Inspection robot inspection method, control system, medium and product

Abstract

The invention discloses an inspection method of an inspection robot, a control system, a medium and a product, and relates to the field of robots, and the method comprises the steps: obtaining first inspection data in a cable pipe gallery after the inspection robot completes a first inspection route; determining a plurality of high-heat areas and temperature anomaly severity scores corresponding to the high-heat areas according to the temperature data; determining a plurality of high-humidity areas and humidity anomaly severity scores corresponding to the plurality of high-humidity areas according to the humidity data; determining a plurality of cable surface defect areas and image defect severity scores respectively corresponding to the plurality of cable surface defect areas according to the image data; based on the temperature anomaly severity score, the humidity anomaly severity score and the image defect severity score, determining the routing inspection priority of each area; and determining a second inspection route with the shortest distance according to the plurality of high-heat areas, the plurality of high-humidity areas and the plurality of cable surface defect areas. By implementing the method, the inspection efficiency and accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an inspection method, control system, medium and product of an inspection robot. Background Art

[0002] As an important part of the power system, the cable corridor is responsible for the transmission and distribution of electricity. Its safe operation status is directly related to the stability and safety of the entire power system. With the rapid advancement of urbanization and industrialization, the length and complexity of the cable corridor are increasing, which requires regular inspection and maintenance of the cable corridor to ensure its stability and safety in high-load operation.

[0003] Related technologies usually rely on regular manual inspections or simple automated equipment to monitor and maintain cable corridors. When the automated equipment detects abnormal data, manual intervention is usually required to further confirm and handle the problem, which may involve investigating and repairing potential fault points.

[0004] However, in the related art, the inspection route of automated equipment is usually fixed or adjusted only after a serious problem is found. This approach may not be flexible enough to deal with rapidly changing abnormal situations and cannot maximize inspection efficiency and accuracy. Summary of the invention

[0005] The present application provides an inspection method, control system, medium and product of an inspection robot for improving inspection efficiency and accuracy.

[0006] In a first aspect, the present application provides an inspection method of an inspection robot, which is applied to a control system, and the method includes: after the inspection robot completes a first inspection route, obtaining first inspection data in a cable corridor, the first inspection data including temperature data, humidity data and image data; determining multiple high-heat areas and temperature anomaly severity scores corresponding to the multiple high-heat areas based on the temperature data in the cable corridor, the high-heat areas are used to indicate areas in the cable corridor where the temperature exceeds a preset temperature range; determining multiple high-humidity areas and humidity anomaly severity scores corresponding to the multiple high-humidity areas based on the humidity data in the cable corridor, the high-humidity areas are used to indicate the humidity in the cable corridor. Areas exceeding a preset humidity range; determining multiple cable surface defect areas and image defect severity scores corresponding to the multiple cable surface defect areas based on the image data in the cable corridor, the cable surface defect area is used to indicate an area where physical damage exists on the cable surface; determining the inspection priority of each area based on the temperature anomaly severity score, the humidity anomaly severity score and the image defect severity score, the higher the inspection priority, the longer the corresponding inspection time; determining a second inspection route with the shortest distance based on the multiple high-heat areas, the multiple high-humidity areas and the multiple cable surface defect areas, the second inspection route includes the inspection priority and inspection time of each area.

[0007] By adopting the above technical solutions, first, after the inspection robot completes the first inspection route, the control system obtains the temperature data, humidity data and image data in the cable corridor to fully grasp the operation status of the cable corridor. Secondly, the control system determines the high-heat area, high-humidity area and cable surface defect area, and scores the severity of each area, so as to achieve accurate positioning and quantitative evaluation of abnormal conditions. Thirdly, the control system determines the inspection priority and inspection duration of each area based on multi-dimensional scoring data, ensuring the reasonable allocation of inspection resources. Finally, the control system determines the second inspection route with the shortest distance according to each area, which not only improves the inspection efficiency, but also ensures full attention to key areas. This intelligent and dynamically adjusted inspection method greatly improves the accuracy, efficiency and pertinence of cable corridor inspections, effectively reduces safety hazards, and provides a strong guarantee for the stable operation of the power system.

[0008] In combination with some embodiments of the first aspect, in some embodiments, multiple high heat areas and temperature anomaly severity scores corresponding to the multiple high heat areas are determined based on the temperature data in the cable corridor, and the high heat area is used to indicate the area in the cable corridor where the temperature exceeds the preset temperature range, specifically including: determining the area in the cable corridor where the temperature exceeds the preset first temperature threshold as the temperature area to be inspected; calculating the average temperature values ​​of multiple sampling points in the temperature area to be inspected to obtain the average temperature of the temperature area to be inspected; determining the temperature area to be inspected where the average temperature exceeds the preset second temperature threshold as the high heat area, and the preset second temperature threshold is higher than the preset first temperature threshold; determining the temperature anomaly severity score corresponding to the high heat area according to the average temperature of the high heat area and a preset temperature impact score table, and the preset temperature impact score table includes the anomaly severity score corresponding to the temperature.

[0009] By adopting the above technical solution, firstly, the control system realizes the hierarchical screening of high-temperature areas by setting a preset first temperature threshold and a preset second temperature threshold, effectively reducing the false alarm rate. Secondly, the average temperature of multiple sampling points is used as the judgment criterion to avoid misjudgment caused by single-point anomalies and improve the accuracy and reliability of judgment. Thirdly, by introducing a preset temperature impact score table, the temperature data is converted into a standardized temperature anomaly severity score, which facilitates horizontal comparison and inspection priority sorting between different areas. This multi-step, multi-dimensional temperature anomaly assessment method not only improves the accuracy of high-temperature anomaly detection, but also provides reliable data support for subsequent inspection priority determination. By accurately identifying and quantitatively evaluating temperature anomalies, it helps to promptly detect potential equipment overheating problems and prevent possible cable failures, thereby improving the operational safety and reliability of the cable corridor.

[0010] In combination with some embodiments of the first aspect, in some embodiments, multiple cable surface defect areas and image defect severity scores corresponding to the multiple cable surface defect areas are determined based on the image data in the cable duct, and the cable surface defect area is used to indicate an area where physical damage exists on the cable surface, specifically including: determining multiple cable surface defect areas and physical damage types and physical damage areas corresponding to the multiple cable surface defect areas based on the image data in the cable duct; determining the weight corresponding to the physical damage type in a preset physical damage weight table; and determining the image defect severity score corresponding to each cable surface defect area based on the weight corresponding to the physical damage type and the physical damage area.

[0011] By adopting the above technical solution, firstly, the control system can not only identify the defective area on the cable surface through image data, but also determine the type and area of ​​physical damage in the defective area on the cable surface, thus realizing a comprehensive assessment of the surface condition of the cable. Secondly, by introducing a preset physical damage weight table, different weights are assigned to different types of physical damage, reflecting the differentiated understanding of the degree of harm of various defects. Thirdly, the control system combines the weight of the physical damage type with the physical damage area to calculate the image defect severity score, thereby obtaining a more comprehensive and accurate assessment result. This multi-factor comprehensive evaluation method can more accurately reflect the actual degree of harm of cable surface defects, help optimize the allocation of inspection resources, and focus on high-risk areas.

[0012] In combination with some embodiments of the first aspect, in some embodiments, the inspection priority of each area is determined based on the temperature abnormality severity score, the humidity abnormality severity score and the image defect severity score, and the higher the inspection priority, the longer the corresponding inspection time. Specifically, the following steps are performed: inputting the temperature abnormality severity score, the humidity abnormality severity score and the image defect severity score into a preset comprehensive abnormality scoring formula to obtain an abnormality score value for each area; determining the inspection priority of each area based on the abnormality score value of each area; and determining the inspection time for each area based on a preset inspection priority-time correspondence table.

[0013] By adopting the above technical solution, firstly, the control system integrates the severity scores of the three dimensions of temperature data, humidity data and image data into the preset comprehensive anomaly scoring formula, realizes the organic integration of multi-dimensional data, and avoids the one-sidedness that may be caused by a single indicator evaluation. Secondly, the control system determines the inspection priority through the anomaly score value, ensures the scientificity and rationality of resource allocation, and enables the areas that need the most attention to receive timely and sufficient inspections. Thirdly, by introducing the preset inspection priority-duration correspondence table, the dynamic matching of inspection priority and inspection duration is realized, ensuring that high-risk areas can receive longer and more detailed inspections. This method not only improves the pertinence and efficiency of inspections, but also can flexibly adjust the inspection strategy according to actual conditions, greatly improving the overall quality and effect of cable corridor inspections, and providing a strong guarantee for the timely discovery and handling of potential problems.

[0014] In combination with some embodiments of the first aspect, in some embodiments, before the step of obtaining first inspection data in the cable corridor after the inspection robot completes the first inspection route, wherein the first inspection data includes temperature data, humidity data and image data, the method further includes: determining multiple candidate inspection routes according to the cable corridor design drawings; based on the inspection route requirements sent by the administrator, determining a candidate inspection route among the multiple inspection routes whose matching degree exceeds a preset matching degree threshold as the first inspection route.

[0015] By adopting the above technical solution, firstly, the control system determines multiple candidate inspection routes based on the cable corridor design drawings, ensuring the comprehensiveness and feasibility of the inspection routes. Secondly, the control system realizes the personalized customization of the inspection plan by introducing the inspection route requirements sent by the administrator, which can better meet the actual operation and maintenance needs. Thirdly, the control system selects the first inspection route by a matching degree exceeding the preset matching degree threshold, which not only ensures the flexibility of route selection, but also maintains a certain level of standardization. This route determination method that combines engineering data, administrator needs and matching degree evaluation not only improves the pertinence and efficiency of the initial inspection, but also lays the foundation for subsequent dynamic adjustments.

[0016] In combination with some embodiments of the first aspect, in some embodiments, after the step of determining a second inspection route with the shortest distance based on the multiple high-heat areas, the multiple high-humidity areas and the multiple cable surface defect areas, wherein the second inspection route includes the inspection priority and inspection duration of each area, the method further includes: obtaining real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route; marking the real-time inspection data in the real-time monitoring video, and generating a visual display interface for the cable corridor.

[0017] By adopting the above technical solutions, firstly, the control system realizes dynamic tracking of the inspection process by acquiring the real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route, which greatly improves the timeliness and accuracy of monitoring. Secondly, the control system marks the real-time inspection data in the real-time monitoring video, innovatively integrating data and visual information, so that monitoring personnel can intuitively and quickly understand and analyze the inspection situation. Thirdly, by generating a visual display interface for the cable corridor, complex inspection information is converted into a visual form that is easy to understand and operate, greatly improving the readability and efficiency of information. This real-time, visual monitoring method not only improves the speed of discovering and handling abnormal situations, but also provides administrators with comprehensive and intuitive decision-making support, which helps to improve the overall operation and maintenance level and emergency response capabilities of the cable corridor.

[0018] In combination with some embodiments of the first aspect, in some embodiments, after the step of determining a second inspection route with the shortest distance based on the multiple high-heat areas, the multiple high-humidity areas and the multiple cable surface defect areas, wherein the second inspection route includes the inspection priority and inspection duration of each area, the method further includes: after the inspection robot completes the second inspection route, obtaining second inspection data in the cable corridor, wherein the second inspection data includes vibration data emitted by the cable and gas data emitted by the cable; determining the cable fault location based on the vibration data and the gas data; and sending the cable fault location to the administrator.

[0019] By adopting the above technical solution, firstly, after the inspection robot completes the second inspection route, the control system additionally obtains the vibration data and gas data emitted by the cable, enriching the dimension of the inspection data and improving the comprehensiveness and accuracy of fault detection. Secondly, the control system realizes the precise positioning of the cable fault position by comprehensively analyzing the vibration data and gas data, greatly improving the efficiency and accuracy of fault diagnosis. Thirdly, the cable fault position is sent directly to the administrator, realizing rapid information transmission, which helps to take necessary maintenance measures in time. This method of multi-dimensional data analysis and rapid feedback not only improves the detection capability of cable faults, but also can locate and report faults in a timely and accurate manner, thereby effectively reducing the losses caused by cable faults and improving the overall reliability of the power system.

[0020] In a second aspect, an embodiment of the present application provides a control system, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the control system to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0021] In a third aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when the computer program product is run on a control system, enables the control system to execute the method described in the first aspect and any possible implementation of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a control system, enable the control system to execute the method described in the first aspect and any possible implementation of the first aspect.

[0023] It is understandable that the control system provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0024] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. By adopting the above technical solution, first, after the inspection robot completes the first inspection route, the control system obtains the temperature data, humidity data and image data in the cable corridor to fully grasp the operation status of the cable corridor. Secondly, the control system determines the high-heat area, high-humidity area and cable surface defect area, and scores the severity of each area, thereby realizing the precise positioning and quantitative evaluation of abnormal conditions. Thirdly, the control system determines the inspection priority and inspection duration of each area based on multi-dimensional scoring data, ensuring the reasonable allocation of inspection resources. Finally, the control system determines the second inspection route with the shortest distance according to each area, which not only improves the inspection efficiency, but also ensures full attention to key areas. This intelligent and dynamically adjusted inspection method greatly improves the accuracy, efficiency and pertinence of cable corridor inspections, effectively reduces safety hazards, and provides a strong guarantee for the stable operation of the power system.

[0025] 2. By adopting the above technical solution, first, the control system integrates the severity scores of the three dimensions of temperature data, humidity data and image data into the preset comprehensive anomaly scoring formula, realizing the organic integration of multi-dimensional data and avoiding the one-sidedness that may be caused by a single indicator evaluation. Secondly, the control system determines the inspection priority through the anomaly score value, ensuring the scientificity and rationality of resource allocation, so that the areas that need the most attention can receive timely and sufficient inspections. Thirdly, by introducing a preset inspection priority-duration correspondence table, a dynamic matching of inspection priority and inspection duration is achieved, ensuring that high-risk areas can receive longer and more detailed inspections. This method not only improves the pertinence and efficiency of inspections, but also can flexibly adjust inspection strategies according to actual conditions, greatly improving the overall quality and effect of cable corridor inspections, and providing a strong guarantee for the timely discovery and handling of potential problems.

[0026] 3. By adopting the above technical solutions, firstly, the control system realizes dynamic tracking of the inspection process by acquiring the real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route, which greatly improves the timeliness and accuracy of monitoring. Secondly, the control system marks the real-time inspection data in the real-time monitoring video, innovatively integrating data and visual information, so that monitoring personnel can intuitively and quickly understand and analyze the inspection situation. Thirdly, by generating a visual display interface for the cable corridor, complex inspection information is converted into a visual form that is easy to understand and operate, greatly improving the readability and efficiency of information. This real-time, visual monitoring method not only improves the speed of discovering and handling abnormal situations, but also provides administrators with comprehensive and intuitive decision-making support, which helps to improve the overall operation and maintenance level and emergency response capabilities of the cable corridor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a flow chart of the inspection method of the inspection robot in the embodiment of the present application; Figure 2 is another flowchart of the inspection method of the inspection robot in the embodiment of the present application; Figure 3 It is a schematic diagram of the structure of a physical device of the control system in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification of the present application, the singular expressions "one", "a kind of", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more of the listed items.

[0029] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0030] The following is a description of the process of the method provided by this implementation. Figure 1 , which is a flow chart of the inspection method of the inspection robot in the embodiment of the present application.

[0031] S101. After the inspection robot completes a first inspection route, obtain first inspection data in the cable corridor, where the first inspection data includes temperature data, humidity data, and image data; Among them, the inspection robot refers to an intelligent device that moves autonomously and collects data in the cable corridor. The first inspection route refers to the route that the inspection robot conducts its first inspection in the cable corridor. The cable corridor refers to an underground or above-ground channel system used to house and protect power cables. The first inspection data refers to the comprehensive information collected by the inspection robot after completing the first inspection route. The temperature data is used to indicate the temperature conditions of each area in the cable corridor. The humidity data is used to indicate the humidity conditions of each area in the cable corridor. The image data refers to the visual information of the cables in the cable corridor collected by the inspection robot.

[0032] This step is performed immediately after the inspection robot completes the first inspection route, and is intended to preliminarily collect comprehensive data in the cable corridor. Specifically, first, the control system confirms that the inspection robot has completed the inspection task of the first inspection route. Then, the control system obtains all the data collected by the inspection robot during the inspection process, namely the first inspection data, through the data transmission interface with the inspection robot. The first inspection data mainly includes three categories: temperature data, humidity data and image data. The temperature data is collected by the temperature sensor on the inspection robot, reflecting the temperature distribution at different locations in the cable corridor. The humidity data is obtained by the humidity sensor on the inspection robot, indicating the humidity level of each area in the cable corridor. The image data is taken by the camera of the inspection robot, and may contain visual information such as the internal environment of the cable corridor, the appearance of the cable, and the status of the equipment. The control system preliminarily organizes and stores these first inspection data to prepare for subsequent data analysis and processing.

[0033] S102, determining a plurality of high-heat areas and temperature anomaly severity scores corresponding to the plurality of high-heat areas according to the temperature data in the cable corridor, wherein the high-heat area is used to indicate an area in the cable corridor where the temperature exceeds a preset temperature range; The high heat area refers to the area in the cable corridor where the temperature is abnormally high. The temperature anomaly severity score is used to quantify the degree of temperature anomaly in the high heat area. The preset temperature range refers to the acceptable temperature range in the normal operation of the cable corridor.

[0034] This step is performed immediately after obtaining the first inspection data, and its purpose is to identify and evaluate the temperature anomalies in the cable corridor. Specifically, first, the control system analyzes and processes the temperature data obtained in S101. The control system sets a preset temperature range, and all areas exceeding this preset temperature range will be marked as high-heat areas. For each determined high-heat area, the control system assigns a temperature anomaly severity score based on the degree of its temperature anomaly. The temperature anomaly severity score may be based on multiple factors, such as the degree to which the temperature exceeds the preset temperature range, the duration, the rate of temperature rise, etc. The calculation of the temperature anomaly severity score may use a preset scoring algorithm or a table lookup method.

[0035] Optionally, under normal circumstances, determining multiple high-heat areas and the temperature anomaly severity scores corresponding to the multiple high-heat areas according to the temperature data in the cable corridor can be achieved in the following way: determining the area in the cable corridor where the temperature exceeds the preset first temperature threshold as the temperature area to be inspected; calculating the average temperature value of multiple sampling points in the temperature area to be inspected to obtain the average temperature of the temperature area to be inspected; determining the temperature area to be inspected where the average temperature exceeds the preset second temperature threshold as the high-heat area, and the preset second temperature threshold is higher than the preset first temperature threshold; determining the temperature anomaly severity score corresponding to the high-heat area according to the average temperature of the high-heat area and a preset temperature impact score table, and the preset temperature impact score table includes the anomaly severity score corresponding to the temperature.

[0036] S103, determining a plurality of high humidity areas and humidity anomaly severity scores corresponding to the plurality of high humidity areas according to the humidity data in the cable corridor, wherein the high humidity area is used to indicate an area in the cable corridor where the humidity exceeds a preset humidity range; Among them, high humidity area refers to the area in the cable corridor where the humidity is abnormally high. The humidity anomaly severity score is used to quantify the degree of humidity anomaly in the high humidity area. The preset humidity range refers to the acceptable humidity range during normal operation in the cable corridor.

[0037] This step is performed immediately after obtaining the first inspection data, and its purpose is to identify and evaluate the abnormal humidity in the cable corridor. Specifically, first, the control system analyzes and processes the humidity data obtained in S101. The control system will set a preset humidity threshold, and any area exceeding this preset humidity threshold will be marked as a high humidity area. For each determined high humidity area, the control system will assign a humidity anomaly severity score based on the degree of its humidity anomaly. The humidity anomaly severity score may consider multiple factors, such as the degree to which the humidity exceeds the preset humidity range, the duration, the rate of humidity rise, etc. The calculation of the humidity anomaly severity score may use a preset scoring algorithm or a table lookup method.

[0038] S104, determining a plurality of cable surface defect regions and image defect severity scores corresponding to the plurality of cable surface defect regions according to the image data in the cable corridor, wherein the cable surface defect region is used to indicate an area where physical damage exists on the cable surface; The cable surface defect area refers to the location where physical damage or abnormality occurs on the cable surface. The image defect severity score is used to quantify the degree of cable surface defects. Physical damage refers to visible abnormal conditions such as breakage, corrosion, and wear on the cable surface.

[0039] This step is performed immediately after the first inspection data is obtained, and its purpose is to detect abnormal conditions on the cable surface through image recognition technology. Specifically, first, the control system calls the image processing algorithm to analyze the image data obtained in step S101. The control system uses a pre-trained deep learning model, such as a convolutional neural network (CNN), to identify cable surface defects in the image data. The recognition process may include steps such as image preprocessing, feature extraction, and defect classification. Once the defective area on the cable surface is identified, the control system locates and marks each defective area. Then, the control system assigns an image defect severity score to each cable surface defective area based on the type (such as cracks, corrosion, wear, etc.) and degree of the defect. This image defect severity score may take into account factors such as the size, depth, and location of the defect, and may be calculated using a preset scoring standard or a machine learning model.

[0040] Optionally, under normal circumstances, determining multiple cable surface defect areas and image defect severity scores corresponding to the multiple cable surface defect areas respectively based on the image data within the cable corridor can be achieved in the following manner: determining multiple cable surface defect areas and physical damage types and physical damage areas corresponding to the multiple cable surface defect areas respectively based on the image data within the cable corridor; determining the weight corresponding to the physical damage type in a preset physical damage weight table; and determining the image defect severity score corresponding to each cable surface defect area based on the weight corresponding to the physical damage type and the physical damage area.

[0041] S105, determining the inspection priority of each area based on the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score, wherein the higher the inspection priority, the longer the corresponding inspection time; Among them, the inspection priority refers to the importance of inspecting different areas. The inspection duration indicates the time required to inspect a specific area. The temperature anomaly severity score is used to quantify the degree of temperature anomaly in high-heat areas. The humidity anomaly severity score is used to quantify the degree of humidity anomaly in high-humidity areas. The image defect severity score is used to quantify the degree of cable surface defects.

[0042] This step is performed after the analysis of temperature data, humidity data, and image data is completed. The purpose is to comprehensively consider various abnormal situations and allocate inspection resources to different areas. Specifically, first, the control system will design a comprehensive scoring model that weights the temperature anomaly severity score, humidity anomaly severity score, and image defect severity score. The weight allocation may be based on expert experience or historical data analysis results. For example, the image defect severity score may be given a higher weight because it directly reflects the physical condition of the cable. The control system then uses this comprehensive scoring model to calculate an overall anomaly score for each area. Based on this overall anomaly score, the control system will sort each area to determine the inspection priority of each area. Areas with higher priorities will be assigned longer inspection times to ensure that more detailed inspections can be performed. The allocation of inspection time may use preset time allocation rules, such as directly mapping to fixed time intervals based on inspection priorities, or using more complex algorithms to dynamically calculate the required inspection time based on this overall anomaly score.

[0043] Optionally, in general, based on the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score, the inspection priority of each area can be determined by The temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score are input into a preset comprehensive anomaly score formula to obtain an anomaly score value for each area; based on the anomaly score value for each area, the inspection priority of each area is determined; based on a preset inspection priority-duration correspondence table, the inspection duration of each area is determined.

[0044] S106. Determine a second inspection route with the shortest distance according to the multiple high-heat areas, the multiple high-humidity areas, and the multiple cable surface defect areas, wherein the second inspection route includes an inspection priority and an inspection duration for each area.

[0045] The second inspection route refers to a new inspection route developed based on the analysis results of the first inspection data. The inspection priority indicates the importance of inspections in different areas. The inspection duration refers to the time required to inspect each area.

[0046] This step is performed after determining the inspection priority and inspection duration of each area, with the goal of designing an efficient inspection route. Specifically, first, the control system will locate all areas that need to be focused on (including high-heat areas, high-humidity areas, and cable surface defect areas) in the three-dimensional space of the cable corridor. Then, the control system will use a path planning algorithm, such as a genetic algorithm or an ant colony algorithm, to calculate a route with the shortest total distance and covering all target areas. During the path planning process, the control system not only considers the spatial distance, but also takes into account the inspection priority and inspection duration of each area. For example, for areas with higher priority, the control system may adjust the route appropriately to ensure early arrival. At the same time, the control system also needs to consider the physical layout of the cable corridor to avoid inaccessible obstacles. The final generated second inspection route will be a complete plan containing spatial coordinates, inspection order, inspection priority of each point, and inspection duration. The second inspection route may be presented in the form of a sequence of path points, each of which is accompanied by its corresponding inspection information. Through this step, the control system can generate an optimized inspection route that takes into account both inspection efficiency and the importance of abnormal situations, thereby greatly improving the pertinence and efficiency of subsequent inspection work.

[0047] By adopting the above technical solutions, first, after the inspection robot completes the first inspection route, the control system obtains the temperature data, humidity data and image data in the cable corridor to fully grasp the operation status of the cable corridor. Secondly, the control system determines the high-heat area, high-humidity area and cable surface defect area, and scores the severity of each area, so as to achieve accurate positioning and quantitative evaluation of abnormal conditions. Thirdly, based on the multi-dimensional scoring data, the inspection priority and inspection duration of each area are determined to ensure the reasonable allocation of inspection resources. Finally, the control system determines the second inspection route with the shortest distance according to each area, which not only improves the inspection efficiency, but also ensures full attention to key areas. This intelligent and dynamically adjusted inspection method greatly improves the accuracy, efficiency and pertinence of cable corridor inspections, effectively reduces safety hazards, and provides a strong guarantee for the stable operation of the power system.

[0048] The following is a more detailed description of the process of the method provided by this implementation. Figure 2 , is another flow chart of the inspection method of the inspection robot in the embodiment of the present application.

[0049] S201. Determine multiple candidate inspection routes according to the cable gallery design drawings; The cable gallery design drawing refers to a technical document that describes the cable gallery structure, layout, and equipment location in detail. The candidate inspection route refers to multiple preliminary planned routes that may be used for inspection.

[0050] This step is usually performed during the control system initialization or inspection plan formulation stage, with the aim of providing multiple inspection route options for subsequent inspection work. Specifically, first, the control system will import the cable corridor design drawings, which may include detailed information such as the three-dimensional spatial information of the cable corridor, channel width, equipment location, cable wiring, etc. Then, the control system will use path planning algorithms, such as the A* algorithm or the Dijkstra algorithm, to generate multiple feasible inspection routes. During the generation process, the control system will consider multiple factors, such as the coverage, total length, and difficulty of the inspection route. The control system will also consider the physical limitations of the inspection robot, such as turning radius, climbing ability, etc., to ensure that the generated inspection route is practical. Finally, the control system will generate a series of candidate inspection routes with different characteristics, each of which contains detailed path point information and estimated inspection time.

[0051] S202: Based on the inspection route requirement sent by the administrator, determine a candidate inspection route with a matching degree exceeding a preset matching degree threshold from the multiple inspection routes as the first inspection route; The administrator refers to the person who is responsible for supervising and managing the cable corridor inspection work. The inspection route requirement refers to the administrator's specific requirements and expectations for the inspection route. The matching degree refers to the degree of compliance between the candidate inspection route and the administrator's requirements. The preset matching degree threshold refers to the pre-set minimum matching degree standard. The first inspection route refers to the final selected initial inspection route.

[0052] This step is performed after multiple candidate inspection routes are generated, with the purpose of selecting the most suitable inspection route according to the actual needs of the administrator. Specifically, first, the control system receives the inspection route requirements sent by the administrator through the user interface or other communication methods. These inspection route requirements may include the expected inspection time, key focus areas, inspection frequency of specific equipment, etc. Then, the control system designs a matching evaluation model, which may contain multiple evaluation indicators, such as route coverage, number of inspections of key areas, total inspection time, etc. Each evaluation indicator will be assigned a certain weight to reflect its importance in the overall evaluation. Next, the control system will use this matching evaluation model to score each candidate inspection route and calculate their matching degree with the administrator's inspection route requirements. The matching degree may be expressed in the form of a percentage, for example, 80% means that the inspection route largely meets the administrator's inspection route requirements. The control system will compare the matching degree of each candidate inspection route with the preset matching degree threshold and filter out all candidate inspection routes that exceed the preset matching degree threshold. If there are multiple candidate inspection routes that exceed the preset matching threshold, the control system may select the one with the highest matching degree, or provide several best options to the administrator for final decision. The finalized route will be set as the first inspection route to guide the inspection robot's initial inspection work.

[0053] S203, after the inspection robot completes the first inspection route, obtaining first inspection data in the cable corridor, the first inspection data including temperature data, humidity data and image data; For details, please refer to step S101, which will not be described in detail here.

[0054] S204, determining a plurality of high-heat areas and temperature anomaly severity scores corresponding to the plurality of high-heat areas according to the temperature data in the cable corridor, wherein the high-heat area is used to indicate an area in the cable corridor where the temperature exceeds a preset temperature range; For details, please refer to step S102, which will not be described in detail here.

[0055] S205, determining a plurality of high humidity areas and humidity anomaly severity scores corresponding to the plurality of high humidity areas according to the humidity data in the cable corridor, wherein the high humidity area is used to indicate an area in the cable corridor where the humidity exceeds a preset humidity range; For details, please refer to step S103, which will not be described in detail here.

[0056] S206, determining a plurality of cable surface defect regions and image defect severity scores corresponding to the plurality of cable surface defect regions according to the image data in the cable corridor, wherein the cable surface defect region is used to indicate an area where physical damage exists on the cable surface; For details, please refer to step S104, which will not be described in detail here.

[0057] S207, determining the inspection priority of each area based on the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score, wherein the higher the inspection priority, the longer the corresponding inspection time; For details, please refer to step S105, which will not be described in detail here.

[0058] S208. Determine a second inspection route with the shortest distance according to the multiple high-heat areas, the multiple high-humidity areas, and the multiple cable surface defect areas, wherein the second inspection route includes an inspection priority and an inspection duration for each area.

[0059] For details, please refer to step S106, which will not be described in detail here.

[0060] S209, obtaining real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route; Among them, the inspection robot refers to an intelligent device that autonomously performs inspection tasks in the cable corridor. The second inspection route refers to a new inspection route formulated based on the analysis results of the first inspection data. Real-time monitoring video refers to the video stream transmitted in real time by the inspection robot during the inspection process. Real-time inspection data refers to various real-time data collected by the inspection robot during the inspection process, such as temperature, humidity, equipment status, etc.

[0061] This step is carried out synchronously when the inspection robot starts to execute the second inspection route, with the purpose of grasping the inspection situation and environmental data in real time. Specifically, the control system will first establish a real-time communication link with the inspection robot to ensure the stability and timeliness of data transmission. Then, the system will continue to receive two types of data streams from the inspection robot: video stream and sensor data stream. The video stream may come from multiple cameras on the robot, including visible light cameras and infrared thermal imagers, etc., to provide comprehensive visual information. The sensor data stream includes various environmental parameters and equipment status information, such as readings of temperature sensors, humidity sensors, gas concentration sensors, and the robot's own position, speed, power and other status information. The control system will perform preliminary processing on these data, such as video encoding, data compression, etc., to ensure transmission efficiency. At the same time, the system will timestamp and associate the received data with spatial positions for subsequent analysis and visualization. If there is an interruption or abnormality during the data transmission process, the control system will immediately activate the emergency mechanism, such as trying to re-establish the connection or start the backup communication channel. Through this step, the control system can grasp various situations in the inspection process in real time, providing the necessary information basis for timely decision-making and intervention.

[0062] S210, marking the real-time inspection data in the real-time monitoring video, and generating a cable gallery visualization display interface; Data annotation refers to the process of visually superimposing various collected data on the video screen. The cable corridor visualization interface represents a graphical administrator interface that integrates video, data, and interactive functions, and is used to intuitively display the real-time status of the cable corridor. Real-time inspection data refers to various real-time data collected by the inspection robot during the inspection process. Real-time monitoring video refers to the video stream transmitted in real time by the inspection robot during the inspection process.

[0063] This step is carried out while continuously receiving real-time surveillance video and inspection data, with the goal of providing administrators and operators with an intuitive and information-rich monitoring interface. Specifically, the control system will first design a data visualization scheme to determine how to display various types of data on the video screen. For example, temperature data may be displayed on the video screen in the form of color overlays to form a heat map; humidity data may be displayed at the edge of the screen in the form of numbers or icons; detected abnormal conditions may be highlighted with flashing warning signs. The system will then process the incoming data in real time and convert it into visualization elements. This process involves complex operations such as real-time data analysis, coordinate transformation (mapping data points in three-dimensional space to two-dimensional video screens), and graphics rendering. At the same time, the control system will design and generate a user-friendly interface layout, including elements such as the main video display area, data statistics panel, and control buttons. This interface should support a variety of interactive functions, such as zooming in on specific areas, switching between different data views, and playing back historical data. The system also needs to consider performance optimization to ensure that the interface remains responsive while processing large amounts of real-time data. In addition, considering possible network delays, the system will implement data buffering and synchronization mechanisms to ensure accurate correspondence between video and data. Through this step, the control system can transform complex inspection data into intuitive and easy-to-understand visual information, greatly improving the efficiency and accuracy of cable gallery monitoring.

[0064] S211. After the inspection robot completes the second inspection route, obtain second inspection data in the cable corridor, where the second inspection data includes vibration data emitted by the cable and gas data emitted by the cable; Among them, the second inspection route refers to a new inspection route formulated based on the analysis results of the first inspection data. The second inspection data represents various environmental and equipment status information collected when executing the second inspection route. Vibration data refers to mechanical vibration information reflecting the operating status of the cable. Gas data refers to the concentration information of specific gases in the air around the cable. Cable corridor refers to an underground or above-ground channel system used to house and protect power cables.

[0065] This step is performed after the inspection robot completes the entire second inspection route, with the purpose of obtaining more comprehensive and detailed cable status data. Specifically, the control system will first send a data upload instruction to the inspection robot, requiring the robot to transmit all stored data. These data may include high-precision vibration data and detailed gas concentration data that the robot continuously collects during the inspection process but does not transmit in real time. Vibration data is usually collected by high-precision acceleration sensors installed near or directly on the cable, and may include information in multiple dimensions such as amplitude, frequency, and phase. Gas data may come from a variety of gas sensors to detect specific gases that may be released when the cable insulation material ages or fails, such as SF6, ethylene, etc. The control system will perform a preliminary quality check on these data to ensure the integrity and accuracy of the data. If data is missing or abnormal, the system may require the robot to re-collect locally. At the same time, the system will integrate and compare these data with previous real-time monitoring data to obtain a more comprehensive cable status image. Through this step, the control system can obtain more detailed and accurate cable status information, providing an important basis for subsequent fault diagnosis and preventive maintenance.

[0066] S212, determining a cable fault location based on the vibration data and the gas data; Among them, vibration data refers to the mechanical vibration information reflecting the operating status of the cable. Gas data refers to the concentration information of specific gases in the air around the cable. Cable fault location indicates the specific location where the cable is abnormal or damaged. Cable refers to the wire used to transmit electrical energy, usually including conductor, insulation layer and protective layer.

[0067] This step is performed immediately after obtaining the complete second inspection data, with the purpose of accurately locating possible cable faults. Specifically, the control system first pre-processes the vibration data and gas data, such as filtering, denoising, and standardization, to improve data quality. Then, the system uses a special fault diagnosis algorithm to analyze the data. For vibration data, the system may perform spectrum analysis to find characteristic frequencies or abnormal amplitudes, which may indicate mechanical damage or insulation problems of the cable. For example, vibrations of certain specific frequencies may be related to loose cable joints. For gas data, the system checks whether there is an abnormal increase in the concentration of a specific gas, which may mean that the cable insulation material has decomposed. The system also combines vibration and gas data for comprehensive analysis, because some faults may cause vibration abnormalities and gas release at the same time. During the analysis process, the system considers the influence of environmental factors such as temperature and humidity to improve the accuracy of diagnosis. If an abnormality is detected, the system uses a positioning algorithm, such as triangulation or time difference positioning, combined with the spatial distribution information of the sensor to calculate the specific location of the fault. The system may also use machine learning models, such as support vector machines (SVM) or deep neural networks, to improve the accuracy of fault identification and location. Through this step, the control system can detect potential cable faults in time and provide precise location information, providing key guidance for subsequent maintenance work.

[0068] S213: Send the cable fault location to the administrator.

[0069] The cable fault location indicates the specific location where the cable is abnormal or damaged. The administrator is the person responsible for supervising and managing the inspection of the cable corridor. Sending refers to transmitting information to a specific recipient through the communication function of the system.

[0070] This step is performed immediately after the cable fault location is determined, with the goal of notifying the administrator in time to take necessary maintenance or preventive measures. Specifically, the control system will first generate a detailed fault report, including the precise coordinates of the fault location, a preliminary determination of the fault type, an assessment of the severity of the fault, and other information. The system may use preset fault level classification criteria, such as "minor", "moderate", "serious", etc., to classify the fault. The report may also include supporting data, such as relevant vibration waveforms, gas concentration curves, etc., to help the administrator better understand the fault situation. The system will then select an appropriate communication method to send this report. This may include push notifications through the management system's internal messaging function, email, SMS, or a dedicated mobile application. The system will select different notification priorities based on the severity of the fault, and may initiate a multi-channel simultaneous notification mechanism for emergency situations. At the same time, the system will record the sending time and receipt confirmation of this notification. If no confirmation reply is received from the administrator within the preset time, the system may automatically upgrade the notification level or notify the backup contact. In addition, the system may also send the fault information to other relevant personnel, such as the maintenance team or the superior management department, according to the preset permission settings. Through this step, the control system ensures that fault information can be conveyed to the responsible person quickly and accurately, providing a guarantee for timely handling of potential problems, thereby improving the operational safety and reliability of the entire cable corridor.

[0071] By adopting the above technical solution, firstly, the control system integrates the severity scores of the three dimensions of temperature data, humidity data and image data into the preset comprehensive anomaly scoring formula, realizes the organic integration of multi-dimensional data, and avoids the one-sidedness that may be caused by a single indicator evaluation. Secondly, the control system determines the inspection priority through the anomaly score value, ensures the scientificity and rationality of resource allocation, and enables the areas that need the most attention to receive timely and sufficient inspections. Thirdly, by introducing the preset inspection priority-duration correspondence table, the dynamic matching of inspection priority and inspection duration is realized, ensuring that high-risk areas can receive longer and more detailed inspections. This method not only improves the pertinence and efficiency of inspections, but also can flexibly adjust the inspection strategy according to actual conditions, greatly improving the overall quality and effect of cable corridor inspections, and providing a strong guarantee for the timely discovery and handling of potential problems.

[0072] By adopting the above technical solutions, firstly, the control system realizes dynamic tracking of the inspection process by acquiring the real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route, which greatly improves the timeliness and accuracy of monitoring. Secondly, the control system marks the real-time inspection data in the real-time monitoring video, innovatively integrating data and visual information, so that monitoring personnel can intuitively and quickly understand and analyze the inspection situation. Thirdly, by generating a visual display interface for the cable corridor, complex inspection information is converted into a visual form that is easy to understand and operate, greatly improving the readability and efficiency of information. This real-time, visual monitoring method not only improves the speed of discovering and handling abnormal situations, but also provides administrators with comprehensive and intuitive decision-making support, which helps to improve the overall operation and maintenance level and emergency response capabilities of the cable corridor.

[0073] The following describes the control system in the embodiment of the present invention from the perspective of hardware processing. Figure 3 , which is a schematic diagram of the structure of a physical device of the control system in an embodiment of the present application.

[0074] It should be noted that Figure 3 The structure of the control system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0075] like Figure 3 As shown, the control system includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage part 308 to the random access memory (RAM) 303, such as executing the method described in the above embodiment. In the RAM 303, various programs and data required for system operation are also stored. The CPU 301, the ROM 302 and the RAM 303 are connected to each other through the bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0076] The following components are connected to the I / O interface 305: an input section 306 including an audio input device, a button switch, etc.; an output section 307 including a liquid crystal display (LCD) and an audio output device, an indicator light, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read therefrom is installed into the storage section 308 as needed.

[0077] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 309, and / or installed from a removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, various functions defined in the present invention are performed.

[0078] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings.

[0080] Specifically, the control system of this embodiment includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the inspection method of the inspection robot provided in the above embodiment is implemented.

[0081] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the control system described in the above embodiment; or may exist independently without being assembled into the control system. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of the control system, the control system implements the inspection robot inspection method provided in the above embodiment.

[0082] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0083] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0084] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. A patrol robot inspection method, characterized in that: Applied to a control system, the method comprises: After the inspection robot completes the first inspection route, first inspection data in the cable corridor is obtained, wherein the first inspection data includes temperature data, humidity data and image data; Determine multiple high-heat areas and temperature anomaly severity scores corresponding to the multiple high-heat areas according to the temperature data in the cable corridor, wherein the high-heat area is used to indicate an area in the cable corridor where the temperature exceeds a preset temperature range; Determine a plurality of high humidity areas and humidity anomaly severity scores corresponding to the plurality of high humidity areas according to the humidity data in the cable gallery, wherein the high humidity area is used to indicate an area in the cable gallery where the humidity exceeds a preset humidity range; Determine, based on the image data in the cable corridor, a plurality of cable surface defect areas and image defect severity scores corresponding to the plurality of cable surface defect areas, wherein the cable surface defect areas are used to indicate areas where physical damage exists on the cable surface; Determine the inspection priority of each area based on the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score, wherein the higher the inspection priority, the longer the corresponding inspection time; A second inspection route with the shortest distance is determined according to the multiple high-heat areas, the multiple high-humidity areas and the multiple cable surface defect areas, and the second inspection route includes the inspection priority and inspection duration of each area.

2. The method according to claim 1, characterized in that The method of determining a plurality of high-heat areas and temperature anomaly severity scores respectively corresponding to the plurality of high-heat areas according to the temperature data in the cable duct corridor, wherein the high-heat area is used to indicate an area in the cable duct corridor where the temperature exceeds a preset temperature range, specifically includes: Determine an area in the cable gallery where the temperature exceeds a preset first temperature threshold as a temperature area to be detected; Calculate the average temperature of the plurality of sampling points in the temperature region to be detected to obtain the average temperature of the temperature region to be detected; Determine the temperature area to be inspected whose average temperature exceeds a preset second temperature threshold as the high-heat area, wherein the preset second temperature threshold is higher than the preset first temperature threshold; The temperature anomaly severity score corresponding to the high-heat area is determined according to the average temperature of the high-heat area and a preset temperature impact score table, wherein the preset temperature impact score table includes an anomaly severity score corresponding to the temperature.

3. The method according to claim 1, characterized in that The determining of a plurality of cable surface defect areas and image defect severity scores respectively corresponding to the plurality of cable surface defect areas according to the image data in the cable corridor, wherein the cable surface defect area is used to indicate an area where physical damage exists on the cable surface, specifically includes: Determine, according to the image data in the cable gallery, a plurality of cable surface defect regions and the physical damage types and physical damage areas respectively corresponding to the plurality of cable surface defect regions; Determine the weight corresponding to the physical damage type in a preset physical damage weight table; Based on the weight corresponding to the physical damage type and the physical damage area, an image defect severity score corresponding to each cable surface defect area is determined.

4. The method according to claim 1, characterized in that: The inspection priority of each area is determined based on the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score. The higher the inspection priority, the longer the corresponding inspection time. Specifically, it includes: Inputting the temperature anomaly severity score, the humidity anomaly severity score, and the image defect severity score into a preset comprehensive anomaly score formula to obtain an anomaly score value for each area; Determine the inspection priority of each area according to the abnormality score value of each area; Based on a preset inspection priority-duration correspondence table, the inspection duration of each area is determined.

5. The method according to claim 1, characterized in that Before the step of acquiring first inspection data in the cable corridor after the inspection robot completes the first inspection route, wherein the first inspection data includes temperature data, humidity data, and image data, the method further includes: Determine multiple candidate inspection routes based on the cable gallery design drawings; Based on the inspection route requirement sent by the administrator, a candidate inspection route with a matching degree exceeding a preset matching degree threshold is determined from the multiple inspection routes as the first inspection route.

6. The method according to claim 1, characterized in that After the step of determining a second inspection route with the shortest distance according to the multiple high-heat areas, the multiple high-humidity areas, and the multiple cable surface defect areas, wherein the second inspection route includes an inspection priority and an inspection duration for each area, the method further includes: Acquire real-time monitoring video and real-time inspection data when the inspection robot completes the second inspection route; The real-time inspection data is annotated in the real-time monitoring video, and a cable gallery visualization display interface is generated.

7. The method according to claim 1, characterized in that After the step of determining a second inspection route with the shortest distance according to the multiple high-heat areas, the multiple high-humidity areas, and the multiple cable surface defect areas, wherein the second inspection route includes an inspection priority and an inspection duration for each area, the method further includes: After the inspection robot completes the second inspection route, second inspection data in the cable corridor is obtained, where the second inspection data includes vibration data emitted by the cable and gas data emitted by the cable; Determining a cable fault location based on the vibration data and the gas data; The cable fault location is sent to the administrator.

8. A control system, characterized in that: The control system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the control system to execute the method described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a control system, the control system is caused to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product is run on a control system, the control system is caused to execute the method according to any one of claims 1 to 7.

Images