Wireless detection method, detection device and electronic equipment

Abstract

The invention relates to the technical field of product detection, and provides a wireless detection method, a detection device and electronic equipment. The method comprises the steps that when the distance between the detection equipment and a to-be-detected object is smaller than a preset value, a shooting assembly is controlled to acquire image data of the to-be-detected object; a target detection position is determined based on the image data and detection items, and the detection items comprise at least one of installation stability detection, energy storage component health state detection and structural stability detection; based on the target detection position, controlling the walking assembly to drive the equipment body to move, and controlling the three-dimensional moving assembly to drive the detection piece to move to the detection position; and controlling the detection piece to detect the to-be-detected object. According to the wireless detection method provided by the embodiment of the invention, the intelligent degree of the detection equipment is improved, and the use convenience of the detection equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of product detection, and in particular to a wireless detection method, a detection device and an electronic device. Background Art

[0002] In the past, the performance of equipment, pipelines and other test objects such as installation stability and structural stability was mainly tested manually, which was inefficient. In order to improve efficiency, special testing equipment has emerged to achieve automated testing of various performances of the test objects.

[0003] The detection equipment in related technologies needs to be improved in terms of ease of use and has a low level of intelligence. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a wireless detection method, a detection device and an electronic device.

[0005] According to the wireless detection method of the first aspect of the present application, the detection device includes a device body, a walking component, a three-dimensional moving component, a detection piece and a shooting component, wherein the walking component is connected to the bottom of the device body, the walking component is used to drive the device body to move, the shooting component is installed on the top of the device body, the shooting component is used to obtain an image of the object to be detected, the three-dimensional moving component is connected to the detection piece, the three-dimensional moving component is used to drive the detection piece to move relative to the device body, and the detection piece is communicatively connected to the device body; the wireless detection method includes:

[0006] When the distance between the detection device and the object to be detected is less than a preset value, controlling the shooting component to obtain image data of the object to be detected;

[0007] Determine a target detection position based on the image data and detection items, wherein the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0008] Based on the target detection position, controlling the walking component to drive the device body to move, and controlling the three-dimensional moving component to drive the detection member to move to the detection position;

[0009] The detection element is controlled to detect the object to be detected.

[0010] According to an embodiment of the present application, the step of controlling the walking component to drive the device body to move based on the target detection position includes:

[0011] Determining a target moving position based on the target detection position;

[0012] Control the walking component to drive the device body to move to the target moving position.

[0013] According to an embodiment of the present application, the step of determining the target detection position based on the image data and the detection item includes:

[0014] Obtain the marking information from the image data;

[0015] Based on the marking information, determine the target detection position.

[0016] According to an embodiment of the present application, the detection member includes a vibration generating component and a vibration detecting component. The vibration generating component is used to be arranged on the first side of the object to be measured, and the vibration detecting component is used to be arranged on the second side of the object to be measured. The vibration generating component and the vibration detecting component are arranged opposite to each other. The vibration generating component is used to apply a controllable excitation signal to the inside of the object to be measured, and the vibration detecting component is used to detect the vibration response signal transmitted through the inside of the object to be measured;

[0017] The step of controlling the detection member to detect the object to be measured includes:

[0018] Perform time-domain, frequency-domain or transfer function analysis on the vibration response signal, and judge the structural stability inside the object to be measured by comparing with preset reference data.

[0019] According to an embodiment of the present application, the detection member includes a vibration generating component and a vibration detecting component. The vibration generating component is used to be arranged on one side of the installation position of the object to be measured, and the vibration detecting component is used to be arranged on the other side of the installation position. The vibration generating component and the vibration detecting component are arranged opposite to each other. The vibration generating component is used to apply a controllable excitation signal to the installation position, and the vibration detecting component is used to detect the vibration response signal transmitted through the installation position;

[0020] The step of controlling the detection member to detect the object to be measured includes:

[0021] Perform time-domain, frequency-domain or transfer function analysis on the vibration response signal, and judge the installation stability of the object to be measured by comparing with preset reference data.

[0022] The detection device according to the second aspect embodiment of the present application is used to execute the above-mentioned wireless detection method. The detection device includes a device body, a walking component, a three-dimensional moving component, a detection component, and a shooting component. The walking component is connected to the bottom of the device body, and the walking component is used to drive the device body to move. The shooting component is installed on the top of the device body, and the shooting component is used to acquire an image of the object to be detected. The three-dimensional moving component is connected to the detection component, and the three-dimensional moving component is used to drive the detection component to move relative to the device body. The detection component is communicatively connected to the device body.

[0023] The detection device according to the third aspect embodiment of the present application includes:

[0024] A first control module, configured to control the shooting component to acquire image data of the object to be detected when the distance between the detection device and the object to be detected is less than a preset value;

[0025] A determination module, configured to determine a target detection position based on the image data and the detection items, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0026] A second control module, configured to control the walking component to drive the device body to move and control the three-dimensional moving component to drive the detection component to move to the detection position based on the target detection position;

[0027] A third control module, configured to control the detection component to detect the object to be detected.

[0028] The electronic device according to the fourth aspect embodiment of the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned wireless detection method is implemented.

[0029] The non-transitory computer-readable storage medium according to the fifth aspect embodiment of the present application includes a computer program. When the computer program is executed by a processor, the above-mentioned wireless detection method is implemented.

[0030] The computer program product according to the sixth aspect embodiment of the present application includes a computer program. When the computer program is executed by a processor, the above-mentioned wireless detection method is implemented.

[0031] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description 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 based on these drawings.

[0033] Figure 1 is a schematic flowchart of the wireless detection method of the present invention;

[0034] Figure 2 is a schematic structural diagram of the detection device provided by the present invention;

[0035] Figure 3 is a schematic structural diagram of the detection apparatus provided by the present invention;

[0036] Figure 4 is a schematic structural diagram of the electronic device provided by the present invention. Specific Embodiments

[0037] To make the objectives, technical solutions, and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0038] The embodiments of the present application provide embodiments of the wireless detection method. It should be noted that although the logical order is shown in the flowchart, under certain data, the steps shown or described can be completed in a different order than here.

[0039] Before introducing the wireless detection method of the embodiments of the present application, first, the application scenarios of the wireless detection method will be explained. The wireless detection method of the present application can be applied to intelligent terminals such as smart phones, tablets, and computers, and can also be applied to servers. The present application does not make special limitations here, as long as it can carry and implement the wireless detection method of the present application.

[0040] The following will illustrate with the wireless detection method applied to the server side, but it should be understood that it is not limited that the wireless detection method can only be applied to the server side.

[0041] The following will describe Figures 1 to 4 the wireless detection method, detection apparatus, and electronic device of the present application.

[0042] According to the embodiments of the first aspect of the present application, as Figure 1 andFigure 2 As shown in Figure 2 , the wireless detection method is applied to a detection device. The detection device includes a device body 1, a walking component 2, a three-dimensional moving component 3, a detection component 4, and a shooting component 5. The walking component 2 is connected to the bottom of the device body 1 and is used to drive the device body 1 to move. The shooting component 5 is installed on the top of the device body 1 and is used to acquire an image of the object to be measured. The three-dimensional moving component 3 is connected to the detection component 4 and is used to drive the detection component 4 to move relative to the device body 1. The detection component 4 is communicatively connected to the device body 1. The wireless detection method includes:

[0043] Step 101: When the distance between the detection device and the object to be measured is less than a preset value, control the shooting component 5 to acquire image data of the object to be measured;

[0044] It can be understood that the walking component 2 can be controlled to drive the detection device to move, and the distance between the detection device and the object to be measured can be detected. When it is determined that the distance between the detection device and the object to be measured is less than the preset value, it means that the distance between the detection device and the object to be measured is already within the standard value at this time, and the shooting component 5 can acquire the image data of the object to be measured, so as to determine the target detection position according to the image data subsequently.

[0045] Step 102: Based on the image data and the detection items, determine the target detection position, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0046] It can be understood that the detection positions of different detection items are different. Therefore, according to the detection items and the image data, the target detection position can be determined.

[0047] Step 103: Based on the target detection position, control the walking component 2 to drive the device body 1 to move, and control the three-dimensional moving component 3 to drive the detection component 4 to move to the detection position;

[0048] It can be understood that after determining the target detection position, the walking component 2 can be controlled to drive the device body 1 to move, so that the device body 1 approaches the detection position, and the three-dimensional moving component 3 can be controlled to drive the detection component 4 to move, so that the detection component 4 moves to the detection position, so that the detection component 4 can detect the object to be measured.

[0049] Step 104: Control the detection component 4 to detect the object to be measured.

[0050] According to the wireless detection method of the present application, by obtaining the distance between the detection device and the object to be measured, it is judged whether the distance between the detection device and the object to be measured is less than a preset value. When it is determined that the distance between the detection device and the object to be measured is less than the preset value, the imaging component 5 is controlled to obtain the image data of the object to be measured. Then, according to the image data and the detection items of the object to be measured, the target detection position corresponding to the detection item is determined. Then, according to the target detection position, the walking component 2 is controlled to drive the device body 1 to move, so that the device body 1 approaches the target detection position, facilitating the detection of the object to be measured. At the same time, the three-dimensional moving component 3 is controlled to drive the detection component 4 to move, so that the detection component 4 can move to the target detection position, enabling the detection component 4 to detect the object to be measured, completing the automatic detection of the object to be measured. And because the detection component 4 is communicatively connected to the device body 1, the detection component 4 can detect the object to be measured separately from the device body 1, realizing wireless detection, thereby improving the intelligence level of the detection device and the convenience of use of the detection device.

[0051] In some examples, the device body 1 adopts an aluminum alloy frame structure with dimensions of 600mm×400mm×500mm and integrates a control unit inside;

[0052] The walking component 2 (a four-wheel omnidirectional drive chassis equipped with anti-slip rubber wheels) is fixed to the bottom of the device body 1 by bolts, and the maximum moving speed is 1.5m / s;

[0053] The three-dimensional moving component 3 (a six-axis robotic arm with a load of 5kg and a repeat positioning accuracy of ±0.1mm) is connected to the top of the device body 1 by a flange;

[0054] The detection component 4 (including a vibration generator and a laser vibrometer) is installed on the end effector of the robotic arm;

[0055] The imaging component 5 (a 20-megapixel industrial camera with a wide-angle lens) is installed on the top of the device body 1 through a bracket, and the tilt angle is adjustable.

[0056] When detecting the wind turbine tower, the walking component 2 drives the device to move to a position 0.8m away from the tower surface (preset value);

[0057] The industrial camera takes an image of the tower surface to identify the distribution characteristics of welds and bolts;

[0058] The control unit marks the weld position to be detected as the target detection position based on the detection item (structural stability);

[0059] The walking component 2 moves along the preset path to a position 0.5m away from the target weld, and the robotic arm adjusts the detection component 4 to be directly above the weld;

[0060] The vibration generator applies a sweep excitation of 20 - 2000 Hz, and the laser vibrometer collects the vibration response signal, which is analyzed to generate a defect report.

[0061] Furthermore, through the coordination of visual positioning and inverse kinematics algorithms, automatic detection path planning is realized, and the attitude of the end of the robotic arm compensates for the displacement of the equipment body 1 in real time. This is beneficial to improving the detection efficiency, applicable to high-altitude and narrow-space scenarios, with a single detection time ≤ 3 minutes and a positioning error < 1 mm.

[0062] In an embodiment of the present application, the steps of controlling the walking component 2 to drive the equipment body 1 to move based on the target detection position include:

[0063] Based on the target detection position, determine the target movement position;

[0064] Control the walking component 2 to drive the equipment body 1 to move to the target movement position.

[0065] It can be understood that, according to the target detection position and combined with the current position of the equipment, calculate the plane coordinate difference (ΔX, ΔY) that the walking component 2 needs to move, and mark the position corresponding to this difference as the target movement position. Send a pulse signal to the drive motor of the walking component 2 to drive the moving wheel set to move according to the displacement amounts of ΔX and ΔY. During the movement, the displacement amount is real-time feedback through the motor encoder until the equipment body 1 reaches the target movement position. The plane movement of the walking component 2 enables the equipment body 1 to quickly approach the target area, providing a basis for subsequent fine adjustment.

[0066] After the equipment body 1 reaches the target movement position, control the robotic arm of the three-dimensional movement component 3 to move along the Z-axis direction, and adjust the detection part 4 to the spatial coordinates corresponding to the target detection position (for example, lift or lower to the specified height), so that the detection part 4 is aligned with the detection point of the object to be detected in three-dimensional space. Furthermore, through the hierarchical control of "target detection position → target movement position → movement of the walking component 2 → fine adjustment of the three-dimensional component", precise positioning of the detection part 4 is achieved. The three-dimensional movement component 3 performs height and angle adjustment after the walking component 2 is positioned, and finally delivers the detection part 4 to the target detection position to ensure the accuracy of the detection operation.

[0067] In an embodiment of the present application, the steps of determining the target detection position based on the image data and the detection item include:

[0068] Obtain the marking information from the image data;

[0069] Based on the marking information, determine the target detection position.

[0070] It is understandable that the surface of the object to be measured is photographed by the shooting component 5, image data containing preset marks (such as reflective patches, two-dimensional codes, and patterns of specific shapes) is generated, the image data is preprocessed (such as grayscale, binarization), and the mark contour or coding information in the image is extracted. Then, according to the marking information, the target detection position can be determined, and the binding relationship between the image mark and the preset detection item can be realized, and the detection position is directly associated to avoid complex calculations. In other words, a physical mark (such as an attached two-dimensional code) is set in advance at the detection position of the object to be measured, so that the shooting component 5 can quickly identify and locate, and the target detection position is directly mapped through the marking information, reducing the amount of calculation of image analysis and improving positioning efficiency and accuracy.

[0071] Exemplarily, the extracted marker information (such as QR code content, marker shape type) is associated with a preset detection item according to a pre-stored marker-position mapping table, and the coordinates (X, Y, Z) corresponding to the marker in the mapping table are directly called as the target detection position.

[0072] In some embodiments, the detection member 4 includes a vibration generating component and a vibration detecting component, the vibration generating component is used to be arranged on a first side of the object to be measured, the vibration detecting component is used to be arranged on a second side of the object to be measured, the vibration generating component and the vibration detecting component are arranged opposite to each other, the vibration generating component is used to apply a controllable excitation signal to the inside of the object to be measured, and the vibration detecting component is used to detect a vibration response signal transmitted through the inside of the object to be measured;

[0073] The steps of controlling the detection element 4 to detect the object to be detected include:

[0074] Perform time domain, frequency domain or transfer function analysis on the vibration response signal, and determine the internal structural stability of the object to be tested by comparing it with the preset benchmark data.

[0075] It is understandable that the vibration generating component is controlled to generate an excitation signal (e.g., 10Hz-1kHz frequency sweep) within the target frequency range to stimulate the dynamic response of the equipment structure. The vibration detection component collects the vibration signal of the second side in real time, and extracts the time domain waveform and frequency domain spectrum characteristics after filtering and noise reduction. The transfer function (FRF) or frequency domain coherence of the current vibration response is calculated and compared with the preset benchmark transfer function (data under normal equipment status).

[0076] Based on the comparison results, determine whether there are the following abnormal indicators: the natural frequency deviation exceeds the threshold (such as ±5%), the resonance peak amplitude increases abnormally, or the damping ratio decreases significantly, and asymmetric sidebands or nonlinear harmonic components appear in the frequency domain. If the above abnormal indicators are detected, it is determined that there is an unstable structural connection inside the device (such as bolt looseness, cracks, or assembly defects), and an alarm signal is triggered. Furthermore, non-intrusive structural health monitoring is realized, and the connection defect can be located without disassembling the device. By combining active excitation and response analysis, the detection ability of minor damages is significantly improved, which is applicable to on-line monitoring and preventive maintenance in scenarios such as industrial equipment and aerospace structures.

[0077] It can be understood that when the excitation signal input by the vibration generating component is transmitted inside the device, its path characteristics are affected by the structural connection state. When the structural connection is stable, the vibration energy is transmitted according to the natural mode; if there is looseness or damage, it will lead to a decrease in local stiffness and a change in damping characteristics, manifested as a sudden change in the amplitude / phase of the transfer function or abnormal spectral characteristics. By establishing a reference model with the benchmark data in the healthy state (such as the vibration characteristics after initial assembly), the deviation between the real-time detection data and the model is directly related to the change in structural stability. Structural looseness may cause nonlinear vibrations (such as frequency division and jumping phenomena), and the diagnostic sensitivity can be enhanced through Hilbert transform or wavelet analysis.

[0078] In an embodiment of the present application, the detection component 4 includes a vibration generating component and a vibration detecting component. The vibration generating component is used to be arranged on one side of the installation position of the object to be measured, and the vibration detecting component is used to be arranged on the other side of the installation position. The vibration generating component and the vibration detecting component are arranged opposite to each other. The vibration generating component is used to apply a controllable excitation signal to the installation position, and the vibration detecting component is used to detect the vibration response signal transmitted through the installation position;

[0079] The steps of controlling the detection component 4 to detect the object to be measured include:

[0080] Perform time-domain, frequency-domain, or transfer function analysis on the vibration response signal, and judge the installation stability of the object to be measured by comparing with the preset benchmark data.

[0081] It can be understood that according to the structural characteristics of the object to be measured, the type and parameters of the excitation signal are selected. For example: apply a 5–500 Hz linear sweep signal to the bolt connection structure for 2 seconds. Drive the vibration generating component to output excitation through a power amplifier to ensure that the excitation energy is sufficient to stimulate the structural dynamic response.

[0082] The vibration detecting component synchronously collects vibration signals, which are converted into digital signals by a data acquisition card; a digital band-pass filter (such as 50 Hz–1 kHz) is used to remove environmental noise, and the signal-to-noise ratio is improved through averaging processing.

[0083] Perform FFT transformation on the response signal and extract the natural frequency f n , the resonance peak amplitude A n and the half-power bandwidth (calculate the damping ratio ζ);

[0084] Calculate the transfer function of the excitation signal and the response signal

[0085] , where S xy is the cross-power spectrum and S xx is the auto-power spectrum;

[0086] Compare the current characteristic parameters with the normal values in the reference database to determine whether the following abnormal conditions exist:

[0087] The natural frequency deviation exceeds ±3%;

[0088] The resonance peak amplitude increases by more than 15% or the damping ratio decreases by more than 20%;

[0089] The phase of the transfer function has a sudden change in the key frequency band (such as 200–400 Hz).

[0090] If any abnormal condition is detected, it is determined that there is an unstable connection at the installation position (such as insufficient bolt pre-tightening force, missing gasket or loose contact surface), and then the diagnostic result (such as "stable", "warning" or "fault") can be output, and an alarm signal can be triggered or a maintenance report can be generated, and it has strong anti-interference ability: combining active excitation and coherence analysis to effectively suppress the influence of background noise.

[0091] Furthermore, in this embodiment, through the excitation-detection layout on the relative two sides, the dynamic characteristics of the installation position are directly reflected, avoiding the interference of the overall structure, realizing real-time online monitoring, supporting periodic detection during the operation of the equipment, and realizing preventive maintenance.

[0092] The working principle of this embodiment is briefly introduced below:

[0093] 1. The correlation between the vibration energy transfer characteristics and the structural stiffness:

[0094] When the object to be measured is installed stably, the stiffness of its connection part is relatively high, and the vibration energy shows specific attenuation characteristics and modal distributions when transmitted through the structure;

[0095] If the installation is unstable (such as bolt loosening), the local contact stiffness decreases, resulting in a change in the vibration transmission path, which is manifested as:

[0096] The natural frequency decreases (because the equivalent stiffness k decreases, f n ∝√k / m));

[0097] The damping ratio increases (because the friction energy consumption at the loose interface increases);

[0098] The transfer function amplitude is abnormal (the resonance peak amplitude increases or the frequency response curve is distorted).

[0099] 2. Capture of nonlinear vibration characteristics:

[0100] Unstable installation may cause nonlinear dynamic behavior of the contact surface (such as gap collision and hysteresis effect), which is manifested in the frequency domain as:

[0101] Subharmonic or superharmonic components (such as 1 / 2 or 2 times the excitation frequency f);

[0102] Sideband modulation phenomenon (sideband frequencies of f±fc appear in the spectrum, where fc is the collision frequency of the loose part).

[0103] Nonlinear features can be extracted through wavelet packet analysis or Hilbert-Huang transform to enhance diagnostic sensitivity.

[0104] 3. Establishment and update of benchmark dynamic model:

[0105] When the object to be tested is initially installed and qualified, its vibration response data is collected as a benchmark;

[0106] Update benchmark data regularly to compensate for parameter drift caused by environmental factors (such as material expansion due to temperature changes) to avoid misjudgment.

[0107] In one embodiment of the present application, the detection member 4 includes a rigid member and a resonance detection component, the rigid member is suitable for being sleeved on the object to be detected and being in contact with the outer wall surface of the object to be detected, the resonance detection component is arranged on the side of the rigid member away from the object to be detected, and the resonance detection component is used to detect the deviation of the resonance peak of the rigid member;

[0108] The steps of controlling the detection element 4 to detect the object to be detected include:

[0109] Obtaining the offset value of the resonance peak of the rigid component;

[0110] The health status of the energy storage component of the object to be tested is determined based on the shift of the resonance peak of the rigid part and a health status database, wherein the health status database includes the shift of the resonance peak of the rigid part when the energy storage component is in different health states.

[0111] It can be understood that the rigid part is tightly mounted on the outer wall of the energy storage component to ensure that there is no gap on the contact surface, and the excitation unit is controlled to output a sweep frequency signal (for example, 1-10kHz linear sweep frequency) with a duration of 0.5 seconds to stimulate the resonant response of the rigid part, and the vibration signal of the rigid part is collected in real time. The high-frequency noise is removed by the signal processing circuit (low-pass filtering, cut-off frequency 15kHz), and the filtered signal is subjected to spectrum analysis to extract the main resonance peak frequency fcurrent and its amplitude.

[0112] Retrieve the normal resonance peak reference frequency fbaseline of the energy storage component under the same temperature condition from the health status database.

[0113] Calculate the frequency offset:

[0114] If the detected offset exceeds the preset threshold (for example, Δf > 2%), trigger further analysis. Specifically, Δf ∈ [2%, 5%) → determine it as mild aging and prompt maintenance inspection; Δf ≥ 5% → determine it as a serious fault (such as internal expansion or structural cracking) and trigger an emergency shutdown. Furthermore, this application realizes non-invasive detection, indirectly senses the internal state of the energy storage component through an external rigid part, without disassembling or accessing the internal circuit, and has high sensitivity. The resonance peak frequency is sensitive to micron-level deformation and can early warn potential faults. It can also distinguish multiple states. By combining the offset with the spectral characteristics, different fault modes such as aging, expansion, and crack can be accurately distinguished.

[0115] The working principle of this embodiment is described below:

[0116] 1. Physical correlation between resonance peak offset and deformation of the energy storage component:

[0117] When internal aging or damage occurs in the energy storage component (such as lithium plating in a lithium-ion battery, leakage of capacitor electrolyte), its outer shell generates micro-deformation due to internal pressure or material expansion, resulting in a change in the stiffness of the contact interface with the rigid part; the resonance peak frequency of the rigid part is determined by its equivalent stiffness and mass. The deformation of the energy storage component will change the boundary constraint conditions of the rigid part, thereby causing a resonance peak frequency offset.

[0118] 2. Spectrum distortion mechanism:

[0119] If there are local defects in the energy storage component (such as cracks in the outer shell), when the vibration energy is transmitted in the rigid part, scattering and non-linear dissipation will occur, manifested as: the amplitude of the resonance peak decreases (the energy loss increases); sub-harmonics or sideband modulation components appear in the spectrum (caused by periodic collisions at the defect location).

[0120] By analyzing the symmetry and harmonic distribution of the spectrum, the defect area can be located.

[0121] 3. Dynamic reference compensation:

[0122] The health status database integrates a temperature compensation module, which real-time monitors the ambient temperature through a temperature sensor and dynamically adjusts the reference frequency (for example, when the temperature rises by 1°C, the reference frequency decreases by 0.1%), to avoid misjudging the resonance peak drift caused by temperature changes as an abnormal health state.

[0123] In some examples, the rigid part is made of a high-rigidity metal material (such as aluminum alloy or titanium alloy) into a ring-shaped or semi-enclosed structure, which is sleeved on the outer wall of the object to be tested (such as the outer shell of energy storage components such as energy storage batteries and capacitor modules), and is tightly fitted by elastic buckles or bolts. A flexible damping layer (such as a silicone pad) is provided on the inner surface of the rigid part to eliminate assembly gaps and ensure effective transmission of vibration energy.

[0124] The resonance detection assembly is installed on the side of the rigid part away from the object to be tested, and includes the following parts:

[0125] Excitation unit: a piezoelectric ceramic or electromagnetic exciter, used to apply a swept frequency excitation signal (e.g., a frequency range of 1kHz–10kHz) to the rigid part to excite its natural resonant mode;

[0126] Sensing unit: high-precision accelerometer or laser Doppler vibrometer, used to detect the vibration response signal of the rigid part;

[0127] Signal processing circuit: integrated amplifier and filter to reduce noise and calibrate amplitude of the original signal.

[0128] The health status database stores the reference offset data of the resonance peak of the rigid part of the energy storage component under different health states, including:

[0129] Normal state: the resonance peak frequency when the energy storage component has no expansion and no internal cracks;

[0130] Aging state: the resonance peak shift when the capacity of the energy storage component decays and the housing deforms slightly;

[0131] Fault state: The resonance peak offset and spectrum distortion characteristics when the shell expands significantly due to internal short circuit or thermal runaway of the energy storage component.

[0132] Specifically, the step of determining the health status of the energy storage component of the object to be tested based on the offset of the resonance peak of the rigid part and the health status database includes:

[0133] Obtain the current temperature and current voltage of the energy storage component;

[0134] Determine the health status of the energy storage component based on the current temperature, the current voltage, the shift of the resonance peak of the rigid part and the health status database;

[0135] The health status database includes the shift of the resonance peak of the rigid part of the energy storage component at different temperatures, different voltages and different health states.

[0136] It can be understood that when the energy storage component is at different temperatures and different voltages, the expansion force of the energy storage component in the same state may be different, that is, temperature and voltage will affect the detection of the offset of the resonant peak of the rigid component. Therefore, when determining the health state of the energy storage component, the current temperature and current voltage of the energy storage component are also obtained, and the current temperature, current voltage, and current offset of the resonant peak are compared with the health state database to obtain the health state of the energy storage component, realizing the detection of the health state of the energy storage component, and at the same time avoiding the influence of temperature and voltage on the health state detection.

[0137] Specifically, the steps for obtaining the offset value of the resonant peak of the rigid component include:

[0138] Real-time collect the wireless signal of the target device through a multi-band antenna array, and dynamically adjust the antenna beam direction based on the signal strength;

[0139] Preprocess the collected original signal, including noise filtering based on wavelet transform and frequency domain-time domain joint analysis;

[0140] Extract the signal feature parameter set, including carrier frequency offset, modulation error rate, and channel impulse response, and input it into a pre-trained deep learning model for classification;

[0141] Identify the interference type according to the classification result, generate a dynamic threshold in combination with a preset interference pattern library, and determine the signal anomaly level;

[0142] Trigger an adaptive detection strategy based on the anomaly level, including adjusting the sampling rate, switching the detection frequency band, or enabling multi-device collaborative verification.

[0143] The workflow is as follows:

[0144] Step 1: Real-time signal collection and beam adjustment

[0145] The antenna array scans the target frequency band, and determines the direction of the target device through signal strength gradient detection;

[0146] Dynamically adjust the phase of the array elements to form a directional beam and maximize the signal-to-noise ratio (SNR);

[0147] If it is detected that the signal strength fluctuation exceeds ±3dB, trigger a fast recalibration of the beam direction (response time < 10ms).

[0148] Step 2: Signal preprocessing and feature extraction

[0149] Perform wavelet threshold denoising (soft threshold processing) on the received signal to retain the main lobe energy;

[0150] Perform frequency domain-time domain joint analysis to identify the time-frequency distribution characteristics of burst interference (such as short-time high-energy peaks of pulse interference);

[0151] Extract the CFO, MER and CIR parameters, construct the feature vector and normalize it.

[0152] Step 3: Interference classification and anomaly determination

[0153] Input the feature vector into the deep learning model, and output the confidence of the interference type (e.g., the probability of narrowband interference is 85%);

[0154] Combine the threshold rules in the interference pattern library (such as the lower limit of the MER threshold for narrowband interference is 20 dB) to generate a dynamic decision threshold:

[0155] If the current MER = 18 dB and it is classified as narrowband interference, it is determined as anomaly Level 2;

[0156] Adaptively adjust the threshold sensitivity according to the complexity of the signal environment (such as relaxing the MER threshold by 5% in a high-noise environment).

[0157] Step 4: Adaptive strategy execution

[0158] If it is determined as Level 2 anomaly:

[0159] Switch the working frequency band of the antenna to the preset clean channel (such as switching from 2.4 GHz to 5.8 GHz);

[0160] Start the spectrum sensing module and continuously monitor the interference status of the new frequency band;

[0161] If it is determined as Level 3 anomaly:

[0162] Coordinate neighboring devices through LoRa or Bluetooth Mesh network to perform multi-angle beamforming and locate the azimuth angle of the interference source;

[0163] Adopt space-time coding technology (such as Alamouti coding) to enhance the reception reliability of the target signal.

[0164] Furthermore, it is beneficial to improve the accuracy of the obtained offset value of the resonance peak.

[0165] According to the embodiment of the second aspect of the present application, as Figure 3 shown, the detection device and the wireless detection method correspond to each other for reference. As Figure 3 shown, the detection device includes:

[0166] The first control module 201 is configured to control the photographing component 5 to acquire the image data of the object to be measured when the distance between the detection device and the object to be measured is less than a preset value;

[0167] A determination module 202, configured to determine a target detection position based on image data and detection items, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0168] A second control module 203, configured to control the walking component 2 to drive the device body 1 to move based on the target detection position, and control the three-dimensional moving component 3 to drive the detection component 4 to move to the detection position;

[0169] A third control module 204, configured to control the detection component 4 to detect the object to be detected.

[0170] According to an embodiment of the third aspect of the present application, as Figure 2 shown, the detection device includes a device body 1, a walking component 2, a three-dimensional moving component 3, a detection component 4, and a shooting component 5. The walking component 2 is connected to the bottom of the device body 1, and the walking component 2 is configured to drive the device body 1 to move. The shooting component 5 is installed on the top of the device body 1, and the shooting component 5 is configured to acquire an image of the object to be detected. The three-dimensional moving component 3 is connected to the detection component 4, and the three-dimensional moving component 3 is configured to drive the detection component 4 to move relative to the device body 1. The detection component 4 is communicatively connected to the device body 1.

[0171] According to an embodiment of the fourth aspect of the present application, as Figure 4 shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340. Among them, the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logical instructions in the memory 330 to execute a wireless detection method, and the method includes:

[0172] When the distance between the detection device and the object to be detected is less than a preset value, controlling the shooting component 5 to acquire image data of the object to be detected;

[0173] Based on the image data and detection items, determining a target detection position, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0174] Based on the target detection position, controlling the walking component 2 to drive the device body 1 to move, and controlling the three-dimensional moving component 3 to drive the detection component 4 to move to the detection position;

[0175] Controlling the detection component 4 to detect the object to be detected.

[0176] In addition, when the logical instructions in the above-mentioned memory 330 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 such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0177] On the other hand, this application also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the wireless detection method provided by the above-mentioned various methods. The method includes:

[0178] When the distance between the detection device and the object to be detected is less than a preset value, control the shooting component 5 to acquire the image data of the object to be detected;

[0179] Based on the image data and the detection items, determine the target detection position, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0180] Based on the target detection position, control the walking component 2 to drive the device body 1 to move, and control the three-dimensional moving component 3 to drive the detection component 4 to move to the detection position;

[0181] Control the detection component 4 to detect the object to be detected.

[0182] According to the embodiments of the fifth aspect of this application, this application also includes a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the wireless detection method provided by the above-mentioned various methods. The method includes:

[0183] When the distance between the detection device and the object to be detected is less than a preset value, control the shooting component 5 to acquire the image data of the object to be detected;

[0184] Based on the image data and the detection items, determine the target detection position, where the detection items include at least one of installation stability detection, energy storage component health status detection, and structural stability detection;

[0185] Based on the target detection position, control the walking component 2 to drive the device body 1 to move, and control the three-dimensional moving component 3 to drive the detection component 4 to move to the detection position;

[0186] Control the detection component 4 to detect the object to be detected.

[0187] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0188] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0189] Finally, it should be noted that the above embodiments are only used to illustrate the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications, or equivalent replacements of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application, and should all be covered by the scope of the claims of the present application.

Claims

1. A wireless detection method, applied to a detection device, characterized in that The detection device includes a device body, a walking component, a three-dimensional moving component, a detection component, and a photographing component. The walking component is connected to the bottom of the device body and is used to drive the device body to move. The photographing component is installed on the top of the device body and is used to acquire an image of the object to be detected. The three-dimensional moving component is connected to the detection component and is used to drive the detection component to move relative to the device body. The detection component is communicatively connected to the device body; The wireless detection method includes: When the distance between the detection device and the object to be detected is less than a preset value, controlling the photographing component to acquire image data of the object to be detected; Based on the image data and the detection items, determining a target detection position, where the detection items include at least one of installation stability detection, health status detection of energy storage components, and structural stability detection; Based on the target detection position, controlling the walking component to drive the device body to move, and controlling the three-dimensional moving component to drive the detection component to move to the detection position; Controlling the detection component to detect the object to be detected.

2. The wireless detection method according to claim 1, wherein The step of controlling the walking component to drive the device body to move based on the target detection position includes: Based on the target detection position, determining a target moving position; Controlling the walking component to drive the device body to move to the target moving position.

3. The wireless detection method according to claim 1, characterized in that The step of determining the target detection position based on the image data and the detection items includes: Obtaining marking information from the image data; Based on the marking information, determining the target detection position.

4. The wireless detection method according to claim 1, wherein, The detection component includes a vibration generating component and a vibration detecting component. The vibration generating component is used to be arranged on the first side of the object to be detected, and the vibration detecting component is used to be arranged on the second side of the object to be detected. The vibration generating component and the vibration detecting component are arranged opposite to each other. The vibration generating component is used to apply a controllable excitation signal to the inside of the object to be detected, and the vibration detecting component is used to detect a vibration response signal transmitted through the inside of the object to be detected; The step of controlling the detection component to detect the object to be detected includes: Performing time-domain, frequency-domain, or transfer function analysis on the vibration response signal, and judging the structural stability inside the object to be detected by comparing with preset reference data.

5. The wireless detection method according to claim 1, wherein The detection component includes a vibration generating component and a vibration detecting component. The vibration generating component is used to be arranged on one side of the installation position of the object to be detected, and the vibration detecting component is used to be arranged on the other side of the installation position. The vibration generating component and the vibration detecting component are arranged opposite to each other. The vibration generating component is used to apply a controllable excitation signal to the installation position, and the vibration detecting component is used to detect a vibration response signal transmitted through the installation position; The step of controlling the detection component to detect the object to be detected includes: Performing time-domain, frequency-domain, or transfer function analysis on the vibration response signal, and judging the installation stability of the object to be detected by comparing with preset reference data.

6. A detection device, characterized in that, For performing the wireless detection method described in any one of claims 1 to 5, the detection device includes a device body, a walking component, a three-dimensional moving component, a detection component, and a photographing component. The walking component is connected to the bottom of the device body and is used to drive the device body to move. The photographing component is installed on the top of the device body and is used to acquire an image of the object to be detected. The three-dimensional moving component is connected to the detection component and is used to drive the detection component to move relative to the device body. The detection component is communicatively connected to the device body.

7. A detection device for the wireless detection method according to any one of claims 1 to 5, characterized in that Comprising: A first control module, configured to control the photographing component to acquire image data of the object to be detected when the distance between the detection device and the object to be detected is less than a preset value; A determination module, configured to determine a target detection position based on the image data and the detection items, where the detection items include at least one of installation stability detection, energy storage component health state detection, and structural stability detection; A second control module, configured to control the walking component to drive the device body to move and control the three-dimensional moving component to drive the detection component to move to the detection position based on the target detection position; A third control module, configured to control the detection component to detect the object to be detected.

8. An electronic device, the electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the wireless detection method described in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium comprising a computer program, characterized in that, When the computer program is executed by a processor, the wireless detection method described in any one of claims 1 to 5 is implemented.

Images