A remote temperature measurement method, system and device

Abstract

The application discloses a kind of remote temperature measurement method, system and equipment, the present application is obtained by responding to the temperature measurement request of received electrical equipment, the target electrical equipment position information corresponding to electrical equipment temperature measurement request is acquired;According to environmental information and target electrical equipment position information, the target navigation route is planned, and the starting point information corresponding to unmanned ship is determined;The target navigation route is sent to the central control system;The ship body is driven to the preset temperature measurement site corresponding to target electrical equipment position information by power system along target navigation route by the central control system control;The target electrical equipment is measured by temperature measurement equipment, and equipment temperature information is generated.Solve the technical problem that the existing technology exists improper operation of ship, leading to safety accident.The present application is placed in water area by light, convenient to transport unmanned ship for intelligent cruising, without spending too much manpower and material resources, so as to reach the electrical equipment erected in water area under the safe scene is automatically cruising temperature measurement.

Description

Technical Field

[0001] This invention relates to the field of remote temperature measurement technology, and in particular to a remote temperature measurement method, system and device. Background Technology

[0002] In power line inspection work, it is often necessary to inspect whether there are faults in the lines or electrical equipment. However, some power lines are still installed along rivers, lakes, or in the middle of the country, requiring maintenance personnel to drive boats or other means of transportation to measure the temperature. This leads to problems such as inconvenient transportation and inability to reach the site when inspecting this section of the line.

[0003] Therefore, when inspecting 10kV and 35kV and above power transmission and distribution lines, maintenance personnel usually travel by ordinary boat to inspect the lines. However, the above method requires maintenance personnel to drive the boat for a long time while performing inspection work, which may lead to safety accidents due to improper boat operation. Summary of the Invention

[0004] This invention provides a remote temperature measurement method, system, and device, which solves the technical problem that existing technologies require maintenance personnel to operate ships for extended periods while also performing inspection work, leading to improper ship operation and potential safety accidents.

[0005] The first aspect of this invention provides a remote temperature measurement method applied to a control system, relating to an unmanned surface vessel (USV), wherein the USV includes a hull, a central control system, a power system, and a temperature measurement device; the method includes:

[0006] In response to a received electrical equipment temperature measurement request, the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request is obtained;

[0007] The target navigation route is planned based on environmental information and the location information of the target electrical equipment, and the starting waypoint information corresponding to the unmanned vessel is determined.

[0008] The target navigation route is sent to the central control system;

[0009] The central control system controls the power system to drive the hull along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information;

[0010] The temperature of the target electrical equipment is measured by the temperature measuring device to generate equipment temperature information.

[0011] Optionally, the unmanned surface vessel further includes detachable equipment, and before the step of responding to a received electrical equipment temperature measurement request and obtaining the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request, it further includes:

[0012] When a temperature measurement request for electrical equipment is received, the unmanned vessel corresponding to the temperature measurement request for electrical equipment is identified;

[0013] The hull, detachable equipment, central control system, power system, and temperature measurement equipment of the unmanned vessel are transported to the starting point and assembled.

[0014] Optionally, a database is involved; the step of planning the target navigation route based on environmental information and the location information of the target electrical equipment, and determining the starting waypoint information corresponding to the unmanned vessel, includes:

[0015] Extract environmental information and the location information of the target electrical equipment from the database;

[0016] Based on the outline information of the obstacles corresponding to the environmental information and the location information of the target electrical equipment, multiple navigation routes are planned;

[0017] Select a target navigation route from among the multiple navigation routes according to preset navigation conditions;

[0018] The docking point corresponding to the target navigation route is determined as the starting waypoint of the unmanned vessel.

[0019] Optionally, the unmanned surface vessel further includes a positioning unit, an inertial measurement unit, and an obstacle sensor; the step of sending the target navigation route to the central control system includes:

[0020] Receive positioning information fed back by the positioning unit in real time;

[0021] The ship's speed, heading, and displacement information are received in real time from the inertial measurement unit.

[0022] Real-time monitoring to see if obstacle information is received from the obstacle sensor;

[0023] If not, proceed to the step of real-time monitoring to see if obstacle information is received from the obstacle sensor;

[0024] If so, based on the positioning information, the contour information corresponding to the obstacle information, the navigation speed, the heading, and the displacement information, the target navigation route is adjusted using a path planning algorithm and a dynamic obstacle avoidance algorithm to generate an updated navigation route;

[0025] The updated navigation route is sent to the central control system.

[0026] Optionally, the positioning unit includes RTK and GPS; the step of receiving positioning information fed back by the positioning unit in real time includes:

[0027] Determine whether the number of satellites has reached the preset satellite number value, whether the ionospheric activity value has reached the preset activity threshold, and whether the network signal has reached the preset network threshold;

[0028] If all conditions are met, the hull's positioning information is detected in real time using the RTK.

[0029] If some or all of the conditions are met, the GPS will be used to detect the ship's positioning information in real time.

[0030] Optionally, it also includes:

[0031] Based on the temperature threshold range in which the equipment temperature information falls, the corresponding temperature risk level is determined;

[0032] The corresponding maintenance information is determined and output according to each of the stated temperature risk levels.

[0033] Optionally, the unmanned vessel further includes a camera, and the method further includes:

[0034] The camera captures video footage of the ship's hull and its surrounding environment.

[0035] Optionally, the unmanned surface vessel also includes a brightness sensor, a weather phenomenon meter, lighting equipment, and warning devices. The method further includes:

[0036] When the light intensity sensed by the brightness sensor reaches a preset brightness value, brightness information is generated.

[0037] Adjust the lighting device according to the brightness information;

[0038] When the visibility detected by the weather phenomenon instrument reaches a preset visibility value, visibility information is generated;

[0039] The warning device is activated based on the visibility information.

[0040] A second aspect of this invention provides a remote temperature measurement system applied to a control system, relating to an unmanned surface vessel (USV). The USV includes a hull, a central control system, a power system, and a temperature measurement device. The system comprises:

[0041] The target electrical equipment location information module is used to respond to a received electrical equipment temperature measurement request and obtain the target electrical equipment location information corresponding to the electrical equipment temperature measurement request;

[0042] The target navigation route module is used to determine the starting waypoint information corresponding to the unmanned vessel based on environmental information and the location information of the target electrical equipment, and to plan the target navigation route.

[0043] The central control system module is used to send the target navigation route to the central control system;

[0044] The preset temperature measurement location module is used to control the power system through the central control system to drive the hull along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information;

[0045] The equipment temperature module is used to measure the temperature of the target electrical equipment through the temperature measuring device and generate equipment temperature information.

[0046] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the remote temperature measurement method as described in any of the preceding claims.

[0047] As can be seen from the above technical solutions, the present invention has the following advantages:

[0048] This invention responds to received electrical equipment temperature measurement requests, obtains the location information of the target electrical equipment corresponding to the request, determines the starting waypoint information of the unmanned surface vessel (USV) based on environmental information and the target electrical equipment location information, and plans the target navigation route, sends the target navigation route to the central control system, and uses the central control system to control the power system to drive the vessel along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information, and uses temperature measuring equipment to measure the temperature of the target electrical equipment and generate equipment temperature information. This solves the technical problem of existing technologies requiring maintenance personnel to operate the vessel for extended periods while also performing inspection work, leading to safety accidents due to improper vessel operation. This invention achieves automatic cruise temperature measurement of electrical equipment installed in waterways in a safe environment by placing a lightweight, easily transportable USV in the water for intelligent cruising, without requiring excessive manpower and resources. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a flowchart illustrating the steps of a remote temperature measurement method provided in Embodiment 1 of the present invention.

[0051] Figure 2 This is a flowchart illustrating the steps of a remote temperature measurement method provided in Embodiment 2 of the present invention.

[0052] Figure 3 This is a schematic diagram of the structure of an unmanned vessel provided in Embodiment 2 of the present invention;

[0053] Figure 4 The images show a top view (left) and a side view (right) of an unmanned vessel according to Embodiment 2 of the present invention.

[0054] Figure 5 This is a structural block diagram of a remote temperature measurement system provided in Embodiment 3 of the present invention.

[0055] The meanings of the reference numerals in the attached figures are as follows:

[0056] 1. Camera; 2. Detachable equipment; 3. Central control system; 4. Hull; 5. Power system. Detailed Implementation

[0057] This invention provides a remote temperature measurement method, system, and device to address the technical problem that existing technologies require maintenance personnel to operate ships for extended periods while also performing inspection work, which can lead to safety accidents due to improper ship operation.

[0058] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0059] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of a remote temperature measurement method provided in Embodiment 1 of the present invention.

[0060] This invention provides a remote temperature measurement method applied to a control system, relating to an unmanned surface vessel (USV). The USV includes a hull 4, a central control system 3, a power system 5, and a temperature measurement device. The method includes the following steps:

[0061] 101. Respond to the received electrical equipment temperature measurement request and obtain the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request.

[0062] It should be noted that unmanned vessels refer to intelligent vessels that do not require human piloting. The four main components of the hull serve to provide support, facilitate relocation and transportation, and enable operation in complex environments. The entire hull is constructed of waterproof and corrosion-resistant materials, ensuring long-term use in shallow waters, reservoirs, and swamps. The hull is a sealed structure that can be used to store batteries. The central control system 3 controls the start and stop of each module. The central control system 3 can transmit images in real time and download temperature monitoring photos in real time. The temperature measuring device can be a 360° rotatable thermal imaging device, enabling nighttime temperature monitoring, and this device has a zoom function.

[0063] The power system 5 includes a battery, an electric motor, and a propeller. To extend the battery's cycle life, a nickel-metal hydride battery is used as the power source to power the electric motor. The electric motor converts electrical energy into mechanical energy. One end of the electric motor shaft is connected to the propeller. Compared to a traditional internal combustion engine, its advantages include faster power response, higher energy conversion efficiency, and, as a clean energy source, it does not produce exhaust fumes or noise pollution. The target electrical equipment location information refers to the latitude and longitude information corresponding to the target electrical equipment.

[0064] In this embodiment of the invention, after receiving a temperature measurement request from an electrical device, the latitude and longitude information of the target electrical device corresponding to the temperature measurement request is obtained to facilitate subsequent planning of the navigation route.

[0065] 102. Based on environmental information and the location information of the target electrical equipment, plan the target navigation route and determine the starting waypoint information corresponding to the unmanned vessel.

[0066] It should be noted that environmental information includes the environment of the waters where the target electrical equipment is located, including whether it is a reservoir, river, sea, or swamp, the presence of fixed obstacles, and the width and length of the water area. The starting waypoint information refers to the specific address where the unmanned vessel will dock, which can be calculated based on the known environmental information and the location of the target electrical equipment. The target navigation route refers to the shortest route with the fewest obstacles and the fewest turns.

[0067] In this embodiment of the invention, multiple navigation routes are designed by calculating the shortest distance between the coastline or riverbank of the known environmental information and the location of the target electrical equipment. Finally, the optimal route is selected as the target navigation route, and the coastline of the target navigation route is set as the starting point.

[0068] 103. Send the target navigation route to the central control system 3.

[0069] In a specific embodiment, the target navigation route is sent to the central control system 3, which then controls the unmanned vessel's power system 5.

[0070] 104. The central control system 3 controls the power system 5 to drive the hull 4 along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information.

[0071] It should be noted that the optimal temperature measurement distance for the temperature measuring device is within 10 meters. Therefore, the preset temperature measurement location is set in the surrounding area within 10 meters of the target electrical equipment.

[0072] In a specific embodiment, after receiving the target navigation route, the central control system 3 immediately controls the start of the power system 5. The electric motor of the power system 5 converts electrical energy into mechanical energy to drive the hull 4 to travel along the target navigation route until it reaches the surrounding area within 10 meters of the target electrical equipment corresponding to the location information of the target electrical equipment.

[0073] 105. Measure the temperature of the target electrical equipment using temperature measuring equipment and generate equipment temperature information.

[0074] In a specific embodiment, after the temperature measuring device measures the temperature of the target electrical equipment, it reads the measured temperature information and generates equipment temperature information.

[0075] This invention responds to received electrical equipment temperature measurement requests, obtains the location information of the target electrical equipment corresponding to the request, plans a target navigation route based on environmental information and the target electrical equipment location information, and determines the starting waypoint information corresponding to the unmanned surface vessel (USV), sends the target navigation route to the central control system 3, and uses the central control system 3 to control the power system 5 to drive the hull 4 along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information, and uses temperature measuring equipment to measure the temperature of the target electrical equipment and generate equipment temperature information. This solves the technical problem of existing technologies requiring maintenance personnel to operate the vessel for extended periods while also performing inspection work, leading to safety accidents due to improper vessel operation. This invention achieves automatic cruise temperature measurement of electrical equipment installed in waterways in a safe environment by placing a lightweight, easily transportable USV in the water for intelligent cruising, without requiring excessive manpower and resources.

[0076] Please see Figures 2-4 , Figure 2 This is a flowchart illustrating the steps of a remote temperature measurement method provided in Embodiment 2 of the present invention.

[0077] This invention provides a remote temperature measurement method applied to a control system, relating to an unmanned surface vessel (USV). The USV includes a hull 4, a central control system 3, a power system 5, and a temperature measurement device. The method includes the following steps:

[0078] Optionally, the unmanned vessel also includes a detachable device 2, and before step 201, the following steps S11-S12 are also included:

[0079] S11. When a temperature measurement request for electrical equipment is received, determine the unmanned vessel corresponding to the temperature measurement request for electrical equipment;

[0080] S12. Transport the hull 4, detachable equipment 2, central control system 3, power system 5 and temperature measurement equipment corresponding to the unmanned vessel to the starting point and assemble them.

[0081] It should be noted that the electrical equipment temperature measurement request refers to a request for inspection and temperature measurement of electrical equipment; detachable device 2 refers to detachable equipment, which is connected to the hull 4 base via a locking device to prevent accidental detachment due to hull swaying, thus increasing overall stability. The hull 4 base and detachable device 2 can be easily disassembled and transported, and different parts can be replaced according to actual work needs. Detachable device 2 can be considered a multi-functional combination, equipped with infrared thermal imaging, aerial photography, lighting, and other multi-functional integrated equipment. For example, different cameras 1 can be replaced according to actual work needs; a dual-light camera can be used for temperature measurement, and a clearer zoom lens can be used for routine inspections; lighting equipment can be installed to assist operations when visibility is low at night; when a buzzer is added, it can be remotely activated in case of signal loss for easy retrieval; warning lights can be added in foggy weather to alert nearby fishing boats and avoid collision hazards; a loudspeaker can be added for long-distance alerts to on-site personnel. Figures 3-4 As shown, the power system 5’s battery and motor are installed in the base of the hull 4, the paddle is installed at the rear of the base of the hull 4, and the central control system 3, detachable equipment 2 and temperature measuring equipment are installed on the hull 4. The detachable equipment 2 and temperature measuring equipment can be removed for easy transportation.

[0082] In a specific embodiment, when a temperature measurement request for electrical equipment is received, the unmanned surface vessel (USV) to be used is first determined. Various operational data of the USV need to be adjusted to preset values. Specifically, the preset values ​​for the operational data depend on the actual situation and are not limited here. The USV is transported using a pickup truck or a small van cargo box. Before transportation, the hull 4, detachable equipment 2, and temperature measurement equipment need to be disassembled for ease of transport. They are then reassembled upon arrival at the starting point. Compared to the current method of manually inspecting and measuring temperature by boat, this reduces additional costs, such as renting boats and hiring personnel, and also lowers personal safety risks.

[0083] The cost of updating and replacing various equipment functions on unmanned vessels is low. With the replacement of new technologies, equipment and facilities, and the iterative updates of parts, this unmanned vessel needs to replace fixed modules to achieve more functions, effectively reducing the cost of replacing and iterative updates of various equipment and facilities, and achieving a more economical and convenient process.

[0084] 201. Respond to the received electrical equipment temperature measurement request and obtain the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request.

[0085] In this embodiment of the invention, the specific implementation process of step 201 is similar to that of step 101, and will not be repeated here.

[0086] 202. Based on environmental information and the location information of the target electrical equipment, plan the target navigation route and determine the starting waypoint information corresponding to the unmanned vessel.

[0087] Optionally, a database is involved; step 202 includes the following steps S21-S24:

[0088] S21. Extract environmental information and target electrical equipment location information from the database;

[0089] S22. Based on the outline information of obstacles corresponding to environmental information and the location information of target electrical equipment, plan multiple navigation routes;

[0090] S23. Select the target navigation route from multiple navigation routes according to the preset navigation conditions;

[0091] S24. Determine the docking point corresponding to the target navigation route as the starting point of the unmanned vessel.

[0092] It should be noted that the database is a static database that collects various types of water (sea) data; the preset navigation conditions include, but are not limited to, meeting the safety requirements of the unmanned vessel, such as avoiding collisions with obstacles, minimizing the distance of the navigation route, and minimizing the number of turns.

[0093] In a specific embodiment, by acquiring the outline information of fixed obstacles and the location information of target electrical equipment corresponding to known environmental information, multiple navigation routes are generated in the workspace. The target navigation route is selected according to the safety conditions of the unmanned vessel, namely, it must not collide with obstacles, and the navigation route must have the shortest distance and the fewest turns. The docking point corresponding to the target navigation route is used as the starting point of the unmanned vessel.

[0094] 203. Send the target navigation route to the central control system 3.

[0095] Optionally, the unmanned surface vessel also includes a positioning unit, an inertial measurement unit, and an obstacle sensor; step 203 includes the following steps S31-S36:

[0096] S31. Receive positioning information fed back by the positioning unit in real time;

[0097] S32. Receive real-time feedback from the inertial measurement unit on the ship's speed, heading, and displacement information of hull 4;

[0098] S33. Monitor in real time whether obstacle information is received from the obstacle sensor;

[0099] S34. If not, proceed to the step of real-time monitoring to see if obstacle information is received from the obstacle sensor.

[0100] S35. If so, based on the contour information, navigation speed, heading, and displacement information corresponding to the positioning information and obstacle information, the target navigation route is adjusted using the path planning algorithm and the dynamic obstacle planning algorithm to generate an updated navigation route.

[0101] S36. Send the updated navigation route to the central control system 3.

[0102] It should be noted that the central control system 3 is equipped with a positioning unit, an inertial measurement unit (IMU), and obstacle sensors. The positioning unit provides real-time location information for the unmanned surface vessel (USV) based on its latitude and longitude. The IMU acquires information on the USV's attitude, speed, and directional displacement. The obstacle sensors detect obstacles, and the technologies used for obstacle detection include, but are not limited to, obstacle sensors, ultrasonic technology, infrared lasers, and binocular vision.

[0103] In a specific embodiment, during autonomous cruise, in the first stage, the system detects obstacles, quickly identifies them, and hovers, awaiting further instructions. In the second stage, the system accurately perceives the specific outline of the obstacle using obstacle sensors and then autonomously avoids it. In the third stage, based on the acquired environmental information, the system utilizes an algorithm (considering local hazard avoidance of the unmanned surface vessel in three layers: a known static path planning method based on PSO, a known dynamic path planning method based on PSO and incorporating maritime rules, and an obstacle avoidance method in unknown environments based on a rolling window. The first two layers of algorithms are known local hazard avoidance based on prior environmental knowledge, while the third layer is unknown local hazard avoidance based on sensor knowledge).

[0104] Specifically, 1) Given the static path planning, search for an optimal route from the starting point to the ending point in the workspace. This route must not only meet the safety conditions of the unmanned surface vessel, i.e., it cannot collide with obstacles, but also have the shortest route and the fewest turns.

[0105] 2) Given dynamic path planning, during navigation, there may be overtaking, head-on encounters, and intersections with islands and other ships. In this case, ① avoid known dynamic obstacles within the target segment to achieve the optimal speed and course; ② satisfy international maritime collision avoidance rules; ③ the optimal solution does not intersect with static obstacles.

[0106] 3) Unknown local hazard obstacle avoidance: When obstacle information is undetectable, the unmanned surface vessel (USV) can only perform collision avoidance planning based on real-time detected obstacle information. It employs iterative local optimization planning instead of a one-time global optimization result, fully utilizing the latest local environmental information in each local optimization. When simultaneously implementing real-time obstacle avoidance strategies based on known static and known dynamic paths, it is crucial not only to avoid obstacles nimbly but also to fully consider the globally optimized path to avoid falling into obstacle traps.

[0107] During the cruise, based on positioning information, speed, heading, and displacement information, the unmanned vessel adjusts its heading according to path planning and dynamic obstacle planning algorithms, combined with received instructions. Obstacle sensors perceive obstacles in real time, and the unmanned vessel adjusts its navigation route according to the distance between each point on the route and the obstacles to obtain an updated navigation route. Based on the positioning information, the unmanned vessel arrives at each waypoint as required and performs the corresponding actions, achieving fully autonomous cruise.

[0108] Optionally, the positioning unit includes RTK and GPS; step S31 includes the following steps S311-S313:

[0109] S311. Determine whether the number of satellites has reached the preset satellite number value, whether the ionospheric activity value has reached the preset activity threshold, and whether the network signal has reached the preset network threshold.

[0110] S312. If all conditions are met, the positioning information of hull 4 will be detected in real time via RTK.

[0111] S313. If some or all of the conditions are met, the positioning information of the hull 4 shall be detected in real time by GPS.

[0112] It should be noted that the preset number of satellites is at least 7; the preset activity threshold is set according to the actual VTEC value and is not limited here; the preset network threshold is a medium network signal or a network signal that can transmit information.

[0113] In a specific embodiment, the current operating state of RTK must simultaneously meet three conditions: 1) At least 7 satellites are required for RTK to be fixed, and the number of satellites can be confirmed through the operation panel; 2) When the atmospheric ionospheric activity is high, electromagnetic interference can interfere with satellite positioning, leading to positioning failure. The level of ionospheric activity depends on the vertical total electron content (VTEC). When the overall ionosphere changes slowly, the VTEC value is relatively small, and the positioning service is often better; however, when the ionosphere changes rapidly in time or space, the VTEC value is relatively large, and the positioning performance often deteriorates rapidly. Specifically, the VTEC value at the current moment can be calculated using the Klobuchar model; 3) During RTK fixing, the controller network signal must be normal, which can be achieved by connecting to a mobile hotspot or using a SIM card with normal internet access. When RTK is fixed, it can be viewed on the operating system panel, and RTK can be manually switched on and off and configured through the panel. If the current operating state of RTK does not meet any of the conditions, GPS will detect the positioning information of the hull 4 in real time.

[0114] Specifically, the unmanned surface vessel is equipped with RTK high-precision positioning technology, Global Positioning System (GPS), and Inertial Measurement Unit (IMU), which makes the patrol accuracy more accurate.

[0115] 204. The central control system 3 controls the power system 5 to drive the hull 4 along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information.

[0116] In this embodiment of the invention, the specific implementation process of step 204 is similar to that of step 104, and will not be repeated here.

[0117] 205. Measure the temperature of the target electrical equipment using temperature measuring equipment and generate equipment temperature information.

[0118] It should be noted that the equipment temperature information refers to the measured temperature and the interphase temperature.

[0119] In a specific embodiment, a temperature measuring device is installed on the detachable device 2, which can enable the inspection and temperature measurement of various target electrical devices during the day or night.

[0120] 206. Determine the corresponding temperature risk level based on the temperature threshold range in which the equipment temperature information is located.

[0121] It should be noted that attention should be paid to the heating range of a certain component of the power distribution equipment (75℃ < measured temperature or 10K < phase-to-phase temperature difference). There are three temperature threshold ranges: measured temperature > 90℃ or phase-to-phase temperature difference > 30K; 80℃ < measured temperature ≤ 90℃ or 20K < phase-to-phase temperature difference ≤ 30K; 75℃ < measured temperature ≤ 80℃ or 10K < phase-to-phase temperature difference ≤ 20K.

[0122] In a specific implementation, the maintenance unit analyzes the overheating defects and handles them according to their severity and urgency. The analysis and classification of defects are based on the company's unified defect management guidelines. According to the regulations, (measured temperature > 90℃ or interphase temperature difference > 30K) is classified as urgent; (80℃ < measured temperature ≤ 90℃ or 20K < interphase temperature difference ≤ 30K) is classified as critical; and (75℃ < measured temperature ≤ 80℃ or 10K < interphase temperature difference ≤ 20K) is classified as general.

[0123] 207. Generate and output the corresponding maintenance information according to each temperature risk level.

[0124] In specific embodiments, as stipulated, each temperature risk level has certain maintenance time and maintenance requirements. For example, for an emergency level, maintenance personnel should be dispatched to carry out maintenance within 24 hours and the maintenance information should be sent to the maintenance department or relevant personnel. For a critical level, maintenance personnel should be dispatched to carry out maintenance within 7 days and the maintenance information should be sent to the maintenance department or relevant personnel. For a general level, maintenance personnel should be dispatched to carry out maintenance within 180 days and the maintenance information should be sent to the maintenance department or relevant personnel.

[0125] Optionally, the unmanned vessel also includes a camera 1, and the method further includes the following step S41:

[0126] S41. Capture video of the hull 4 and the environment in which the hull 4 is located using camera 1.

[0127] In a specific embodiment, such as Figures 3-4 As shown, by mounting a camera 1 on the detachable device 2, the camera 1 includes, but is not limited to, a rotatable dual-light camera device (visible light and invisible light), enabling all-weather aerial photography and providing maintenance personnel with comprehensive photos and videos. Specifically, different cameras 1 can be used depending on the actual work; a dual-light camera can be used for temperature measurement, while a clearer zoom lens can be used for routine inspections.

[0128] Optionally, the unmanned surface vessel also includes a brightness sensor, a weather phenomenon instrument, lighting equipment, and warning equipment. The method further includes the following steps S51-S54:

[0129] S51. When the light intensity sensed by the brightness sensor reaches the preset brightness value, brightness information is generated.

[0130] S52. Adjust the lighting equipment according to the brightness information;

[0131] S53. When the visibility detected by the weather phenomenon instrument reaches the preset visibility value, visibility information is generated;

[0132] S54. Activate the warning device based on visibility information.

[0133] It should be noted that both the lighting and warning devices are connected to the detachable device 2. The brightness sensor refers to a sensor that can sense light intensity and convert it into a usable output signal. The weather phenomenon instrument is a meteorological observation system used to observe the weather. It is an intelligent multivariable sensor composed of a scattering visibility meter, a precipitation detection system sensor, and sensors for temperature, humidity, wind direction, and wind speed. It can observe temperature, humidity, wind direction, wind speed, visibility, etc. The preset brightness and preset visibility values ​​are set according to the actual conditions on the water (at sea) and are not limited here.

[0134] In a specific embodiment, when the brightness sensor detects a certain brightness value, it generates brightness information for the current moment and sends it to the central control system 3. Upon receiving this brightness information, the central control system 3 adjusts the lighting equipment. This lighting equipment not only provides illumination at night but also serves as a warning, deterring anyone who might damage electrical equipment. Additionally, when the weather phenomenon instrument detects a certain visibility value, it generates visibility information for the current moment. In cases of poor visibility, it activates warning devices to alert personnel on passing vessels, preventing collisions caused by untimely detection.

[0135] This invention responds to received electrical equipment temperature measurement requests, obtains the location information of the target electrical equipment corresponding to the request, plans a target navigation route based on environmental information and the target electrical equipment location information, and determines the starting waypoint information corresponding to the unmanned surface vessel (USV), sends the target navigation route to the central control system 3, and uses the central control system 3 to control the power system 5 to drive the hull 4 along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information, and uses temperature measuring equipment to measure the temperature of the target electrical equipment and generate equipment temperature information. This solves the technical problem of existing technologies requiring maintenance personnel to operate the vessel for extended periods while also performing inspection work, leading to safety accidents due to improper vessel operation. This invention achieves automatic cruise temperature measurement of electrical equipment installed in waterways in a safe environment by placing a lightweight, easily transportable USV in the water for intelligent cruising, without requiring excessive manpower and resources.

[0136] Please see Figure 5 , Figure 5 This is a structural block diagram of a remote temperature measurement system provided in Embodiment 3 of the present invention.

[0137] This invention provides a remote temperature measurement system applied to a control system, relating to an unmanned surface vessel (USV). The USV includes a hull 4, a central control system 3, a power system 5, and temperature measurement equipment. This system includes:

[0138] The target electrical equipment location information module 501 is used to respond to the received electrical equipment temperature measurement request and obtain the target electrical equipment location information corresponding to the electrical equipment temperature measurement request;

[0139] The target navigation route module 502 is used to plan the target navigation route based on environmental information and the location information of the target electrical equipment, and to determine the starting waypoint information corresponding to the unmanned vessel.

[0140] Central control system module 503 is used to send the target navigation route to central control system 3;

[0141] The preset temperature measurement location module 504 is used to control the power system 5 through the central control system 3 to drive the hull 4 to travel along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information;

[0142] The equipment temperature module 505 is used to measure the temperature of the target electrical equipment through a temperature measuring device and generate equipment temperature information.

[0143] Optionally, the unmanned vessel also includes a detachable device 2, prior to the target electrical equipment location information module 501, and further includes:

[0144] The unmanned vessel sub-module is used to determine the unmanned vessel corresponding to the electrical equipment temperature measurement request when a temperature measurement request for electrical equipment is received.

[0145] The starting waypoint submodule is used to transport the hull 4, detachable equipment 2, central control system 3, power system 5 and temperature measurement equipment of the unmanned vessel to the starting waypoint and assemble them.

[0146] Optionally, a database is involved; the target navigation route module 502 includes:

[0147] The information extraction submodule is used to extract environmental information and target electrical equipment location information from the database;

[0148] The navigation route submodule is used to plan multiple navigation routes based on the contour information of obstacles corresponding to environmental information and the location information of target electrical equipment;

[0149] The target navigation route submodule is used to select a target navigation route from multiple navigation routes according to preset navigation conditions;

[0150] The starting waypoint submodule is used to determine the docking point corresponding to the target navigation route as the starting waypoint of the unmanned vessel.

[0151] Optionally, the unmanned surface vessel also includes a positioning unit, an inertial measurement unit, and obstacle sensors; the central control system module 503 includes:

[0152] The positioning information submodule is used to receive positioning information fed back by the positioning unit in real time;

[0153] The displacement information submodule is used to receive the ship's speed, heading, and displacement information fed back by the inertial measurement unit in real time.

[0154] The obstacle information submodule is used to monitor in real time whether obstacle information is received from the obstacle sensor;

[0155] The jump execution module is used to jump to the step of real-time monitoring to see if obstacle information is received from the obstacle sensor if not;

[0156] The updated navigation route submodule is used to adjust the target navigation route and generate an updated navigation route based on the positioning information, the contour information corresponding to the obstacle information, the navigation speed, the heading and displacement information, using path planning algorithm and dynamic obstacle planning algorithm.

[0157] The central control system submodule is used to send updated navigation routes to the central control system 3.

[0158] Optionally, the positioning unit includes RTK and GPS; the positioning information submodule includes:

[0159] The preset network threshold submodule is used to determine whether the number of satellites has reached the preset satellite number value, whether the ionospheric activity value has reached the preset activity threshold, and whether the network signal has reached the preset network threshold.

[0160] The first detection and positioning information submodule is used to detect the positioning information of the hull 4 in real time via RTK if all conditions are met.

[0161] The second detection and positioning information submodule is used to detect the positioning information of the hull 4 in real time via GPS if some or all of the conditions are met.

[0162] Optionally, this system also includes:

[0163] The temperature risk level submodule is used to determine the corresponding temperature risk level based on the temperature threshold range in which the equipment temperature information is located.

[0164] The maintenance information submodule is used to determine and output the corresponding maintenance information according to each temperature risk level.

[0165] Optionally, the unmanned surface vessel also includes camera 1, and the system also includes:

[0166] The environmental video submodule is used to capture environmental videos of the hull 4 and its surrounding environment using camera 1.

[0167] Optionally, the unmanned surface vessel also includes a brightness sensor, a weather phenomenon instrument, lighting equipment, and warning devices. The system also includes:

[0168] The brightness information submodule is used to generate brightness information when the brightness detected by the brightness sensor reaches a preset brightness value.

[0169] The lighting equipment submodule is used to adjust the lighting equipment based on the brightness information;

[0170] The visibility information submodule is used to generate visibility information when the visibility detected by the weather phenomenon instrument reaches a preset visibility value;

[0171] The warning device submodule is used to activate the warning device based on visibility information.

[0172] This invention responds to received electrical equipment temperature measurement requests, obtains the location information of the target electrical equipment corresponding to the request, plans a target navigation route based on environmental information and the target electrical equipment location information, and determines the starting waypoint information corresponding to the unmanned surface vessel (USV), sends the target navigation route to the central control system 3, and uses the central control system 3 to control the power system 5 to drive the hull 4 along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information, and uses temperature measuring equipment to measure the temperature of the target electrical equipment and generate equipment temperature information. This solves the technical problem of existing technologies requiring maintenance personnel to operate the vessel for extended periods while also performing inspection work, leading to safety accidents due to improper vessel operation. This invention achieves automatic cruise temperature measurement of electrical equipment installed in waterways in a safe environment by placing a lightweight, easily transportable USV in the water for intelligent cruising, without requiring excessive manpower and resources.

[0173] Embodiment 4 of the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor performs the remote temperature measurement method as described in the above embodiments.

[0174] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0176] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0178] If the integrated unit is implemented as 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 invention, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0179] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote temperature measurement method, characterized in that, The method is applied to a control system, involving an unmanned surface vessel (USV) and a database. The USV includes a hull, a central control system, a power system, and temperature measurement equipment. The database is a static database that collects various types of waterborne data. The method includes: In response to a received electrical equipment temperature measurement request, the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request is obtained; Environmental information and the location information of the target electrical equipment are extracted from the database. The environmental information refers to the environment of the water area where the target electrical equipment is located, including the water type, the presence or absence of fixed obstacles, and the width and length of the water area. The water type includes reservoirs, rivers, seas, and swamps. Based on the contour information of the fixed obstacles corresponding to the environmental information and the location information of the target electrical equipment, multiple navigation routes are planned; The target navigation route is selected from multiple navigation routes according to preset navigation conditions, including avoiding collisions with obstacles, minimizing the distance of the navigation route, and minimizing the number of turns. The docking point corresponding to the target navigation route is determined as the starting waypoint of the unmanned vessel. The target navigation route is sent to the central control system; The central control system controls the power system to drive the hull along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information; The temperature of the target electrical equipment is measured by the temperature measuring device to generate equipment temperature information.

2. The remote temperature measurement method according to claim 1, characterized in that, The unmanned surface vessel also includes detachable equipment. Prior to the step of responding to a received electrical equipment temperature measurement request and obtaining the location information of the target electrical equipment corresponding to the electrical equipment temperature measurement request, the following steps are also included: When a temperature measurement request for electrical equipment is received, the unmanned vessel corresponding to the temperature measurement request for electrical equipment is identified; The hull, detachable equipment, central control system, power system, and temperature measurement equipment of the unmanned vessel are transported to the starting point and assembled.

3. The remote temperature measurement method according to claim 1, characterized in that, The unmanned surface vessel also includes a positioning unit, an inertial measurement unit, and an obstacle sensor; the step of sending the target navigation route to the central control system includes: Receive positioning information fed back by the positioning unit in real time; The ship's speed, heading, and displacement information are received in real time from the inertial measurement unit. Real-time monitoring to see if obstacle information is received from the obstacle sensor; If not, proceed to the step of real-time monitoring to see if obstacle information is received from the obstacle sensor; If so, based on the positioning information, the contour information corresponding to the obstacle information, the navigation speed, the heading, and the displacement information, the target navigation route is adjusted using a path planning algorithm and a dynamic obstacle planning algorithm to generate an updated navigation route; The updated navigation route is sent to the central control system.

4. The remote temperature measurement method according to claim 3, characterized in that, The positioning unit includes RTK and GPS; the step of receiving positioning information fed back by the positioning unit in real time includes: Determine whether the number of satellites has reached the preset satellite number value, whether the ionospheric activity value has reached the preset activity threshold, and whether the network signal has reached the preset network threshold; If all conditions are met, the hull's positioning information is detected in real time using the RTK. If some or all of the conditions are met, the GPS will be used to detect the ship's positioning information in real time.

5. The remote temperature measurement method according to claim 1, characterized in that, Also includes: Based on the temperature threshold range in which the equipment temperature information falls, the corresponding temperature risk level is determined; Generate and output corresponding maintenance information according to each of the stated temperature risk levels.

6. The remote temperature measurement method according to claim 1, characterized in that, The unmanned vessel also includes a camera, and the method further includes: The camera captures video footage of the ship's hull and its surrounding environment.

7. The remote temperature measurement method according to claim 1, characterized in that, The unmanned surface vessel also includes a brightness sensor, a weather phenomenon instrument, lighting equipment, and warning equipment; the method further includes: When the light intensity sensed by the brightness sensor reaches a preset brightness value, brightness information is generated. Adjust the lighting device according to the brightness information; When the visibility detected by the weather phenomenon instrument reaches a preset visibility value, visibility information is generated; The warning device is activated based on the visibility information.

8. A remote temperature measurement system, characterized in that, This system is applied to a control system and involves an unmanned surface vessel (USV) and a database. The USV includes a hull, a central control system, a power system, and temperature measurement equipment. The database is a static database that collects various types of waterborne data. The system includes: The target electrical equipment location information module is used to respond to a received electrical equipment temperature measurement request and obtain the target electrical equipment location information corresponding to the electrical equipment temperature measurement request; The target navigation route module is used to extract environmental information and the location information of the target electrical equipment from the database. The environmental information refers to the environment of the water area where the target electrical equipment is located, including the water type, the presence or absence of fixed obstacles, and the width and length of the water area. The water type includes reservoirs, rivers, seas, and swamps. Based on the outline information of the fixed obstacles corresponding to the environmental information and the location information of the target electrical equipment, multiple navigation routes are planned. A target navigation route is selected from the multiple navigation routes according to preset navigation conditions, including avoiding collisions with obstacles, minimizing the route distance, and minimizing the number of turns. The landing point corresponding to the target navigation route is determined as the starting waypoint of the unmanned vessel. The central control system module is used to send the target navigation route to the central control system; The preset temperature measurement location module is used to control the power system through the central control system to drive the hull along the target navigation route to the preset temperature measurement location corresponding to the target electrical equipment location information; The equipment temperature module is used to measure the temperature of the target electrical equipment through the temperature measuring device and generate equipment temperature information.

9. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the remote temperature measurement method as described in any one of claims 1-7.

Images