Cable inspection method and device, storage medium and computer equipment

Abstract

The invention discloses a cable inspection method and device, a storage medium and computer equipment, and the method comprises the steps that an unmanned aerial vehicle carries out the inspection of a target cable tunnel in the end point direction of the target cable tunnel based on a base station of the target cable tunnel as a starting point, a first autonomous opening and closing well lid located at the terminal point of the target cable tunnel flies away from the target cable tunnel, a first cable terminal tower located above the terminal point of the target cable tunnel is inspected, the first autonomous opening and closing well lid is arranged at the top of the ventilation shaft, and then the first cable terminal tower is arranged in the base station direction of the target cable tunnel; and inspecting a ground cable channel corresponding to the target cable tunnel, inspecting a second cable terminal tower located above the base station of the target cable tunnel, and returning to the base station of the target cable tunnel for charging through a second autonomous opening and closing well lid located above the base station of the target cable tunnel. The second automatic opening and closing well lid is arranged on the roof of the entrance and exit station, and overground and underground all-directional cable inspection is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of multi-rotor UAVs, and in particular to a cable inspection method and device, a storage medium, and a computer device. Background Art

[0002] With the development of science and technology and the progress of the times, power cables account for an increasingly large proportion of the power grid. They have the advantages of being beautiful and not occupying ground space. However, since power cables are usually laid underground, it is time-consuming and laborious for operators to conduct inspections, and they are limited space operations, so safety cannot be effectively guaranteed. In addition, how to efficiently conduct cable anti-breakage warnings is also a major problem. Replacing manual inspections with machines has become an unstoppable development trend in the future.

[0003] However, the activity range of traditional cable tunnel inspection robots is usually limited and confined to the cable tunnel, and they are unable to conduct comprehensive inspections of ground cable terminals and cable channels. Summary of the invention

[0004] In view of this, the present application provides a cable inspection method and device, a storage medium, and a computer device. The drone takes the base station of the target cable tunnel as the starting point, inspects the target cable tunnel in the direction of the end point of the target cable tunnel, then flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel. The first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft, and then inspects the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel, and inspects the second cable terminal tower located above the base station of the target cable tunnel, and then returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging. The second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station, thereby realizing all-round cable inspection above and below the ground.

[0005] According to one aspect of the present application, a cable inspection method is provided, the method comprising:

[0006] The UAV takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the direction of the end point of the target cable tunnel;

[0007] When the UAV completes the inspection of the target cable tunnel, it flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end of the target cable tunnel, and inspects the first cable terminal tower located above the end of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel;

[0008] After the drone has finished inspecting the first cable terminal tower, it will inspect the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel. After the inspection of the ground cable channel is completed, it will inspect the second cable terminal tower located above the base station of the target cable tunnel.

[0009] When the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0010] Optionally, the drone is equipped with a laser millimeter wave radar and a drone wireless communication module, the first autonomous opening and closing manhole cover is equipped with a manhole cover wireless communication module and a manhole cover hydraulic electric control system, the manhole cover hydraulic electric control system controls a manhole cover main hydraulic rod and a manhole cover auxiliary hydraulic rod, the drone flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel, including:

[0011] If the laser millimeter wave radar obtains that the drone and the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel reach a preset distance, a manhole cover opening request is sent to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover through the wireless communication module of the drone;

[0012] The manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic electric control system, so that the manhole cover hydraulic electric control system drives the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open;

[0013] When the first autonomous opening and closing manhole cover is opened, the manhole cover wireless communication module sends the manhole cover opening information to the drone wireless communication module, so that the drone flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end point of the target cable tunnel.

[0014] Optionally, the drone is further equipped with a camera; after the drone sends a manhole cover opening request to the manhole cover wireless communication module of the first autonomous manhole cover opening and closing via the drone wireless communication module, the method further comprises:

[0015] If the wireless communication module of the drone does not receive the manhole cover opening information, it will continue to hover for a preset waiting time based on the position when the opening request was sent, and obtain the hovering position information through the camera during the preset waiting time;

[0016] When the preset waiting time is over, if the drone is judged to be in the target cable tunnel based on the hovering position information, it will return to the base station of the target cable tunnel and send an inspection alarm message to the preset receiving terminal. If the drone is judged to be in the ground cable channel corresponding to the target cable tunnel based on the hovering position information, it will land on the roof of the entrance and exit station of the target cable tunnel, where the inspection alarm message includes the hovering position information and the start hovering time.

[0017] Optionally, the drone is equipped with a gas sensor, a temperature sensor and a humidity sensor; the camera configured on the drone includes a visible light recognition function, a night vision function and an infrared camera function; the drone performs inspection under night vision conditions based on the night vision function; the drone inspects the target cable tunnel along the terminal direction of the target cable tunnel, including:

[0018] The UAV performs infrared temperature measurement inspection on the cable body in the target cable tunnel based on the infrared camera function of the camera, and inspects the auxiliary equipment in the target cable tunnel based on the visible light recognition function and night vision function of the camera, wherein the auxiliary equipment includes auxiliary facilities and auxiliary equipment;

[0019] The drone can inspect the water ingress or plugging loss of the target cable tunnel based on the visible light recognition function and night vision function of the camera;

[0020] The drone obtains gas information in the target cable tunnel based on a gas sensor, obtains the ambient temperature in the target cable tunnel based on a temperature sensor, and obtains the ambient humidity in the target cable tunnel based on a humidity sensor, wherein the gas information includes at least one of oxygen, carbon monoxide, hydrogen sulfide and methane information.

[0021] Optionally, the drone inspects a first cable terminal tower located above the end point of the target cable tunnel, including:

[0022] The UAV performs infrared temperature measurement inspection on the first cable terminal tower located above the end point of the target cable tunnel based on the configured camera, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the UAV performs infrared temperature measurement on the first cable terminal tower, the configured laser millimeter-wave radar is used to obtain the position distance to the first cable terminal tower in real time, and the position distance is always controlled within a preset safety distance range.

[0023] Optionally, the UAV inspects the ground cable channel corresponding to the target cable tunnel along the base station direction of the target cable tunnel, including:

[0024] The drone inspects and identifies obstacles in the ground cable channel corresponding to the target cable tunnel based on the configured camera, wherein the obstacles include construction vehicles and construction machinery;

[0025] Based on the configured camera, the drone inspects and identifies the water and soil conditions in the ground cable channel corresponding to the target cable tunnel.

[0026] Optionally, a fuselage of the UAV is surrounded by a carbon fiber spherical cover, and a propeller of the UAV is located below the fuselage.

[0027] According to another aspect of the present application, a cable inspection device is provided, the device comprising:

[0028] An underground cable tunnel inspection module is used to inspect the target cable tunnel based on the base station of the target cable tunnel as the starting point and along the direction of the target cable tunnel end point;

[0029] A cable terminal tower inspection module, which is used to inspect a first cable terminal tower located above the end point of the target cable tunnel through a first autonomous opening and closing manhole cover located at the end point of the target cable tunnel after the inspection of the target cable tunnel is completed, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel;

[0030] The above-ground cable channel inspection module is used to inspect the above-ground cable channel corresponding to the target cable tunnel along the base station direction of the target cable tunnel after the inspection of the first cable terminal tower is completed, and to inspect the second cable terminal tower located above the base station of the target cable tunnel after the inspection of the above-ground cable channel is completed;

[0031] The inspection return module is used to return to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel after the inspection of the second cable terminal tower is completed, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0032] Optionally, the first autonomous opening and closing manhole cover is equipped with a manhole cover wireless communication module and a manhole cover hydraulic electric control system, the manhole cover hydraulic electric control system controls a manhole cover main hydraulic rod and a manhole cover auxiliary hydraulic rod, and the device also includes a manhole cover autonomous opening and closing module, which is used to:

[0033] If it is obtained that the preset distance is reached with the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, a manhole cover opening request is sent to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover, so that the manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic electric control system, and the manhole cover hydraulic electric control system drives the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open;

[0034] When the first autonomous opening and closing manhole cover is opened, the manhole cover position coordinates corresponding to the manhole cover opening information fly away from the target cable tunnel, and inspect the first cable terminal tower located above the end point of the target cable tunnel.

[0035] Optionally, the inspection return module is further used to:

[0036] If no manhole cover opening information is received, the hovering position information is obtained within the preset waiting time based on the position at the time of sending the opening request;

[0037] When the preset waiting time is over, if it is judged based on the hovering position information that it is in the target cable tunnel, it returns to the base station of the target cable tunnel and sends an inspection alarm message to the preset receiving terminal. If it is judged based on the hovering position information that it is in the ground cable channel corresponding to the target cable tunnel, it descends to the roof of the entrance and exit station of the target cable tunnel, wherein the inspection alarm message includes the hovering position information and the start hovering time.

[0038] Optionally, the underground cable tunnel inspection module is further used for:

[0039] Conduct infrared temperature measurement inspection on the cable body in the target cable tunnel, and inspect the auxiliary equipment in the target cable tunnel, wherein the auxiliary equipment includes auxiliary facilities and auxiliary equipment;

[0040] Conduct inspections on water ingress or plugging loss in the target cable tunnel;

[0041] The gas information in the target cable tunnel is obtained, the ambient temperature in the target cable tunnel is obtained, and the ambient humidity in the target cable tunnel is obtained.

[0042] Optionally, the cable terminal tower inspection module is further used for:

[0043] An infrared temperature measurement inspection is performed on the first cable terminal tower located above the end point of the target cable tunnel, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the infrared temperature measurement is performed on the first cable terminal tower, the position distance to the first cable terminal tower is obtained in real time, and the position distance is always controlled within a preset safety distance range.

[0044] Optionally, the above-ground cable channel inspection module is further used for:

[0045] Conducting inspection and identification of obstacles in the ground cable channel corresponding to the target cable tunnel, wherein the obstacles include construction vehicles and construction machinery;

[0046] Inspect and identify the water and soil conditions in the above-ground cable channel corresponding to the target cable tunnel.

[0047] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned cable inspection method is implemented.

[0048] According to another aspect of the present application, a computer device is provided, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the above-mentioned cable inspection method when executing the program.

[0049] By means of the above-mentioned technical scheme, the present application provides a cable inspection method and device, storage medium, and computer equipment. The drone takes the base station of the target cable tunnel as the starting point, inspects the target cable tunnel in the direction of the end point of the target cable tunnel, then flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel. The first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft, and then inspects the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel, and inspects the second cable terminal tower located above the base station of the target cable tunnel, and then returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging. The second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station, thereby realizing all-round cable inspection above and below the ground.

[0050] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0052] Figure 1 A schematic diagram of a process flow of a cable inspection method provided in an embodiment of the present application is shown;

[0053] Figure 2 A schematic diagram of a UAV cable inspection route provided in an embodiment of the present application is shown;

[0054] Figure 3 A schematic diagram of a process flow of another cable inspection method provided in an embodiment of the present application is shown;

[0055] Figure 4 A schematic diagram of an autonomous opening and closing manhole cover provided in an embodiment of the present application is shown;

[0056] Figure 5 A schematic diagram of a flow chart of another cable inspection method provided in an embodiment of the present application is shown;

[0057] Figure 6 A schematic diagram of the structure of a cable inspection device provided in an embodiment of the present application is shown;

[0058] Figure 7 A schematic structural diagram of another cable inspection device provided in an embodiment of the present application is shown.

[0059] 21 - base station of target cable tunnel, 22 - target cable tunnel, 23 - first autonomous opening and closing manhole cover, 24 - first cable terminal tower, 25 - ground cable channel, 26 - second cable terminal tower, 27 - second autonomous opening and closing manhole cover, 41 - manhole cover wireless communication module, 42 - manhole cover hydraulic and electric control system, 43 - manhole cover main hydraulic rod, 44 - manhole cover auxiliary hydraulic rod. DETAILED DESCRIPTION

[0060] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0061] In this embodiment, a cable inspection method is provided. Figure 1 As shown, the method includes:

[0062] Step 101, the UAV takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the direction of the end point of the target cable tunnel.

[0063] In the above embodiments of the present application, the drone can fly autonomously through a set program. After the cable tunnel inspection is completed, it can fly to the ground through the intelligent opening and closing of the hydraulic manhole cover to continue the inspection. After the ground inspection is completed, it can fly back to the base station in the cable tunnel. Different from traditional cable tunnel robots, it can take into account the inspection of underground cable tunnels as well as ground cable channels and cable terminals, so as to give full play to the air and space advantages of drones, relieve the pressure of manual inspection of cable operation and maintenance, and promote the intelligent construction of power grids. Specifically, the drone takes the base station of the target cable tunnel as the starting point and begins to inspect the target cable tunnel along the direction of the end point of the target cable tunnel.

[0064] Step 102, when the UAV completes the inspection of the target cable tunnel, it flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft of the target cable tunnel.

[0065] Step 103, after the drone completes the inspection of the first cable terminal tower, it inspects the ground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel, and after the inspection of the ground cable channel is completed, it inspects the second cable terminal tower located above the base station of the target cable tunnel.

[0066] Step 104, when the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0067] Then, when the drone has finished inspecting the target cable tunnel, it flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end of the target cable tunnel, and inspects the first cable terminal tower located above the end of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft of the target cable tunnel. When the drone has finished inspecting the first cable terminal tower, it inspects the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel, and after the inspection of the ground cable channel is completed, it inspects the second cable terminal tower located above the base station of the target cable tunnel. When the drone has finished inspecting the second cable terminal tower, it returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0068] Specifically, Figure 2 As shown in the figure, the specific inspection process of the drone is as follows: the drone takes off from the base station 21 in the target cable tunnel, first inspects the target cable tunnel 22, flies out of the target cable tunnel 22 through the first autonomous opening and closing manhole cover 23 after the inspection is completed, then flies to the first cable terminal tower 24 for inspection, and after the inspection of the first cable terminal tower 24 is completed, inspects the ground cable channel 25 above the target cable tunnel 22, then inspects the second cable terminal tower 26 at the opposite end, then flies into the target cable tunnel 22 through the second autonomous opening and closing manhole cover 27, and finally returns to the drone base station 21 in the target cable tunnel 22 for charging. By carrying out autonomous inspection operations of cable channel drones, not only can all-round inspections be carried out in the cable tunnel, but also key locations such as the channel above the cable tunnel and the cable terminal can be covered, thereby effectively ensuring the personal safety of the inspection personnel and the safe operation of the cable equipment, and improving the level of intelligent power grid.

[0069] By applying the technical solution of this embodiment, it specifically includes four parts: autonomous inspection of UAVs in cable tunnels, autonomous entry and exit of UAVs in tunnels, autonomous inspection of cable terminal towers by UAVs, and autonomous inspection of ground cable channels by UAVs. That is, the UAV takes the base station of the target cable tunnel as the starting point, inspects the target cable tunnel in the direction of the terminal end of the target cable tunnel, then flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the terminal end of the target cable tunnel, and inspects the first cable terminal tower located above the terminal end of the target cable tunnel. The first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft, then inspects the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel, and inspects the second cable terminal tower located above the base station of the target cable tunnel, then returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, and the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station, taking into account the autonomous inspection mode of UAVs in cable tunnels of underground and above-ground cable equipment facilities and channels. At the same time, the UAV adopts the autonomous inspection mode, without human intervention, saving the labor cost during cable inspection.

[0070] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cable inspection method is provided, such as Figure 3 As shown, the method includes:

[0071] Step 301, the UAV takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the end direction of the target cable tunnel, wherein the UAV is equipped with a laser millimeter wave radar and a UAV wireless communication module, and the first autonomous opening and closing manhole cover is equipped with a manhole cover wireless communication module and a manhole cover hydraulic electric control system, and the manhole cover hydraulic electric control system controls the manhole cover main hydraulic rod and manhole cover auxiliary hydraulic rod.

[0072] In the above embodiment of the present application, the drone takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the end direction of the target cable tunnel. The drone is equipped with a laser millimeter wave radar and a drone wireless communication module. The first autonomous opening and closing manhole cover is as follows: Figure 4 As shown, a manhole cover wireless communication module 41 and a manhole cover hydraulic electric control system 42 are configured, and the manhole cover hydraulic electric control system 42 controls a manhole cover main hydraulic rod 43 and a manhole cover auxiliary hydraulic rod 44.

[0073] Step 302, when the UAV completes the inspection of the target cable tunnel, if the laser millimeter wave radar obtains that the UAV and the first autonomous opening and closing manhole cover located at the end of the target cable tunnel reach a preset distance, a manhole cover opening request is sent to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover through the UAV wireless communication module, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel.

[0074] Step 303, the manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic electronic control system, so that the manhole cover hydraulic electronic control system drives the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open.

[0075] Step 304, when the first autonomous opening and closing manhole cover is opened, the manhole cover wireless communication module sends the manhole cover opening information to the drone wireless communication module, so that the drone flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end point of the target cable tunnel.

[0076] Step 305: If the wireless communication module of the drone does not receive the manhole cover opening information, the drone continues to hover for a preset waiting time based on the position when the opening request was sent, and obtains the hovering position information through the camera during the preset waiting time.

[0077] Step 306: After the preset waiting time ends, if the drone is judged to be in the target cable tunnel based on the hovering position information, it returns to the base station of the target cable tunnel and sends an inspection alarm message to the preset receiving terminal. If the drone is judged to be in the ground cable channel corresponding to the target cable tunnel based on the hovering position information, it lands on the roof of the entrance and exit station of the target cable tunnel, wherein the inspection alarm message includes the hovering position information and the start hovering time.

[0078] Drones can enter and exit tunnels autonomously, that is, smart manhole covers can be installed on the roof of the cable tunnel entrance and exit station and the top of the ventilation shaft. The manhole covers use a hydraulic system, and the manhole covers can be opened and closed freely under the action of the hydraulic rod. The manhole covers and drones are equipped with wireless communication modules. Once the tunnel drone entry and exit application is detected, it can be opened and closed autonomously, which is convenient for drones to enter and exit the cable tunnel.

[0079] Then, when the drone completes the inspection of the target cable tunnel, if the laser millimeter wave radar obtains that the drone and the first autonomous opening and closing manhole cover located at the end of the target cable tunnel reach a preset distance, the drone wireless communication module sends a manhole cover opening request to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover, and the manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic and electronic control system, so that the manhole cover hydraulic and electronic control system pushes the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open. When the first autonomous opening and closing manhole cover is opened, the manhole cover wireless communication module sends the manhole cover opening information to the drone wireless communication module, so that the drone flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end of the target cable tunnel. If the drone wireless communication module does not receive the manhole cover opening information, the drone continues to hover for a preset waiting time based on the position when the opening request was sent, and obtains the hovering position information through the camera during the preset waiting time. When the preset waiting time is over, if the drone is judged to be in the target cable tunnel based on the hovering position information, it will return to the base station of the target cable tunnel and send an inspection alarm message to the preset receiving terminal. If the drone is judged to be in the ground cable channel corresponding to the target cable tunnel based on the hovering position information, it will land on the roof of the entrance and exit station of the target cable tunnel.

[0080] For example, when the drone is about to approach the autonomous opening and closing manhole cover within 1 meter, it will use the laser millimeter wave radar to measure the distance in real time, and automatically hover when it reaches 1 meter. At the same time, the wireless communication module equipped on the fuselage will send an opening request to the manhole cover wireless communication module. After receiving the request, the manhole cover communication module will transmit the electrical signal to the manhole cover hydraulic electric control system through the connecting line, and push the main and auxiliary hydraulic rods of the manhole cover to automatically extend and retract to control the opening of the manhole cover. After the manhole cover is fully opened, the information that it has been opened will be sent to the drone via the wireless communication module, and the drone will automatically enter and exit the cable tunnel according to the preset flight path. At the same time, when the drone is more than 1 meter away from the manhole cover, it will send a closing request to the manhole cover, and the manhole cover will automatically close after receiving the information.

[0081] In particular, if the manhole cover malfunctions and cannot be opened automatically, the drone will hover in place for 1 minute and determine its own location through the camera on the fuselage: if it is inside the tunnel, it will automatically fly back to the base station; if it is outside the tunnel, it will land on the roof of the tunnel entrance and exit station and send a remote alarm signal to the base station to notify the operation and maintenance personnel.

[0082] Step 207, after the drone completes the inspection of the first cable terminal tower, it inspects the ground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel, and after the inspection of the ground cable channel is completed, it inspects the second cable terminal tower located above the base station of the target cable tunnel.

[0083] Step 208, when the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0084] Then, after the drone has finished inspecting the first cable terminal tower, it will inspect the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel. After the inspection of the ground cable channel is completed, the drone will inspect the second cable terminal tower located above the base station of the target cable tunnel. After the drone has finished inspecting the second cable terminal tower, it will return to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel. To this end, the drone cooperates with the automatic opening and closing hydraulic manhole cover to enable the drone to autonomously enter and exit the cable tunnel.

[0085] By applying the technical solution of this embodiment, the UAV takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the direction of the end point of the target cable tunnel. When the UAV completes the inspection of the target cable tunnel, if the laser millimeter wave radar obtains that the distance between the UAV and the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel reaches the preset distance, the wireless communication module of the UAV sends a manhole cover opening request to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover through the wireless communication module of the UAV, and the manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic electric control system, so that the manhole cover hydraulic electric control system pushes the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open. When the first autonomous opening and closing manhole cover is opened, the manhole cover wireless communication module sends the manhole cover opening information to the wireless communication module of the UAV, so that the UAV flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end point of the target cable tunnel. If the wireless communication module of the drone does not receive the manhole cover opening information, it will continue to hover for a preset waiting time based on the position when the opening request was sent, and obtain the hovering position information through the camera during the preset waiting time. When the preset waiting time is over, if the drone is judged to be in the target cable tunnel based on the hovering position information, it will return to the base station of the target cable tunnel and send an inspection alarm message to the preset receiving terminal. If the drone is judged to be in the ground cable channel corresponding to the target cable tunnel based on the hovering position information, it will land on the roof of the entrance and exit station of the target cable tunnel. When the drone completes the inspection of the first cable terminal tower, it will inspect the ground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel. After the inspection of the ground cable channel is completed, the second cable terminal tower located above the base station of the target cable tunnel is inspected. When the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging. It can not only inspect the equipment and facilities in the cable tunnel, but also take into account the cable terminals and cable channels on the ground.

[0086] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cable inspection method is provided, such as Figure 5 As shown, the method includes:

[0087] Step 501, the UAV takes the base station of the target cable tunnel as the starting point, uses the infrared camera function of the camera to perform infrared temperature measurement inspection on the cable body in the target cable tunnel, uses the visible light recognition function and night vision function of the camera to inspect the ancillary equipment in the target cable tunnel, and uses the visible light recognition function and night vision function of the camera to inspect the water ingress or sealing detachment of the target cable tunnel, wherein the UAV is equipped with a gas sensor, a temperature sensor and a humidity sensor, the camera equipped with the UAV includes a visible light recognition function, a night vision function and an infrared camera function, the UAV performs inspection under night vision conditions based on the night vision function, the fuselage of the UAV is surrounded by a carbon fiber spherical cover, the propeller of the UAV is located below the fuselage, and the ancillary equipment includes ancillary facilities and ancillary equipment.

[0088] In step 502, the drone obtains gas information in the target cable tunnel based on the gas sensor, obtains the ambient temperature in the target cable tunnel based on the temperature sensor, and obtains the ambient humidity in the target cable tunnel based on the humidity sensor, wherein the gas information includes at least one of oxygen, carbon monoxide, hydrogen sulfide and methane information.

[0089] In the above embodiment of the present application, the drone takes the base station of the target cable tunnel as the starting point, and mainly inspects the cables and tunnel environment laid in the cable tunnel, that is, the infrared camera function of the camera is used to perform infrared temperature measurement inspection on the cable body in the target cable tunnel, and the visible light recognition function and night vision function of the camera are used to inspect the auxiliary equipment in the target cable tunnel, and the visible light recognition function and night vision function of the camera are used to inspect the water ingress or plugging and falling off of the target cable tunnel. Specifically, the drone uses a four-in-one camera to perform infrared temperature measurement on the cable body (cable middle joint) and other parts, and at the same time inspects the auxiliary facilities and auxiliary equipment inside the cable channel. In addition, it can also identify whether there is water ingress and plugging and falling off in the tunnel. The equipped temperature, humidity and gas sensors can monitor the internal environment of the cable tunnel, that is, based on the gas sensor, the gas information in the target cable tunnel is obtained, based on the temperature sensor, the ambient temperature in the target cable tunnel is obtained, and based on the humidity sensor, the ambient humidity in the target cable tunnel is obtained, wherein the gas information includes at least one of oxygen, carbon monoxide, hydrogen sulfide and methane information.

[0090] In particular, the drone is surrounded by a carbon fiber spherical cover and the propeller wings are located under the fuselage, which can effectively avoid the impact of accidental collisions during flight. It is also equipped with laser radar and millimeter-wave radar for channel scanning and obstacle avoidance. The fuselage can also be installed with a four-in-one camera of visible light, night vision, infrared and intelligent AI recognition, gas sensors (O2, CO, H2S, CH4), temperature and humidity sensors, etc., which can monitor the facilities, environment and temperature of the cable body in the tunnel during flight. At the same time, the night vision function enables the drone to conduct cable inspections under night vision conditions.

[0091] Step 503, when the drone completes the inspection of the target cable tunnel, it flies away from the target cable tunnel through a first autonomous opening and closing manhole cover located at the end of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft of the target cable tunnel.

[0092] Step 504: The drone performs infrared temperature measurement inspection on the first cable terminal tower located above the end point of the target cable tunnel based on the configured camera, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the drone performs infrared temperature measurement on the first cable terminal tower, the configured laser millimeter wave radar is used to obtain the position distance to the first cable terminal tower in real time, and the position distance is always controlled within a preset safety distance range.

[0093] Next, when the UAV has completed the inspection of the target cable tunnel, it will inspect the cable part on the cable terminal tower, that is, fly away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end of the target cable tunnel, and perform infrared temperature measurement inspection on the first cable terminal tower above the end of the target cable tunnel based on the configured camera. Specifically, the UAV can use a four-in-one camera to perform key inspections and lean infrared temperature measurement on the cable terminal casing, tail pipe, lead seal, grounding wire, grounding box, return line and other parts. At the same time, when inspecting the cable terminal, the UAV should pay attention to maintaining a sufficient safety distance from the live equipment on the tower.

[0094] Step 505, after the drone completes the inspection of the first cable terminal tower, it inspects and identifies obstacles in the ground cable channel corresponding to the target cable tunnel based on the configured camera, and inspects and identifies water and soil conditions in the ground cable channel corresponding to the target cable tunnel based on the configured camera, wherein the obstacles include construction vehicles and construction machinery.

[0095] Then, after the drone completes the inspection of the first cable terminal tower, it inspects and identifies obstacles in the ground cable channel corresponding to the target cable tunnel based on the configured camera, and inspects and identifies the water and soil conditions in the ground cable channel corresponding to the target cable tunnel based on the configured camera, thereby enabling inspections of the ground channel portion of the cable tunnel. At the same time, the equipped four-in-one camera is used to identify large construction vehicles and machinery that may exist above the channel, as well as the water and soil conditions above the channel, so that other possible risks that may endanger the channel can be discovered in a timely manner.

[0096] Step 506: After the drone has finished inspecting the ground cable channel, it inspects the second cable terminal tower located above the base station of the target cable tunnel.

[0097] Step 507, when the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0098] Finally, after the drone completes the inspection of the ground cable channel, it inspects the second cable terminal tower located above the base station of the target cable tunnel. When the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel to charge, thus completing a single cable inspection.

[0099] By applying the technical solution of this embodiment, the drone takes the base station of the target cable tunnel as the starting point, uses the infrared camera function of the camera to perform infrared temperature measurement inspection on the cable body in the target cable tunnel, uses the visible light recognition function and night vision function of the camera to inspect the auxiliary equipment in the target cable tunnel, and uses the visible light recognition function and night vision function of the camera to inspect the water ingress or sealing detachment of the target cable tunnel. The drone obtains gas information in the target cable tunnel based on the gas sensor, obtains the ambient temperature in the target cable tunnel based on the temperature sensor, and obtains the ambient humidity in the target cable tunnel based on the humidity sensor. When the drone After the inspection of the target cable tunnel is completed, the drone flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end of the target cable tunnel. The drone performs infrared temperature measurement inspection on the first cable terminal tower located above the end of the target cable tunnel based on the configured camera. After the drone completes the inspection of the first cable terminal tower, it inspects and identifies obstacles in the ground cable channel corresponding to the target cable tunnel based on the configured camera, and inspects and identifies the water and soil conditions in the ground cable channel corresponding to the target cable tunnel based on the configured camera. After the drone completes the inspection of the ground cable channel, it inspects the second cable terminal tower located above the base station of the target cable tunnel. After the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging, realizing a full range of cable inspections above and below the ground.

[0100] Further, as Figure 1 The specific implementation of the method, the embodiment of the present application provides a cable inspection device, such as Figure 6 As shown, the device comprises:

[0101] An underground cable tunnel inspection module 601 is used to inspect the target cable tunnel along the target cable tunnel end direction based on the base station of the target cable tunnel as the starting point;

[0102] The cable terminal tower inspection module 602 is used to inspect the first cable terminal tower located above the end point of the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel after the inspection of the target cable tunnel is completed, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel;

[0103] The aboveground cable channel inspection module 603 is used to inspect the aboveground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel after the inspection of the first cable terminal tower is completed, and to inspect the second cable terminal tower located above the base station of the target cable tunnel after the inspection of the aboveground cable channel is completed;

[0104] The inspection return module 604 is used to return to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel after the inspection of the second cable terminal tower is completed, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0105] Optionally, the inspection return module 604 is further configured to:

[0106] If no manhole cover opening information is received, the hovering position information is obtained within the preset waiting time based on the position at the time of sending the opening request;

[0107] When the preset waiting time is over, if it is judged based on the hovering position information that it is in the target cable tunnel, it returns to the base station of the target cable tunnel and sends an inspection alarm message to the preset receiving terminal. If it is judged based on the hovering position information that it is in the ground cable channel corresponding to the target cable tunnel, it descends to the roof of the entrance and exit station of the target cable tunnel, wherein the inspection alarm message includes the hovering position information and the start hovering time.

[0108] Optionally, the underground cable tunnel inspection module 601 is further used for:

[0109] Conduct infrared temperature measurement inspection on the cable body in the target cable tunnel, and inspect the auxiliary equipment in the target cable tunnel, wherein the auxiliary equipment includes auxiliary facilities and auxiliary equipment;

[0110] Conduct inspections on water ingress or plugging loss in the target cable tunnel;

[0111] The gas information in the target cable tunnel is obtained, the ambient temperature in the target cable tunnel is obtained, and the ambient humidity in the target cable tunnel is obtained.

[0112] Optionally, the cable terminal tower inspection module 602 is further used for:

[0113] An infrared temperature measurement inspection is performed on the first cable terminal tower located above the end point of the target cable tunnel, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the infrared temperature measurement is performed on the first cable terminal tower, the position distance to the first cable terminal tower is obtained in real time, and the position distance is always controlled within a preset safety distance range.

[0114] Optionally, the above-ground cable channel inspection module 603 is further used to:

[0115] Conducting inspection and identification of obstacles in the ground cable channel corresponding to the target cable tunnel, wherein the obstacles include construction vehicles and construction machinery;

[0116] Inspect and identify the water and soil conditions in the above-ground cable channel corresponding to the target cable tunnel.

[0117] Furthermore, the present application provides another cable inspection device, such as Figure 7 As shown, the device comprises:

[0118] The underground cable tunnel inspection module 701 is used to inspect the target cable tunnel along the target cable tunnel end direction based on the base station of the target cable tunnel as the starting point;

[0119] The cable terminal tower inspection module 702 is used to inspect the first cable terminal tower located above the end point of the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel after the inspection of the target cable tunnel is completed, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel;

[0120] The aboveground cable channel inspection module 703 is used to inspect the aboveground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel after the inspection of the first cable terminal tower is completed, and to inspect the second cable terminal tower located above the base station of the target cable tunnel after the inspection of the aboveground cable channel is completed;

[0121] The inspection return module 704 is used to return to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel after the inspection of the second cable terminal tower is completed, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

[0122] The manhole cover autonomous opening and closing module 705 is used for: if it is obtained that the preset distance with the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel is reached, then a manhole cover opening request is sent to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover, so that the manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic and electronic control system, and the manhole cover hydraulic and electronic control system drives the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the opening of the first autonomous opening and closing manhole cover; when the first autonomous opening and closing manhole cover is opened, it flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end point of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is equipped with a manhole cover wireless communication module and a manhole cover hydraulic and electronic control system, and the manhole cover hydraulic and electronic control system controls the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod.

[0123] Optionally, the inspection return module 704 is further used to:

[0124] If no manhole cover opening information is received, the hovering position information is obtained within the preset waiting time based on the position at the time of sending the opening request;

[0125] When the preset waiting time is over, if it is judged based on the hovering position information that it is in the target cable tunnel, it returns to the base station of the target cable tunnel and sends an inspection alarm message to the preset receiving terminal. If it is judged based on the hovering position information that it is in the ground cable channel corresponding to the target cable tunnel, it descends to the roof of the entrance and exit station of the target cable tunnel, wherein the inspection alarm message includes the hovering position information and the start hovering time.

[0126] Optionally, the underground cable tunnel inspection module 701 is further used for:

[0127] Conduct infrared temperature measurement inspection on the cable body in the target cable tunnel, and inspect the auxiliary equipment in the target cable tunnel, wherein the auxiliary equipment includes auxiliary facilities and auxiliary equipment;

[0128] Conduct inspections on water ingress or plugging loss in the target cable tunnel;

[0129] The gas information in the target cable tunnel is obtained, the ambient temperature in the target cable tunnel is obtained, and the ambient humidity in the target cable tunnel is obtained.

[0130] Optionally, the cable terminal tower inspection module 702 is further used for:

[0131] An infrared temperature measurement inspection is performed on the first cable terminal tower located above the end point of the target cable tunnel, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the infrared temperature measurement is performed on the first cable terminal tower, the position distance to the first cable terminal tower is obtained in real time, and the position distance is always controlled within a preset safety distance range.

[0132] Optionally, the above-ground cable channel inspection module 703 is further used to:

[0133] Conducting inspection and identification of obstacles in the ground cable channel corresponding to the target cable tunnel, wherein the obstacles include construction vehicles and construction machinery;

[0134] Inspect and identify the water and soil conditions in the above-ground cable channel corresponding to the target cable tunnel.

[0135] It should be noted that for other corresponding descriptions of the functional units involved in the cable inspection device provided in the embodiment of the present application, reference can be made to Figure 1 , Figure 3 and Figure 5 The corresponding description in the method will not be repeated here.

[0136] Based on the above Figure 1 , Figure 3 and Figure 5The method shown in the embodiment of the present application is accordingly provided with a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned Figure 1 , Figure 3 and Figure 5 Cable inspection method shown.

[0137] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0138] Based on the above Figure 1 , Figure 3 and Figure 5 The method shown, and Figure 6 , Figure 7 In order to achieve the above-mentioned purpose, the embodiment of the present application further provides a computer device, which can be a personal computer, a server, a network device, etc. The computer device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figure 1 , Figure 3 and Figure 5 Cable inspection method shown.

[0139] Optionally, the computer device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface, a WI-FI interface), etc.

[0140] Those skilled in the art will appreciate that the computer device structure provided in this embodiment does not limit the computer device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0141] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages and saves the hardware and software resources of the computer device, and supports the operation of information processing programs and other software and / or programs. The network communication module is used to realize communication between the components inside the storage medium, and communication with other hardware and software in the physical device.

[0142] Through the description of the above implementation methods, technical personnel in this field can clearly understand that the present application can be implemented by means of software plus necessary general hardware platforms, and can also be implemented by hardware. The drone takes the base station of the target cable tunnel as the starting point, and inspects the target cable tunnel along the direction of the end point of the target cable tunnel, and then flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel. The first autonomous opening and closing manhole cover is arranged on the top of the ventilation shaft, and then inspects the ground cable channel corresponding to the target cable tunnel along the direction of the base station of the target cable tunnel, and inspects the second cable terminal tower located above the base station of the target cable tunnel, and then returns to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel for charging. The second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station, realizing all-round cable inspection above and below the ground.

[0143] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0144] The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of this application, but this application is not limited to them, and any changes that can be thought of by technicians in this field should fall within the scope of protection of this application.

Claims

1. A cable inspection method, It is characterized in that The method comprises: The UAV takes the base station of the target cable tunnel as the starting point and inspects the target cable tunnel along the direction of the end point of the target cable tunnel; When the UAV completes the inspection of the target cable tunnel, it flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end of the target cable tunnel, and inspects the first cable terminal tower located above the end of the target cable tunnel, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel; After the drone has finished inspecting the first cable terminal tower, it will inspect the ground cable channel corresponding to the target cable tunnel in the direction of the base station of the target cable tunnel. After the inspection of the ground cable channel is completed, it will inspect the second cable terminal tower located above the base station of the target cable tunnel. When the drone completes the inspection of the second cable terminal tower, it returns to the base station of the target cable tunnel for charging through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

2. The method according to claim 1, It is characterized in that The UAV is equipped with a laser millimeter wave radar and a UAV wireless communication module, the first autonomous opening and closing manhole cover is equipped with a manhole cover wireless communication module and a manhole cover hydraulic electric control system, the manhole cover hydraulic electric control system controls a manhole cover main hydraulic rod and a manhole cover auxiliary hydraulic rod, the UAV flies away from the target cable tunnel through the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel, and inspects the first cable terminal tower located above the end point of the target cable tunnel, including: If the laser millimeter wave radar obtains that the drone and the first autonomous opening and closing manhole cover located at the end point of the target cable tunnel reach a preset distance, a manhole cover opening request is sent to the manhole cover wireless communication module of the first autonomous opening and closing manhole cover through the wireless communication module of the drone; The manhole cover wireless communication module transmits the electrical signal corresponding to the manhole cover opening request to the manhole cover hydraulic electric control system, so that the manhole cover hydraulic electric control system drives the manhole cover main hydraulic rod and the manhole cover auxiliary hydraulic rod to automatically extend and retract to control the first autonomous opening and closing manhole cover to open; When the first autonomous opening and closing manhole cover is opened, the manhole cover wireless communication module sends the manhole cover opening information to the drone wireless communication module, so that the drone flies away from the target cable tunnel based on the manhole cover position coordinates corresponding to the manhole cover opening information, and inspects the first cable terminal tower located above the end point of the target cable tunnel.

3. The method according to claim 2, It is characterized in that The drone is also equipped with a camera; after the drone sends a manhole cover opening request to the manhole cover wireless communication module of the first autonomous manhole cover opening and closing through the drone wireless communication module, the method further includes: If the wireless communication module of the drone does not receive the manhole cover opening information, it will continue to hover for a preset waiting time based on the position when the opening request was sent, and obtain the hovering position information through the camera during the preset waiting time; When the preset waiting time is over, if the drone is judged to be in the target cable tunnel based on the hovering position information, it will return to the base station of the target cable tunnel and send an inspection alarm message to the preset receiving terminal. If the drone is judged to be in the ground cable channel corresponding to the target cable tunnel based on the hovering position information, it will land on the roof of the entrance and exit station of the target cable tunnel, where the inspection alarm message includes the hovering position information and the start hovering time.

4. The method according to claim 1, It is characterized in that The drone is equipped with a gas sensor, a temperature sensor and a humidity sensor; the camera configured on the drone includes a visible light recognition function, a night vision function and an infrared camera function; the drone performs inspections under night vision conditions based on the night vision function; The UAV inspects the target cable tunnel along the terminal direction of the target cable tunnel, including: The UAV performs infrared temperature measurement inspection on the cable body in the target cable tunnel based on the infrared camera function of the camera, and inspects the auxiliary equipment in the target cable tunnel based on the visible light recognition function and night vision function of the camera, wherein the auxiliary equipment includes auxiliary facilities and auxiliary equipment; The drone can inspect the water ingress or plugging loss of the target cable tunnel based on the visible light recognition function and night vision function of the camera; The drone obtains gas information in the target cable tunnel based on a gas sensor, obtains the ambient temperature in the target cable tunnel based on a temperature sensor, and obtains the ambient humidity in the target cable tunnel based on a humidity sensor, wherein the gas information includes at least one of oxygen, carbon monoxide, hydrogen sulfide and methane information.

5. The method according to claim 1, It is characterized in that The drone inspects the first cable terminal tower located above the end point of the target cable tunnel, including: The UAV performs infrared temperature measurement inspection on the first cable terminal tower located above the end point of the target cable tunnel based on the configured camera, wherein the first cable terminal tower includes a cable terminal casing, a tail pipe, a lead seal, a grounding wire, a grounding box and a return line. When the UAV performs infrared temperature measurement on the first cable terminal tower, the configured laser millimeter-wave radar is used to obtain the position distance to the first cable terminal tower in real time, and the position distance is always controlled within a preset safety distance range.

6. The method according to claim 1, It is characterized in that The UAV inspects the ground cable channel corresponding to the target cable tunnel along the base station direction of the target cable tunnel, including: The drone inspects and identifies obstacles in the ground cable channel corresponding to the target cable tunnel based on the configured camera, wherein the obstacles include construction vehicles and construction machinery; Based on the configured camera, the drone inspects and identifies the water and soil conditions in the ground cable channel corresponding to the target cable tunnel.

7. The method according to any one of claims 1 to 6, It is characterized in that The fuselage of the UAV is surrounded by a carbon fiber spherical cover, and the propeller of the UAV is located below the fuselage.

8. A cable inspection device, It is characterized in that The device comprises: An underground cable tunnel inspection module is used to inspect the target cable tunnel based on the base station of the target cable tunnel as the starting point and along the direction of the target cable tunnel end point; A cable terminal tower inspection module, which is used to inspect a first cable terminal tower located above the end point of the target cable tunnel through a first autonomous opening and closing manhole cover located at the end point of the target cable tunnel after the inspection of the target cable tunnel is completed, wherein the first autonomous opening and closing manhole cover is arranged at the top of the ventilation shaft of the target cable tunnel; The above-ground cable channel inspection module is used to inspect the above-ground cable channel corresponding to the target cable tunnel along the base station direction of the target cable tunnel after the inspection of the first cable terminal tower is completed, and to inspect the second cable terminal tower located above the base station of the target cable tunnel after the inspection of the above-ground cable channel is completed; The inspection return module is used to return to the base station of the target cable tunnel through the second autonomous opening and closing manhole cover located above the base station of the target cable tunnel after the inspection of the second cable terminal tower is completed, wherein the second autonomous opening and closing manhole cover is arranged on the roof of the entrance and exit station of the target cable tunnel.

9. A storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the cable inspection method according to any one of claims 1 to 7 is implemented.

10. A computer device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, It is characterized in that When the processor executes the computer program, the cable inspection method according to any one of claims 1 to 7 is implemented.

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