Control cabinet inspection alarm method based on ultrasonic waves

Abstract

The invention provides an ultrasonic-based inspection alarm method for a control cabinet. The method comprises the steps of S1, component-level inspection, connection-level inspection, environment-level inspection and performance-level inspection. Wherein the connection-level inspection comprises the step of controlling an inspection robot to detect the fastening states of connecting wires, terminals and plugs among components in an underground / semi-underground sewage plant control cabinet, and the specific steps are as follows: respectively detecting the connecting wires, the terminals and the plugs in the underground / semi-underground sewage plant control cabinet through an ultrasonic detection probe, and detecting the fastening states of the connecting wires, the terminals and the plugs in the underground / semi-underground sewage plant control cabinet; and acquiring an instant echo signal, comparing the instant echo signal with a normal echo signal of the corresponding type of wire, terminal or plug, and judging whether the connection part has poor contact.

Description

Technical Field

[0001] The present application relates to the field of electronic information technology, and in particular to an ultrasonic-based inspection and alarm method for a control cabinet. Background Art

[0002] With the continuous development of cities and the increasing scarcity of land resources, the layout of urban sewage treatment plants has undergone significant changes. These plants are gradually shifting from urban fringes to urban core areas. To effectively conserve construction land, underground / semi-underground sewage treatment plants have emerged. In underground / semi-underground sewage treatment plants, treatment processes, biochemical tank operations, and various instruments, equipment, and control cabinets are all housed within the plant. Wastewater treatment generates humidity and odor within the plant, creating complex environmental conditions. Against this backdrop, the use of robots for facility and equipment inspection has become a key development direction for the intelligent operation of future sewage treatment plants. As the core equipment for intelligent management of underground / semi-underground sewage treatment plants, the ACU (Area Control Unit) control cabinet, with its highly integrated and intelligent features, acts like a "central nervous system," effectively ensuring the safe and efficient operation of underground / semi-underground sewage treatment plants.

[0003] In the prior art, there are related technologies for automated inspection of control cabinets through robots, for example, CN118707213A, an intelligent inspection device for the operation and maintenance status of a control cabinet, etc. The intelligent inspection device can accurately detect data, programs, and status. However, in the field of control cabinets, especially underground / semi-underground sewage treatment plant control cabinets, dehumidification, ventilation, drainage and other operations are required. Therefore, underground / semi-underground sewage treatment plant control cabinets will produce greater vibrations than other control cabinets, and with use, these vibrations will easily cause the wiring, terminals, and plugs in the underground / semi-underground sewage treatment plant control cabinets to become loose, thereby causing defects. According to records, the loosening of the fastening of these wiring, terminals, and plugs is the main factor leading to control cabinet failures and even sparks. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide an ultrasonic-based control cabinet inspection and alarm method.

[0005] The technical solution of this application is achieved as follows: The present invention provides an ultrasonic control cabinet inspection and alarm method, comprising the following steps: S1, component-level inspection, connection-level inspection, environment-level inspection and performance-level inspection, wherein the component-level inspection includes controlling the inspection robot to perform status detection on the relays, circuit breakers and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant; the connection-level inspection includes controlling the inspection robot to detect the fastening status of the wiring, terminals and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant; the environment-level inspection includes controlling the inspection robot to detect the temperature, humidity and dust content in the control cabinet of the underground / semi-underground sewage treatment plant; the performance-level inspection includes controlling the inspection robot to analyze the operating data in the control cabinet of the underground / semi-underground sewage treatment plant to evaluate its work efficiency and stability; The control inspection robot detects the tightness of the wiring, terminals, and plugs between components in the control cabinet of the underground / semi-underground sewage treatment plant, specifically including: Ultrasonic detection probes are used to detect the wiring, terminals, and plugs in the control cabinet of underground / semi-underground sewage treatment plants, respectively, to obtain their instantaneous echo signals. These instantaneous echo signals are compared with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection points and to issue an alarm.

[0006] The present invention further provides an ultrasonic control cabinet inspection alarm method, comprising the following steps: S1, connection-level inspection, wherein the connection-level inspection includes controlling the inspection robot to detect the tightness of the wiring, terminals, and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant, specifically including: Ultrasonic detection probes are used to detect the wiring, terminals, and plugs in the control cabinet of underground / semi-underground sewage treatment plants, respectively, to obtain their instantaneous echo signals. These instantaneous echo signals are compared with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection points and to issue an alarm.

[0007] The advantages or beneficial effects of the above technical solution include at least: Ultrasonic testing probes perform non-contact testing, eliminating the need for direct contact with live components or disassembly of equipment. This testing method can be performed during normal equipment operation, significantly improving safety and efficiency. Inspectors do not need to come into direct contact with high-voltage or high-temperature components, reducing safety risks. Ultrasonic testing technology accurately determines whether a connection is poorly connected based on received echo signals. This technology utilizes the reflection properties of ultrasound at interfaces between different media. When a connection is poor, such as a wire, terminal, or plug, the ultrasonic signal reflects at the interface, resulting in an echo signal significantly different from that received when the connection is normal. Analysis of these echo signals allows the precise location of the poor connection to be quickly identified, providing clear guidance for subsequent repairs and enabling maintenance personnel to address the issue quickly and accurately. Ultrasonic testing technology can detect abnormal signals at the earliest stages of poor contact. Even slight changes in the contact state of a wire, terminal, or plug can be detected by an ultrasonic probe, providing early warning of faults. This enables maintenance personnel to take measures and carry out repairs in advance before the fault develops to a serious level, effectively preventing accidents such as short circuits and overheating caused by poor contact, and ensuring the stable operation of underground / semi-underground sewage treatment plant control cabinets.

[0008] Finally, by comparing the time and frequency domain characteristics of the immediate echo signal and the normal echo signal, the tightness of the connection can be quantitatively assessed. For example, by using a dynamic time warping algorithm to calculate the time domain similarity distance and the frequency domain Euclidean distance, the connection status can be converted into specific numerical indicators. Based on these quantitative indicators, it is possible to accurately determine whether the tightness of the connection meets the requirements, providing a scientific and objective basis for equipment maintenance and management. DETAILED DESCRIPTION

[0009] An embodiment of the present invention provides an ultrasonic control cabinet inspection and alarm method, comprising the following steps: S1, component-level inspection, connection-level inspection, environment-level inspection and performance-level inspection, wherein the component-level inspection includes controlling the inspection robot to perform status detection on the relays, circuit breakers and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant; the connection-level inspection includes controlling the inspection robot to detect the fastening status of the wiring, terminals and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant; the environment-level inspection includes controlling the inspection robot to detect the temperature, humidity and dust content in the control cabinet of the underground / semi-underground sewage treatment plant; the performance-level inspection includes controlling the inspection robot to analyze the operating data in the control cabinet of the underground / semi-underground sewage treatment plant to evaluate its work efficiency and stability; The controlling of the inspection robot to detect the fastening status of the wiring, terminals, and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant specifically includes: Ultrasonic detection probes are used to detect the wiring, terminals, and plugs in the control cabinet of underground / semi-underground sewage treatment plants, respectively, to obtain their instantaneous echo signals. These instantaneous echo signals are compared with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection points and to issue an alarm.

[0010] As a further improvement, the ultrasonic detection probe is used to detect the wiring, terminals, and plugs in the underground / semi-underground sewage treatment plant control cabinet, obtain their instantaneous echo signals, and compare the instantaneous echo signals with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection parts, specifically including: S1a, extracting the time domain features and frequency domain features of the instantaneous echo signal and the normal echo signal; S1b, using the dynamic time warping algorithm to calculate the similarity between the normal echo signal and the immediate echo signal in the time domain, and obtain the similarity distance D DTW ; S1c, calculate the Euclidean distance D between the normal echo signal and the immediate echo signal in the frequency domain PSD : , among which, PSD normal (f) and PSD actual (f) Power spectral density PSD of the normal echo signal and the prompt echo signal respectively; S1d, according to the pre-set similarity threshold T DTW and T PSD , judge the similarity between the instantaneous echo signal and the normal echo signal, if D DTW >T DTW or D PSD >T PSD , it is judged that there is poor contact at the connection part; otherwise, it is judged that the connection part is in normal state.

[0011] In one embodiment, in the step S1a, extracting the time domain features of the immediate echo signal and the normal echo signal specifically includes: The mean μ and variance σ of the instantaneous echo signal and the normal echo signal are calculated by the following formula: 2 , peak value s peak Or at least one of the statistical characteristics of kurtosis K: ; ; ; ; Among them, s(t i ) is the time domain signal, t is the time variable, N is the number of sampling points of the signal, and E[] represents the expected operation.

[0012] In one embodiment, in the step S1a, extracting the frequency domain features of the immediate echo signal and the normal echo signal specifically includes: Perform fast Fourier transform on the instantaneous echo signal or the normal echo signal to obtain its frequency domain representation: S(f), where f is the frequency variable, and calculate the power spectrum density PSD of the signal: ; Then, the frequency band energy and main frequency characteristics are extracted from the power spectrum density PSD(f).

[0013] In one embodiment, due to the large number of wiring, terminals, and plugs in the underground / semi-underground sewage treatment plant control cabinet, it is impossible to inspect all the wiring, terminals, and plugs in the underground / semi-underground sewage treatment plant control cabinet during the actual inspection process, which is time-consuming and labor-intensive. Therefore, the present invention creatively proposes: obtaining vibration signals of various points in the underground / semi-underground sewage treatment plant control cabinet through a vibration sensor, and then. According to the vibration signals of the various points, a vibration distribution area in the underground / semi-underground sewage treatment plant control cabinet where the vibration intensity is greater than a threshold is fitted, and the wiring, terminals, and plugs in the vibration distribution area are inspected, thereby greatly improving the efficiency of the inspection.

[0014] Specifically, the inspection robot is defined to be located at multiple points {P1, P2, ..., P M} collect vibration signals, the vibration intensity of each point is {I1,I2,…,I M}; and define a two-dimensional grid to divide the interior of the underground / semi-underground sewage treatment plant control cabinet into N x ×N y grid cells, the position of each cell is (x i ,y i ). Each collection point P j The position in the grid can be expressed as a coordinate (x j ,y j ).

[0015] Assume that the vibration intensity I of four adjacent points is known k , the vibration intensity of any point (x,y) among the four adjacent points can be calculated by the following formula: , where (x1,y1),(x2,y2),(x3,y3),(x4,y4) are the coordinates of the four adjacent points.

[0016] Then, according to the fitted vibration intensity distribution I(x,y), extract the vibration intensity greater than the threshold I th Region: .

[0017] Furthermore, it is also necessary to identify the position of the wiring, terminals, and plugs through a visual sensor. Specifically, the image obtained by the visual sensor is defined as I visual (x,y); use edge detection algorithm to identify the target component within the vibration distribution area: , that is, using edge detection algorithms to extract the contours of the target parts.

[0018] Then, use image processing algorithms (such as contour extraction) to determine the location of wires, terminals, and plugs. The center position of the extracted contour is defined as: .

[0019] Finally, the vibration distribution area Ω is compared with the target component position (x c k ,y c k ) to match, screen out the locations of important components in the vibration distribution area, and carry out targeted inspections and maintenance.

[0020] As a further improvement, in one embodiment, controlling the inspection robot to perform status detection on relays, circuit breakers, and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant specifically includes: S11, using a high-resolution camera to photograph relays, circuit breakers, and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant, and using an image recognition algorithm to analyze the appearance of the components to identify whether the components have obvious physical damage such as deformation, breakage, or ablation; S12, using an infrared thermal imager to perform infrared thermal imaging inspection on the component, and by analyzing the temperature distribution on the component surface, determine whether the component has an overheating fault; S13, monitoring the vibration of the component through a vibration sensor, determining the frequency and amplitude of the vibration by performing spectrum analysis on the vibration signal, and thus determining whether the component is faulty.

[0021] As a further improvement, in one embodiment, the step of controlling the inspection robot to detect the temperature, humidity, and dust content in the control cabinet of the underground / semi-underground sewage treatment plant specifically includes: The temperature, humidity and dust content in the underground / semi-underground sewage treatment plant control cabinet are detected by temperature and humidity sensors and dust sensors, and the detected data are compared with the temperature, humidity and dust data in the underground / semi-underground sewage treatment plant control cabinet to detect the stability of the sensors in the underground / semi-underground sewage treatment plant control cabinet.

[0022] As a further improvement, in one embodiment, the step of controlling the inspection robot to analyze the operating data in the control cabinet of the underground / semi-underground sewage treatment plant and evaluating its working efficiency and stability specifically includes: The inspection robot is used to obtain the operating data in the control cabinet of the underground / semi-underground sewage treatment plant. Then, according to the location of the control cabinet of the underground / semi-underground sewage treatment plant, a regional operating data network is established, and the operating data differences in the control cabinets of adjacent underground / semi-underground sewage treatment plants are compared to obtain the overall working efficiency and stability of the regional operating data network.

[0023] This can be achieved through the following steps: The inspection robot can collect the following operating data from each underground / semi-underground sewage treatment plant control cabinet: current I, voltage V, power P, frequency f and temperature T, and express these data as a vector: ; Wherein, i represents the i-th underground / semi-underground sewage treatment plant control cabinet.

[0024] Based on the geographical location of the underground / semi-underground sewage treatment plant control cabinets, a graph G(V,E) is constructed, where: V is a set of nodes, each node represents an underground / semi-underground sewage treatment plant control cabinet. E is a set of edges, each edge represents the connection between two control cabinets. Assume that the connection between control cabinets is based on geographical distance. If the distance between two control cabinets is less than a certain threshold d, there is an edge between them. The adjacency matrix A ij This connection relationship is represented by: .

[0025] For adjacent control cabinets i and j, calculate the difference in operating data between the two control cabinets: , where k represents each parameter (current, voltage, etc.) in the data vector.

[0026] In one embodiment, the overall working efficiency of the control cabinet is evaluated by the average power factor cosθ of the control cabinet: , where Q i is the reactive power, which can be calculated from the phase difference between voltage and current; P i yes.

[0027] Therefore, as a further improvement, the overall working efficiency of the area can be expressed as the average power factor of all control cabinets: , where |V| is the total number of control cabinets.

[0028] In addition, for overall stability, the fluctuation of each parameter can be considered to evaluate its stability. Specifically, for each parameter k, calculate its standard deviation in all control cabinets: , where μ k is the average value of all control cabinets on parameter k. Therefore, the overall stability can be defined as the weighted sum of the standard deviations of all parameters: , where α k is the weight of each parameter, which can be set according to its importance to the system stability.

[0029] Furthermore, in order to further optimize the inspection alarm method of the present invention, in other embodiments, the present invention further provides an inspection alarm method for a control cabinet based on ultrasound, comprising the following steps: S1', connection-level inspection, wherein the connection-level inspection includes controlling the inspection robot to detect the fastening status of the wiring, terminals, and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant, specifically including: Ultrasonic detection probes are used to inspect the wiring, terminals, and plugs within the underground / semi-underground sewage treatment plant control cabinet, obtaining their immediate echo signals. These immediate echo signals are then compared with the normal echo signals of the corresponding wiring, terminals, or plugs to determine whether any connection is poorly connected and trigger an alarm. The basic method for connection-level inspection is the same as that for the connection-level inspection in step S1 and will not be repeated here.

[0030] Those skilled in the art will appreciate that the above embodiments are merely for the purpose of illustrating the present application and are not intended to limit the scope of the present application. Those skilled in the art may make other changes or modifications based on the above disclosure, and such changes or modifications are still within the scope of the present application.

Claims

1. A control cabinet inspection alarm method based on ultrasonic wave, characterized by: The following steps are involved: S1, component-level inspection, connection-level inspection, environment-level inspection and performance-level inspection, wherein the component-level inspection includes controlling the inspection robot to perform status detection on the relays, circuit breakers and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant; the connection-level inspection includes controlling the inspection robot to detect the fastening status of the wiring, terminals and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant; the environment-level inspection includes controlling the inspection robot to detect the temperature, humidity and dust content in the control cabinet of the underground / semi-underground sewage treatment plant; the performance-level inspection includes controlling the inspection robot to analyze the operating data in the control cabinet of the underground / semi-underground sewage treatment plant to evaluate its work efficiency and stability; The control inspection robot detects the tightness of the wiring, terminals, and plugs between components in the control cabinet of the underground / semi-underground sewage treatment plant, specifically including: Ultrasonic detection probes are used to detect the wiring, terminals, and plugs in the control cabinet of underground / semi-underground sewage treatment plants, respectively, to obtain their instantaneous echo signals. These instantaneous echo signals are compared with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection points and to issue an alarm.

2. The ultrasonic control cabinet inspection and alarm method according to claim 1, characterized in that: The ultrasonic detection probe is used to detect the wiring, terminals, and plugs in the underground / semi-underground sewage treatment plant control cabinet, obtain their instant echo signals, and compare the instant echo signals with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection parts, specifically including: Extracting time domain features and frequency domain features of the instantaneous echo signal and the normal echo signal; The dynamic time warping algorithm is used to calculate the similarity between the normal echo signal and the immediate echo signal in the time domain, and the similarity distance D is obtained. DTW ; Calculate the Euclidean distance D between the normal echo signal and the immediate echo signal in the frequency domain PSD : , among which, PSD normal (f) and PSD actual (f) Power spectral density PSD of the normal echo signal and the prompt echo signal respectively; According to the pre-set similarity threshold T DTW and T PSD , judge the similarity between the instantaneous echo signal and the normal echo signal, if D DTW >T DTW or D PSD >T PSD , it is judged that there is poor contact at the connection part; otherwise, it is judged that the connection part is in normal state.

3. The ultrasonic control cabinet inspection and alarm method according to claim 2, characterized in that: The step of extracting the time domain features of the immediate echo signal and the normal echo signal specifically includes: The mean μ and variance σ of the instantaneous echo signal and the normal echo signal are calculated by the following formula: 2 , peak value s peak Or at least one of the statistical characteristics of kurtosis K: ； ； ； ； Among them, s(t i ) is the time domain signal, t is the time variable, N is the number of sampling points of the signal, and E[] represents the expected operation.

4. The ultrasonic control cabinet inspection and alarm method according to claim 3, characterized in that: The extracting of the frequency domain features of the immediate echo signal and the normal echo signal specifically includes: Perform fast Fourier transform on the instantaneous echo signal or the normal echo signal to obtain its frequency domain representation: S(f), where f is the frequency variable, and calculate the power spectrum density PSD of the signal: ； Then, the frequency band energy and main frequency characteristics are extracted from the power spectrum density PSD(f).

5. The control cabinet inspection and alarm method based on ultrasonic waves according to claim 1 is characterized in that: The controlling of the inspection robot to perform status detection on the relays, circuit breakers, and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant specifically includes: S11, using a high-resolution camera to photograph relays, circuit breakers, and inverter components in the control cabinet of the underground / semi-underground sewage treatment plant, and using an image recognition algorithm to analyze the appearance of the components to identify whether the components have obvious physical damage such as deformation, breakage, or ablation; S12, using an infrared thermal imager to perform infrared thermal imaging inspection on the component, and by analyzing the temperature distribution on the component surface, determine whether the component has an overheating fault; S13, monitoring the vibration of the component through a vibration sensor, determining the frequency and amplitude of the vibration by performing spectrum analysis on the vibration signal, and thus determining whether the component is faulty.

6. The control cabinet inspection and alarm method based on ultrasonic waves according to claim 1 is characterized in that: The step of controlling the inspection robot to detect the temperature, humidity, and dust content in the control cabinet of the underground / semi-underground sewage treatment plant specifically includes: The temperature, humidity and dust content in the underground / semi-underground sewage treatment plant control cabinet are detected by temperature and humidity sensors and dust sensors, and the detected data are compared with the temperature, humidity and dust data in the underground / semi-underground sewage treatment plant control cabinet to detect the stability of the sensors in the underground / semi-underground sewage treatment plant control cabinet.

7. The control cabinet inspection and alarm method based on ultrasonic waves according to claim 1 is characterized in that: The step of controlling the inspection robot to analyze the operating data in the control cabinet of the underground / semi-underground sewage treatment plant and evaluating its working efficiency and stability specifically includes: The inspection robot is used to obtain the operating data in the control cabinet of the underground / semi-underground sewage treatment plant. Then, according to the location of the control cabinet of the underground / semi-underground sewage treatment plant, a regional operating data network is established, and the operating data differences in the control cabinets of adjacent underground / semi-underground sewage treatment plants are compared to obtain the overall working efficiency and stability of the regional operating data network.

8. The control cabinet inspection and alarm method based on ultrasonic waves according to claim 1 is characterized in that: The inspection robot further includes a vibration sensor, which acquires vibration signals from various points in the control cabinet of the underground / semi-underground sewage treatment plant.

9. The control cabinet inspection and alarm method based on ultrasonic waves according to claim 8, characterized in that: The inspection robot further fits the vibration distribution area in the underground / semi-underground sewage treatment plant control cabinet where the vibration intensity is greater than a threshold value based on the vibration signals of the various points.

10. A control cabinet inspection alarm method based on ultrasound, characterized by: The following steps are involved: S1, connection-level inspection, wherein the connection-level inspection includes controlling the inspection robot to detect the tightness of the wiring, terminals, and plugs between the components in the control cabinet of the underground / semi-underground sewage treatment plant, specifically including: Ultrasonic detection probes are used to detect the wiring, terminals, and plugs in the control cabinet of underground / semi-underground sewage treatment plants, respectively, to obtain their instantaneous echo signals. These instantaneous echo signals are compared with the normal echo signals of the corresponding types of wiring, terminals, or plugs to determine whether there is poor contact at the connection points and to issue an alarm.

Images