| CN110989666A (en) | Unmanned aerial vehicle system for line inspection and control method thereof | |
| CN113833526A (en) | Safety early warning system for mining equipment | |
| CN113780706A (en) | On-site operation and maintenance operation method and device based on visual enhancement | |
| CN113489939A (en) | Intelligent monitoring method and system for power transmission line construction site | |
| CN104994342A (en) | Intelligent and dynamic high-definition video face recognition pre-warning system | |
| CN110619734A (en) | Information pushing method and device | |
| CN112906655B (en) | User state judging method and device | |
| US20140207904A1 (en) | Network connection system and method | |
| CN115213910A (en) | Method and device for judging whether robot needs to pause or not | |
| CN114120464A (en) | Automatic inspection information display method, device, medium and electronic equipment | |
| CN111382667A (en) | Management device for electronic equipment and management method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |