CN113514778A - Method and related device for detecting electric leakage of flood area - Google Patents
Method and related device for detecting electric leakage of flood area Download PDFInfo
- Publication number
- CN113514778A CN113514778A CN202110472679.4A CN202110472679A CN113514778A CN 113514778 A CN113514778 A CN 113514778A CN 202110472679 A CN202110472679 A CN 202110472679A CN 113514778 A CN113514778 A CN 113514778A
- Authority
- CN
- China
- Prior art keywords
- robot
- area
- power transmission
- transmission equipment
- electric leakage
- 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
- 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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
-
- 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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/56—Testing of electric apparatus
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The embodiment of the invention provides a method and a related device for detecting electric leakage of a flood area, wherein the method comprises the following steps: receiving an area, detected by a first robot during flight, where flooding occurs, wherein power transmission equipment is arranged in the area; informing a second robot to enter the area and detecting the running state of the power transmission equipment during soaking; and if the running state is the electric leakage state, the first robot is informed to execute an alarm operation when flying along the region, and the alarm operation is used for prompting the pedestrian region to have an electric leakage accident. Whether the regional detection power transmission equipment that takes place the flooding leaks electricity or not is mutually supported under different environments such as sky, water through setting up first robot and second robot, realizes automatic electric leakage detection, can improve the detection efficiency to regional interior power transmission equipment running state, when detecting that power transmission equipment is in the electric leakage state, carries out the alarm operation through first robot, can be effectively with warning information transmission to pedestrian, reduces pedestrian's electric shock probability.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot detection, in particular to a method, a system, a device, computer equipment and a storage medium for detecting electric leakage of a flood area.
Background
Some surface water accumulation due to annual rainfall can create frequent occurrences of flooded areas that can hold water for up to several days, subject to the environment and the ability to drain. Meanwhile, if the cable in the vicinity of the area leaks electricity due to natural aging, construction, or the like, there is a high possibility that the flood area may have an electric shock hazard, and if there is no warning, a pedestrian who has passed through the area may have an electric shock accident during traveling, particularly while traveling in the water.
Disclosure of Invention
The embodiment of the invention aims to: the method, the system and the device for detecting the electric leakage of the flood area, the computer equipment and the storage medium can judge the running state of the power transmission equipment, and can provide warning for pedestrians in time when the power transmission equipment is in the electric leakage state.
In a first aspect, an embodiment of the present invention provides a method for detecting electric leakage in a flood area, including:
receiving an area where flooding occurs, which is detected by a first robot during flight, wherein power transmission equipment is arranged in the area;
informing a second robot to enter the area and detecting the running state of the power transmission equipment during soaking;
and if the running state is the electric leakage state, informing the first robot to execute an alarm operation when flying along the region, wherein the alarm operation is used for prompting pedestrians that the electric leakage accident occurs in the region.
In a second aspect, an embodiment of the present invention further provides a system for detecting electric leakage in a flood area, including:
the system comprises a first robot, a second robot and a control system, wherein the first robot is used for detecting an area where flooding occurs during flight, and power transmission equipment is arranged in the area;
the second robot is used for entering the area and detecting the running state of the power transmission equipment during soaking;
the first robot is further used for executing alarm operation along the region if the running state is an electric leakage state, and the alarm operation is used for prompting pedestrians that an electric leakage accident occurs in the region.
In a third aspect, an embodiment of the present invention further provides a device for detecting electric leakage in a flood area, including:
the flood area detection module is used for receiving an area where flooding occurs and detected by the first robot during flight, and power transmission equipment is arranged in the area;
the operation state detection module is used for informing the second robot to enter the area and detecting the operation state of the power transmission equipment during soaking;
and the electric leakage alarm module is used for informing the first robot to perform alarm operation when flying in the region if the running state is the electric leakage state, and the alarm operation is used for prompting the pedestrian of the electric leakage accident in the region.
In a fourth aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the flooding area leakage detecting method according to the first aspect.
In a fifth aspect, the present invention further provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the flood area leakage detection method according to the first aspect.
The embodiment receives an area where the first robot detects when flying and the flood occurs, the area is provided with power transmission equipment, the second robot is informed to enter the area to detect the running state of the power transmission equipment when soaking, if the running state is the leakage state, the first robot is informed to execute alarm operation when flying along the area, the alarm operation is used for prompting the pedestrian area to have leakage accidents, whether the power transmission equipment leaks electricity or not is detected for the area where the flood occurs by arranging the first robot and the second robot to be matched with each other under different environments such as the sky, the water body and the like, automatic leakage detection is realized, detection personnel can direct detection outside the area where the flood occurs and especially the area where the leakage occurs, accidental factors such as flood and leakage are reduced, the personal safety of the detection personnel is protected, and the automatic operation can improve the detection efficiency of the running state of the power transmission equipment in the area, when detecting that power transmission equipment is in the electric leakage state, carry out the alarm operation through the first robot of flying in the air, can transmit warning information to the pedestrian effectively, avoid the pedestrian to miss the electric leakage region of this power transmission equipment, reduce pedestrian's electric shock probability.
Drawings
Fig. 1 is a flowchart of a method for detecting leakage in a flood area according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting leakage in a flood area according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a leakage detection system for a third flood area according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electric leakage detection apparatus for a flood area according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a flood area electrical leakage detection method according to an embodiment of the present invention, where the method is applicable to a situation where a robot detects an operation state of a power transmission device during soaking and warns a pedestrian, and the method may be executed by a flood area electrical leakage detection device, where the flood area electrical leakage detection device may be implemented by software and/or hardware, and may be configured in a computer device, such as a server, a workstation, a personal computer, a remote controller, a mobile terminal, and the like, and specifically includes the following steps:
and step 110, receiving the area, detected by the first robot in flight, where flooding occurs.
The first robot is provided with a flight propeller, and the flight propeller is controlled to rotate, so that the first robot can fly in the air. The first robot is also provided with an image recognizer and an infrared scanner, the image recognizer is used for acquiring image information, information acquisition is carried out on the image information according to a target detection algorithm, and whether an area where flooding occurs exists in the environment where the first robot flies can be judged; when flood happens to the detected environment, the first robot can perform infrared detection on the flood-happening area according to the infrared scanner to acquire the information of the area.
The target detection algorithm is generally divided into two-stage detection and one-stage detection. The two-stage assay (e.g., R-CNN, SPPNet, Fast R-CNN) steps include: 1. generating a candidate region that may contain an object; 2. and carrying out further classification and calibration on the candidate regions to obtain a final detection result. One-stage detection (e.g., Yolo, SSD) then gives the final result directly, without the step of generating candidate regions shown.
The infrared scanner can form an infrared image by means of optical scanning or mechanical scanning of the infrared scanner and the movement of the first robot along the flight direction according to the infrared radiation of a measured object, and the infrared scanner mainly comprises an optical system, a detector, signal processing, a recorder or a display and the like.
When the regional area that takes place the flood is great, the efficiency of detection is difficult to guarantee to the investigation mode of manual work, and at this moment, the commander first robot detects the operation in the air, can obtain regional area size directly perceivedly, information such as coverage improves the detection efficiency to the region.
And step 120, informing the second robot to enter the area, and detecting the running state of the power transmission equipment during soaking.
The regional transmission of electricity equipment can be resident's power consumption equipment, like the socket, also can be public power consumption equipment, like bill-board, road surface ornament lamp, and partial transmission of electricity equipment does not install electric leakage detection device, and when taking place the flood, under the condition that can not in time close transmission of electricity equipment power, there is the electric leakage danger in the transmission of electricity equipment that is in the soaking state, when the pedestrian was walked in the flood region, had the potential safety hazard of electrocuting.
The second robot needs to move and detect in land and underwater environments, so that the second robot is provided with a crawler and a marine propeller, the crawler can drive the second robot to move on the road, and the marine propeller can provide moving power for the second robot when rotating. And a step voltage detector is arranged on the second robot, and the second robot detects the electric potential of the water body at the periphery of the power transmission equipment through the step voltage detector. In a normal state, the immersed power transmission equipment is in a power failure state, and when the second robot detects that the potential difference exists around the power transmission equipment, the power transmission equipment is in a leakage state.
In one embodiment of the present invention, step 120 may include the steps of:
step 121, informing a second robot to enter the area to move, and detecting the difference value of the water body potential around the power transmission equipment when the second robot moves;
in one example of an embodiment of the present invention, step 121 comprises the steps of:
step 1211, receiving a three-dimensional model of the area scanned by the first robot;
step 1212 planning a path according to the three-dimensional model;
step 1213, notify the second robot to enter the area and move along the path.
In this embodiment, the path of the second robot is analyzed and planned according to the three-dimensional model and the GIS system, which may be implemented by a path planning algorithm based on GIS, the OD cost (time cost and path cost) is obtained according to the position information of the power transmission equipment in combination with the regional three-dimensional model data and the GIS technology, the corresponding shortest path scheme including the shortest path and the shortest time path is calculated by using the shortest path algorithm according to the shortest path and the shortest time path standard, and the path information is sent to the second robot.
The area where flooding occurs may have a large number of power transmission devices, and path planning is performed according to the three-dimensional model, so that the second robot can detect different power transmission devices in sequence, and detection efficiency is improved; when the second robot detects that the power transmission equipment is in the electric leakage state, the electric leakage equipment can be accurately positioned, and the positioning accuracy of detection operation is improved.
In the detection process, in order to avoid the deviation of the driving route from the path, a satellite positioning terminal is arranged on the second robot, the satellite positioning terminal performs satellite positioning on the second robot through a satellite positioning technology, whether the second robot deviates from the preset planned path or not is judged according to the position of the second robot, and when the second robot deviates from the preset planned path, the satellite positioning terminal can indicate the second robot to move to the preset planned path.
Because the water body environment is complicated in the region, the second robot needs to avoid colliding with other objects, and the second robot needs to have certain anti-interference performance and stability, namely, the second robot needs to have an autonomous obstacle avoidance function. In this embodiment, the autonomous obstacle avoidance function of the second robot is mainly implemented by an acoustic positioning technology, and the system commonly used for acoustic positioning mainly includes: a long baseline positioning system, a short baseline positioning system and an ultra-short baseline positioning system. In this embodiment, a long baseline positioning system is used for illustration:
three or more transponders T arranged in zonesiThe area matrix is formed by a certain pattern, such as a triangle or a quadrangle. The length of the base line is determined according to the area, the second robot is positioned in the base array, and the second robot measures the transponder TiTo determine the location. The positioning mode of the long baseline positioning system comprises the following steps: 1. one-way ranging: with a transponder TiIs a sound mark which emits sound pulses with a certain repetition frequency; 2. bidirectional positioning: with a transponder TiAre transponders that only transmit a signal when interrogated by other sound sources. E.g. a transponder T1Responder T2And a transponder T3The positions in the space coordinate system are respectively (x)1,y1,z1)、(x2,y2,z2) And (x)3,y3,z3) Transponder T1Responder T2And a transponder T3The observed value of the distance from the second robot is R1,R2And R3If the position of the second robot is (x, y, z), the following equation system can be formed:
and solving the equation set to obtain the three-dimensional coordinate (x, y, z) of the second robot.
In another example of embodiment of the present invention, the second robot comprises an underwater robot, an amphibious robot, and step 1213 comprises:
step 12131, informing the underwater robot and/or the amphibious robot to detect the depth of the water body in the area;
step 12132, when the depth is greater than or equal to a preset upper limit value, informing the underwater robot to drive the amphibious robot to move in the area;
and 12133, when the depth is smaller than the preset upper limit value, informing the amphibious robot to drive the underwater robot to move in the area.
The main technical method for detecting the depth of the water body comprises the following steps: single beam sounding, multi-beam echo sounding and airborne laser sounding. For example, a multi-beam echosounder can be installed on an amphibious robot or underwater robot, and the multi-beam echosounder can measure and map the terrain of a region and the depth of a water body by using multi-beam echo signals.
The amphibious robot is a robot capable of moving in water and on land, the underwater robot is a robot capable of moving only in water, the underwater robot adopts acoustic positioning, and the underwater robot has an autonomous obstacle avoidance function, so that the flexibility of the amphibious robot in water is lower than that of the underwater robot. The regional relief that takes place the flood is complicated, carries out the detection of water degree of depth in the region, can judge the degree of depth of water, when the water is darker, by underwater robot as drive power, when the water is lighter or be in land, by amphibious robot as drive power, can improve the speed that amphibious robot and underwater robot removed like this, and then improve detection efficiency. The flooding area is complex and variable, energy consumption may be increased by frequently switching the driving power, and the mobility of the amphibious robot and the underwater robot is basically consistent in the water body with the depth range of 0.5 m, so that the preset upper limit value is 0.5 m in the embodiment. In order to ensure the smooth operation of the detection operation, the maximum submergence depth of the underwater robot is not less than 2 meters; the amphibious robot is provided with the crawler belt, and the amphibious robot has obstacle crossing capability and can cross a steep slope of 30 degrees.
And step 122, receiving the operation state of the power transmission equipment during soaking, which is sent by the second robot, wherein the operation state is a leakage state when the difference value is greater than a preset threshold value.
And a step voltage detector is arranged on the second robot, and the second robot detects the electric potential of the water body at the periphery of the power transmission equipment through the step voltage detector. The step voltage is a voltage between both legs of a person who walks in a potential distribution area around a ground current inflow point when a power transmission device has a ground fault (a leakage state). When the step voltage reaches 40-50V, people are in danger of electric shock, and particularly, the step voltage can cause the people to fall down, so that the electric shock voltage of the human body is increased, and even the people get dead by electric shock. The experimental result shows that when the pulse voltage amplitude is 0.6-30 kilovolts, the stepping voltage and the contact voltage do not damage the internal body of the cow; if the amplitude of the step voltage is increased to 40-70 kilovolts, and the amplitude of the contact voltage is increased to 42-56 kilovolts, the central nervous system and the blood circulation function of the cattle are influenced, which is a temporary influence, and the cattle can be completely recovered after rest without life danger; if the amplitude of the step voltage is increased to 96 kilovolts and the amplitude of the contact voltage is increased to 74 kilovolts, the cattle are disordered in breathing, the heart activity function is damaged, an irreversible process is generated, and the life is dangerous. In this embodiment, the preset threshold is 30 kv, and when it is detected that the difference between the electric potentials of the water bodies around the power transmission equipment is greater than 30 kv, the difference between the electric potentials of the water bodies around the power transmission equipment may cause a person to have a risk of electric shock, and at this time, the power transmission equipment is determined to be in a leakage state; when the difference value of the water body potential at the periphery of the power transmission equipment is detected to be less than 30 kilovolts, the water body potential difference value at the periphery of the power transmission equipment is within a safety range, and at the moment, the power transmission equipment is judged to be in a power failure state.
And step 130, if the running state is the electric leakage state, informing the first robot to carry out alarm operation when flying along the area, wherein the alarm operation is used for prompting the pedestrian that an electric leakage accident occurs in the area where the flood occurs.
The utility model discloses a warning information transmission to pedestrian, the electric leakage region of avoiding the pedestrian to miss this transmission of electricity equipment, reduce pedestrian's electric shock probability, the warning information transmission to pedestrian can be effectively carried out through the first robot at aerial flight, the electric leakage region of avoiding the pedestrian to go into this transmission of electricity equipment by mistake, the electric leakage detection device is not generally installed to transmission of electricity equipment such as bus station bill-board, when the flood appears, the phenomenon of electric leakage can appear by the in-process of water logging in transmission of electricity equipment, when the pedestrian walks in the flood area, the potential safety hazard of electrocuteeing, when detecting transmission of electricity equipment and being in the electric leakage state.
In step 120, when the second robot detects that the operating state of the power transmission equipment is a leakage state, step 130 is executed, otherwise, step 120 is continuously executed.
In one example of the embodiment of the present invention, the first robot may be notified to detect a pedestrian while flying along the area, and when the pedestrian is detected, the light may be driven to blink and a preset voice signal may be played.
The first robot can detect whether the pedestrian exists in the area according to the target detection algorithm, in the detection process, the first robot needs to consume more electric quantity to maintain the flight state of the first robot, and the weight of the first robot is not too large, so that the first robot is not suitable for being loaded with too many storage batteries. The number of people walking in the area where the flood occurs is small, and therefore when the pedestrian is detected, the first robot carries out alarm operation again, and the electricity consumption of the first robot can be reduced.
Be provided with warning light and speaker on the first robot, first robot can be followed vision and sense of hearing and is warned the pedestrian respectively, has improved the effect of warning. In order to ensure the smooth operation of the detection operation, the cruising ability of the first robot is not less than 2 hours, and the cruising distance is not less than 10 kilometers. Still be provided with the light on the first robot, during night, first robot is when carrying out regional electric leakage alarm, and the light can carry out the light illumination to the electric leakage region to warning and warning passerby wait for maintenance personal's arrival.
Certainly, the pedestrian can also be warned through the second robot, at the moment, the underwater robot or the amphibious robot is provided with the laser emitter, when the underwater robot or the amphibious robot detects that the power transmission equipment is in the electric leakage state, the laser emitter can vertically float out of the water surface, then the laser is projected on the water surface around the power transmission equipment to mark out a dangerous area, and the pedestrian is prompted to be far away from the dangerous area. Through setting up the dual warning of first robot and second robot to the pedestrian, can improve warning effect, reduce the probability that the pedestrian electrocuted. The second robot is configured with a 40Ah lithium battery to meet its high intensity detection task.
The embodiment receives an area where the first robot detects when flying and the flood occurs, the area is provided with power transmission equipment, the second robot is informed to enter the area to detect the running state of the power transmission equipment when soaking, if the running state is the leakage state, the first robot is informed to execute alarm operation when flying along the area, the alarm operation is used for prompting the pedestrian area to have leakage accidents, whether the power transmission equipment leaks electricity or not is detected for the area where the flood occurs by arranging the first robot and the second robot to be matched with each other under different environments such as the sky, the water body and the like, automatic leakage detection is realized, detection personnel can direct detection outside the area where the flood occurs and especially the area where the leakage occurs, accidental factors such as flood and leakage are reduced, the personal safety of the detection personnel is protected, and the automatic operation can improve the detection efficiency of the running state of the power transmission equipment in the area, when detecting that power transmission equipment is in the electric leakage state, carry out the alarm operation through the first robot of flying in the air, can transmit warning information to the pedestrian effectively, avoid the pedestrian to miss the electric leakage region of this power transmission equipment, reduce pedestrian's electric shock probability.
Example two
Fig. 2 is a flowchart of a flood area leakage detection method according to a second embodiment of the present invention, where the second embodiment is based on the foregoing embodiment, and the method further includes the following steps:
and step 230, if the running state is the electric leakage state, informing the first robot to execute an alarm operation when flying along the region, wherein the alarm operation is used for prompting the pedestrian region to have an electric leakage accident.
the situation in the area where the flood occurs is complex, the first robot needs to detect the environmental information where the power transmission equipment is located, so that maintenance personnel can preliminarily judge the maintenance difficulty of the power transmission equipment, specifically, the environmental information can be the building area and height around the power transmission equipment, the planting position and growth height of trees around the power transmission equipment, the arrangement position of wires around the power transmission equipment and the like.
The first robot is provided with an image recognizer, the image recognizer is used for acquiring image information, and information acquisition is carried out on the image information according to a target detection algorithm, so that the environmental information of the power transmission equipment is acquired.
the second robot can position itself according to the acoustic positioning system to confirm the positional information that transmission of electricity was established and is located, be provided with the step voltage detector on the second robot, the step voltage detector can carry out the potential detection to the water of transmission of electricity equipment week portion, and obtain the difference of its potential, thereby the intensity information of voltage when acquireing transmission of electricity equipment electric leakage. A clock may be configured on the second robot to acquire time information.
And step 260, generating a maintenance work order from the position information, the environment information, the strength information and the time information.
Position information, environmental information, intensity information and time information are gathered to generate a maintenance work order, the maintenance work order is used for informing maintenance personnel to maintain the power transmission equipment, tools required by the maintenance of the power transmission equipment can be judged by the maintenance personnel, the maintenance is time-consuming, the maintenance operation plan can be conveniently appointed by the maintenance personnel, the maintenance efficiency is improved, and the electric shock risk of pedestrians in the region is reduced.
and step 290, informing the first robot and the second robot to return.
In this embodiment, the received information and the notification instruction are transmitted through the 5G network, so that the real-time performance of information transmission can be improved, the accuracy of the detection effect is improved, and then the leakage warning of passing pedestrians in the region can be timely carried out, and the traveling safety of the pedestrians is improved. In order to ensure the smooth detection operation, the transmission speed of various information (especially the image information collected by the first robot) should be not lower than 1Gbit/s so as to ensure the accurate transmission of all the details in the field.
In the embodiment, the first robot and the second robot have a self-fault diagnosis function, so that electric shock danger caused by machine reasons can be avoided. For example, a moisture sensor is arranged in the second robot, and the moisture sensor can detect whether the second robot leaks water, so that whether the second robot has a fault or not is judged.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a flood area leakage detection system according to a third embodiment of the present invention, where the system includes: a first robot 310, a second robot 320;
a first robot 310 for detecting an area where flooding occurs while flying, the area being provided with power transmission equipment;
the second robot 320 is used for entering the area and detecting the running state of the power transmission equipment during soaking;
the first robot 310 is further configured to perform an alarm operation along the area if the operating state is an electrical leakage state, where the alarm operation is used to prompt a pedestrian area to have an electrical leakage accident.
In one embodiment of the invention, the second robot 320 is also used for entering the region to move, and detecting the difference value of the water body potential around the power transmission equipment when moving;
and when the difference value is larger than a preset threshold value, the running state is a current leakage state.
In one embodiment of the invention, the first robot 310 is also used to scan a three-dimensional model of an area;
the second robot 320 is also configured to move into the area along a path planned according to the three-dimensional model.
In another embodiment of the present invention, the second robot 320 includes an underwater robot 321, an amphibious robot 322, the underwater robot 321 and/or the amphibious robot 322 for detecting the depth of the water body in the area;
the underwater robot 321 is further configured to drive the amphibious robot 322 to move in the area when the depth is greater than or equal to a preset upper limit value;
the amphibious robot 322 is further configured to drive the underwater robot 321 to move in the area when the depth is smaller than a preset upper limit value.
In an embodiment of the present invention, the first robot 310 is further configured to detect a pedestrian while flying along the area, and to drive the light to blink and play a preset voice signal when the pedestrian is detected.
In one embodiment of the present invention, the first robot 310 is further configured to detect environmental information where the power transmission apparatus is located;
the second robot 320 is further configured to detect location information of the power transmission equipment, intensity information of voltage when the power transmission equipment has an electric leakage accident, and time information;
the position information, the environment information, the intensity information and the time information are used for generating a maintenance work order, and the maintenance work order is used for informing maintenance personnel to maintain the power transmission equipment.
The flood area electric leakage detection system provided by the embodiment of the invention can execute the flood area electric leakage detection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a block diagram of a structure of a flood area leakage detection device according to a fourth embodiment of the present invention, which may specifically include the following modules:
a flood area detection module 410, configured to receive an area where flooding occurs, which is detected by the first robot during flight, where power transmission equipment is arranged;
the operation state detection module 420 is configured to notify the second robot to enter the area and detect an operation state of the power transmission device during soaking;
and the electric leakage alarm module 430 is configured to notify the first robot to perform an alarm operation when the first robot flies along the area if the operation state is an electric leakage state, where the alarm operation is used to prompt a pedestrian area to have an electric leakage accident. In one embodiment of the present invention, the operation status detection module 420 includes:
the movement control module 421 is configured to notify the second robot to enter the area for movement, and the second robot detects a difference value of the water body potential around the power transmission equipment when moving;
the operation state receiving module 422 is configured to receive an operation state of the power transmission device during soaking, where the operation state is a leakage state when the difference is greater than a preset threshold value, and the operation state is sent by the second robot.
In one embodiment of the present invention, the movement control module 421 includes:
a three-dimensional model receiving module 4211, configured to receive a three-dimensional model of a region scanned by a first robot;
a path planning module 4212, configured to plan a path according to the three-dimensional model;
a path moving module 4213, configured to notify the second robot to enter the area and move according to the path.
In another embodiment of the present invention, the second robot includes an underwater robot and an amphibious robot, and the movement control module 421 includes:
the depth detection module 4214 is used for informing the underwater robot and/or the amphibious robot of the depth of the water body in the detection area;
the underwater robot traction control module 4215 is used for informing the underwater robot to drive the amphibious robot to move in the area when the depth is greater than or equal to a preset upper limit value;
and the amphibious robot traction control module 4216 is used for informing the amphibious robot to drive the underwater robot to move in the region when the depth is smaller than a preset upper limit value.
In one embodiment of the present invention, the electrical leakage alarm module 430 includes:
and the sound and light alarm module 431 is used for informing the first robot to detect the pedestrian when flying along the region, and driving light to flicker and playing a preset voice signal when the pedestrian is detected.
In one embodiment of the present invention, further comprising:
the first information receiving module 440 is configured to receive environment information, where the power transmission equipment is located, detected by the first robot;
the second information receiving module 450 is configured to receive the information of the location of the power transmission equipment, the strength information of the voltage when the power transmission equipment has an electric leakage accident, and the time information, which are detected by the second robot;
and a maintenance work order generating module 460, configured to generate a maintenance work order from the position information, the environment information, the intensity information, and the time information, where the maintenance work order is used to notify a maintenance worker to maintain the power transmission equipment.
The flood area electric leakage detection device provided by the embodiment of the invention can execute the flood area electric leakage detection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 5, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a 5D-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the flood area leakage detection method provided by the embodiment of the present invention.
EXAMPLE six
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the flood area leakage detection method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
A computer readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A flood area leakage detection method is characterized by comprising the following steps:
receiving an area where flooding occurs, which is detected by a first robot during flight, wherein power transmission equipment is arranged in the area;
informing a second robot to enter the area and detecting the running state of the power transmission equipment during soaking;
and if the running state is the electric leakage state, informing the first robot to execute an alarm operation when flying along the region, wherein the alarm operation is used for prompting pedestrians that the electric leakage accident occurs in the region.
2. The method according to claim 1, wherein said notifying a second robot of entry into the area, detecting an operational state of the power transmission equipment while soaking, comprises:
informing a second robot to enter the area to move, wherein the second robot detects the difference value of the water body potential around the power transmission equipment when moving;
and receiving the running state of the power transmission equipment during soaking, which is sent by the second robot, wherein the running state is a current leakage state when the difference value is greater than a preset threshold value.
3. The method of claim 2, wherein notifying the second robot of the movement into the area comprises:
receiving a three-dimensional model of the area scan by the first robot;
planning a path according to the three-dimensional model;
and informing the second robot to enter the area and move according to the path.
4. The method of claim 2, wherein the second robot comprises a subsea robot, an amphibious robot, and wherein notifying the second robot of movement into the area comprises:
informing the underwater robot and/or the amphibious robot to detect the depth of the water body in the area;
when the depth is larger than or equal to a preset upper limit value, informing the underwater robot to drive the amphibious robot to move in the area;
and when the depth is smaller than a preset upper limit value, informing the amphibious robot to drive the underwater robot to move in the area.
5. The method of any of claims 1-4, wherein said notifying the first robot of flight along the area, performing an alert operation, comprises:
and informing the first robot to detect the pedestrians during flying along the region, and driving light to flicker and playing a preset voice signal when the pedestrians are detected.
6. The method according to any one of claims 1-4, further comprising:
receiving environment information of the power transmission equipment detected by the first robot;
receiving position information of the power transmission equipment, strength information of voltage and time information of the power transmission equipment when a leakage accident occurs, wherein the position information is detected by the second robot;
and generating a maintenance work order by using the position information, the environment information, the intensity information and the time information, wherein the maintenance work order is used for informing maintenance personnel to maintain the power transmission equipment.
7. An electrical leakage detection system for flooded areas, comprising:
the system comprises a first robot, a second robot and a control system, wherein the first robot is used for detecting an area where flooding occurs during flight, and power transmission equipment is arranged in the area;
the second robot is used for entering the area and detecting the running state of the power transmission equipment during soaking;
the first robot is further used for executing alarm operation along the region if the running state is an electric leakage state, and the alarm operation is used for prompting pedestrians that an electric leakage accident occurs in the region.
8. An electric leakage detection device for a flood area, comprising:
the flood area detection module is used for receiving an area where flooding occurs and detected by the first robot during flight, and power transmission equipment is arranged in the area;
the operation state detection module is used for informing the second robot to enter the area and detecting the operation state of the power transmission equipment during soaking;
and the electric leakage alarm module is used for informing the first robot to perform alarm operation when flying in the region if the running state is the electric leakage state, and the alarm operation is used for prompting the pedestrian of the electric leakage accident in the region.
9. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the flood area leakage detection method according to any of claims 1-6.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the flood area electrical leakage detection method according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110472679.4A CN113514778B (en) | 2021-04-29 | 2021-04-29 | Flood area electric leakage detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110472679.4A CN113514778B (en) | 2021-04-29 | 2021-04-29 | Flood area electric leakage detection method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113514778A true CN113514778A (en) | 2021-10-19 |
| CN113514778B CN113514778B (en) | 2023-07-18 |
Family
ID=78063573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110472679.4A Active CN113514778B (en) | 2021-04-29 | 2021-04-29 | Flood area electric leakage detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113514778B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | Flying robot for detecting transmission line insulator |
| CN101477169A (en) * | 2009-01-16 | 2009-07-08 | 华北电力大学 | Electric power circuit detection method by polling flying robot |
| CN105655920A (en) * | 2016-03-25 | 2016-06-08 | 国网山东省电力公司东明县供电公司 | Multifunctional air-ground dual-purpose electric unmanned aerial vehicle |
| JP2017016610A (en) * | 2015-07-06 | 2017-01-19 | 有限会社セルフ | Integrated watching and security liaison device for dwellers and the like and equipment and the like of collective residential facilities |
| CN206057470U (en) * | 2016-08-25 | 2017-03-29 | 天津天大求实电力新技术股份有限公司 | A kind of electric power electric leakage monitoring robot |
| CN206302513U (en) * | 2017-01-06 | 2017-07-04 | 国网河南内乡县供电公司 | A kind of distribution line unmanned plane inspection device |
| US20180035606A1 (en) * | 2016-08-05 | 2018-02-08 | Romello Burdoucci | Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method |
| CN108382591A (en) * | 2018-02-26 | 2018-08-10 | 河北省科学院应用数学研究所 | The air-ground inspection Detecting Robot system and operating method applied in complex environment |
| CN110588485A (en) * | 2019-09-19 | 2019-12-20 | 曾彩霞 | Unmanned aerial vehicle intelligent inspection operation vehicle suitable for power transmission line |
| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
| CN112039215A (en) * | 2020-09-23 | 2020-12-04 | 深圳市赛为智能股份有限公司 | Three-dimensional inspection system and inspection method for transformer substation |
| US20210033658A1 (en) * | 2019-07-30 | 2021-02-04 | North University Of China | Magnetic Photoacoustic Composite non Destructive Testing Device of Power Transmission Line of Photovoltaic Grid based on Corona Effect |
| JP6842142B1 (en) * | 2020-10-14 | 2021-03-17 | シンメトリー・ディメンションズ・インク | Power supply control system, disaster analyzer, and power supply control method |
-
2021
- 2021-04-29 CN CN202110472679.4A patent/CN113514778B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | Flying robot for detecting transmission line insulator |
| CN101477169A (en) * | 2009-01-16 | 2009-07-08 | 华北电力大学 | Electric power circuit detection method by polling flying robot |
| JP2017016610A (en) * | 2015-07-06 | 2017-01-19 | 有限会社セルフ | Integrated watching and security liaison device for dwellers and the like and equipment and the like of collective residential facilities |
| CN105655920A (en) * | 2016-03-25 | 2016-06-08 | 国网山东省电力公司东明县供电公司 | Multifunctional air-ground dual-purpose electric unmanned aerial vehicle |
| US20180035606A1 (en) * | 2016-08-05 | 2018-02-08 | Romello Burdoucci | Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method |
| CN206057470U (en) * | 2016-08-25 | 2017-03-29 | 天津天大求实电力新技术股份有限公司 | A kind of electric power electric leakage monitoring robot |
| CN206302513U (en) * | 2017-01-06 | 2017-07-04 | 国网河南内乡县供电公司 | A kind of distribution line unmanned plane inspection device |
| CN108382591A (en) * | 2018-02-26 | 2018-08-10 | 河北省科学院应用数学研究所 | The air-ground inspection Detecting Robot system and operating method applied in complex environment |
| US20210033658A1 (en) * | 2019-07-30 | 2021-02-04 | North University Of China | Magnetic Photoacoustic Composite non Destructive Testing Device of Power Transmission Line of Photovoltaic Grid based on Corona Effect |
| CN110588485A (en) * | 2019-09-19 | 2019-12-20 | 曾彩霞 | Unmanned aerial vehicle intelligent inspection operation vehicle suitable for power transmission line |
| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
| CN112039215A (en) * | 2020-09-23 | 2020-12-04 | 深圳市赛为智能股份有限公司 | Three-dimensional inspection system and inspection method for transformer substation |
| JP6842142B1 (en) * | 2020-10-14 | 2021-03-17 | シンメトリー・ディメンションズ・インク | Power supply control system, disaster analyzer, and power supply control method |
Non-Patent Citations (3)
| Title |
|---|
| JAKA KATRASNIK ET AL.: "Mew robot for power line inspection", 2008 IEEE RAM, pages 1195 - 1200 * |
| 薛志成 等: "基于无人机辅助的变电站巡检机器人定位导航方法", 2019中国自动化大会论文集, pages 1 - 6 * |
| 袁恬: "浅谈无人机在输电线路巡检方面的应用", 低碳世界, no. 2, pages 53 - 54 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113514778B (en) | 2023-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206057974U (en) | A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle | |
| ES2889576T3 (en) | Set of images for the detection and identification of birds or bats | |
| RU2652482C2 (en) | Measurement system for measuring trees | |
| US20170329351A1 (en) | Apparatus-assisted sensor data collection | |
| US20190128711A1 (en) | Continuous unmanned airborne and underwater monitoring platform | |
| CN106324619A (en) | Automatic obstacle avoiding method of substation inspection robot | |
| CN106772340A (en) | For the screen of trees measuring system and method for overhead transmission line | |
| CN108444336B (en) | Unmanned aerial vehicle trapping method based on GNSS analog signals | |
| CN109996729A (en) | For the system and method based on damaged crops detection via unmanned vehicle identity comprising the harmful organism in the region of crops | |
| CN107783547A (en) | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method | |
| CN205649754U (en) | Long -range search and rescue system based on unmanned aerial vehicle | |
| US20160299229A1 (en) | Method and system for detecting objects | |
| CN110832195A (en) | Monitoring system for wind farms and related method | |
| CN107783119A (en) | Apply the Decision fusion method in obstacle avoidance system | |
| JP2016161572A (en) | System and methods of detecting intruding object | |
| CN113029169A (en) | Air-ground cooperative search and rescue system and method based on three-dimensional map and autonomous navigation | |
| CN113383763A (en) | All-weather all-area intelligent bird repelling system and device | |
| US20230130609A1 (en) | Intelligent rescue method, rescue device, and vehicle | |
| CN206164669U (en) | Unmanned aerial vehicle with follow shooting function | |
| US20220010573A1 (en) | Concurrent operation of multiple robotic pool cleaners | |
| WO2021003610A1 (en) | Road waterlogging warning system based on unmanned aerial vehicle, and warning method thereof | |
| CN211786766U (en) | Livestock and poultry house inspection robot walking control device based on laser radar | |
| CN113514778A (en) | Method and related device for detecting electric leakage of flood area | |
| CN211263763U (en) | Mobile mechanical anti-collision positioning device based on UWB ranging and GPS positioning | |
| CN117268365A (en) | Mining area vehicle positioning and personnel positioning protection method and system based on multi-positioning system |
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 |