Cable pipeline detection system, detection method and terminal

Abstract

The invention relates to a cable pipeline detection system, a detection method and a terminal. The detection system comprises a detection device, an acquisition module and a terminal. The detection device comprises a laser module and a measurement module. The measuring module comprises a supporting assembly and a rotating mechanism, the rotating mechanism is arranged on the supporting assembly, and the laser module comprises three first laser modules distributed on the periphery of a first circular device of the rotating mechanism at equal intervals and a second laser module arranged at the circle center position of the rotating mechanism; the detection device is arranged at the first end of the cable duct, and the acquisition module is arranged at the second end of the cable duct; the laser module emits laser from the first end under the condition that the rotating mechanism rotates so as to form a continuous laser aperture; the acquisition module acquires a first image of the annular edge of the pipeline at the second end and a second image of the laser aperture, and sends the first image and the second image to the terminal; the terminal can improve the detection efficiency of the cable pipeline according to the first image and the second image, and saves time and labor.

Description

Technical Field

[0001] The present application relates to the technical field of cable duct detection, and particularly to a cable duct detection system, a detection method and a terminal. Background Art

[0002] With the development of the power system and the acceleration of the urbanization process, as an important channel for power transmission, if the straightness of the cable duct does not meet the construction requirements or the cable duct is blocked, it will cause obstacles during the cable threading process. The cable may not be able to penetrate smoothly, especially for some large-section and relatively rigid cables, which will increase the laying difficulty, hinder the construction progress, and may even damage the outer insulation layer of the cable, affecting the performance and service life of the cable.

[0003] Existing methods for measuring the straightness of cable ducts mostly use traditional measuring tools such as steel tape measures and spirit levels, and use a pipe threading device to check whether the cable duct is unblocked. That is, different methods are used to detect different indicators of the cable duct. Since multiple indicators of the cable duct need to be detected, multiple methods are required for detection. Therefore, there are problems of low detection efficiency, time-consuming and laborious. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a cable duct detection system, a detection method and a terminal that can improve the detection efficiency of cable ducts and save time and effort.

[0005] In a first aspect, the present application provides a cable duct detection system. The detection system includes a detection device, a collection module and a terminal. The detection device includes a laser module and a measurement module; the measurement module includes a support assembly and a rotating mechanism, and the rotating mechanism is arranged on the support assembly. The laser module includes three first laser modules evenly distributed on the outer periphery of a first circular device of the rotating mechanism and one second laser module arranged at the center position of the rotating mechanism; the detection device is arranged at the first end of the cable duct, and the collection module is arranged at the second end of the cable duct;

[0006] The laser module is configured to emit laser from the first end when the rotating mechanism rotates to form a continuous laser aperture;

[0007] The collection module is configured to obtain a first image of the circumferential edge of the duct at the second end and a second image of the laser aperture, and send the first image and the second image to the terminal;

[0008] The terminal is configured to determine the detection result of the cable duct according to the first image and the second image.

[0009] In one of the embodiments, three telescopic arms are arranged on the first circular device, and one first laser module is arranged at a preset position of each telescopic arm.

[0010] In one embodiment, the rotation mechanism includes a control mechanism for controlling the telescopic arm to extend and retract.

[0011] In one embodiment, each laser module in the laser module includes a thermoelectric cooler;

[0012] The thermoelectric cooler is used to cool the corresponding laser module.

[0013] In one embodiment, the detection system further includes a control circuit;

[0014] The control circuit is used to adjust the laser output power of the laser module according to the ambient light conditions where the measurement module is located.

[0015] In one embodiment, the rotation mechanism further includes a second circular device disposed on the first circular device, and the second circular device and the first circular device share the same central axis for rotation, and the second laser module is disposed at the center position of the second circular device.

[0016] In one embodiment, the terminal is used to determine the first center position of the pipe annular edge in the first image and the second center position of the laser aperture in the second image;

[0017] The terminal is used to determine the detection result of the cable pipeline according to the first center position and the second center position; or determine the detection result of the cable pipeline according to the shape of the pipe annular edge in the first image and the shape of the laser aperture in the second image.

[0018] In one embodiment, the terminal is used to determine the distance between the first center position and the second center position, and determine the detection result of the cable pipeline according to the distance and a preset distance.

[0019] In a second aspect, the present application further provides a cable pipeline detection method, which is applied to the terminal in any of the above detection systems. The method includes:

[0020] Receiving the first image and the second image sent by the acquisition module;

[0021] Determining the detection result of the cable pipeline according to the first image and the second image.

[0022] In a third aspect, the present application further provides a terminal, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0023] The above cable duct detection system, detection method and terminal, the detection system includes a detection device, a collection module and a terminal, the detection device includes a laser module and a measurement module; the measurement module includes a support assembly and a rotating mechanism, the rotating mechanism is arranged on the support assembly, the laser module includes three first laser modules evenly distributed on the outer periphery of the first circular device of the rotating mechanism, and one second laser module arranged at the center position of the rotating mechanism; the detection device is arranged at the first end of the cable duct, and the collection module is arranged at the second end of the cable duct; the laser module is used to emit laser from the first end when the rotating mechanism rotates to form a continuous laser aperture; the collection module is used to obtain a first image of the annular edge of the duct at the second end and a second image of the laser aperture, and send the first image and the second image to the terminal; the terminal is used to determine the detection result of the cable duct according to the first image and the second image, which can improve the detection efficiency of the cable duct and save time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0025] Figure 1 is a schematic diagram of a cable duct detection system provided by an embodiment of the present application;

[0026] Figure 2 is a front view of a detection device provided by an embodiment of the present application;

[0027] Figure 3 is a left view of a detection device provided by an embodiment of the present application;

[0028] Figure 4 is a top view of a detection device provided by an embodiment of the present application;

[0029] Figure 5 is a structural schematic diagram of a detection device provided by an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of a detection device when the telescopic arm is in a contracted state provided by an embodiment of the present application;

[0031] Figure 7 is a flowchart of a cable duct detection method provided by an embodiment of the present application;

[0032] Figure 8 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation Manner

[0033] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] As Figure 1 shown, Figure 1 is a schematic diagram of a cable duct detection system provided by an embodiment of the present application. The detection system includes a detection device 11, a collection module 12, and a terminal 13. At the same time, in combination with Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 2 is a front view of a detection device provided by an embodiment of the present application, Figure 3 is a left view of a detection device provided by an embodiment of the present application, Figure 4 is a top view of a detection device provided by an embodiment of the present application. Figure 5 is a structural schematic diagram of a detection device provided by an embodiment of the present application. The detection device 11 includes a laser module and a measurement module; the measurement module includes a support assembly 21 and a rotating mechanism 22. The rotating mechanism 22 is arranged on the support assembly 21. The laser module includes three first laser modules 31 evenly distributed on the outer periphery of a first circular device 221 of the rotating mechanism 22 and a second laser module 32 arranged at the center position of the rotating mechanism 22. The detection device is arranged at the first end of the cable duct, and the collection module is arranged at the second end of the cable duct.

[0035] The laser module is used to emit laser from the first end when the rotating mechanism 22 rotates to form a continuous laser aperture;

[0036] The collection module is used to obtain a first image of the circumferential edge of the pipe at the second end and a second image of the laser aperture, and send the first image and the second image to the terminal 13;

[0037] The terminal 13 is used to determine the detection result of the cable duct according to the first image and the second image.

[0038] The first laser module and the second laser module in the embodiments of the present application are small-sized red dot laser modules, which have a compact size and high photoelectric conversion efficiency. The service life of these laser modules exceeds 10,000 hours, the output wavelength is 650 nm, the output power is less than 5 mW, which meets the international safety standards and is harmless to the human body. The control circuit adopts an Automatic Power Control (APC) circuit, the working voltage is 3.0 - 5.0 V, the working current is less than 40 mA, and it can operate stably at a working temperature of -10 - 50 °C, while the storage temperature range reaches -40 - 80 °C.

[0039] The terminal 13 determines the detection result of the cable duct according to the first image and the second image. The detection result may include, but is not limited to, indicators such as the straightness, dredging property, uniformity of the cable duct, and whether the duct is flattened. It provides an efficient, accurate, and low-cost measurement of various indicators of the cable duct, and this detection method is relatively effective and reliable.

[0040] If the shape of the laser aperture in the second image is significantly different from the shape of the pipe annular edge in the first image, for example, due to the presence of obstacles or excessive bending or offset in the cable duct, resulting in the laser aperture in the second image not being a circular aperture, there are differences in the shape and size between the laser aperture and the circular shape of the pipe annular edge in the first image, or the laser aperture is not a complete annular aperture, it means that the detection result of the cable duct does not meet the construction requirements for cable laying.

[0041] As Figure 5 shown, the rotating mechanism 22 can rotate on the support assembly 21. The rotating mechanism 22 can be a mechanism that rotates at a constant speed. By rotating the rotating mechanism 22, a continuous circular ring aperture can be formed by the laser module. If there are no obstacles such as excessive bending or offset in the cable duct that affect the shape of the circular ring aperture, the laser aperture in the second image collected by the acquisition module is a circular aperture, and the center position of this circular aperture is consistent with the center position of the pipe annular edge in the first image. Thus, based on the consistent center positions, it can be determined that the detection result of the cable duct meets the construction requirements for cable laying.

[0042] For the cable duct detection system provided in this embodiment, only the detection device provided with the laser module needs to be set at the first end of the cable duct, and the acquisition module is set at the second end of the cable duct. Then, the terminal can determine the detection result of the cable duct according to the first image and the second image, thereby improving the detection efficiency of the cable duct and saving time and effort.

[0043] It should be noted that in the traditional technology, when using a steel tape measure or a level meter for measurement, the different operating techniques and strengths of the measurement personnel will have a greater impact on the measurement results, thereby affecting the accuracy of the measurement results, and the measurement process is highly dependent on manpower. The detection system provided by the embodiment of the present application, compared with the steel tape measure, level meter and other methods in the traditional technology, only needs to set the detection device at the first end of the cable duct and the acquisition module at the second end of the cable duct, and the detection result of the cable duct can be determined through the terminal, thereby improving the detection efficiency and reducing the labor intensity.

[0044] In one embodiment, Figure 5 As shown, three telescopic arms 33 are disposed on the first circular device 221 , and a first laser module 31 is disposed at a preset position of each telescopic arm 33 .

[0045] Each telescopic arm 33 can be telescopic, refer to Figure 6 , Figure 6 is a schematic diagram of a detection device provided by an embodiment of the present application when the telescopic arm is in a retracted state, and Figure 5 The telescopic arm of the detection device is in an extended state. The telescopic arm is extended to provide a detection device with infinitely variable diameter, which can adapt to the detection of the alignment of power transmission cable pipelines with different diameters. The detection device can adjust the length of the telescopic arm within a certain range to adapt to cable pipelines with different diameters. For example, Figure 6 As shown, when the telescopic arm is in a retracted state, it can be used to detect the straightness of a cable conduit with a diameter size A. If it is necessary to detect the straightness of a cable conduit with a diameter size B, and the diameter size B is greater than the diameter size A, the telescopic arm needs to be extended to a certain length so that the telescopic arm contacts the wall of the cable conduit with the diameter size B. This improves the applicability of the detection device and ensures the measurement accuracy and repeatability under different pipe diameters. The material selection, structural design and operational convenience in the detection device are all taken into consideration to ensure the reliability and durability of the detection device.

[0046] In one embodiment, the rotating mechanism includes a control mechanism, and the control mechanism is used to control the telescopic arm to extend and retract.

[0047] In one embodiment, each laser module in the laser module includes a semiconductor cooling plate;

[0048] Semiconductor cooling sheet is used to cool the corresponding laser module.

[0049] In this embodiment, the semiconductor refrigeration chip can be controlled by the H-bridge driver chip to accurately control the temperature of the laser module. The temperature adjustment speed of the semiconductor refrigeration chip is fast. When the laser module works for a long time, the temperature control accuracy of the laser module is ±0.03 ° C, and the stability can reach 0.18%.

[0050] In one embodiment, the detection system further includes a control circuit;

[0051] The control circuit is configured to adjust the laser output power of the laser module according to the ambient light conditions where the measurement module is located.

[0052] To ensure that the laser can maintain stable output under different environments, a deep negative feedback circuit is adopted and combined with a proportional-integral-derivative algorithm to form a double-loop power control. The driving current of the control circuit has good stability, with a stability of about 0.3% and an accuracy of 0.86%. The output power of the laser module is stable within ±2 mW; the fluctuation range of the central wavelength of the laser module is 0.0075 nm, which can meet the working requirements of the laser module.

[0053] In one embodiment, as Figure 5 shown, the rotating mechanism 22 further includes a second circular device 222. The second circular device 222 is disposed on the first circular device 221, and the second circular device 222 and the first circular device 221 share the same central axis for rotation. The second laser module is disposed at the center position of the second circular device.

[0054] In one embodiment, the terminal is configured to determine the first center position of the pipe annular edge in the first image and the second center position of the laser aperture in the second image;

[0055] The terminal is configured to determine the detection result of the cable pipe according to the first center position and the second center position; or determine the detection result of the cable pipe according to the shape of the pipe annular edge in the first image and the shape of the laser aperture in the second image.

[0056] The terminal can perform preprocessing such as image filtering and downsampling on the first image and the second image to obtain the preprocessed first image and the preprocessed second image, determine the first center position of the pipe annular edge in the preprocessed first image, and determine the second center position of the laser aperture in the preprocessed second image, and then determine the detection result of the cable pipe according to the obtained first center position and second center position. Or determine the detection result of the cable pipe according to the shape of the pipe annular edge in the preprocessed first image and the shape of the laser aperture in the preprocessed second image.

[0057] The terminal adopts a circle recognition method based on the Hough transform, which is particularly suitable for detecting circular objects in images. The Hough transform can transform the circles in the image space into the parameter space, and identify the existence of circles by counting the peaks in the parameter space. The OpenCV library based on the Python language is used to implement this algorithm. OpenCV provides the HoughCircles function, which can detect the circles in the image and return the center position and radius of the circles. In order to improve the accuracy and robustness of the recognition, the parameters of the Hough circle detection algorithm are further carefully adjusted and optimized. This includes adjusting the threshold of edge detection, setting an appropriate preset distance, and determining the range of the retrieval radius of the circles. Image filtering techniques such as Gaussian filtering and median filtering are adopted to reduce the influence of image noise on circle detection. In addition, in this embodiment, the Hough circle detection in a complex background is also involved. By adjusting the parameters and image preprocessing, it can accurately identify the target circle in the presence of multiple circles and noise. At the same time, the influence of the image size on the detection accuracy is considered, and the method of image downsampling is adopted to reduce the calculation amount while maintaining the detection accuracy.

[0058] In one embodiment, a terminal is configured to determine a first center position of a pipeline annular edge in a first image, and determine a second center position of a laser aperture in a second image;

[0059] The terminal is configured to determine a detection result of a cable pipeline according to the first center position and the second center position; or determine a detection result of the cable pipeline according to the shape of the pipeline annular edge in the first image and the shape of the laser aperture in the second image.

[0060] In this embodiment, the similarity between the shape of the pipeline annular edge in the first image and the shape of the laser aperture in the second image can be determined. If the similarity is greater than a preset similarity, it is determined that the detection result of the cable pipeline meets the construction requirements for cable laying; if the similarity is not greater than the preset similarity, it is determined that the detection result of the cable pipeline does not meet the construction requirements for cable laying.

[0061] In one embodiment, a terminal is configured to determine the distance between the first center position and the second center position, and determine the detection result of the cable pipeline according to the distance and a preset distance.

[0062] In this embodiment, by determining the distance between the first center position and the second center position and determining the detection result of the cable pipeline according to the distance and the preset distance, the accuracy and efficiency of the cable pipeline alignment detection are improved, which helps to improve the accuracy and efficiency of cable pipeline construction and provides a solid foundation for the stable operation of the power system.

[0063] In an exemplary embodiment, as Figure 7 shown, Figure 7It is a schematic flowchart of a cable duct detection method provided by an embodiment of the present application. Taking the application of this method to Figure 1 the terminal in

[0064] S701, receive the first image and the second image sent by the acquisition module.

[0065] S702, determine the detection result of the cable duct according to the first image and the second image.

[0066] It should be understood that although each step in the flowcharts involved in the above embodiments is shown in sequence according to the indication of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0067] Based on the same inventive concept, an embodiment of the present application also provides a status information sending device for implementing the status information sending method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the status information sending device provided below can refer to the limitations on the status information sending method in the above text, and will not be repeated here.

[0068] In an exemplary embodiment, a terminal is provided, and its internal structure diagram can be as Figure 8As shown. The terminal includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the terminal is used to exchange information between the processor and external devices. The communication interface of the terminal is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for sending status information. The display unit of the terminal is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the terminal can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the terminal housing, or an external keyboard, touchpad, or mouse, etc.

[0069] Those skilled in the art can understand that Figure 8 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0070] In an exemplary embodiment, a terminal is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps of the above method embodiment are implemented. The implementation principle and technical effects are similar to those of the above method embodiment, and will not be elaborated here.

[0071] In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps of the above method embodiment are implemented. The implementation principle and technical effects are similar to those of the above method embodiment, and will not be elaborated here.

[0072] In an embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps of the above method embodiment are implemented. The implementation principle and technical effects are similar to those of the above method embodiment, and will not be elaborated here.

[0073] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0074] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0075] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0076] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A cable pipeline detection system, characterized in that: The detection system comprises a detection device, a collection module and a terminal, wherein the detection device comprises a laser module and a measuring module; the measuring module comprises a supporting assembly and a rotating mechanism, wherein the rotating mechanism is arranged on the supporting assembly, and the laser module comprises three first laser modules equidistantly distributed on the periphery of a first circular device of the rotating mechanism, and a second laser module arranged at the center of the rotating mechanism; the detection device is arranged at a first end of the cable conduit, and the collection module is arranged at a second end of the cable conduit; The laser module is used to emit laser light from the first end when the rotating mechanism rotates, so as to form a continuous laser aperture; The acquisition module is used to acquire a first image of the annular edge of the pipe at the second end and a second image of the laser aperture, and send the first image and the second image to the terminal; The terminal is used to determine the detection result of the cable pipeline according to the first image and the second image.

2. The detection system according to claim 1, characterized in that: The first circular device is provided with three telescopic arms, and a first laser module is provided at a preset position of each telescopic arm.

3. The detection system according to claim 2, characterized in that: The rotating mechanism comprises a control mechanism, and the control mechanism is used for controlling the telescopic arm to extend and retract.

4. The detection system according to any one of claims 1 to 3, characterized in that: Each laser module in the laser module includes a semiconductor cooling sheet; The semiconductor cooling sheet is used to cool the corresponding laser module.

5. The detection system according to any one of claims 1 to 3, characterized in that: The detection system also includes a control circuit; The control circuit is used to adjust the laser output power of the laser module according to the ambient light conditions of the measuring module.

6. The detection system according to any one of claims 1 to 3, characterized in that: The rotating mechanism also includes a second circular device, which is arranged on the first circular device, and the second circular device and the first circular device share the same central axis for rotation, and the second laser module is arranged at the center of the second circular device.

7. The detection system according to any one of claims 1 to 3, characterized in that: The terminal is used to determine a first center position of the annular edge of the pipeline in the first image, and to determine a second center position of the laser aperture in the second image; The terminal is used to determine the detection result of the cable pipeline according to the first center position and the second center position; or, to determine the detection result of the cable pipeline according to the shape of the annular edge of the pipeline in the first image and the shape of the laser aperture in the second image.

8. The detection system according to claim 7, characterized in that: The terminal is used to determine the distance between the first circle center position and the second circle center position, and determine the detection result of the cable conduit according to the distance and a preset distance.

9. A cable pipeline detection method, characterized in that: The method is applied to the terminal in the detection system according to any one of claims 1 to 8, and the method comprises: Receiving the first image and the second image sent by the acquisition module; A detection result of the cable duct is determined according to the first image and the second image.

10. A terminal comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to claim 9 are implemented.

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