Method and device for detecting fault condition of underwater cable, and underwater robot

Abstract

The invention discloses a method and device for detecting the fault condition of an underwater cable, an underwater robot, a storage medium, an electronic device and a computer program product, and the method comprises the steps: determining the position deviation information of an advancing route of the underwater robot and a to-be-detected cable according to a first electric signal outputted by an eddy current detection device; according to the position deviation information, the advancing route of the underwater robot is controlled, so that the advancing route of the underwater robot is consistent with the extending direction of the cable; and under the condition that the advancing route of the underwater robot is consistent with the extending direction of the cable, the fault condition of the cable to be detected is determined according to the second electric signal output by the eddy current detection device. Therefore, the position of the cable can be accurately positioned, the fault condition of the cable is detected under the condition of accurate positioning, and the detection result is more accurate.

Description

Technical Field

[0001] The present application relates to the field of cable detection, and more specifically, to a method and device for detecting fault conditions of underwater cables, an underwater robot, a storage medium, an electronic device, and a computer program product. Background Art

[0002] As an important infrastructure for national power transmission, underwater cables will cause huge economic losses once they fail. In recent years, the failure rate of underwater cables has increased year by year, seriously affecting the stable transmission of electricity. Therefore, it is necessary to detect underwater cables to ensure the stability of power transmission.

[0003] In related technologies, the type of underwater cable fault is mainly determined through manual detection, manual analysis and other methods, while the degree of the fault is mainly determined based on manual experience.

[0004] However, since the underwater environment is affected by water quality, light and other conditions, it is difficult to detect using visual methods. At the same time, since the cables may be buried by underwater mud, the detection results of related technical methods are inaccurate. Summary of the invention

[0005] Embodiments of the present application provide a method and device for detecting fault conditions of an underwater cable, an underwater robot, a storage medium, an electronic device, and a computer program product.

[0006] According to one aspect of an embodiment of the present application, a method for detecting a fault condition of an underwater cable is provided, which is applied to an underwater robot, wherein an eddy current detection device is provided at the bottom of the underwater robot, and the method comprises: determining, based on a first electrical signal output by the eddy current detection device, position deviation information between a travel route of the underwater robot and a cable to be detected; based on the position deviation information, controlling the travel route of the underwater robot so that the travel route of the underwater robot is consistent with an extension direction of the cable; and when the travel route of the underwater robot is consistent with the extension direction of the cable, determining the fault condition of the cable to be detected based on a second electrical signal output by the eddy current detection device.

[0007] In an exemplary embodiment, the first electrical signal includes a first voltage and a second voltage, and determining the position deviation information of the underwater robot's travel route and the cable to be detected based on the first electrical signal output by the eddy current detection device includes: acquiring the first voltage and the second voltage, wherein the first voltage is the voltage output by the first coil, and the second voltage is the voltage output by the second coil, the first coil and the second coil have the same parameters, and are symmetrically arranged with the central axis of the underwater robot along the travel direction as the symmetry axis; determining the position deviation information of the underwater robot's travel route and the cable to be detected based on the deviation between the first voltage and the second voltage.

[0008] In an exemplary embodiment, the method for detecting a fault condition of an underwater cable also includes: acquiring a third electrical signal output by the eddy current detection device; determining the strength of the electromagnetic field fed back by the cable to be detected based on the third electrical signal; determining the relative height information between the underwater robot and the cable to be detected based on the strength of the electromagnetic field; and when the relative height information exceeds a preset relative height preset range, controlling the height of the underwater robot to keep the relative height information within a preset relative height preset range.

[0009] In an exemplary embodiment, determining the fault condition of the cable to be detected based on the second electrical signal output by the eddy current detection device includes: determining whether the cable to be detected is faulty based on parameter information of the second electrical signal and a pre-established mapping relationship; when determining that the cable to be detected is faulty, determining the fault degree of the cable based on the parameter information of the second electrical signal, wherein the fault degree includes at least one of the following: total fault, partial fault; and determining the fault type of the cable based on the parameter information of the second electrical signal, wherein the fault type includes at least one of the following: open circuit fault, short circuit fault.

[0010] According to another aspect of an embodiment of the present application, there is also provided an underwater robot for detecting underwater cables, the underwater robot comprising:

[0011] A moving mechanism, used for driving the underwater robot to move;

[0012] An eddy current detection device, configured to output a first electrical signal and a second electrical signal under the action of an eddy current electromagnetic field formed by the cable to be detected, wherein the first electrical signal is used to indicate position deviation information between a travel route of the underwater robot and the cable to be detected, and the second electrical signal is used to indicate a fault condition of the cable to be detected;

[0013] The control module is connected to the moving mechanism and the eddy current detection device, respectively, and is used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal; according to the position deviation information, control the moving mechanism to adjust the travel route of the underwater robot so that the travel route of the underwater robot is consistent with the extension direction of the cable; when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal.

[0014] In an exemplary embodiment, the eddy current detection device is further used to output a third electrical signal, wherein the third electrical signal is used to indicate relative height information between the underwater robot and the cable to be detected;

[0015] The control module is also used to control the moving mechanism to adjust the height of the underwater robot when the relative height information exceeds a preset relative height preset range, so that the relative height information remains within a preset relative height preset range.

[0016] According to another aspect of an embodiment of the present application, a device for detecting a fault condition of an underwater cable is also provided, the device comprising:

[0017] A position determination module, used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device;

[0018] A route control module, used to control the travel route of the underwater robot according to the position deviation information, so that the travel route of the underwater robot is consistent with the extension direction of the cable;

[0019] The fault determination module is used to determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device when the travel route of the underwater robot is consistent with the extension direction of the cable.

[0020] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for detecting fault conditions of underwater cables when running.

[0021] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned method for detecting fault conditions of underwater cables through the computer program.

[0022] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0023] The above-mentioned method for detecting the fault condition of the underwater cable first determines the position deviation information between the travel route of the underwater robot and the cable to be detected based on the first electrical signal output by the eddy current detection device. Then, based on the position deviation information, the travel route of the underwater robot is controlled so that the travel route of the underwater robot is consistent with the extension direction of the cable. When the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined based on the second electrical signal output by the eddy current detection device. In this way, the position of the cable can be accurately located, and when the positioning is accurate, the fault condition of the cable can be detected, and the detection result is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0026] Figure 1 It is a hardware structure block diagram of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application;

[0027] Figure 2 is a flow chart of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application;

[0028] Figure 3 This is a second flow chart of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application;

[0029] Figure 4 is a third flow chart of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application;

[0030] Figure 5 This is a fourth flow chart of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application;

[0031] Figure 6 is a structural diagram of an underwater robot for detecting underwater cables according to an embodiment of the present application;

[0032] Figure 7 is a working schematic diagram of an underwater robot for underwater cable detection according to an embodiment of the present application;

[0033] Figure 8 It is a structural block diagram of a device for detecting a fault condition of an underwater cable according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0036] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a computer terminal of a method for detecting a fault condition of an underwater cable according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 The computer terminal includes a processor 102 (only one is shown in the figure) (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, MPU for short) or a programmable logic device (PLD for short)) and a memory 104 for storing data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0037] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for detecting the fault condition of the underwater cable in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] In this embodiment, a method for detecting a fault condition of an underwater cable is provided. Figure 2 1 is a flow chart of an optional method for detecting a fault condition of an underwater cable according to an embodiment of the present application, the flow chart comprising the following steps S200-S220:

[0040] Step S200: determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device.

[0041] Among them, the underwater robot dives to the bottom of the water and lands above the cable, and then moves forward along the extension direction of the cable. It is necessary to ensure that the movement route of the underwater robot is consistent with the extension direction of the cable to be detected in order to realize the detection of the cable.

[0042] Step S210, controlling the travel route of the underwater robot according to the position deviation information so that the travel route of the underwater robot is consistent with the extension direction of the cable.

[0043] Among them, when the travel route of the underwater robot deviates from the extension direction of the cable, that is, when the robot deviates from the cable, the detection result of the cable will be inaccurate, so it is necessary to control the travel route of the underwater robot so that the travel route of the underwater robot is consistent with the extension direction of the cable to achieve accurate detection.

[0044] Step S220: When the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined according to the second electrical signal output by the eddy current detection device.

[0045] In this embodiment, first, the position deviation information between the underwater robot's travel route and the cable to be detected is determined based on the first electrical signal output by the eddy current detection device. Then, based on the position deviation information, the underwater robot's travel route is controlled so that the underwater robot's travel route is consistent with the extension direction of the cable. When the underwater robot's travel route is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined based on the second electrical signal output by the eddy current detection device. In this way, the position of the cable can be accurately located, and when the positioning is accurate, the fault condition of the cable can be detected, and the detection result is more accurate.

[0046] In one embodiment, Figure 3 As shown, step S200, according to the first electrical signal output by the eddy current detection device, determines the position deviation information between the travel route of the underwater robot and the cable to be detected. It includes: steps S300-S310.

[0047] Step S300, obtaining a first voltage and a second voltage.

[0048] Among them, the first voltage is the voltage output by the first coil, the second voltage is the voltage output by the second coil, the parameters of the first coil and the second coil are the same, and they are symmetrically arranged with the central axis of the underwater robot along the direction of travel as the symmetry axis. Since the two coils are located at different positions at the bottom of the robot, when the relative position of the robot and the cable is offset, the distance between the two coils and the cable will also change, which will affect the strength of the induced eddy current electromagnetic field received by the coils. Therefore, when the robot's route deviates from the extension direction of the cable, the magnetic field strength and direction of the two coils relative to the cable will be different, resulting in differences in the voltage signals output by the two coils, that is, there will be differences between the first voltage and the second voltage. The principle is that the eddy current effect refers to the closed current generated inside the conductor when the AC electromagnetic field passes through the conductor. If the robot deviates from the cable, the distance between the two coils and the cable is different, and the eddy current strength and distribution generated by the cable in the two coils will also be different, thereby affecting the voltage value output by the coil.

[0049] The first electrical signal includes a first voltage and a second voltage.

[0050] Step S310: determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the deviation between the first voltage and the second voltage.

[0051] Among them, according to the deviation between the first voltage and the second voltage, the deviation between the first coil and the second coil and the cable can be determined, and the first coil and the second coil are fixed on the underwater robot, so the position deviation information between the underwater robot's travel route and the cable to be detected can be indirectly obtained.

[0052] In this embodiment, based on the deviation between the first voltage and the second voltage respectively output by the first coil and the second coil of the eddy current detection device, the position deviation information between the travel route of the underwater robot and the cable to be detected is determined, so that the relative position between the underwater robot and the cable can be accurately located, facilitating accurate detection of the cable.

[0053] In one embodiment, Figure 4 As shown, the method for detecting the fault condition of the underwater cable also includes: steps S400-S430. Among them:

[0054] Step S400, obtaining a third electrical signal output by the eddy current detection device.

[0055] Step S410: determining the strength of the electromagnetic field fed back by the cable to be detected according to the third electrical signal.

[0056] The eddy current detection device may further include a third coil, which is capable of sensing the electromagnetic field strength of the induced eddy current fed back by the cable conductor and converting it into a third electrical signal for output.

[0057] Step S420: determining the relative height information between the underwater robot and the cable to be detected according to the strength of the electromagnetic field.

[0058] Among them, when the relative height between the underwater robot and the cable to be detected changes, the induced eddy current electromagnetic field strength fed back by the third coil will also change, so the relative height information of the underwater robot and the cable to be detected can be indirectly determined through the third electrical signal.

[0059] Step S430, when the relative height information exceeds the preset relative height preset range, controlling the height of the underwater robot so that the relative height information remains within the preset relative height preset range.

[0060] Among them, the relative height information needs to be kept within a preset relative height preset range, so as to prevent the signal change caused by the distance change from interfering with the acquisition of the actual cable fault characteristic signal and prevent signal attenuation.

[0061] In this embodiment, the relative height between the underwater robot and the cable to be detected is determined by using the strength of the electromagnetic field fed back by the cable through the third electrical signal output by the eddy current detection device, so as to control the height of the underwater robot so that the relative height information is kept within a preset relative height preset range, thereby ensuring the accuracy and stability of cable detection.

[0062] In one embodiment, Figure 5 As shown, step S220, when the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined according to the second electrical signal output by the eddy current detection device. It includes: steps S500-S520. Among them:

[0063] Step S500: determining whether the cable to be detected is faulty according to parameter information of the second electrical signal and a pre-established mapping relationship.

[0064] Among them, a definite model for realizing the mapping relationship can be established by using a support vector machine (SVM), which can quickly and accurately identify the fault type of the underwater cable. The SVM algorithm has good generalization ability and can train an efficient and accurate fault identification model on a small sample data set, greatly shortening the time of fault diagnosis.

[0065] Step S510: when a cable fault is determined to be detected, determine the fault degree of the cable based on parameter information of the second electrical signal.

[0066] The fault degree includes at least one of the following: total fault and partial fault.

[0067] Step S520: determining the fault type of the cable based on the parameter information of the second electrical signal.

[0068] The fault type includes at least one of the following: open circuit fault and short circuit fault.

[0069] In this embodiment, since the output voltage of the eddy current detection device is related to the eddy current intensity in the object being detected, when the cable is short-circuited or open-circuited, the distribution and intensity of the eddy current will change, causing the signal received by the eddy current detection device to change accordingly. This change can be used to detect the integrity of the cable and identify faults. By analyzing the change in the output voltage, it can be determined whether the cable has a fault and the type of fault, thereby achieving cable fault detection.

[0070] In one embodiment, Figure 6 As shown, an underwater robot for underwater cable detection is provided, the underwater robot comprising: a moving mechanism 10, an eddy current detection device 20, and a control module 30, wherein:

[0071] The moving mechanism 10 is used to drive the underwater robot to move.

[0072] The eddy current detection device is used to output a first electrical signal and a second electrical signal under the action of an eddy current electromagnetic field formed by a cable to be detected.

[0073] The first electrical signal is used to indicate the position deviation information between the travel route of the underwater robot and the cable to be detected, and the second electrical signal is used to indicate the fault condition of the cable to be detected.

[0074] The control module 30 is respectively connected to the mobile mechanism 10 and the eddy current detection device, and is used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected based on the first electrical signal; according to the position deviation information, control the mobile mechanism 10 to adjust the travel route of the underwater robot so that the travel route of the underwater robot is consistent with the extension direction of the cable; when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal.

[0075] In this embodiment, the underwater robot can be driven to move by a moving mechanism. The eddy current electromagnetic field formed by the cable can be converted into a first electrical signal and a second electrical signal output by an eddy current detection device. By setting a control module, first, the position deviation information between the travel route of the underwater robot and the cable to be detected is determined according to the first electrical signal output by the eddy current detection device. Then, according to the position deviation information, the travel route of the underwater robot is controlled so that the travel route of the underwater robot is consistent with the extension direction of the cable. When the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined according to the second electrical signal output by the eddy current detection device. In this way, the position of the cable can be accurately located, and when the positioning is accurate, the fault condition of the cable can be detected, and the detection result is more accurate.

[0076] In one embodiment, please continue to see Figure 6 The eddy current detection device 20 is also used to output a third electrical signal.

[0077] The third electrical signal is used to indicate the relative height information between the underwater robot and the cable to be detected.

[0078] The control module 30 is also used to control the moving mechanism to adjust the height of the underwater robot when the relative height information exceeds a preset relative height preset range, so that the relative height information remains within the preset relative height preset range.

[0079] For example, Figure 7 As shown, the traveling direction of the underwater robot is the direction of the central axis of the underwater robot. The eddy current detection device includes a front eddy current detection module 21 and a rear eddy current detection module 22, wherein:

[0080] The front eddy current detection module 21 includes a third coil 43 for outputting a third electrical signal. The single-coil front eddy current detection module is located at the front end of the robot center axis 100 and can detect the relative height information between the underwater robot and the cable 110 to be detected.

[0081] Specifically, when a change in relative height information is detected, the underwater robot may move to adjust the height of the rear-end eddy current detection module to ensure that the relative distance between the rear-end eddy current detection module and the cable does not change too much, so as to prevent signal changes caused by distance changes from interfering with the acquisition of actual cable fault characteristic signals.

[0082] The rear eddy current detection module 22 includes a first coil 41 and a second coil 42, and may also include a fourth coil 44. The first coil 41 and the second coil 42 are used to output a first voltage and a second voltage, respectively, for detecting the position deviation information between the travel route of the underwater robot and the cable 110 to be detected. The fourth coil 44 is an excitation coil, which is used to detect the change of the eddy current of the cable, so as to determine whether the cable to be detected is faulty according to the parameter information of the second electrical signal and the pre-established mapping relationship.

[0083] Among them, three coils are arranged in parallel in a triangular shape, and the fourth coil is an excitation coil. The first coil and the second coil are wound with the same wire specification and the same number of turns, and the impedance value is kept consistent. The sum of the output voltages of the first coil and the second coil can be used as the output voltage to increase the detection sensitivity and achieve the acquisition of more subtle characteristic signals.

[0084] The principle of improving sensitivity is explained as follows: The principle of using the sum of the voltages of the two coils as the output voltage to improve the detection sensitivity is based on electromagnetic induction and eddy current detection technology. Eddy current detection is a non-destructive detection method that detects by measuring the changes in the magnetic field generated by the induced eddy currents in the object being detected (such as a cable). When an electromagnetic wave (usually an alternating electromagnetic field) passes through a conductor, a closed current, namely an eddy current, is generated inside the conductor. The intensity and distribution of the eddy current can reflect the physical properties and structural characteristics of the conductor. The electromagnetic fields generated by the two coils can be superimposed on each other. If the electromagnetic fields of the two coils are in the same direction, their intensities will be added, which can increase the intensity of the induced eddy current, making the detection signal stronger and improving the signal-to-noise ratio.

[0085] Exemplarily, a double coil or a field-shaped coil arrangement combination may be used to improve the detection sensitivity.

[0086] In this embodiment, the relative height between the underwater robot and the cable to be detected is determined by using the strength of the electromagnetic field fed back by the cable through the third electrical signal output by the eddy current detection device, so as to control the height of the underwater robot so that the relative height information is kept within a preset relative height preset range, thereby ensuring the accuracy and stability of cable detection.

[0087] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0088] In the present embodiment, a detection device for the fault condition of an underwater cable is also provided, and the detection device for the fault condition of the underwater cable is used to implement the above-mentioned embodiment and the preferred embodiment, and the description thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0089] Figure 8 is a structural block diagram of an optional underwater cable fault detection device according to an embodiment of the present application; Figure 8 As shown, including:

[0090] The position determination module 801 is used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device.

[0091] The route control module 802 is used to control the travel route of the underwater robot according to the position deviation information, so that the travel route of the underwater robot is consistent with the extension direction of the cable.

[0092] The fault determination module 803 is used to determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device when the travel route of the underwater robot is consistent with the extension direction of the cable.

[0093] Through the above device, firstly, according to the first electrical signal output by the eddy current detection device, the position deviation information between the travel route of the underwater robot and the cable to be detected is determined. Then, according to the position deviation information, the travel route of the underwater robot is controlled so that the travel route of the underwater robot is consistent with the extension direction of the cable. When the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined according to the second electrical signal output by the eddy current detection device. In this way, the position of the cable can be accurately located, and when the positioning is accurate, the fault condition of the cable can be detected, and the detection result is more accurate.

[0094] In one embodiment, the above-mentioned device is also used to obtain a first voltage and a second voltage, wherein the first voltage is the voltage output by the first coil, and the second voltage is the voltage output by the second coil. The parameters of the first coil and the second coil are the same, and they are symmetrically arranged with the central axis of the underwater robot along the moving direction as the symmetry axis.

[0095] According to the deviation between the first voltage and the second voltage, the position deviation information between the traveling route of the underwater robot and the cable to be detected is determined.

[0096] In one embodiment, the above device further comprises:

[0097] The signal acquisition module is used to acquire the third electrical signal output by the eddy current detection device.

[0098] The strength determination module is used to determine the strength of the electromagnetic field fed back by the cable to be detected according to the third electrical signal.

[0099] The height determination module is used to determine the relative height information between the underwater robot and the cable to be detected according to the strength of the electromagnetic field.

[0100] The height adjustment module is used to control the height of the underwater robot when the relative height information exceeds a preset relative height preset range, so that the relative height information remains within a preset relative height preset range.

[0101] In one embodiment, the fault determination module 803 is further configured to determine whether the cable to be detected is faulty according to parameter information of the second electrical signal and a pre-established mapping relationship.

[0102] When a cable fault to be detected is determined, the fault degree of the cable is determined based on parameter information of the second electrical signal, wherein the fault degree includes at least one of the following: a total fault and a partial fault.

[0103] And, determining a fault type of the cable based on parameter information of the second electrical signal, wherein the fault type includes at least one of the following: open circuit fault and short circuit fault.

[0104] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0105] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0106] S1, determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device.

[0107] S2, controlling the travel route of the underwater robot according to the position deviation information so that the travel route of the underwater robot is consistent with the extension direction of the cable.

[0108] S3, when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device.

[0109] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0110] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0111] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0112] S1, determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device.

[0113] S2, controlling the travel route of the underwater robot according to the position deviation information so that the travel route of the underwater robot is consistent with the extension direction of the cable.

[0114] S3, when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device.

[0115] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0116] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores the computer program product, and when the computer program is executed by a processor, the steps of the method in each embodiment of the present application are implemented.

[0117] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0118] S1, determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device.

[0119] S2, controlling the travel route of the underwater robot according to the position deviation information so that the travel route of the underwater robot is consistent with the extension direction of the cable.

[0120] S3, when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device.

[0121] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0122] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0123] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for detecting a fault condition of an underwater cable, characterized in that: Applied to an underwater robot, the bottom of the underwater robot is provided with an eddy current detection device, and the method comprises: Determining, according to the first electrical signal output by the eddy current detection device, position deviation information between the travel route of the underwater robot and the cable to be detected; Controlling the travel route of the underwater robot according to the position deviation information so that the travel route of the underwater robot is consistent with the extension direction of the cable; In the case that the travel route of the underwater robot is consistent with the extension direction of the cable, the fault condition of the cable to be detected is determined according to the second electrical signal output by the eddy current detection device.

2. The method according to claim 1, characterized in that The first electrical signal includes a first voltage and a second voltage, and determining the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device includes: Obtaining the first voltage and the second voltage, wherein the first voltage is the voltage output by the first coil, the second voltage is the voltage output by the second coil, the first coil and the second coil have the same parameters, and are symmetrically arranged with the central axis of the underwater robot along the moving direction as the symmetry axis; According to the deviation between the first voltage and the second voltage, the position deviation information between the traveling route of the underwater robot and the cable to be detected is determined.

3. The method according to claim 1, characterized in that The method further comprises: Acquiring a third electrical signal output by the eddy current detection device; Determining the strength of the electromagnetic field fed back by the cable to be detected according to the third electrical signal; Determining relative height information between the underwater robot and the cable to be detected according to the strength of the electromagnetic field; When the relative height information exceeds a preset relative height preset range, the height of the underwater robot is controlled to keep the relative height information within the preset relative height preset range.

4. The method according to claim 1, characterized in that: Determining the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device includes: Determining whether the cable to be detected is faulty according to parameter information of the second electrical signal and a pre-established mapping relationship; In the case of determining the cable fault to be detected, determining the fault degree of the cable based on the parameter information of the second electrical signal, wherein the fault degree includes at least one of the following: a total fault, a partial fault; And, determining the fault type of the cable based on the parameter information of the second electrical signal, wherein the fault type includes at least one of the following: open circuit fault and short circuit fault.

5. An underwater robot for underwater cable detection, characterized in that: The underwater robot comprises: A moving mechanism, used for driving the underwater robot to move; An eddy current detection device, configured to output a first electrical signal and a second electrical signal under the action of an eddy current electromagnetic field formed by the cable to be detected, wherein the first electrical signal is used to indicate position deviation information between a travel route of the underwater robot and the cable to be detected, and the second electrical signal is used to indicate a fault condition of the cable to be detected; The control module is connected to the moving mechanism and the eddy current detection device, respectively, and is used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal; according to the position deviation information, control the moving mechanism to adjust the travel route of the underwater robot so that the travel route of the underwater robot is consistent with the extension direction of the cable; when the travel route of the underwater robot is consistent with the extension direction of the cable, determine the fault condition of the cable to be detected according to the second electrical signal.

6. The underwater robot according to claim 5, characterized in that: The eddy current detection device is further used to output a third electrical signal, wherein the third electrical signal is used to indicate relative height information between the underwater robot and the cable to be detected; The control module is also used to control the moving mechanism to adjust the height of the underwater robot when the relative height information exceeds a preset relative height preset range, so that the relative height information remains within a preset relative height preset range.

7. A device for detecting fault conditions of underwater cables, characterized in that: The device comprises: A position determination module, used to determine the position deviation information between the travel route of the underwater robot and the cable to be detected according to the first electrical signal output by the eddy current detection device; A route control module, used to control the travel route of the underwater robot according to the position deviation information, so that the travel route of the underwater robot is consistent with the extension direction of the cable; The fault determination module is used to determine the fault condition of the cable to be detected according to the second electrical signal output by the eddy current detection device when the travel route of the underwater robot is consistent with the extension direction of the cable.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 4 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 4 through the computer program.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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