CN113514778B - Flood area electric leakage detection method and device - Google Patents
Flood area electric leakage detection method and device Download PDFInfo
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- CN113514778B CN113514778B CN202110472679.4A CN202110472679A CN113514778B CN 113514778 B CN113514778 B CN 113514778B CN 202110472679 A CN202110472679 A CN 202110472679A CN 113514778 B CN113514778 B CN 113514778B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/56—Testing of electric apparatus
Abstract
The embodiment of the invention provides a flood area electric leakage detection method and device, wherein the method comprises the following steps: receiving a region which is detected by a first robot during flight and is flooded, wherein power transmission equipment is arranged in the region; notifying a second robot to enter the area, and detecting the running state of the power transmission equipment during soaking; if the running state is the electric leakage state, the first robot is informed to execute an alarm operation when the first robot flies along the area, and the alarm operation is used for prompting the pedestrian area to generate the electric leakage accident. Through setting up first robot and second robot and mutually supporting under different environment such as sky, water and detect the regional detection transmission equipment of taking place the flood and whether electric leakage, realize automatic electric leakage detection, can improve the detection efficiency to regional transmission equipment running state, when detecting transmission equipment and be in electric leakage state, carry out alarm operation through first robot, can transmit warning information to the pedestrian effectively, reduce 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 flood area electric leakage detection method, a system, a device, computer equipment and a storage medium.
Background
Certain surface ponding, due to annual rainfall, can form frequent occurrences of flooded areas, which can be up to several days in water storage status, subject to the environment and drainage capacity. If the cable near the area is leaked due to natural aging, construction and the like, the electric shock hidden danger is likely to exist in the flood area, and under the condition of no warning, the electric shock accident is likely to be caused in the advancing process of the passersby, especially in the advancing process of water passing.
Disclosure of Invention
The aim of the embodiment of the invention is that: the utility model provides a flood area electric leakage detection method, system, device, computer equipment and storage medium, it can judge the running state of transmission of electricity equipment, can in time provide the warning for the pedestrian when transmission of electricity equipment is in the electric leakage state.
In a first aspect, an embodiment of the present invention provides a method for detecting leakage in a flood area, including:
receiving a region which is detected by a first robot during flight and is flooded, wherein power transmission equipment is arranged in the region;
notifying 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, notifying the first robot to execute an alarm operation when the first robot flies along the area, wherein the alarm operation is used for prompting a pedestrian to generate an electric leakage accident in the area.
In a second aspect, an embodiment of the present invention further provides a flood area leakage detection system, including:
a first robot for detecting an area where flooding occurs while flying, the area being arranged with power transmission equipment;
the second robot is used for entering the area and detecting the running state of the power transmission equipment during soaking;
and the first robot is further used for executing alarm operation along the area if the running state is the electric leakage state, and the alarm operation is used for prompting pedestrians that the electric leakage accident occurs in the area.
In a third aspect, an embodiment of the present invention further provides a device for detecting leakage in a flooding area, including:
the flood area detection module is used for receiving an area which is detected by the first robot during flight and is flooded, and the area is provided with power transmission equipment;
the running state detection module is used for informing the second robot to enter the area and detecting the running state of the power transmission equipment during soaking;
and the electric leakage alarm module is used for informing the first robot to execute alarm operation when the first robot flies along the area if the running state is the electric leakage state, and the alarm operation is used for prompting pedestrians that the area is subjected to electric leakage accidents.
In a fourth aspect, an embodiment of the present invention further provides a computer apparatus, including:
one or more processors;
a memory for storing one or more programs,
the 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 as described in the first aspect.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the flooding domain leakage detection method according to the first aspect.
According to the embodiment, the region which is detected by the first robot in flying and is subjected to flood is received, the region is provided with the power transmission equipment, the second robot is informed of entering the region and is used for detecting the running state of the power transmission equipment in soaking, if the running state is the electric leakage state, the first robot is informed of flying along the region and is used for executing alarming operation which is used for prompting a pedestrian region to generate electric leakage accidents, the first robot and the second robot are mutually matched in different environments such as sky and water body to detect whether the power transmission equipment is subjected to electric leakage or not in the region where flood occurs, automatic electric leakage detection is achieved, detection personnel can command and detect the region outside the region where flood occurs, particularly the region where electric leakage is potential, the accident factors such as flood and electric leakage are reduced, personal safety of detection personnel is protected, and automatic operation can improve detection efficiency of the running state of the power transmission equipment in the region.
Drawings
Fig. 1 is a flowchart of a flood area leakage detection method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a flood area leakage detection method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a three-flood area leakage detection system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a flood area leakage detection device 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 invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a flood area leakage detection method provided in an embodiment of the present invention, where the embodiment is applicable to a situation that a robot detects an operation state of a power transmission device and alerts pedestrians during soaking, and the method may be performed by a flood area leakage detection device, where the flood area leakage detection device may be implemented by software and/or hardware, and may be configured in a computer device, for example, a server, a workstation, a personal computer, a remote controller, a mobile terminal, and so on, and specifically includes the following steps:
step 110, receiving a region where flooding occurs, which is detected by the first robot while flying.
The first robot is provided with the 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 identifier and an infrared scanner, the image identifier is used for acquiring image information, and the image information is acquired according to a target detection algorithm, so that whether an area where flood occurs exists in the environment where the first robot flies can be judged; when the situation that the environment is flooded is detected, the first robot can conduct infrared detection on the area where flooding occurs according to the infrared scanner, and information of the area is obtained.
The target detection algorithm is generally classified into two-stage detection and one-stage detection. The two-stage detection (e.g., R-CNN, SPPNet, fast R-CNN) step includes: 1. generating a candidate region that may contain an object; 2. and performing further classification calibration on the candidate region to obtain a final detection result. The one-stage detection (e.g., yolo, SSD) then directly gives the final result, a step of generating candidate regions without display.
The infrared scanner can form an infrared image according to the infrared radiation of the detected object, by means of the optical scanning or mechanical scanning of the infrared scanner and the movement of the first robot along the flying direction, and the infrared scanner mainly comprises an optical system, a detector, a signal processing device, a recorder or a display.
When the area of the area where the flood occurs is large, the detection efficiency is difficult to be ensured by the manual operation investigation mode, and at the moment, the first robot is instructed to carry out the detection operation in the air, so that the information of the area size, coverage range and the like of the area can be intuitively obtained, and the detection efficiency of the area is improved.
And 120, informing the second robot to enter the area, and detecting the running state of the power transmission equipment during soaking.
The power transmission equipment in the area can be resident electric equipment such as a socket or public electric equipment such as a billboard and a pavement decorative lamp, and part of the power transmission equipment is not provided with an electric leakage detection device, so that when flood occurs, under the condition that the power supply of the power transmission equipment cannot be closed in time, the power transmission equipment in a soaking state is in danger of electric leakage, and when pedestrians walk in the flood area, potential safety hazards of electric shock exist.
The second robot needs to carry out movement detection in land and underwater environments, so that the second robot is provided with a crawler belt and a water propeller, the crawler belt can drive the second robot to move on the road, and the water propeller can provide moving power for the second robot when rotating. And the second robot is provided with a step voltage detector, and the second robot detects the potential of the water body at the periphery of the power transmission equipment through the step voltage detector. Under the normal state, the immersed power transmission equipment is in a power failure state, and when the second robot detects that the potential difference value exists at the periphery of 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, notifying a second robot to move in an entering area, and detecting a difference value of water potential at the periphery of the power transmission equipment when the second robot moves;
in one example of an embodiment of the present invention, step 121 includes the steps of:
step 1211, receiving a three-dimensional model of the first robot for region scanning;
step 1212, planning a path according to the three-dimensional model;
step 1213, notifying the second robot to enter the area and move along the path.
In this embodiment, the analysis planning of the path of the second robot according to the three-dimensional model and the GIS system may be implemented by a GIS-based path planning algorithm, according to the position information of the power transmission device, by combining the regional three-dimensional model data and the GIS technology, the OD cost (time cost and path cost) is obtained, according to the shortest path and the shortest path standard, the shortest path algorithm is used to calculate the corresponding shortest path scheme, including the shortest path and the shortest path, 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 the 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 a preset planning path is judged according to the position of the second robot, and when the second robot deviates from the position, the satellite positioning terminal can instruct the second robot to move to the preset planning path.
Because the water body environment in the area is complex, the second robot needs to avoid collision with other objects, and the second robot needs to have certain anti-interference performance and stability, that is, 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. The present embodiment is described in terms of a long baseline positioning system:
more than three transponders T are arranged in a region i The area matrix is formed in a certain pattern, such as triangle or quadrangle. The base line length is determined by the area, a second robot is located within the matrix, and the second robot measures the transponder T i Is used to determine the position fix. The positioning mode of the long baseline positioning system is as follows: 1. unidirectional ranging: with transponder T i Is a sound mark, which emits sound pulses with a certain repetition frequency; 2. and (3) bidirectional positioning: with transponder T i In the case of transponders, they emit a signal only when interrogated by other sound sources. E.g. transponder T 1 Transponder T 2 And transponder T 3 The positions in the space coordinate system are (x) 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) And (x) 3 ,y 3 ,z 3 ) Transponder T 1 Transponder T 2 And transponder T 3 The distance observation value with the second robot is R 1 ,R 2 And R is 3 Assuming the position of the second robot is (x, y, z), the following set of equations may be formed:
and solving the equation set to obtain the three-dimensional coordinate (x, y, z) of the second robot.
In another example of an embodiment of the present invention, the second robot comprises an underwater robot, an amphibious robot, step 1213 comprises:
step 12131, notifying the underwater robot and/or the amphibious robot of the depth of the water body in the detection area;
12132, when the depth is greater than or equal to a preset upper limit value, notifying 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 echo sounding instrument may be installed on an amphibious robot or an underwater robot, and the multi-beam echo sounding instrument may measure and map the topography of an area and the depth of a water body using multi-beam echo signals.
The amphibious robot can move in water and on land, the underwater robot can only move 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 area topography 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 dark, is regarded as driving power by underwater robot, and when the water is shallower or be on land, is regarded as driving power by amphibious robot, can improve the speed that amphibious robot and underwater robot removed like this, and then improve detection efficiency. The area where flooding occurs is complex and changeable, and frequent switching of driving power may increase energy consumption, and flexibility of the amphibious robot and the underwater robot in the water body in the depth range of 0.5 m is basically consistent, so in this embodiment, the preset upper limit value is 0.5 m. In order to ensure the smooth proceeding of the detection operation, the maximum submergence depth of the underwater robot should be not less than 2 meters; the amphibious robot is provided with the crawler belt, and at the moment, the amphibious robot has obstacle crossing capability and can cross a steep slope of 30 degrees.
Step 122, receiving an operation state of the power transmission equipment during soaking, which is sent by the second robot, and when the difference value is greater than a preset threshold value, the operation state is a leakage state.
And the second robot is provided with a step voltage detector, and the second robot detects the 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 feet of a person walking in a potential distribution area around a ground inflow point when a ground fault (a leakage state) occurs in the power transmission device. When the step voltage reaches 40-50V, the people are at electric shock hazard, and particularly, the step voltage can cause the people to fall down so as to increase the electric shock voltage of the human body, and even cause the people to die. Experimental results show that when the amplitude of the pulse voltage is 0.6-30 kilovolts, the step voltage and the contact voltage have no damage to the internal body of the cattle; 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 kv, and the amplitude of the contact voltage is increased to 74 kv, the cattle breathe abnormally, the heart activity function is damaged, an irreversible process is generated, and the life is endangered. In this embodiment, the preset threshold value is 30 kv, and when the difference value of the water potential at the periphery of the power transmission equipment is detected to be greater than 30 kv, the water potential difference value at the periphery of the power transmission equipment can cause electric shock risk, and at this time, the power transmission equipment is determined to be in a leakage state; when the difference value of the water potential at the periphery of the power transmission equipment is detected to be smaller than 30 kilovolts, the water potential difference value at the periphery of the power transmission equipment is in a safe range, and at the moment, the power transmission equipment is judged to be in a power failure state.
And 130, if the running state is the electric leakage state, notifying the first robot to execute an alarm operation when the first robot flies along the area, wherein the alarm operation is used for prompting the pedestrians to generate electric leakage accidents in the area where flood occurs.
The utility model provides a transmission of electricity equipment such as bus station bill-board, socket generally does not have installation electric leakage detection device, when the flood appears, the phenomenon of electric leakage can appear in the in-process that transmission of electricity equipment was soaked by the water, when the pedestrian walked in the flood area, there is the potential safety hazard of electric shock, when detecting transmission of electricity equipment and be in the electric leakage state, through carrying out alarm operation at the first robot of aerial flight, can be effectively with warning information transfer to the pedestrian, avoid the pedestrian to go into the electric leakage area of this transmission of electricity equipment by mistake, reduce the electric shock probability of pedestrian.
In step 120, when the second robot detects that the operation state of the power transmission device is a leakage state, step 130 is executed, otherwise, step 120 is continuously executed.
In one example of the embodiment of the invention, the first robot can be informed to detect the pedestrian when flying along the area, and the light is driven to flash and play the preset voice signal when the pedestrian is detected.
The first robot can detect whether pedestrians exist 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 flying state of the first robot, and the weight of the first robot is not too large, so that too many storage batteries are not loaded on the first robot. The number of pedestrians in the area where flooding occurs is small, so that when a pedestrians are detected, the first robot performs an 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 follow vision and hearing and warn the pedestrian respectively, has improved the effect of warning. In order to ensure smooth detection operation, the cruising ability of the first robot should be not less than 2 hours, and the cruising distance should be not less than 10 km. Still be provided with the light on the first robot, during night, when carrying out regional electric leakage alarm, the light can carry out light illumination to the electric leakage region to warn and remind passerby, wait for maintenance personal's arrival.
Of course, pedestrians can be warned through the second robot, at this time, the underwater robot or the amphibious robot is provided with a laser emitter, when the underwater robot or the amphibious robot detects that the power transmission equipment is in a leakage state, the laser emitter can vertically float out of the water surface, and then the laser is projected on the water surface around the power transmission equipment to divide a dangerous area, so that pedestrians are 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 the warning effect, reduce the probability that the pedestrian electrocuted. The second robot was configured with a 40Ah lithium battery to meet its high intensity inspection operation.
According to the embodiment, the region which is detected by the first robot in flying and is subjected to flood is received, the region is provided with the power transmission equipment, the second robot is informed of entering the region and is used for detecting the running state of the power transmission equipment in soaking, if the running state is the electric leakage state, the first robot is informed of flying along the region and is used for executing alarming operation which is used for prompting a pedestrian region to generate electric leakage accidents, the first robot and the second robot are mutually matched in different environments such as sky and water body to detect whether the power transmission equipment is subjected to electric leakage or not in the region where flood occurs, automatic electric leakage detection is achieved, detection personnel can command and detect the region outside the region where flood occurs, particularly the region where electric leakage is potential, the accident factors such as flood and electric leakage are reduced, personal safety of detection personnel is protected, and automatic operation can improve detection efficiency of the running state of the power transmission equipment in the region.
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 embodiment is based on the foregoing embodiment, and further increases an operation of overhauling a leaked power transmission device, and the method specifically includes the following steps:
step 210, receiving a region which is detected by a first robot during flight and is flooded, wherein power transmission equipment is arranged in the region;
step 220, notifying a second robot to enter the area, and detecting the running state of the power transmission equipment during soaking;
and 230, if the running state is the electric leakage state, notifying the first robot to execute an alarm operation when the first robot flies along the area, wherein the alarm operation is used for prompting the pedestrian area to generate the electric leakage accident.
Step 240, receiving environment information, detected by the first robot, of the power transmission equipment;
the situation in the area where flooding occurs is complex, the first robot needs to detect the environmental information where the power transmission equipment is located, so that maintenance personnel can primarily judge the maintenance difficulty of the power transmission equipment, specifically, the environmental information can be the building area around the power transmission equipment and the height of the building area, the planting position of trees around the power transmission equipment and the growth height of the 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 identifier, the image identifier is used for acquiring image information, and the image information is acquired according to a target detection algorithm, so that environment information of the power transmission equipment is acquired.
Step 250, receiving position information, detected by the second robot, of the power transmission equipment, strength information of voltage and time information when the power transmission equipment suffers from an electric leakage accident;
the second robot can position itself according to the acoustic positioning system to confirm the position information that the transmission of electricity was established and be provided with step voltage detector on the second robot, step voltage detector can carry out the electric potential detection to the water of transmission of electricity equipment week portion, and obtains the difference of its electric potential, thereby acquires the intensity information of voltage when transmission of electricity equipment electric leakage. A clock may be configured on the second robot to obtain the time information.
Step 260, generating a maintenance work order from the location information, the environment information, the intensity information and the time information.
The position information, the environment information, the intensity information and the time information are summarized to generate a maintenance work order, and the maintenance work order is used for informing maintenance staff to maintain the power transmission equipment, so that the maintenance staff can judge tools required for maintaining the power transmission equipment and maintenance time consumption is facilitated, the maintenance staff can conveniently specify a maintenance operation plan, the maintenance efficiency is improved, and the risk of electric shock of pedestrians in an area is reduced.
Step 270, receiving information of the position where the maintenance personnel arrives at the power transmission equipment;
step 280, notifying the first robot to end the alarm operation;
step 290, notifying the first robot and the second robot to return.
In this embodiment, the receiving 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 further, the situation that the pedestrian passing in the area can be timely warned about electric leakage is guaranteed, and the trip safety of the pedestrian is improved. In order to ensure the smooth proceeding of the 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 details of the field.
In this embodiment, the first robot and the second robot have a self-fault diagnosis function, so that the electric shock hazard caused by machine reasons can be avoided. For example, a water vapor sensor is arranged in the second robot, and the water vapor sensor can detect whether the second robot has a water leakage phenomenon or not, 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 shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of 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 a region where flooding occurs while flying, the region being arranged with power transmission equipment;
a second robot 320, configured to enter the area and detect an operation state of the power transmission device during soaking;
the first robot 310 is further configured to execute an alarm operation along the area if the running state is the electric leakage state, where the alarm operation is used to prompt the pedestrian to generate an electric leakage accident.
In one embodiment of the present invention, the second robot 320 is further configured to move in the entering area, and detect a difference value of the electric potential of the water body around the power transmission device during the movement;
and when the difference value is larger than a preset threshold value, the running state is a leakage state.
In one embodiment of the invention, the first robot 310 is also used for scanning a three-dimensional model of the region;
the second robot 320 is further configured to move into the area according to 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 less than a preset upper limit value.
In one embodiment of the present invention, the first robot 310 is further configured to detect a pedestrian while flying along an area, and drive light to flash 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 in which the power transmission device is located;
the second robot 320 is further configured to detect location information of the power transmission device, intensity information of voltage when the power transmission device suffers from a 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 the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 is a structural block diagram 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 a flood occurs detected by a first robot during flight, where power transmission equipment is arranged;
the running state detection module 420 is configured to notify the second robot to enter the area and detect a running state of the power transmission device during soaking;
the leakage alarm module 430 is configured to notify the first robot to execute an alarm operation when the first robot flies along the area if the running state is the leakage state, where the alarm operation is used to prompt the pedestrian to generate a leakage accident. In one embodiment of the invention, the operational status detection module 420 includes:
the movement control module 421 is configured to notify the second robot to move in the entering area, and detect a difference value of the electric potential of the water body around the power transmission device when the second robot moves;
the running state receiving module 422 is configured to receive the running state of the power transmission device during soaking, which is sent by the second robot, and when the difference value is greater than a preset threshold value, the running state is a leakage state.
In one embodiment of the present invention, the movement control module 421 includes:
a three-dimensional model receiving module 4211 for receiving a three-dimensional model of the region scan by the first robot;
a path planning module 4212 for planning a path according to the three-dimensional model;
the path moving module 4213 is configured to notify the second robot to enter the area and move along the path.
In another embodiment of the present invention, the second robot includes an underwater robot, an amphibious robot, and the movement control module 421 includes:
a depth detection module 4214 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 notifying 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;
the amphibious robot traction control module 4216 is used for notifying the amphibious robot to drive the underwater robot to move in the area when the depth is smaller than a preset upper limit value.
In one embodiment of the present invention, the leakage alarm module 430 includes:
the audible and visual alarm module 431 is configured to notify the first robot to detect a pedestrian when flying along the area, and drive the light to flash and play a preset voice signal when detecting the pedestrian.
In one embodiment of the present invention, further comprising:
a first information receiving module 440, configured to receive environmental information where the power transmission device is located, where the environmental information is detected by the first robot;
the second information receiving module 450 is configured to receive the position information, detected by the second robot, of the power transmission device, the intensity information of the voltage when the power transmission device suffers from a leakage accident, and the time information;
the maintenance work order generation module 460 is 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 configured to notify a maintenance person to perform maintenance on the power transmission device.
The flood area leakage detection device provided by the embodiment of the invention can execute the flood area leakage detection method provided by any embodiment of the invention, and has the 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 merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in FIG. 5, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MA 5) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and peripheral component interconnect (P5I) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
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. The 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 or write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard disk drive"). Although not shown in fig. 5, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a 5D-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules 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 in, for example, 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 or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the flood area leakage detection method provided by the embodiment of the present invention.
Example six
The sixth embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements each process of the foregoing flood area leakage detection method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
The 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 a combination of any 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 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.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. The flood area electric leakage detection method is characterized by comprising the following steps of:
receiving a region which is detected by a first robot during flight and is flooded, wherein power transmission equipment is arranged in the region;
notifying a second robot to enter the area, and detecting the running state of the power transmission equipment during soaking;
if the running state is a leakage state, notifying the first robot to execute an alarm operation when the first robot flies along the area, wherein the alarm operation is used for prompting a pedestrian to generate a leakage accident in the area;
the notifying the second robot to enter the area and detecting the running state of the power transmission equipment during soaking comprises the following steps:
notifying a second robot to enter the region for movement, and detecting the difference value of the water body potential at the periphery of the power transmission equipment when the second robot moves;
receiving an 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 larger than a preset threshold value;
the notifying the second robot to move into the area includes:
receiving a three-dimensional model of the first robot for scanning the region;
planning a path according to the three-dimensional model;
notifying the second robot to enter the area and move according to the path;
the second robot comprises an underwater robot and an amphibious robot, and the notifying the second robot to move in the area comprises the following steps:
notifying the underwater robot and/or the amphibious robot to detect the depth of the water body in the area;
when the depth is greater than or equal to a preset upper limit value, notifying 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, notifying the amphibious robot to drive the underwater robot to move in the area.
2. The method of claim 1, wherein the notifying the first robot to perform an alert operation while flying along the area comprises:
and notifying the first robot to detect pedestrians when flying along the area, and driving the lamplight to flash and play a preset voice signal when the pedestrians are detected.
3. The method as recited in claim 1, further comprising:
receiving environment information, detected by the first robot, of the power transmission equipment;
receiving position information, detected by the second robot, of the power transmission equipment, wherein the position information, the voltage intensity information and the time information of the power transmission equipment are detected when the power transmission equipment suffers from a leakage accident;
and generating a maintenance work order from the position information, the environment information, the intensity information and the time information, wherein the maintenance work order is used for notifying maintenance personnel to maintain the power transmission equipment.
4. A flood area leakage detection system, which is applied to the flood area leakage detection method as claimed in any one of claims 1 to 3, comprising:
a first robot for detecting an area where flooding occurs while flying, the area being arranged with power transmission equipment;
the second robot is used for entering the area and detecting the running state of the power transmission equipment during soaking;
and the first robot is further used for executing alarm operation along the area if the running state is the electric leakage state, and the alarm operation is used for prompting pedestrians that the electric leakage accident occurs in the area.
5. A flood area leakage detection device, which is applied to the flood area leakage detection method as claimed in any one of claims 1 to 3, comprising:
the flood area detection module is used for receiving an area which is detected by the first robot during flight and is flooded, and the area is provided with power transmission equipment;
the running state detection module is used for informing the second robot to enter the area and detecting the running state of the power transmission equipment during soaking;
and the electric leakage alarm module is used for informing the first robot to execute alarm operation when the first robot flies along the area if the running state is the electric leakage state, and the alarm operation is used for prompting pedestrians that the area is subjected to electric leakage accidents.
6. A computer device, the computer device comprising:
one or more processors;
a memory for storing one or more programs,
the 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 of any one of claims 1-3.
7. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which when executed by a processor, implements the flood area leakage detection method according to any one of claims 1-3.
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