CN114298340A - Tunnel cable inspection method and device, storage medium and electronic equipment - Google Patents
Tunnel cable inspection method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention discloses a tunnel cable inspection method and device, a storage medium and electronic equipment, wherein the tunnel cable inspection method comprises the following steps: determining a routing inspection area needing routing inspection in the tunnel; under a corresponding inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area; when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of all the cable equipment; and comparing the equipment data of each cable equipment with the standard equipment data to determine whether the cable in the current inspection place has a fault. According to the method provided by the invention, the corresponding inspection robots are arranged in different inspection areas, the inspection robots inspect the cables, and the equipment data of the related cable equipment is acquired and compared with the standard data to determine whether the cables in the corresponding areas have faults or not, so that the machine inspection is realized, the inspection time is short, and the inspection efficiency of the cables is improved.
Description
Technical Field
The invention relates to the field of power systems, in particular to a tunnel cable inspection method and device, a storage medium and electronic equipment.
Background
With the development of society, the use of electric power is indispensable in people's daily life. And the cable tunnel is closely and inseparably connected with the power use. Cable tunnel refers to a corridor or tunnel-like structure for accommodating a large number of cables laid on cable supports. The cable tunnel can protect the cable better and also can facilitate the inspection and maintenance of the cable by people.
A plurality of cable supports are erected in the cable tunnel, the cable is laid in the cable tunnel, the cable can be well protected, and normal use of the cable can be guaranteed only by polling the cable on time. At present, the manual inspection is generally adopted for the inspection mode of the cable in the tunnel, the inspection speed is low, the consumed time is long, and the inspection efficiency of the cable in the tunnel is reduced.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for inspecting a tunnel cable, a storage medium, and an electronic device, which overcome or at least partially solve the above problems, and the technical solutions are as follows:
a tunnel cable inspection method comprises the following steps:
responding to the received cable inspection instruction, and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
starting the inspection robot corresponding to the inspection area;
determining a routing inspection mode of the routing inspection robot according to the cable routing inspection instruction;
in the inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence;
when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of each cable equipment;
comparing the equipment data of each cable equipment with preset standard equipment data to determine whether the cable in the current inspection place has a fault;
and when the inspection of all the inspection places in the inspection area is finished, triggering the inspection robot to finish the inspection of the cable in the inspection area.
Optionally, in the method, the tunnel is divided into a plurality of inspection areas, and the determining an inspection area corresponding to the cable inspection instruction in the tunnel includes:
acquiring an area number included in the cable inspection instruction;
and determining a routing inspection area corresponding to the cable routing inspection instruction in the tunnel according to the area number.
Optionally, the determining, according to the cable inspection instruction, an inspection mode of the inspection robot includes:
acquiring mode parameters included in the cable inspection instruction;
searching a routing inspection mode matched with the mode parameters in a preset mode list according to the mode parameters;
and taking the inspection mode matched with the mode parameters in the mode list as the inspection mode of the inspection robot.
In the foregoing method, optionally, when the inspection robot reaches the current inspection location, the method of acquiring images of each cable device in the current inspection location to identify device data of each cable device includes:
when the inspection robot reaches the current inspection place, adjusting the shooting angle of a camera device arranged on the inspection robot so as to acquire images of each cable device in the current inspection place and obtain a device image of each cable device;
and carrying out image recognition on the equipment image of each cable equipment to obtain the equipment data of each cable equipment.
Optionally, the comparing the device data of each cable device with preset standard device data to determine whether a cable in the current inspection location has a fault includes:
comparing the equipment data of each cable equipment with preset standard equipment data, determining that the cable in the current inspection place has a fault when the equipment data of the cable equipment is inconsistent with the preset standard equipment data, and controlling the inspection robot to send an alarm prompt;
and when the equipment data of the cable equipment is not consistent with the preset standard equipment data, determining that the cable in the current inspection place has no fault, and controlling the inspection robot to go to the next inspection place.
In the above method, optionally, the tunnel top is provided with a charged rail, and the method further includes:
monitoring the residual working electric quantity of the inspection robot in real time in the process that the inspection robot inspects each inspection place in the inspection area;
and when the residual working electric quantity is smaller than a preset electric quantity threshold value, the inspection robot is charged through the electrified track.
The above method, optionally, further includes:
and after the inspection robot finishes inspecting the cable in the inspection area, controlling the inspection robot to return to the initial position.
A tunnel cable inspection device, comprising:
the first determining unit is used for responding to the received cable inspection instruction and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
the starting unit is used for starting the inspection robots corresponding to the inspection areas;
the second determining unit is used for determining the inspection mode of the inspection robot according to the cable inspection instruction;
the first triggering unit is used for triggering the inspection robot to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence in the inspection mode;
the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring images of each cable device in a current inspection place when the inspection robot reaches the current inspection place so as to identify the device data of each cable device;
the comparison unit is used for comparing the equipment data of each cable equipment with preset standard equipment data so as to determine whether the cable in the current inspection place has a fault;
and the second trigger unit is used for triggering the inspection robot to finish the inspection of the cable in the inspection area when the inspection of each inspection place in the inspection area is finished.
A storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the above-described tunnel cable inspection method.
An electronic device comprises at least one processor, at least one memory connected with the processor, and a bus; the processor and the memory complete mutual communication through a bus; the processor is used for calling the program instructions in the memory to execute the tunnel cable inspection method.
Compared with the prior art, the invention has the following advantages: a tunnel cable inspection method comprises the following steps: responding to the received cable inspection instruction, and determining an inspection area corresponding to the cable inspection instruction in the tunnel; starting the inspection robot corresponding to the inspection area; determining a routing inspection mode of the routing inspection robot according to the cable routing inspection instruction; in the inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence; when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of each cable equipment; comparing the equipment data of each cable equipment with preset standard equipment data to determine whether the cable in the current inspection place has a fault; and when the inspection of all the inspection places in the inspection area is finished, triggering the inspection robot to finish the inspection of the cable in the inspection area.
According to the tunnel cable inspection method provided by the embodiment of the invention, the corresponding inspection robots are arranged in different inspection areas, the inspection robots inspect the cables, and the equipment data of the relevant cable equipment is acquired and compared with the standard data to determine whether the cables in the corresponding areas have faults or not, so that the machine inspection is realized, the inspection time is short, and the inspection efficiency of the cables is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a method for inspecting a tunnel cable according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tunnel cable inspection device according to an embodiment of the present invention;
fig. 3 is a structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, a flowchart of a method for inspecting a tunnel cable according to an embodiment of the present invention is shown, where an execution process of the method shown in fig. 1 is a feasible implementation scheme of the method for inspecting a tunnel cable according to an embodiment of the present invention, and the method may be applied to a cloud platform of a cable tunnel, and an execution subject of the method is a server in the cloud platform, and the method specifically includes:
s101: responding to the received cable inspection instruction, and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
in the method provided by the embodiment of the invention, when the cable in the tunnel needs to be inspected, a cable inspection instruction is sent to the server, and the cable inspection instruction can also be directly sent to the inspection robot for inspection. A plurality of inspection areas are divided in the tunnel, and each inspection area is correspondingly provided with a corresponding inspection robot. According to the method provided by the embodiment of the invention, one routing inspection area needing routing inspection can be determined according to the actual routing inspection condition, and a plurality of routing inspection areas can be simultaneously determined to carry out routing inspection together.
S102: starting the inspection robot corresponding to the inspection area;
in the method provided by the embodiment of the invention, the inspection robot for inspecting each inspection area is determined. If a plurality of regions of patrolling and examining need patrol and examine simultaneously, then start a plurality of robots simultaneously and patrol and examine the region respectively to every and patrol and examine.
S103: determining a routing inspection mode of the routing inspection robot according to the cable routing inspection instruction;
in the method provided by the embodiment of the invention, the routing inspection mode of each routing inspection robot is indicated in the transmitted cable routing inspection instruction, and the corresponding routing inspection robot is provided with different routing inspection modes in different routing inspection areas according to the area characteristics of the routing inspection areas, so that comprehensive routing inspection can be carried out, and local routing inspection can also be carried out.
S104: in the inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence;
each inspection area is divided into a plurality of inspection places, and the inspection robot inspects each inspection place in sequence according to a certain inspection sequence. Generally, the inspection robot inspects each inspection place on the inspection route according to the inspection route.
S105: when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of each cable equipment;
in the method provided by the embodiment of the invention, the inspection robot acquires images of each cable device in each inspection place so as to identify the device data of the cable device, and whether the cable in the section has a fault is determined according to whether the data in the cable device is normal or not.
S106: comparing the equipment data of each cable equipment with preset standard equipment data to determine whether the cable in the current inspection place has a fault;
s107: and when the inspection of all the inspection places in the inspection area is finished, triggering the inspection robot to finish the inspection of the cable in the inspection area.
In the method provided by the embodiment of the invention, after the inspection robot finishes the inspection of all the inspection places in the current inspection area, the inspection of the cable in the area is finished.
In the method provided by the embodiment of the invention, each routing inspection place corresponds to a section of cable, and the equipment data in the cable equipment arranged in the routing inspection place is reflected by the state whether the cable in the routing inspection place works normally or not.
According to the method provided by the embodiment of the invention, the corresponding inspection robots are arranged in different inspection areas, the inspection robots inspect the cables, and the equipment data of the related cable equipment is acquired and compared with the standard data to determine whether the cables in the corresponding areas have faults or not, so that the machine inspection is realized, the inspection time is short, and the inspection efficiency of the cables is improved.
In the method provided by the embodiment of the present invention, the tunnel is divided into a plurality of inspection areas, and the determining the inspection area corresponding to the cable inspection instruction in the tunnel includes:
acquiring an area number included in the cable inspection instruction;
and determining a routing inspection area corresponding to the cable routing inspection instruction in the tunnel according to the area number.
In the method provided by the embodiment of the invention, each routing inspection area can be provided with a corresponding area number, when routing inspection is required, the corresponding area number is marked in the cable routing inspection instruction, namely, the routing inspection area required to be routed can be determined through the area number, and when the cable routing inspection instruction comprises a plurality of area numbers, a plurality of routing inspection areas are determined simultaneously.
In the method provided by the embodiment of the present invention, determining the inspection mode of the inspection robot according to the cable inspection instruction includes:
acquiring mode parameters included in the cable inspection instruction;
searching a routing inspection mode matched with the mode parameters in a preset mode list according to the mode parameters;
and taking the inspection mode matched with the mode parameters in the mode list as the inspection mode of the inspection robot.
In the method provided by the embodiment of the present invention, when the inspection robot reaches the current inspection location, image acquisition is performed on each cable device in the current inspection location to identify device data of each cable device, including:
when the inspection robot reaches the current inspection place, adjusting the shooting angle of a camera device arranged on the inspection robot so as to acquire images of each cable device in the current inspection place and obtain a device image of each cable device;
and carrying out image recognition on the equipment image of each cable equipment to obtain the equipment data of each cable equipment.
In the method provided by the embodiment of the invention, the image of each cable device is acquired through an image identification technology, and the working data of each cable device in the image is identified.
In the method provided by the embodiment of the present invention, comparing the device data of each cable device with the preset standard device data to determine whether the cable in the current inspection location has a fault includes:
comparing the equipment data of each cable equipment with preset standard equipment data, determining that the cable in the current inspection place has a fault when the equipment data of the cable equipment is inconsistent with the preset standard equipment data, and controlling the inspection robot to send an alarm prompt;
and when the equipment data of the cable equipment is not consistent with the preset standard equipment data, determining that the cable in the current inspection place has no fault, and controlling the inspection robot to go to the next inspection place.
In the method provided by the embodiment of the invention, if the cable corresponding to each inspection place has a fault, an alarm prompt is sent out, and then the inspection robot goes to the next inspection place.
In the method provided by the embodiment of the invention, the top of the tunnel is provided with the electrified track, and the remaining working electric quantity of the inspection robot is monitored in real time in the process that the inspection robot inspects each inspection place in the inspection area;
and when the residual working electric quantity is smaller than a preset electric quantity threshold value, the inspection robot is charged through the electrified track.
In the method provided by the embodiment of the invention, after the inspection robot finishes inspecting the cable in the inspection area, the inspection robot is controlled to return to the initial position.
According to the method provided by the embodiment of the invention, the fixed track is additionally arranged on the top of the tunnel, so that the inspection robot can walk in the track, when the inspection robot is insufficient in electric quantity, the inspection robot can be powered through the track to ensure that the inspection robot runs to the preset charging pile for charging, and in the method provided by the embodiment of the invention, the track is used for supplying power to the robot when the charging pile is in fault, so that the normal inspection function of the inspection robot is ensured.
According to the method provided by the embodiment of the invention, according to the specific structure in the tunnel, when the height difference between the upper layer and the lower layer in the tunnel is large, the inspection of the cables in the whole tunnel by one inspection robot is difficult to realize, and the tunnel cable inspection full coverage can be realized by adopting two or more cable inspection robots.
According to the method provided by the embodiment of the invention, the DC UPS is arranged in the long-distance track power supply line at certain intervals, so that the problem that when a track power failure fault occurs due to a single-point fault of a track bus charger is mainly solved, short-time emergency power supply is provided through the distributed DC UPS, and emergency power supply is provided for the inspection robot. On the other hand, when long-distance power transmission is carried out, the voltage output from a single source is gradually increased along with the increase of the distance due to the impedance of the track, the actual voltage is finally reduced to the outside of the voltage range in which the inspection robot can normally operate, and when the condition occurs, the DC UPS is put into operation to form a reasonable voltage range, so that the power supply compliance of the inspection robot is ensured.
In the method provided by the embodiment of the invention, the inspection robot mainly comprises a track, a special automatic control fireproof door, an intelligent charging device, a communication management unit, an intelligent inspection robot system server and an installation accessory.
In the method provided by the embodiment of the invention, the inspection robot has the following functions:
the inspection robot carries a starlight level high-definition visible light camera, video images are transmitted in real time by adopting 1080p resolution, video and image recording is carried out on objects such as an instrument, a switch position and a status indicator lamp by combining an independently researched and developed video image identification technology, the reading of the instrument and the working state of a loop are automatically identified and compared with the real state of equipment to find out the inconsistent condition, an alarm is given in time when an abnormity occurs, and alarm information is automatically recorded.
In addition, to the indoor probably condition that has the ambient light not enough, the robot of patrolling and examining can open the light filling lamp, has increased the adaptability that low light level environment patrolled and examined, guarantees the accuracy of data collection.
The inspection robot utilizes an infrared thermal imager carried by the inspection robot to collect infrared image data of field equipment, extracts temperature information of the equipment from the acquired infrared image data, realizes temperature detection of the equipment, can monitor the temperatures of heating equipment such as a switch contact, a transformer pile head, an electric power cabinet incoming and outgoing line connector, a cable body, a connector and a grounding wire on line, can accurately analyze whether the temperatures of various detection points are abnormal or not, and can automatically alarm when the abnormal temperatures occur. After the detection is finished, a task report can be automatically generated and stored in a background server for operation and maintenance personnel to check.
In the method provided by the embodiment of the invention, the inspection robot can automatically inspect the cable, the automatic inspection is an inspection mode that the inspection robot automatically inspects according to a preset planned path, and the automatic inspection mode mainly comprises the following steps: routine polling, special polling, etc., various modes support switching between each other. The inspection robot carries multiple detection devices such as a high-definition camera, a high-sensitivity infrared thermal imager and a pickup, finishes the inspection activities such as visible light photographing, meter reading, infrared temperature measurement and environment monitoring of all devices in an inspection area according to a set rule, automatically transmits inspection data to a background management system for storage, and generates a detection analysis report.
In the method provided by the embodiment of the invention, the inspection robot can be remotely controlled in real time in a manual remote inspection mode besides automatic inspection. This application mode is applicable to fortune dimension personnel and administrative unit and needs lock and monitor the state of a certain kind of equipment, especially to when detecting equipment, environmental condition anomaly and reporting an emergency and asking for help or increased vigilance to fortune dimension personnel in the robot autonomous inspection in-process of patrolling and examining, fortune dimension personnel can use the artifical remote control interface of backstage system at the very first time, control and patrol and examine the robot and arrive unusual equipment position fast, in time look over and verify alarm information unusual equipment to formulate the response strategy rapidly.
In the method provided by the embodiment of the invention, a maintainer can carry out field operation control on the inspection robot through a mobile phone, so that the robot can be conveniently controlled to move, lift and the like on the field.
In the method provided by the embodiment of the invention, the bidirectional voice function refers to a talkback and broadcast function. The talkback means that background workers can talk back between the background system and field workers, and the background workers can remotely provide technical support for the field workers, guide operation and maintenance operation and the like. The broadcast can be used for remote command of the monitoring center for site work or notification of staff for quick evacuation in emergency, etc. The power of voice equipment on the inspection robot is not less than 4W, and the related regulations of national broadcast requirements are met.
In the method provided by the embodiment of the invention, the inspection robot adopts a mode of combining the storage battery and the charging pile power supply system, so that the electric quantity supply function of the inspection robot is ensured. Meanwhile, the system is configured with perfect electric quantity distribution management measures, and carries out early warning electric quantity setting, real-time electric quantity monitoring and perfect automatic charging control logic, wherein the basic electric quantity control logic is as follows:
when the electric quantity of the inspection robot is sufficient, the inspection task can be completed according to a plan, and the battery automatically returns to be charged after the task is completed, so that the battery is kept in a full-electric-quantity state;
when the electric quantity of the inspection robot reaches a protection limit value set by a system, the inspection robot can interrupt the task and automatically return to a charging point for charging, and the previous unfinished task is continuously executed after the charging is finished.
In the method provided by the embodiment of the invention, the inspection robot self-check comprises the self-check of the inspection robot body when the inspection robot is started and the real-time self-check of the inspection robot in the inspection process.
The inspection robot can perform self-inspection in the processes of starting and executing tasks, and the self-inspection content comprises whether an infrared thermal imager, a high-definition camera, a motor, a holder, a battery, internal storage, various sensors and the like are normal or not. If the part is found to be abnormal, an abnormal state indication is given, and system abnormal information is uploaded to the monitoring background, so that operation and maintenance personnel can find the fault in time conveniently, the processing time is shortened, and the fault solving efficiency is improved.
The background management system can automatically store, count and intelligently analyze and process mass data. All reports and reports support querying, exporting, and printing. The exported data supports an EXECL format and a character format, the exported information is complete, the record is accurate and complete, the storage, the report, the decision and the filing processing are convenient, and meanwhile, the system supports the automatic generation of the report according to various customized rules.
In the inspection process, the inspection robot uploads inspection collected data to a background management system in real time, the background system analyzes the inspection data through related technologies such as numerical analysis, threshold value comparison, trend analysis and a database, automatic early warning is carried out when abnormal data are found, early warning and alarm contents are output, workers are reminded of processing timely, and the purposes of responding to troubleshooting and eliminating potential safety hazards timely are achieved.
The background management system is used as the center of the intelligent inspection system, is a platform for man-machine interaction of the system, and has a simple and easy-to-operate management interface. The working personnel can perform operations such as real-time information checking, historical information inquiring, polling report inquiring and exporting, polling point management, task management, robot remote control, alarm information confirmation, system user authority configuration, robot addition/deletion and the like in a background management system interface. The system also has the functions of Prediction and Health Management (PHM) and provides the functions of prediction, maintenance and repair of faults in advance.
The inspection robot has the following door passing modes in the tunnel: open the lower part, open the side, open left and right sides three kinds.
The embodiment of the present invention further provides a tunnel cable inspection device corresponding to the tunnel cable inspection method, where the tunnel cable inspection device is used to implement the application of the tunnel cable inspection method in practice, and the structural diagram of the tunnel cable inspection device may refer to fig. 2, and includes:
a first determining unit 201, configured to determine, in response to a received cable inspection instruction, an inspection area in a tunnel corresponding to the cable inspection instruction;
the starting unit 202 is used for starting the inspection robots corresponding to the inspection areas;
the second determining unit 203 is used for determining the inspection mode of the inspection robot according to the cable inspection instruction;
the first triggering unit 204 is used for triggering the inspection robot to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence in the inspection mode;
the acquisition unit 205 is configured to acquire images of each cable device in a current inspection place when the inspection robot reaches the current inspection place, so as to identify device data of each cable device;
a comparison unit 206, configured to compare the device data of each cable device with preset standard device data, so as to determine whether a cable in the current inspection location has a fault;
and the second triggering unit 207 is used for triggering the inspection robot to finish the inspection of the cable in the inspection area when the inspection of each inspection place in the inspection area is finished.
According to the tunnel cable inspection device provided by the embodiment of the invention, the corresponding inspection robots are arranged in different inspection areas, the inspection robots inspect the cables, and the equipment data of the relevant cable equipment is acquired and compared with the standard data to determine whether the cables in the corresponding areas have faults or not, so that the machine inspection is realized, the inspection time is short, and the inspection efficiency of the cables is improved.
The tunnel cable inspection device provided by the embodiment of the invention comprises a processor and a memory, wherein each unit is stored in the memory as a program unit, and the processor executes the program unit stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the cable inspection process is dynamically executed by adjusting kernel parameters, so that the inspection efficiency is improved.
An embodiment of the present invention provides a storage medium having a program stored thereon, which when executed by a processor implements the tunnel cable inspection method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the tunnel cable inspection method during running.
As shown in fig. 3, an embodiment of the present invention provides an electronic device, where the electronic device 30 includes at least one processor 301, at least one memory 302 connected to the processor 301, and a bus 303; wherein, the processor 301 and the memory 302 complete the communication with each other through the bus 303; processor 301 is operative to call program instructions in memory 302 to perform the above-described tunneling cable inspection method. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device, comprising:
responding to the received cable inspection instruction, and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
starting the inspection robot corresponding to the inspection area;
determining a routing inspection mode of the routing inspection robot according to the cable routing inspection instruction;
in the inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence;
when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of each cable equipment;
comparing the equipment data of each cable equipment with preset standard equipment data to determine whether the cable in the current inspection place has a fault;
and when the inspection of all the inspection places in the inspection area is finished, triggering the inspection robot to finish the inspection of the cable in the inspection area.
Optionally, in the method, the tunnel is divided into a plurality of inspection areas, and the determining an inspection area corresponding to the cable inspection instruction in the tunnel includes:
acquiring an area number included in the cable inspection instruction;
and determining a routing inspection area corresponding to the cable routing inspection instruction in the tunnel according to the area number.
Optionally, the determining, according to the cable inspection instruction, an inspection mode of the inspection robot includes:
acquiring mode parameters included in the cable inspection instruction;
searching a routing inspection mode matched with the mode parameters in a preset mode list according to the mode parameters;
and taking the inspection mode matched with the mode parameters in the mode list as the inspection mode of the inspection robot.
In the foregoing method, optionally, when the inspection robot reaches the current inspection location, the method of acquiring images of each cable device in the current inspection location to identify device data of each cable device includes:
when the inspection robot reaches the current inspection place, adjusting the shooting angle of a camera device arranged on the inspection robot so as to acquire images of each cable device in the current inspection place and obtain a device image of each cable device;
and carrying out image recognition on the equipment image of each cable equipment to obtain the equipment data of each cable equipment.
Optionally, the comparing the device data of each cable device with preset standard device data to determine whether a cable in the current inspection location has a fault includes:
comparing the equipment data of each cable equipment with preset standard equipment data, determining that the cable in the current inspection place has a fault when the equipment data of the cable equipment is inconsistent with the preset standard equipment data, and controlling the inspection robot to send an alarm prompt;
and when the equipment data of the cable equipment is not consistent with the preset standard equipment data, determining that the cable in the current inspection place has no fault, and controlling the inspection robot to go to the next inspection place.
In the above method, optionally, the tunnel top is provided with a charged rail, and the method further includes:
monitoring the residual working electric quantity of the inspection robot in real time in the process that the inspection robot inspects each inspection place in the inspection area;
and when the residual working electric quantity is smaller than a preset electric quantity threshold value, the inspection robot is charged through the electrified track.
The above method, optionally, further includes:
and after the inspection robot finishes inspecting the cable in the inspection area, controlling the inspection robot to return to the initial position.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A tunnel cable inspection method is characterized by comprising the following steps:
responding to the received cable inspection instruction, and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
starting the inspection robot corresponding to the inspection area;
determining a routing inspection mode of the routing inspection robot according to the cable routing inspection instruction;
in the inspection mode, the inspection robot is triggered to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence;
when the inspection robot reaches the current inspection place, acquiring images of all cable equipment in the current inspection place so as to identify equipment data of each cable equipment;
comparing the equipment data of each cable equipment with preset standard equipment data to determine whether the cable in the current inspection place has a fault;
and when the inspection of all the inspection places in the inspection area is finished, triggering the inspection robot to finish the inspection of the cable in the inspection area.
2. The method of claim 1, wherein the tunnel is divided into a plurality of inspection areas, and the determining the inspection area corresponding to the cable inspection command in the tunnel comprises:
acquiring an area number included in the cable inspection instruction;
and determining a routing inspection area corresponding to the cable routing inspection instruction in the tunnel according to the area number.
3. The method of claim 1, wherein determining the inspection mode of the inspection robot in accordance with the cable inspection instructions comprises:
acquiring mode parameters included in the cable inspection instruction;
searching a routing inspection mode matched with the mode parameters in a preset mode list according to the mode parameters;
and taking the inspection mode matched with the mode parameters in the mode list as the inspection mode of the inspection robot.
4. The method of claim 1, wherein the image capturing of the individual cable devices in the current inspection location to identify the device data of each of the cable devices when the inspection robot arrives at the current inspection location comprises:
when the inspection robot reaches the current inspection place, adjusting the shooting angle of a camera device arranged on the inspection robot so as to acquire images of each cable device in the current inspection place and obtain a device image of each cable device;
and carrying out image recognition on the equipment image of each cable equipment to obtain the equipment data of each cable equipment.
5. The method according to claim 1, wherein the comparing the equipment data of each cable equipment with the preset standard equipment data to determine whether the cable in the current inspection site has a fault comprises:
comparing the equipment data of each cable equipment with preset standard equipment data, determining that the cable in the current inspection place has a fault when the equipment data of the cable equipment is inconsistent with the preset standard equipment data, and controlling the inspection robot to send an alarm prompt;
and when the equipment data of the cable equipment is not consistent with the preset standard equipment data, determining that the cable in the current inspection place has no fault, and controlling the inspection robot to go to the next inspection place.
6. The method of claim 1, wherein the tunnel roof is provided with a charging track, the method further comprising:
monitoring the residual working electric quantity of the inspection robot in real time in the process that the inspection robot inspects each inspection place in the inspection area;
and when the residual working electric quantity is smaller than a preset electric quantity threshold value, the inspection robot is charged through the electrified track.
7. The method of claim 1, further comprising:
and after the inspection robot finishes inspecting the cable in the inspection area, controlling the inspection robot to return to the initial position.
8. The utility model provides a tunnel cable inspection device which characterized in that includes:
the first determining unit is used for responding to the received cable inspection instruction and determining an inspection area corresponding to the cable inspection instruction in the tunnel;
the starting unit is used for starting the inspection robots corresponding to the inspection areas;
the second determining unit is used for determining the inspection mode of the inspection robot according to the cable inspection instruction;
the first triggering unit is used for triggering the inspection robot to sequentially inspect each inspection place in the inspection area according to a preset inspection sequence in the inspection mode;
the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring images of each cable device in a current inspection place when the inspection robot reaches the current inspection place so as to identify the device data of each cable device;
the comparison unit is used for comparing the equipment data of each cable equipment with preset standard equipment data so as to determine whether the cable in the current inspection place has a fault;
and the second trigger unit is used for triggering the inspection robot to finish the inspection of the cable in the inspection area when the inspection of each inspection place in the inspection area is finished.
9. A storage medium comprising stored instructions, wherein the instructions, when executed, control a device on which the storage medium resides to perform a tunnel cable inspection method according to any one of claims 1 to 7.
10. An electronic device comprising at least one processor, and at least one memory, bus connected to the processor; the processor and the memory complete mutual communication through a bus; the processor is used for calling the program instructions in the memory to execute the tunnel cable inspection method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111582485.6A CN114298340A (en) | 2021-12-22 | 2021-12-22 | Tunnel cable inspection method and device, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111582485.6A CN114298340A (en) | 2021-12-22 | 2021-12-22 | Tunnel cable inspection method and device, storage medium and electronic equipment |
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| CN114298340A true CN114298340A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111582485.6A Pending CN114298340A (en) | 2021-12-22 | 2021-12-22 | Tunnel cable inspection method and device, storage medium and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115829300A (en) * | 2023-02-15 | 2023-03-21 | 南京桓泰电气有限公司 | Data processing method and device suitable for monitoring state of wire and cable connector |
| CN115847436A (en) * | 2022-12-07 | 2023-03-28 | 深圳市捷晶科技股份有限公司 | Mobile gas acquisition, analysis, early warning and inspection robot |
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2021
- 2021-12-22 CN CN202111582485.6A patent/CN114298340A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847436A (en) * | 2022-12-07 | 2023-03-28 | 深圳市捷晶科技股份有限公司 | Mobile gas acquisition, analysis, early warning and inspection robot |
| CN115847436B (en) * | 2022-12-07 | 2023-08-22 | 深圳市捷晶科技股份有限公司 | Mobile gas collection, analysis and early warning inspection robot |
| CN115829300A (en) * | 2023-02-15 | 2023-03-21 | 南京桓泰电气有限公司 | Data processing method and device suitable for monitoring state of wire and cable connector |
| CN115829300B (en) * | 2023-02-15 | 2023-06-23 | 南京桓泰电气有限公司 | Data processing method and device suitable for monitoring state of wire and cable joint |
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