Robot-based complex narrow space cable joint identification method and system

Abstract

The invention relates to the technical field of power cable detection, in particular to a robot-based complex narrow space cable joint identification method and system, and the method comprises the steps: sending a primary command through remote control to start a detection process; collected secondary information is synchronous with exposure, and accurate matching and processing efficiency of data are ensured; recording and acquiring data, and capturing all key information generated in an operation process; and finally, data storage and processing are performed, and data analysis and decision support are optimized. The objective of the invention is to explore whether the identification degree and the identification efficiency of the cable joint can be improved or not through a technology for identifying the cable joint in a cable trench by using an inspection robot. In a complex and narrow environment, the identification accuracy and efficiency are improved, the labor cost is reduced, the service life of equipment is prolonged, and meanwhile, the safety and reliability of power grid operation are improved; accurate positioning and identification of the cable joint in a narrow or difficult-to-approach environment are realized, and possible errors and delay in a conventional method are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of power cable detection, and in particular to a robot-based method and system for identifying cable joints in complex and narrow spaces. Background Art

[0002] With the continuous advancement of urban underground integrated pipelines and the gradual implementation of overhead line landing projects in Shanghai, underground cable power supply will be the development trend of megacities such as Shanghai. The number and total length of power cables will continue to increase, and the reliability and safety of power supply will become increasingly important. In operations such as undergrounding of overhead lines and cable relocation and reconnection surveys, cable identification is a very important link and must be correct, otherwise it will directly affect the safety of personnel and equipment. Cable trenches are a common way to lay cables. The environment is narrow and the internal shielding structure is complex. Once the cables are buried, it is difficult to identify and repair them later, and it is difficult to form an effective digital map. There is a lack of scientific cable path management tools, especially the unclear location of cable joints, which makes it impossible to carry out protective measures early. In addition, human factors may lead to inefficient detection and easy errors.

[0003] At present, the common cable detection methods are: using the time domain reflection method, which consists of a pulse signal current generator, a clamp coil and an indicator. The pulse signal current generator sends an adjustable pulse current to the power cable. The pulse current generates a pulse magnetic field around the cable to be identified. When the clamp coil clamps the cable with pulse current, the signal is transmitted to the indicator. The indicator displays the pointer direction according to the difference between the cable conductor and the cable returned by the metal sheath, thereby determining whether it is the cable to be identified. However, the resistance change of the distribution network connector is small, and it is difficult to identify it by this method;

[0004] The acoustic magnetic detection method uses an audio signal generator to inject an audio current signal of a specific frequency into the cable. This current signal will generate an audio magnetic field around the cable. This audio magnetic field of a specific frequency is received by the sensor coil and converted into a sound signal or other visual signal that is easily recognizable by people through magnetoacoustic or magnetoelectric conversion, thereby detecting the path of the cable.

[0005] Underground radar technology locates cables by emitting electromagnetic waves underground and measuring reflected waves. Underground radar technology is currently the most widely used underground cable path detection device. It can determine the specific location of the cable by detecting the strength changes of ground electromagnetic signals. It has high accuracy, but pipeline detectors can only detect metal pipelines, and sufficient energy pulse signals need to be injected when the pipeline is offline, so its application is limited. This technology can quickly detect and image underground cables. The location and depth of the cable can be located more accurately. However, underground radar is affected by clutter and geological interference, and the effective depth of the signal is shallow, making it difficult to effectively identify cable joints in cable trenches buried more than 2 meters deep.

[0006] This project abandoned the surface-based underground radar technology route and other methods, and adopted a robot solution that goes deep into the cable trench. In terms of cable joint detection, it adopted multi-spectral-lidar integrated imaging technology, which is a unique approach. Through the simultaneous acquisition of multi-sensor data and spectral-point cloud heterogeneous data integrated imaging technology, the robot can achieve convenient and low-cost spatial three-dimensional-spectral information data acquisition. Summary of the invention

[0007] In view of the above problems existing in the prior art, the present invention is proposed.

[0008] Therefore, the technical problem to be solved by the present invention is: to solve the problem of difficult identification of cable paths and joint positions by adopting multi-spectral-lidar integrated imaging technology combined with a robot solution; specifically, it aims to improve the accuracy and efficiency of cable identification in cable trenches and overcome the limitations of traditional methods in the detection of cable joints and deep buried cables. Through the synchronous acquisition of multi-sensor data and the integrated imaging of spectral-point cloud heterogeneous data, a convenient, low-cost, spatial three-dimensional and spectral information cable detection method is provided to improve the efficiency and safety of cable path management and subsequent maintenance.

[0009] To solve the above technical problems, the present invention provides the following technical solutions: a robot-based method for identifying cable joints in complex and narrow spaces, comprising: sending a primary command through remote control; collecting and obtaining secondary information in synchronization with exposure; recording and acquiring data; storing and processing data.

[0010] As a preferred solution of the robot-based complex and narrow space cable connector identification method described in the present invention, sending a first-level command through remote control includes sending an initial operation command to the system through a remote control device, starting a preset program, and activating a device function.

[0011] As a preferred solution of the robot-based complex and narrow space cable joint identification method described in the present invention, the collection of secondary information and exposure synchronization include obtaining and processing relevant data during the operation, which is related to the operation process to ensure data matching.

[0012] As a preferred solution of the robot-based complex and narrow space cable joint identification method described in the present invention, the recorded received data includes the system's capture and preservation of relevant information generated and discovered during the operation, supporting the evaluation and optimization of the overall operation.

[0013] As a preferred solution of the robot-based complex and narrow space cable joint identification method described in the present invention, the storing and processing of data includes organizing and analyzing the data to support further decision-making applications and ensure effective use of information.

[0014] As a preferred solution of the robot-based complex and narrow space cable joint identification method described in the present invention, the first-level command includes a start-up command given to the laser radar sensor through a first-level tool.

[0015] As a preferred solution of the robot-based complex narrow space cable joint identification method described in the present invention, the secondary information includes trigger pulses collected by a multi-spectral camera, and the exposure pulses are returned to the lidar sensor while the CMOS is exposed.

[0016] Another object of the present invention is to provide a robot-based cable joint identification system for complex and narrow spaces, which can efficiently synchronize multiple sensor data and achieve rapid and accurate identification of cable joint locations through precise control and data processing. This system improves operational flexibility and response speed through modular design, thereby better performing maintenance and inspection tasks in complex environments and ensuring the safety and reliability of cable joints.

[0017] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot-based complex narrow space cable joint identification system, comprising: a command sending module, a data synchronization module, a data acquisition module and a data processing module;

[0018] The command sending module sends a primary command through remote control;

[0019] The data synchronization module collects and obtains secondary information and exposure synchronization;

[0020] The data acquisition module records the received data;

[0021] The data processing module stores and processes data.

[0022] A computer device includes a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the robot-based complex narrow space cable joint identification method are implemented as described above.

[0023] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the robot-based complex narrow space cable joint identification method as described above are implemented.

[0024] Beneficial effects of the present invention: To explore whether the recognition technology of cable joints in cable trenches by using inspection robots can improve the recognition degree and efficiency of cable joints. Strive to significantly improve the recognition accuracy and efficiency in complex and narrow environments, reduce labor costs, extend equipment life, and improve the safety and reliability of power grid operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 A flowchart of a robot-based complex and narrow space cable joint identification method provided by an embodiment of the present invention.

[0027] Figure 2 A spectral characteristic diagram of a robot-based complex and narrow space cable joint identification method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0029] Example 1, reference Figure 1 , is an embodiment of the present invention, which provides a robot-based complex narrow space cable joint identification method, comprising:

[0030] S1: Send a first-level command via remote control.

[0031] It should be noted that if Figure 1 As shown in S1, sending a first-level command through remote control includes sending an initial operation command to the system through the remote control device, starting a preset program, and activating a device function.

[0032] Furthermore, the first-level command includes a start-up command given to the lidar sensor through the first-level tool.

[0033] Furthermore, through the remote control of the inspection robot, a start command is given to the lidar sensor, the lidar sensor starts scanning, and sends a preset trigger pulse to the multispectral camera.

[0034] In the embodiment of the present application, the first-level command is a start command given to the laser radar sensor through the first-level tool. The specific operation includes using the remote control device to send instructions to the inspection robot, thereby activating the laser radar sensor to start its scanning task. After the command is activated, the laser radar sensor will perform spatial positioning of the cable connector according to the preset program, and send a trigger pulse to the multispectral camera at the same time, prompting the camera to synchronously collect data; in addition, the first-level command also ensures the synchronization of data collection, and the coordinated operation between the laser radar sensor and the multispectral camera is achieved by precisely controlling the sending and receiving of signals.

[0035] In an optional embodiment, the first-level command can also be implemented in other ways. For example, the first-level command can include using a voice control system to activate the function of the inspection robot; this method utilizes advanced speech recognition technology to allow the operator to start the robot's scanning task through simple voice commands; the voice command is received through the inspection robot's built-in microphone, and then the command content is parsed by the voice processing unit, triggering the lidar sensor to start working.

[0036] In an optional embodiment, the first-level command can also be implemented by other means, and can also be implemented by an automated script program. The inspection robot is loaded with a preset software application, which can automatically send a start command to the lidar sensor at a specific time or under specific conditions; the sending of this automated command no longer relies on manual remote control equipment, but is controlled by a built-in task scheduler; this method makes the inspection of cable joints more regular and systematic, reduces human operating errors, and improves the accuracy and repeatability of inspections; through programmed control, inspection tasks can be executed more accurately according to the predetermined plan, while reducing the workload of operators and optimizing the entire cable joint identification workflow.

[0037] In an embodiment of the present application, the first-level tool is to issue a start command to the lidar sensor through the remote control of the inspection robot; this operation starts the scanning function of the lidar sensor and drives the multispectral camera to respond, ensuring data synchronization between the lidar and the multispectral camera; the use of this first-level tool greatly simplifies the data collection and processing process, and through remote control operation, the inspection robot can be remotely controlled to perform tasks in narrow or complex environments, thereby improving the safety and efficiency of the operation.

[0038] In an optional embodiment, the first-level tool can also be implemented in other ways, such as through an integrated multi-mode interface that supports multiple control methods, including voice control, gesture control, and specifically programmed automatic execution scripts; through this multi-mode interface, the operator can more flexibly choose the method of controlling the inspection robot to adapt to different operating scenarios and personal habits; for example, voice control allows the operator to send commands quickly while maintaining an operating distance, while gesture control is suitable for noisy environments or situations where the operator needs to remain silent; automatic execution scripts are suitable for routine inspection tasks and can complete complex sequence operations without human intervention.

[0039] In an optional embodiment, the first-level tool can also be implemented in other ways, such as through a timed automatic startup program, that is, by setting the startup parameters and time nodes in the system in advance, the lidar sensor and the multispectral camera can be automatically started for data collection without external operation, but its flexibility is relatively general and it cannot respond quickly to emergencies or non-preset detection needs; in addition, the timed automatic startup program needs to rely on an accurate internal clock system and ensure that the equipment is in good condition before startup, otherwise it may cause failure or error in the collected data.

[0040] Example 2, reference Figure 1 , is an embodiment of the present invention, which provides a robot-based complex narrow space cable joint identification method, comprising:

[0041] S2: Collect secondary information and synchronize it with exposure.

[0042] It should be noted that if Figure 1 As shown in S2, collecting and obtaining secondary information and exposing synchronization include obtaining and processing relevant data during the operation process, which is related to the operation process to ensure data matching.

[0043] Furthermore, secondary information includes trigger pulses collected by the multispectral camera and returns exposure pulses to the lidar sensor at the same time as the CMOS exposure.

[0044] S3: Record the received data.

[0045] It should be noted that if Figure 1 As shown in S3, recording the received data includes the system capturing and saving relevant information generated and discovered during the operation, supporting the evaluation and optimization of the overall operation.

[0046] Furthermore, the timestamp of the received exposure pulse recorded by the lidar sensor is the key to obtaining the flight attitude of the multispectral camera.

[0047] S4: Store data and process it.

[0048] It should be noted that if Figure 1 As shown in S4, storing and processing data includes organizing and analyzing the data to support further decision-making applications and ensure effective use of information.

[0049] Furthermore, the lidar sensor is turned off and the point cloud and multispectral image collection is stopped. The original point cloud, multispectral image, position and attitude information are saved in the device's memory card and then copied out for subsequent processing.

[0050] Specifically, the study of the synchronous system structure of multispectral-lidar data acquisition is to study the spatial registration method of multispectral images and lidar data, with the aim of achieving accurate registration of multispectral images and lidar data, and facilitating subsequent data fusion processing; considering the complementarity between the bands of multispectral remote sensing images, a method based on non-parametric image registration is proposed, called non-parametric image registration of lidar point cloud and multispectral remote sensing images based on multi-band joint optimization (JNPIR); compared with the general multispectral image and point cloud image registration that only uses a single band of the multispectral image, this method makes full use of the bands of the multispectral image, improves the registration effect, and is superior to traditional registration methods in both qualitative and quantitative evaluation criteria.

[0051] In order to solve the problem of mismatch between bands of multi-lens spectral cameras, the inter-band registration method and lens distortion correction are introduced to finally achieve sub-pixel registration accuracy; in order to solve the radiation response distortion caused by the vignetting effect, this project uses a radiation correction model to restore the radiation response of the sensor; further, according to the reflection coefficient of the correction plate, the reflectivity is calculated to establish the relationship between the sensor radiation response and the object reflectivity. The key to multi-spectral image calibration is to establish a model of radial distortion and tangential distortion, so as to restore the ideal imaging point from the real imaging point; the relationship between radial deformation and tangential deformation can be expressed as:

[0052]

[0053]

[0054] Among them, x h and h are the distances from a pixel to the optical center in the x and y directions, respectively; hd and hd are the distances from the ideal pixel to the distorted pixel; f is the focal length of the pixel; R 1 , R 2 , R 3 is the radial distortion parameter, T 1 , T 2 is the tangential distortion parameter, r represents the radius, cx and c y Represents the offset; the projection transformation method is used to estimate the parameters; using the projection transformation matrix, any point in the 3D space can be projected to the 2D imaging plane.

[0055]

[0056] Among them, u and v usually represent the transformed coordinate values, h ij (where i=1,2,3, and j=1,2,3) are elements in the transformation matrix.

[0057] The detection effect and influencing factors of multispectral-laser technology on cables in complex underground environments are analyzed. First, multispectral imaging sensors are used to obtain spectral information of different wavelengths for analyzing cable materials, surface features, etc., so as to improve the recognition ability of cables. Laser radar is used to obtain information such as the distance, shape and contour of the target object, which can help accurately locate the position of the cable in the underground environment. Secondly, the data obtained by multispectral imaging and laser radar are fused, and target detection, recognition and positioning are realized through data processing algorithms to reduce errors and improve detection accuracy. With the help of underground environment modeling technology, the terrain, material and other characteristics of the underground environment are three-dimensionally modeled to provide environmental background information for cable detection. By analyzing the spectral characteristics of the cable and the surrounding environment, the recognition rate of the cable can be improved, and the influence of environmental interference can be eliminated. Finally, machine learning algorithms and artificial intelligence technologies are used to train and optimize a large amount of data to improve the automation level and accuracy of cable detection. Combined with positioning technology, the robot can be accurately positioned in the underground environment to accurately find the location of the cable.

[0058] Example 3, reference Figure 2 , is an embodiment of the present invention, which provides a robot-based complex narrow space cable joint identification method, comprising:

[0059] Develop applications using small-sized visible light, infrared, and radar detection modules, integrating separate multispectral and lidar sensors into a unified system that can communicate internally to collect data simultaneously; using redEdge-M multispectral cameras and RiEGL-miniVUX-SYS LiDAR sensors. The redEdge-M multispectral camera can collect spectral information for each pixel of the observed scene in five bands: blue (center 475 nm, 20 nm bandwidth), green (center 560 nm, 20 nm bandwidth), red (center 668 nm, 10 nm bandwidth), red edge (center 717 nm, 10 nm bandwidth), and near infrared (center 840 nm, 40 nm bandwidth); its compact size allows integration with a variety of inspection robots; the global shutter design enables distortion-free results on every platform; it is calibrated for precise and repeatable measurements, and its extended voltage range can handle more integration without the need for additional power conversion; narrowband filters provide full image resolution for each band, such as Figure 2 The spectral characteristics are shown.

[0060] The lidar sensor used is RIEGL miniVUX-SYS, a complete laser scanning system that is lightweight, compact and can be flexibly used in a variety of inspection robots; including RIEGL miniVUX-1UAV or RIEGL miniVUX-1DLLiDAR engine, IMU / GNSS system (different versions) and optional RGB camera system; the measurement performance of RIEGL's inspection robot lidar sensor combined with the inertial measurement unit and associated GNSS receiver can achieve survey-level measurement accuracy. miniVUX-SYS provides the necessary software tools for processing and georeferencing the acquired scan data, as well as processing IMU / GNSS data.

[0061] The above is a schematic scheme of a robot-based complex narrow space cable joint identification method of this embodiment. It should be noted that the technical scheme of the system of the robot-based complex narrow space cable joint identification method and the technical scheme of the robot-based complex narrow space cable joint identification method belong to the same concept. The details of the technical scheme of the robot-based complex narrow space cable joint identification system in this embodiment that are not described in detail can all be referred to the description of the technical scheme of the robot-based complex narrow space cable joint identification method.

[0062] Embodiment 4 is an embodiment of the present invention, which provides a robot-based complex narrow space cable joint identification system, including: a command sending module, a data synchronization module, a data acquisition module and a data processing module;

[0063] The command sending module sends a primary command through remote control;

[0064] The data synchronization module collects and obtains secondary information and exposure synchronization;

[0065] The data acquisition module records the received data;

[0066] The data processing module stores and processes data.

[0067] This embodiment also provides a computing device, which is applicable to a robot-based complex narrow space cable joint identification method, including:

[0068] Memory and processor; the memory is used to store computer executable instructions, and the processor is used to execute computer executable instructions to implement a robot-based complex and narrow space cable joint identification method as proposed in the above embodiment.

[0069] This embodiment further provides a storage medium on which a computer program is stored. When the program is executed by a processor, a robot-based complex and narrow space cable joint identification method proposed in the above embodiment is implemented.

[0070] The storage medium proposed in this embodiment and the robot-based complex and narrow space cable joint identification method proposed in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0071] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0072] Logic and / or steps otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions on, an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0073] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0074] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot-based method for identifying cable joints in complex and narrow spaces, characterized in that: include: Send a first-level command via remote control; The secondary information collected is synchronized with the exposure; Record the received data; Store data and process it.

2. A robot-based complex narrow space cable joint identification method as claimed in claim 1, characterized in that: Sending a first-level command through remote control includes sending an initial operation command to the system through a remote control device, starting a preset program, and activating a device function.

3. A robot-based complex narrow space cable joint identification method as claimed in claim 2, characterized in that: The collection of secondary information and exposure synchronization includes obtaining and processing relevant data during the operation process, which is related to the operation process to ensure data matching.

4. A robot-based complex narrow space cable joint identification method as claimed in claim 3, characterized in that: The recorded received data includes the system's capture and storage of relevant information generated and discovered during the operation process, supporting the evaluation and optimization of the overall operation.

5. A robot-based complex narrow space cable joint identification method as claimed in claim 4, characterized in that: The storing and processing of data includes organizing and analyzing the data to support further decision-making applications and ensure effective use of information.

6. A robot-based complex narrow space cable joint identification method as claimed in claim 5, characterized in that: The first-level command includes a start-up command given to the lidar sensor through the first-level tool.

7. A robot-based complex narrow space cable joint identification method as claimed in claim 6, characterized in that: The secondary information includes trigger pulses collected by the multispectral camera and returns exposure pulses to the lidar sensor at the same time as the CMOS exposure.

8. A robot-based system for identifying cable joints in complex and narrow spaces according to any one of claims 1 to 7, characterized in that: include: Command sending module, data synchronization module, data acquisition module and data processing module; The command sending module sends a primary command through remote control; The data synchronization module collects and obtains secondary information and exposure synchronization; The data acquisition module records the received data; The data processing module stores and processes data.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of a robot-based complex narrow space cable joint identification method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a robot-based complex narrow space cable joint identification method according to any one of claims 1 to 7 are implemented.

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