CN114783077A - Blind area underground cable tunnel inspection system, method and medium - Google Patents
Blind area underground cable tunnel inspection system, method and medium Download PDFInfo
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- CN114783077A CN114783077A CN202210372392.9A CN202210372392A CN114783077A CN 114783077 A CN114783077 A CN 114783077A CN 202210372392 A CN202210372392 A CN 202210372392A CN 114783077 A CN114783077 A CN 114783077A
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- 238000004590 computer program Methods 0.000 claims description 4
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0602—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using antenna switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
Abstract
The invention provides a system, a method and a medium for inspecting a blind area underground cable tunnel. And a wireless communication link is established with the inspection robot through microwaves, and the inspection robot is used for realizing the intelligent and rapid inspection of the blind area underground cable tunnel, so that the intelligent control and the three-dimensional inspection of the blind area underground cable tunnel can be realized, and monitoring data can be transmitted back in time.
Description
Technical Field
The invention relates to the technical field of communication of blind area underground cable tunnels, in particular to a system, a method and a medium for inspecting the blind area underground cable tunnels.
Background
The space of the underground cable tunnel is relatively narrow and small, and the operation environment is poor, so that the communication network construction difficulty of the underground cable tunnel is high, and more blind areas of the underground cable tunnel are caused. Due to the poor communication condition of the blind area underground cable tunnel, the condition that the routing inspection information cannot be fed back in time or cannot be fed back often occurs.
Disclosure of Invention
Based on the above, it is necessary to provide a blind area underground cable tunnel inspection system, method and medium to solve the problem of difficult inspection of the blind area underground cable tunnel.
The utility model provides a blind area underground cable tunnel system of patrolling and examining, blind area underground cable tunnel system of patrolling and examining includes: the system comprises a base station, a gateway, a phased array antenna and a patrol robot;
the base station is used for providing a communication network for an area within the coverage area of the network; the gateway and the phased array antenna are deployed in an area within the network coverage range;
the phased array antenna is accessed to the communication network through the gateway and is used for extending and covering the communication network to the blind area underground cable tunnel; wherein the blind zone underground cable tunnel is located outside the area within the network coverage area;
the inspection robot establishes a communication link with the phased array antenna through microwaves to access a communication network after the coverage is extended, and is used for inspecting the blind area underground cable tunnel based on the communication network after the coverage is extended.
In one embodiment, the base station is a 5G base station, and is configured to provide slicing service for the inspection of the blind area underground cable tunnel through the extended covered 5G communication network.
In one embodiment, the phased array antenna is a fixed phased array antenna deployed at the entrance of a network-covered underground cable tunnel.
In one embodiment, in the process of polling the polling robot, the phased array antenna continuously switches angles to the antenna beam transmitted by the polling robot.
In one embodiment, the inspection robot includes: the system comprises a plurality of sensors and cameras, a monitoring server and a video processing server, wherein the sensors and the cameras are used for monitoring tunnel environment information through the sensors and returning real-time monitoring videos through the cameras; wherein, the tunnel environment information comprises temperature, humidity and harmful gas content.
A blind area underground cable tunnel inspection method is applied to the blind area underground cable tunnel inspection system, and comprises the following steps:
providing a communication network to an area within the network coverage range, and extending and covering the communication network to the blind area underground cable tunnel through the phased array antenna;
and controlling the accessed inspection robot through the covered communication network to inspect the blind area underground cable tunnel.
In one embodiment, the method further comprises: and providing slicing service for the patrol of the blind area underground cable tunnel through the extended covered 5G communication network.
In one embodiment, the method further comprises: and in the inspection process of the inspection robot, controlling the phased array antenna to continuously switch angles of antenna beams transmitted by the inspection robot.
In one embodiment, the method further comprises: the control-accessed inspection machine monitors the tunnel environment information through the various sensors and transmits back the real-time monitoring video through the camera.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the above-described blind zone underground cable tunnel inspection method.
The invention provides a system, a method and a medium for inspecting a blind area underground cable tunnel. And a wireless communication link is established with the inspection robot through microwaves, and the inspection robot is utilized to realize the intelligent and rapid inspection of the blind area underground cable tunnel, so that the intelligent control and the three-dimensional inspection of the blind area underground cable tunnel and the timely return of monitoring data can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic diagram of a blind area underground cable tunnel inspection system in one embodiment;
fig. 2 is a schematic flow chart of a blind area underground cable tunnel inspection method in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The space of underground cable tunnel is narrow and small relatively to the operational environment is relatively poor, therefore underground cable tunnel's the communication network construction degree of difficulty is great, leads to appearing more blind area underground cable tunnel. And because the communication condition of the blind area underground cable tunnel is relatively poor, the condition that the patrol information cannot be fed back in time or cannot be fed back often appears. For this case, the following solution is proposed.
As shown in fig. 1, fig. 1 is a schematic view of a blind area underground cable tunnel inspection system in one embodiment, the blind area underground cable tunnel inspection system including: a base station 100, a gateway (not shown), a phased array antenna 200, and an inspection robot 300. This blind area underground cable tunnel system of patrolling and examining can extend the network and cover to blind area underground cable tunnel 400 to patrol and examine blind area underground cable tunnel 400 through the robot 300 of patrolling and examining of access network.
Wherein, in this blind area underground cable tunnel system of patrolling and examining, each subassembly realizes following function:
the base station in this embodiment is configured to provide a communication network to an area within a coverage area of the network.
In particular, a base station is a form of radio station, which refers to a radio transceiver station that performs information transfer with terminals through a communication switching center in a certain radio coverage area. The base station can be used for ensuring that the terminal can keep a network anytime and anywhere, but the network coverage range of the base station is limited, the coverage radius of the 4G base station is about 1-3 kilometers, and the coverage radius of the 5G base station is only hundreds of meters. As shown in fig. 1, the network coverage is also indicated by the circle.
When a forward signal is transmitted based on a provided communication network, namely when the inspection robot is controlled, firstly, a control signal, a voice call signal or a signal carrying data service information at a core network side is sent to a base station through the communication network; secondly, the signals are processed by a base band and radio frequency at the base station side and then are sent to an antenna through a radio frequency feeder to be transmitted; and finally, the terminal receives radio waves transmitted by the antenna through a wireless channel and demodulates the signals belonging to the terminal. When the reverse signal is transmitted, namely the monitoring data of the inspection robot is obtained, the direction of the reverse signal is opposite to that of the forward flow, but the principle is similar.
The gateway and the phased array antenna in the embodiment are deployed in an area within a network coverage range, and the phased array antenna is accessed into a communication network through the gateway and used for extending and covering the communication network to a blind area underground cable tunnel.
Specifically, a gateway is also called an inter-network connector or a protocol converter, and is a computer system or device that serves as a conversion task. Gateways enable network interconnection above the network layer, using between two systems of different communication protocols, data formats or languages, and even completely different architectures. In this embodiment, the gateway is deployed in an area within a network coverage area, and is configured to access the phased array antenna to the network.
A phased array antenna is a collection of antenna elements assembled together, the basic functions of which are to transmit and receive radio waves: when transmitting, converting high-frequency current into electromagnetic wave; during reception, the charge wave is converted into a high-frequency current.
In this embodiment, the phased array antenna may be a fixed phased array antenna, and the fixed phased array antenna is deployed at an entrance of an underground cable tunnel covered by a network. In this way, network coverage can be performed from the underground cable tunnel entrance to the blind underground cable tunnel.
The extended coverage of a communication network by phased array antennas depends on the antenna gain. The antenna gain is the ratio of the power density of signals generated by an actual antenna and an ideal radiating element at the same point in space under the condition of equal input power. It quantitatively describes the degree to which an antenna concentrates the input power for radiation. The gain has close relation with the antenna directional diagram, and the narrower the main lobe width of the directional diagram is, the smaller the side lobe width is, the higher the gain is.
We can calculate the phased array beamwidth θ by the array factorBWThe calculation formula is as follows:
wherein, is the wave beam width factor, lambda is the wavelength, N is the linear array element number, is the array element spacing, theta0Is the scan angle, i.e. the beam pointing direction.
It can be seen that when the aperture (Nd) of the antenna is larger, namely the number of the array elements is larger, the distance between the array elements is larger, and the wave beam is narrower; it can also be understood that the longer the linear array, the narrower the beam width, and the greater the antenna gain.
With scan angle theta0The beam width is widened, when the scanning angle is plus or minus 60 degrees, the rest chord value is 1/2, and the beam width is doubled compared with that when the scanning angle is 0 degree; as the scan angle increases, not only the beam width but also the antenna gain deteriorates. Typically no more than plus or minus 60 degrees.
It can also be seen that the longer the wavelength, the larger the beam width, under the condition that the antenna aperture is not changed; it is more suitable to use a higher frequency band of a shorter wavelength in order to obtain a narrower beam.
By design, the phased array antenna communication network in the embodiment extends to cover a blind area underground cable tunnel 20 kilometers away.
The inspection robot in the embodiment establishes a communication link with the phased array antenna through microwaves to access the communication network after the coverage is extended, and is used for inspecting the blind area underground cable tunnel based on the communication network after the coverage is extended.
Specifically, the inspection robot includes: the system comprises a plurality of sensors and cameras, wherein the sensors are used for monitoring tunnel environment information which comprises temperature, humidity and harmful gas content. And transmitting back the real-time monitoring video through the camera. The inspection robot is connected to the network, and the rear-end control center can acquire real-time tunnel environment information and monitoring videos. And further analyzing the conditions of the damaged power transmission line, such as cable insulation damage, cable blowout, cable joint explosion, cable tunnel fire, cable tunnel water logging and the like.
The frequency range of the microwave is 300MHz-3000GHz, because the microwave link has higher available bandwidth and can transmit video pictures, the adopted high-bandwidth and high-gain antenna has good anti-interference performance, and therefore the microwave is selected to establish the communication link.
In addition, in the process of patrolling and examining by the robot, the phased array antenna still needs to continuously switch the angle to the antenna beam of patrolling and examining the robot transmission to realize that communication is stable.
Optionally, the method for switching the angle includes: 1) and carrying out antenna wave control parameter configuration on the phased array antenna, wherein the configuration comprises array surface channel distribution, dx coordinates, dy coordinates, frequency division, beam addresses and a wave control protocol.
2) Generating theoretical phases of all channels through upper computer software according to a phase calculation formula of the phased array antenna and the wave control configuration parameters in the step 1, normalizing values calculated by the theoretical phases to 0-360 degrees, adding array surface calibration amplitude phases to obtain amplitude phases of all channels, and calculating frequency and angle required by a wave beam according to a conversion formula of a chip;
3) establishing communication connection between the upper computer and the antenna extension set;
4) erasing Flash data on the antenna extension before each programming program, and ensuring the correctness of the programming data;
5) restarting the antenna extension;
6) programming and storing the initial address of each beam data into Flash;
7) writing beam data to the address according to the initial address of the beam;
8) after the antenna is powered on, a program of the programmable array logic processing chip initializes the beam data initial address to a random access memory for use in beam control;
9) when the antenna extension receives the frequency and the angle of the beam, inquiring the initial address of the beam from the random access memory according to the beam and the angle:
10) continuously reading a plurality of data of the array surface channel according to the initial address of the obtained wave beam data, wherein the data is the data required by the wave beam;
11) writing the read beam data into a corresponding chip;
12) and finally, controlling the output voltage value of the chip through the signal of the chip so as to realize beam switching.
Therefore, the blind area underground cable tunnel inspection system is provided with the phased array antenna within the network coverage range of the base station, and the phased array antenna is used for extending and covering the communication network to the blind area underground cable tunnel, so that the comprehensive coverage of the communication network can be realized with relatively small construction difficulty. And a wireless communication link is established with the inspection robot through microwaves, and the inspection robot is utilized to realize the intelligent and rapid inspection of the blind area underground cable tunnel, so that the intelligent control and the three-dimensional inspection of the blind area underground cable tunnel and the timely return of monitoring data can be realized.
In a specific embodiment, the base station is a 5G base station, and is configured to provide slicing service for routing inspection of the blind area underground cable tunnel through the extended covered 5G communication network.
Specifically, the slicing service is to divide a 5G network into "many pieces", and each piece meets different requirements. To implement Network slicing, Network Function Virtualization (NFV) is a prerequisite. In essence, NFV is the transfer of software and hardware functions of dedicated devices in a network (such as network nodes and policy and charging rules functions in the core network, digital units in the radio access network) to Virtual hosts (VMs). These virtual hosts are industry standard-based commodity servers, which are commercially off-the-shelf products, low cost, and simple to install. Simply, industry standard-based servers, storage, and network devices are used to replace dedicated network element devices in a network.
After the network is subjected to function virtualization, the radio access network part is called Edge Cloud (Edge Cloud), and the Core network part is called Core Cloud (Core Cloud). VMs in the edge cloud and VMs in the core cloud are interconnected and intercommunicated through a Software Defined Network (SDN).
Thus, with both NFV and SDN adopted by the network, slicing is very easy to perform, and the network is "sliced" into multiple virtual sub-networks (slices) horizontally like a slice packet. The slicing service can provide higher-level network bandwidth, time delay, connection capability, data security isolation and the capability of customizing network service, so that the work of information acquisition, measurement, control, protection, measurement and the like can be further carried out.
As shown in fig. 2, a blind area underground cable tunnel inspection method is also provided, which is applied to the blind area underground cable tunnel inspection system, and the method comprises the following steps:
And 204, controlling the accessed inspection robot to inspect the blind area underground cable tunnel through the covered communication network.
In one embodiment, the following steps are also performed: slice service is provided for the patrol of the blind area underground cable tunnel through the extended covered 5G communication network.
In one embodiment, the following steps are also performed: and in the process of polling the polling robot, the phased array antenna is controlled to continuously switch the angle of the antenna beam transmitted to the polling robot.
In one embodiment, the following steps are also performed: the inspection machine which is controlled to be accessed monitors the tunnel environment information through various sensors and transmits back the real-time monitoring video through the camera.
A computer-readable storage medium, storing a computer program which, when executed by a processor, performs the steps of: and providing a communication network for an area within the network coverage range, and extending and covering the communication network to the blind area underground cable tunnel through the phased array antenna.
And controlling the accessed inspection robot to inspect the blind area underground cable tunnel through the covered communication network.
In one embodiment, the following steps are also performed: slice service is provided for the patrol of the blind area underground cable tunnel through the extended covered 5G communication network.
In one embodiment, the following steps are also performed: and in the process of polling the polling robot, the phased array antenna is controlled to continuously switch the angle of the antenna beam transmitted to the polling robot.
In one embodiment, the following steps are also performed: the inspection machine which is controlled to be accessed monitors the tunnel environment information through various sensors and transmits back the real-time monitoring video through the camera.
It should be noted that the system, the method and the medium for inspecting the blind area underground cable tunnel belong to a general inventive concept, and the contents in the embodiments of the system, the method and the medium for inspecting the blind area underground cable tunnel are applicable to each other.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a blind area underground cable tunnel system of patrolling and examining, its characterized in that, blind area underground cable tunnel system of patrolling and examining includes: the system comprises a base station, a gateway, a phased array antenna and a patrol robot;
the base station is used for providing a communication network for an area within the network coverage range; wherein the gateway and the phased array antenna are deployed in an area within the network coverage area;
the phased array antenna is accessed to the communication network through the gateway and is used for extending and covering the communication network to the blind area underground cable tunnel; wherein the blind area underground cable tunnel is located outside an area within the network coverage area;
the inspection robot establishes a communication link with the phased array antenna through microwaves to access a communication network after the phased array antenna is extended and covered, and is used for inspecting the blind area underground cable tunnel based on the communication network after the phased array antenna is extended and covered.
2. The blind area underground cable tunnel inspection system according to claim 1, wherein the base station is a 5G base station for providing slicing service for the inspection of the blind area underground cable tunnel through an extended covered 5G communication network.
3. The blind area underground cable tunnel inspection system according to claim 1, wherein the phased array antenna is a fixed phased array antenna deployed at an entrance of an underground cable tunnel covered by a network.
4. The blind area underground cable tunnel inspection system according to claim 1, wherein the phased array antenna continuously switches angles to the antenna beam transmitted by the inspection robot during the inspection of the inspection robot.
5. The blind area underground cable tunnel inspection system according to claim 1, wherein the inspection robot includes: the system comprises a plurality of sensors and cameras, a video acquisition module, a video processing module and a video processing module, wherein the plurality of sensors and the cameras are used for monitoring tunnel environment information through the plurality of sensors and returning a real-time monitoring video through the cameras; wherein, the tunnel environment information comprises temperature, humidity and harmful gas content.
6. A blind area underground cable tunnel inspection method applied to the blind area underground cable tunnel inspection system according to claims 1 to 5, the method comprising:
providing a communication network to an area within a network coverage range, and extending and covering the communication network to the blind area underground cable tunnel through the phased array antenna;
and controlling the accessed inspection robot through the covered communication network to inspect the blind area underground cable tunnel.
7. The method of claim 6, further comprising: and providing slicing service for the patrol of the blind area underground cable tunnel through the extended covered 5G communication network.
8. The method of claim 6, further comprising: and in the process of polling the polling robot, controlling the phased array antenna to continuously switch angles of antenna beams transmitted by the polling robot.
9. The method of claim 1, further comprising: the control-accessed inspection machine monitors the tunnel environment information through the various sensors and transmits back the real-time monitoring video through the camera.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method as claimed in claim 6.
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