A multifunctional inspection terminal suitable for power tunnel operation and maintenance

Abstract

The present application discloses a multifunctional patrol terminal suitable for power tunnel operation and maintenance, comprising: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical test unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting environmental parameters in the environment where the multifunctional patrol terminal is located; the electrical test unit is used to provide an electrical test function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold. This solves the technical problem that existing operation and maintenance personnel need to carry a variety of tools when entering a power tunnel to work, which brings many inconveniences to the on-site operations of the operation and maintenance personnel.

Description

Technical Field

[0001] The present application relates to the technical field of power systems, and in particular to a multifunctional patrol terminal suitable for power tunnel operation and maintenance. Background Art

[0002] With the advancement of the work of burying overhead lines, more transmission lines are being changed from "overhead" to "underground". Promoting the development of power tunnels, a good and stable power tunnel environment can provide good power supply needs for enterprises and residents, but the construction of power tunnels is difficult. Sometimes the power tunnel has a large degree of ups and downs, which makes the construction difficult and the technical conditions required high. It is difficult to achieve "zero defects" in civil engineering, electrical engineering, operation and maintenance. Therefore, it is necessary to ensure the safety and stability of power tunnels through operation and maintenance.

[0003] The operating environment inside the power tunnel is complex, dark and humid, with poor air circulation. At the same time, lighting devices and water pump devices are prone to problems. Therefore, when patrolling the power tunnel, it is usually necessary to carry flashlights, gas detectors, electrician's pens, mobile phone power banks and other equipment. Flashlights are used for lighting, and gas detectors warn and protect operation and maintenance personnel by detecting combustible gas, oxygen, hydrogen sulfide, and carbon monoxide. When water enters the power tunnel, it is necessary to use an electrician's pens to test whether the accumulated water is electrified. Mobile phone power banks can help operation and maintenance personnel charge their mobile phones in an emergency, ensuring that the operation and maintenance personnel maintain stable communication with the ground command center.

[0004] From the above description, it can be known that the existing operation and maintenance personnel need to carry a variety of tools when entering the power tunnel to work, which brings a lot of inconvenience to the on-site work of the operation and maintenance personnel. Summary of the invention

[0005] In view of this, the present application provides a multifunctional patrol terminal suitable for power tunnel operation and maintenance, which solves the technical problem that existing operation and maintenance personnel need to carry multiple tools when entering the power tunnel to work, causing many inconveniences to the on-site operations of the operation and maintenance personnel.

[0006] The present application provides a multifunctional inspection terminal suitable for power tunnel operation and maintenance, including:

[0007] Terminal body, lighting unit, environmental parameter detection unit, power test unit, power supply, main control unit and alarm;

[0008] The lighting unit is installed at the end of the terminal body and connected to the power source for lighting;

[0009] The environmental parameter detection unit is installed on the terminal body and connected to the power supply, and is used to detect the environmental parameters of the environment in which the multifunctional patrol terminal is located;

[0010] The electrical testing unit is used to provide an electrical testing function;

[0011] The power supply is provided with a charging interface;

[0012] The alarm is used to send out an alarm signal;

[0013] The main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold.

[0014] Optionally, the multifunctional patrol terminal in this embodiment further includes: a human-computer interaction unit;

[0015] The human-computer interaction unit is mounted on the terminal body, and is used to receive interaction instructions sent by operation and maintenance personnel, and send the interaction instructions to the main control unit.

[0016] Optionally, the human-computer interaction unit includes: a display unit and a keyboard and mouse module;

[0017] The keyboard and mouse module is used to receive the interactive instructions sent by the operation and maintenance personnel;

[0018] The display unit is used to display the interaction instruction.

[0019] Optionally, the human-computer interaction unit further includes: a voice module;

[0020] The voice module is used to receive the voice signal input by the operation and maintenance personnel, and is also used to play the voice data sent by the background control system.

[0021] Optionally, the voice module is also used to play the inspection items.

[0022] Optionally, the environmental parameter detection unit includes: a gas sensor and a temperature sensor;

[0023] The gas sensor is used to detect the concentration of the preset gas in the environment where the multifunctional patrol terminal is located;

[0024] The temperature sensor is used to detect the temperature of the environment in which the multifunctional patrol terminal is located.

[0025] Optionally, the multifunctional patrol terminal in this embodiment further includes: a positioning unit;

[0026] The positioning unit is installed on the terminal body and connected to the power supply, and is used to locate the position of the multifunctional patrol terminal.

[0027] Optionally, the main control unit is further configured to trigger the alarm unit when it is determined that the multifunctional patrol terminal is at a preset target position.

[0028] It can be seen from the above technical solutions that this application has the following advantages:

[0029] The present application provides a multifunctional patrol terminal suitable for power tunnel operation and maintenance, comprising: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting environmental parameters in the environment where the multifunctional patrol terminal is located; the electrical testing unit is used to provide an electrical testing function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold. The multifunctional patrol terminal in the present application includes: a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, etc. The above-mentioned units can meet the user's lighting, environmental monitoring, electrical testing, charging and other needs. When the operation and maintenance personnel enter the power tunnel to work, they only need to carry the multifunctional patrol terminal to complete the inspection and operation and maintenance work, which reduces the time for preliminary equipment of tools, and also reduces the occurrence of dangerous situations caused by insufficient tools, greatly improves the work efficiency of the operation and maintenance personnel, and also improves their safety factor, thereby solving the technical problem that the existing operation and maintenance personnel need to carry multiple tools when entering the power tunnel to work, which brings many inconveniences to the on-site operations of the operation and maintenance personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 This is a structural schematic diagram of a multifunctional patrol terminal suitable for power tunnel operation and maintenance in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the circuit connection relationship of a multifunctional inspection terminal suitable for power tunnel operation and maintenance in an embodiment of the present application;

[0033] Figure 3 Schematic diagram of the positioning principle of the multifunctional patrol terminal in the embodiment of the present application. DETAILED DESCRIPTION

[0034] The embodiment of the present application provides a multifunctional inspection terminal suitable for power tunnel operation and maintenance, which solves the technical problem that existing operation and maintenance personnel need to carry multiple tools when entering a power tunnel to work, causing many inconveniences to the on-site operations of the operation and maintenance personnel.

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] A first aspect of the embodiments of the present application provides an embodiment of a multifunctional patrol terminal suitable for power tunnel operation and maintenance.

[0037] See also Figure 1 and Figure 2 In this embodiment, the multifunctional patrol terminal suitable for power tunnel operation and maintenance includes: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting the environmental parameters of the environment in which the multifunctional patrol terminal is located; the electrical testing unit is used to provide an electrical testing function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold.

[0038] It is understandable that the power source can be a dry cell battery pack. After charging the dry cell battery pack, the electricity in the dry cell battery pack can provide power for the operation of the multifunctional patrol terminal, and can also charge mobile terminals such as mobile phones and tablet computers of operation and maintenance personnel. The charging interface for charging the mobile terminal can be a variety of types of interfaces, such as a USB interface, a type-c interface, etc., and those skilled in the art can select according to their needs, which will not be described in detail here.

[0039] In one embodiment, the above-mentioned electrical testing unit may be an electrical testing pen. When encountering water accumulation or other situations, the electrical testing pen can measure electricity to remind the operation and maintenance personnel whether there is electricity and determine whether to pump out the water.

[0040] The above-mentioned preset environmental parameter thresholds can be set as needed, and are not specifically limited in this embodiment.

[0041] The main control unit may be a variety of components with central control functions, such as a single-chip microcomputer or a microcontroller, etc., which is not specifically limited in this embodiment.

[0042] The multifunctional patrol terminal in this embodiment includes: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting the environmental parameters of the environment in which the multifunctional patrol terminal is located; the electrical testing unit is used to provide an electrical testing function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold. The multifunctional patrol terminal in the present application includes: a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, etc. The above-mentioned units can meet the user's lighting, environmental monitoring, electrical testing, charging and other needs. When the operation and maintenance personnel enter the power tunnel to work, they only need to carry the multifunctional patrol terminal to complete the inspection and operation and maintenance work, which reduces the time for preliminary equipment of tools, and also reduces the occurrence of dangerous situations caused by insufficient tools, greatly improves the work efficiency of the operation and maintenance personnel, and also improves their safety factor, thereby solving the technical problem that the existing operation and maintenance personnel need to carry multiple tools when entering the power tunnel to work, which brings many inconveniences to the on-site operations of the operation and maintenance personnel.

[0043] The above is a first embodiment of a multifunctional patrol terminal suitable for power tunnel operation and maintenance provided in an embodiment of the present application, and the following is a second embodiment of a multifunctional patrol terminal suitable for power tunnel operation and maintenance provided in an embodiment of the present application.

[0044] See also Figure 1 and Figure 2 In this embodiment, the multifunctional patrol terminal suitable for power tunnel operation and maintenance includes: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting the environmental parameters of the environment in which the multifunctional patrol terminal is located; the electrical testing unit is used to provide an electrical testing function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold.

[0045] Furthermore, the multifunctional patrol terminal in this embodiment also includes: a human-computer interaction unit; the human-computer interaction unit is assembled on the terminal body, and is used to receive interaction instructions sent by operation and maintenance personnel, and send the interaction instructions to the main control unit.

[0046] Optionally, the human-computer interaction unit includes: a display unit and a keyboard and mouse module; the keyboard and mouse module is used to receive interaction instructions sent by the operation and maintenance personnel; and the display unit is used to display the interaction instructions.

[0047] It is understandable that the keyboard and mouse module supports setting the equipment parameters of the multi-function patrol terminal, and the display unit supports displaying the above equipment parameters. Before entering the power tunnel, the flashlight can be adjusted and set to set the alarm gas concentration (combustible gas, oxygen, hydrogen sulfide, carbon monoxide and other gases), as well as the alarm temperature. At the same time, the display unit will display the current gas concentration, current temperature, and the remaining power of the flashlight in real time.

[0048] In one embodiment, the human-computer interaction unit further includes: a voice module; the voice module is used to receive the voice signal input by the operation and maintenance personnel, and is also used to play the voice data sent by the background control system.

[0049] Furthermore, the voice module is also used to play the inspection items.

[0050] Specifically, the environmental parameter detection unit includes: a gas sensor and a temperature sensor;

[0051] The gas sensor is used to detect the concentration of the preset gas in the environment where the multifunctional patrol terminal is located;

[0052] The temperature sensor is used to detect the temperature of the environment in which the multifunctional patrol terminal is located.

[0053] Specifically, the temperature sensor in this embodiment uses temperature measurement technology. By infrared imaging of the high-voltage cable connector, the measured data is communicated to the main control unit through the signal acquisition module via the serial port. If the preset temperature is exceeded, the sound and light alarm device at the back of the flashlight will alarm and alert the operation and maintenance personnel.

[0054] The gas sensor inhales gas through the suction pump and can sense combustible gas, oxygen, hydrogen sulfide, carbon monoxide and other gases. It communicates via the serial port through the signal acquisition module and transmits the collected gas concentration parameters to the main control unit. The main control unit determines whether the gas concentration has reached the preset alarm concentration, and then issues an alarm to warn the operation and maintenance personnel to evacuate.

[0055] Furthermore, the multifunctional patrol terminal in this embodiment further includes: a positioning unit;

[0056] The positioning unit is installed on the terminal body and connected to the power supply, and is used to locate the position of the multifunctional patrol terminal.

[0057] Specifically, the main control unit is further configured to trigger the alarm unit when it is determined that the multifunctional patrol terminal is at a preset target position.

[0058] It can be understood that the positioning working principle in this embodiment is as follows: Ultra-wideband TOA ranging algorithm based on complex channel modeling. The basic principle of the TOA ranging algorithm is mainly based on measuring the arrival time of the received signal between the base station and the mobile station, and then converting it into distance for positioning. This method requires at least three base stations to calculate the location of the target.

[0059] like Figure 3 The figure shows the positioning principle of the TOA ranging algorithm. Figure 3 The distances between the three base stations (x1, y1), (x2, y2) and (x3, y3) and the point to be located are d1, d2 and d3 respectively. According to the above distances, the point to be located can be located and the corresponding position coordinates (x0, y0) can be obtained.

[0060] However, objects such as metal brackets in power tunnels cause a strong multipath effect on the transmission of wireless signals. In addition, power tunnels are usually several kilometers long, and the wireless channel is in the U-DPP (Undetected Direct-path-pusle) state. The channel errors caused by multipath transmission and non-line-of-sight transmission often cause large errors in the positioning function. Therefore, this application proposes a TOA ranging algorithm based on complex channel modeling and integrates ultra-wideband technology to further improve the positioning accuracy. The specific algorithm steps and processes are as follows:

[0061] 1) Measure the wireless signal transmission data of the power tunnel, obtain the parameter statistical model of the signal, and verify the Gaussian statistical distribution characteristics of the parameters. According to the 3σ principle of normal distribution, under the U-DPP channel state, the TOA ranging error distribution probability is mainly concentrated in (μ U-DPP -3σ U-DPP , μ U-DPP +3σ U-DPP ) interval. According to the TOA ranging error distribution, the channel state S is divided into three states S1, S2 and S3:

[0062]

[0063] In the formula, e TOA is the TOA ranging error, μ U-DPP is the mean of the TOA error Gaussian distribution function under the U-DPP channel state, σ U-DPP 2is the variance of the Gaussian distribution function of TOA error under the U-DPP channel state, τ is the unit time measured by the TOA ranging chip, and v is the electromagnetic wave transmission speed.

[0064] The above formula divides the channel into three states according to the TOA ranging error: S1-no obstruction, S2-obstruction but detectable with a direct line of sight, and S3-obstruction but undetectable with a direct line of sight.

[0065] 2) Determine the channel environment of the signal transmission in the current period based on TOA, and then use the measurement results obtained by TOA ranging and the variance of the observation noise σ e 2 , introduce the Kalman filter algorithm, iteratively model the channel, obtain the signal transmission model, and improve the positioning accuracy.

[0066] The specific working mode of the multifunctional inspection terminal in this embodiment is as follows: when the operation and maintenance personnel carry the multifunctional inspection terminal into the power tunnel, they can turn on the lighting unit lighting, gas detection, temperature detection, etc. at the same time, and the specific data will be displayed on the display unit. The power supply on the flashlight can power multiple detections and lighting at the same time. At the same time, when the detected data exceeds the corresponding preset threshold, the multifunctional inspection terminal will send an alarm signal to remind the operation and maintenance personnel to pay attention to the possible danger ahead. In an emergency, in order to ensure that the power of the operation and maintenance personnel's communication equipment meets the communication needs, the power supply in the flashlight has a charging interface, which can charge the communication equipment of the operation and maintenance personnel.

[0067] From the above description, it can be known that the multifunctional inspection terminal in this embodiment has the following functions:

[0068] 1. Gas detection function: It can detect fuel gas, oxygen, hydrogen sulfide, and carbon monoxide, and then use sound, light, and vibration alarms to remind operation and maintenance personnel of their safety.

[0069] 2. Emergency lighting function: When the lighting facilities in the power tunnel fail, it provides lighting for operation and maintenance personnel.

[0070] 3. Electricity testing function: When water enters the power tunnel, use an electrician's test pen to test whether the accumulated water is charged before pumping out the water.

[0071] 4. Function of measuring ambient temperature: When using infrared photography to detect the heating of the high-voltage cable joint, the temperature sensor can assist in determining the potential dangers of the joint.

[0072] 5. Mobile phone charging function: can be used for emergency charging of mobile phones and other devices.

[0073] 6. One-click SOS flashlight: The one-click SOS flashlight automatically emits an SOS flash light and a sound for help, and can display the specific location in the power tunnel.

[0074] 7. Power tunnel inspection instructions: When inspecting power tunnels, direct reminders can be sent to inspectors to check items (fans, water pumps, etc.).

[0075] 8. When patrolling to a specific position in the power tunnel (preset target position), a voice reminder will be issued to remind the patrol personnel of the location they have arrived at and the fans, water pumps, etc. that need to be inspected (an active terminal needs to be installed in the power tunnel to assist in determining the location).

[0076] 9. After the personnel positioning mobile terminal enters the positioning service, the distance between the current terminal and the set starting terminal can be displayed on the interface.

[0077] 10. Remote shouting service: The shouting of the background control system has priority. Once the background control system initiates a remote shouting, the mobile terminal parses the shouting command and broadcasts it through the voice module. After the remote shouting function is started, the terminal will automatically switch from other interfaces to the remote shouting interface.

[0078] The multifunctional patrol terminal in this embodiment includes: a terminal body, a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, a main control unit and an alarm; the lighting unit is installed at the end of the terminal body and connected to the power supply for lighting; the environmental parameter detection unit is installed on the terminal body and connected to the power supply for detecting the environmental parameters of the environment in which the multifunctional patrol terminal is located; the electrical testing unit is used to provide an electrical testing function; a charging interface is provided on the power supply; the alarm is used to send an alarm signal; the main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold. The multifunctional patrol terminal in the present application includes: a lighting unit, an environmental parameter detection unit, an electrical testing unit, a power supply, etc. The above-mentioned units can meet the user's lighting, environmental monitoring, electrical testing, charging and other needs. When the operation and maintenance personnel enter the power tunnel to work, they only need to carry the multifunctional patrol terminal to complete the inspection and operation and maintenance work, which reduces the time for preliminary equipment of tools, and also reduces the occurrence of dangerous situations caused by insufficient tools, greatly improves the work efficiency of the operation and maintenance personnel, and also improves their safety factor, thereby solving the technical problem that the existing operation and maintenance personnel need to carry multiple tools when entering the power tunnel to work, which brings many inconveniences to the on-site operations of the operation and maintenance personnel.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another power grid network to be installed, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0081] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0083] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0084] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multifunctional inspection terminal suitable for power tunnel operation and maintenance, characterized in that: include: Terminal body, lighting unit, environmental parameter detection unit, power test unit, power supply, human-computer interaction unit, positioning unit, main control unit and alarm; The lighting unit is installed at the end of the terminal body and connected to the power source for lighting; The environmental parameter detection unit is installed on the terminal body and connected to the power supply, and is used to detect the environmental parameters of the environment in which the multifunctional patrol terminal is located; The electrical testing unit is used to provide an electrical testing function; The power supply is provided with a charging interface; The human-computer interaction unit is mounted on the terminal body and is used to receive interaction instructions sent by the operation and maintenance personnel and send the interaction instructions to the main control unit; The positioning unit is installed on the terminal body and connected to the power supply, and is used to locate the position of the multifunctional patrol terminal based on an ultra-wideband TOA ranging algorithm based on complex channel modeling; The human-computer interaction unit includes: a display unit and a keyboard and mouse module; The keyboard and mouse module is used to receive the interactive instructions sent by the operation and maintenance personnel; The display unit is used to display the interaction instruction; The alarm is used to send out an alarm signal; The main control unit is used to trigger the alarm when the environmental parameter exceeds a preset environmental parameter threshold; The ultra-wideband TOA ranging algorithm based on complex channel modeling locates the position of the multifunctional patrol terminal, including: Measure the wireless signal transmission data of the power tunnel, obtain the parameter statistical model of the signal, and verify the Gaussian statistical distribution characteristics of the parameters; According to the 3σ principle of normal distribution, the TOA ranging error distribution is obtained under the U-DPP channel state; According to the TOA ranging error distribution, the channel state S is divided into three states S1, S2 and S3, where S1 is an unobstructed state, S2 is an obstructed state but can be detected with a direct line of sight, and S3 is an obstructed state but cannot be detected with a direct line of sight: ； In the formula, is the TOA ranging error, is the mean of the TOA error Gaussian distribution function under the U-DPP channel state, is the variance of the TOA error Gaussian distribution function under the U-DPP channel state, is the unit time measured by the TOA ranging chip, is the electromagnetic wave transmission speed; Determine the channel environment of signal transmission in the current period based on TOA; The measurement results obtained through TOA ranging and the variance of the observation noise are used to iteratively model the channel according to the Kalman filter algorithm to obtain the signal transmission model.

2. The multifunctional inspection terminal suitable for power tunnel operation and maintenance according to claim 1 is characterized in that: The human-computer interaction unit also includes: a voice module; The voice module is used to receive the voice signal input by the operation and maintenance personnel, and is also used to play the voice data sent by the background control system.

3. The multifunctional inspection terminal suitable for power tunnel operation and maintenance according to claim 2 is characterized in that: The voice module is also used to play the patrol items.

4. The multifunctional inspection terminal suitable for power tunnel operation and maintenance according to claim 1 is characterized in that: The environmental parameter detection unit includes: a gas sensor and a temperature sensor; The gas sensor is used to detect the concentration of the preset gas in the environment where the multifunctional patrol terminal is located; The temperature sensor is used to detect the temperature of the environment in which the multifunctional patrol terminal is located.

5. The multifunctional inspection terminal suitable for power tunnel operation and maintenance according to claim 1 is characterized in that: The main control unit is also used to trigger the alarm when it is determined that the multifunctional patrol terminal is at a preset target position.

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