Cable fault diagnosis method, device and system for cabled underwater robot

Abstract

The invention relates to the technical field of cable fault diagnosis, in particular to a cable fault diagnosis method, device and system for a cabled underwater robot, and the method comprises the steps: obtaining cable voltage data and motor rotation data of the underwater robot in a target time period, the target time period is a time period from launching to ashore of the underwater robot; performing segmentation processing on the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals; performing fault analysis on the plurality of voltage intervals to obtain a cable detection result of the underwater robot; and if the cable detection result is an abnormal detection result, generating an alarm signal and fault diagnosis information. The cable voltage data and the motor rotation data of the underwater robot are collected and analyzed, potential cable problems are identified, abnormity is found in time, alarm signals and fault diagnosis information are generated rapidly, and the accuracy and timeliness of fault detection are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable fault diagnosis, and in particular to a cable fault diagnosis method, device and system for a tethered underwater robot. BACKGROUND

[0002] A tethered underwater robot (ROV) is a special robot widely used in the fields of marine exploration, seabed construction, search and rescue, etc. The cable of the tethered underwater robot is not only a medium for transmitting power, but also an important channel for realizing remote control and data communication.

[0003] The cable of the tethered underwater robot provides continuous power supply and stable signal transmission for the underwater robot, ensuring that the underwater robot can receive instructions and feedback messages under water. Due to the complexity of the underwater environment, changes in water flow can cause abnormal changes in the water pressure of the cable, and the changes in water pressure can cause additional mechanical stress on the cable, affecting the structural integrity of the cable, and even causing the cable to break, thereby causing cable failure and failing to ensure the normal operation of the underwater robot. SUMMARY

[0004] In order to solve the technical problem that the tethered underwater robot cannot accurately detect abnormal conditions under water, and thus cannot timely discover and handle abnormal conditions, the purpose of the present application is to provide a cable fault diagnosis method, device and system for a tethered underwater robot, and the technical solution adopted is as follows: In a first aspect, the present application provides a cable fault diagnosis method for a tethered underwater robot, which is applied to a cable fault diagnosis system for a tethered underwater robot, and the method comprises: obtaining cable voltage data and motor rotation data of the underwater robot in a target time period, the motor rotation data including motor rotation rate, and the target time period being a time period from launching the underwater robot to landing the underwater robot; segmenting the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals; performing fault analysis on the plurality of voltage intervals to obtain a cable detection result of the underwater robot; if the cable detection result is an abnormal detection result, generating an alarm signal and fault diagnosis information.

[0005] In a second aspect, the present application provides a cable fault diagnosis system for a tethered underwater robot, comprising a memory and a processor, the memory being connected to the processor, the processor being used to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causing the cable fault diagnosis system for the tethered underwater robot to implement the cable fault diagnosis method for the tethered underwater robot as described in the first aspect.

[0006] In a third aspect, a computer device is provided, comprising a memory connected to a processor, the processor being configured to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causes the computer device to implement the cable fault diagnosis method of the underwater robot as described in the first aspect.

[0007] In a fourth aspect, an embodiment of the present application provides a cable fault diagnosis device of an underwater robot, applied to a cable fault diagnosis system of the underwater robot, the device comprising: An acquisition unit is configured to acquire cable voltage data and motor rotation data of the underwater robot in a target time period, the motor rotation data comprising a motor rotation rate, and the target time period being a time period during which the underwater robot is launched and landed; A processing unit is configured to perform segmented processing on the cable voltage data according to the motor rotation data, to obtain a plurality of voltage intervals; An analysis unit is configured to perform fault analysis on the plurality of voltage intervals, to obtain a cable detection result of the underwater robot; A generation unit is configured to generate an alarm signal and fault diagnosis information if the cable detection result is an abnormal detection result.

[0008] In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing a computer program, the computer program comprising program instructions, the program instructions, when executed by a processor, causing the processor to execute the cable fault diagnosis method of the underwater robot as described in the first aspect.

[0009] The present application has the following beneficial effects: the present application can monitor the running state of the robot in real time, and ensure the integrity and accuracy of the data, by acquiring the cable voltage data and the motor rotation rate of the underwater robot during the period from launching to landing; the relationship between the voltage change and the motor rotation rate can be accurately identified by performing segmented processing on the voltage data according to the motor rotation rate, so as to more accurately locate the possible fault point of the cable; the fault analysis on the plurality of voltage intervals helps to identify potential cable problems, and timely discover abnormalities, so as to avoid greater losses caused by faults; once an abnormality is detected, the system can quickly generate an alarm signal and fault diagnosis information, and notify relevant personnel to handle in time, so as to reduce downtime and maintenance cost, ensure the continuity and safety of the underwater robot operation, and avoid operation interruption or equipment damage caused by cable faults. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, and the advantages thereof, below will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0011] Figure 1 A flowchart of a cable fault diagnosis method of a tethered underwater robot provided by an embodiment of the present application; Figure 2 A structural diagram of a cable fault diagnosis device of a tethered underwater robot provided by an embodiment of the present application; Figure 3 A structural diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0012] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined purposes, the following describes the cable fault diagnosis method of a tethered underwater robot according to the present application, its specific implementation, structure, features and effects in detail in combination with the drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0014] The present application will be described in detail below through specific embodiments.

[0015] The cable fault diagnosis system of the tethered underwater robot provided by an embodiment of the present application can be composed of the following components: a data acquisition module, a data transmission module, a ground control center, an alarm and display module.

[0016] The data acquisition module includes a data acquisition card and a signal conditioning module. The data acquisition card converts the analog signals collected by the sensor into digital signals for computer processing. The signal conditioning module amplifies, filters and isolates the sensor signals to ensure signal quality.

[0017] The communication interface in the data transmission module realizes data transmission between the underwater robot and the ground control center, which can be wired or wireless communication. The data transmission cable / wireless module is used to transmit data between the underwater robot and the ground station.

[0018] The ground control center includes a data processing unit and a fault diagnosis software. The data processing unit includes computer hardware and software for receiving, storing, processing and analyzing the collected data. The fault diagnosis software is used for data preprocessing, spectral analysis, fault feature extraction and diagnostic algorithms.

[0019] The alarm and display module issues an audible and visual alarm when a fault is detected, notifies the operator, and displays the voltage data, motor speed and fault diagnosis results in real time.

[0020] Through the coordinated work of these components, the cable fault diagnosis system can effectively monitor the cable state of the underwater robot, timely detect potential faults, and take appropriate maintenance measures to ensure the safety and efficiency of underwater operations.

[0021] The specific scheme of the cable fault diagnosis method for the tethered underwater robot provided by the present application will be described in detail below with reference to the accompanying drawings.

[0022] Please refer to Figure 1 which shows the flowchart of the cable fault diagnosis method for the tethered underwater robot provided by an embodiment of the present application, applied to the cable fault diagnosis system for the tethered underwater robot, the method comprising the following steps: S10, acquiring cable voltage data and motor rotation data of the underwater robot in a target time period, the motor rotation data including motor rotation rate, and the target time period being the time period from the underwater robot being launched to being landed.

[0023] Among them, the underwater robot is usually equipped with various sensors for collecting cable voltage data and motor rotation data. The sensors can include but are not limited to voltage test module and motor encoder, wherein the voltage test module can monitor the voltage change in the cable in real time, and the motor encoder can provide accurate data of the motor rotation, including rotation speed and direction. Specifically, the sampling rate is set to 30ks / s, the number of samples per cycle is 3000, and the normal state data is collected for 20s.

[0024] Among them, the cable voltage data includes real-time voltage value, voltage fluctuation, peak value, valley value, etc. of the cable, and the cable voltage data can reflect the electrical health status of the cable.

[0025] Among them, the motor rotation data includes the rotation speed (rotation rate), rotation direction and rotation frequency of the motor, and the motor rotation data helps to analyze the working load and efficiency of the motor.

[0026] Among them, the target time period refers to the entire time period from the underwater robot being launched to being landed after completing the task. In this time period, the underwater robot needs to perform a series of predetermined tasks, so the time range of data acquisition must cover the entire operation cycle.

[0027] Further, according to the target time period, the cable voltage data and the motor rotation data are ensured to be recorded on the same time axis in synchronization, so as to perform correlation analysis.

[0028] It can be seen that, in the embodiment, by acquiring the data of the underwater robot in the target time period, the cable and motor states of the underwater robot in the entire operation cycle are effectively monitored, thereby improving the safety and reliability of the operation.

[0029] S20, segmenting the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals.

[0030] The specific implementation process of S20 can refer to the detailed description of S101-S103, which is not repeated here.

[0031] As mentioned in S10, the motor rotation data and the cable voltage data are synchronized in time, and then the voltage data is segmented according to the motor state.

[0032] The segmentation divides the continuous voltage data stream according to the stages of motor rotation, and each stage corresponds to a voltage data interval. Specifically, a sliding window method or an event-based segmentation method can be used to ensure the accuracy and effectiveness of segmentation. Through segmentation, the characteristics of each voltage interval can be more easily extracted, thereby better understanding the relationship between the motor operating state and the voltage.

[0033] In specific implementation, the motor rotation data is analyzed to determine the segmentation standard. For example, the change points of motor speed, the stable interval of motor speed, or specific speed thresholds can be used as the basis for segmentation. If the motor speed remains stable for a period of time, the voltage data in this period of time can be divided into a voltage interval. If the motor speed changes significantly, such as acceleration or deceleration, the voltage data can be divided into different intervals at these change points. If the motor performs specific actions or events (such as starting, stopping, reversing, etc.), the voltage interval can be divided according to these events. Feature extraction and analysis are performed on each voltage interval, including calculating the average value, standard deviation, peak value, valley value, and other statistical indicators of the voltage. Check whether the segmentation is reasonable to ensure that each voltage interval accurately reflects the operating state of the motor at that speed.

[0034] Therefore, in different voltage intervals, voltage abnormalities can be more easily detected, and possible motor or cable problems can be diagnosed.

[0035] It can be seen that, in the embodiment, by segmentation, voltage data can be more effectively analyzed to support the state monitoring and maintenance of the underwater robot.

[0036] S30, performing fault analysis on the plurality of voltage intervals to obtain a cable detection result of the underwater robot.

[0037] The specific implementation process of S20 can refer to the detailed description of S104-S107, which is not repeated here.

[0038] The fault analysis aims to identify and diagnose abnormal or fault conditions that may exist in the cable. Ensure the safety and reliability of the underwater robot during operation. By analyzing the voltage interval, problems can be found in advance to avoid equipment downtime or damage due to cable failure.

[0039] By analyzing the voltage characteristics of each voltage interval, common fault patterns such as excessive voltage, low voltage, abnormal fluctuations, etc. can be identified. Signal processing techniques and data analysis tools such as frequency spectrum analysis, time domain analysis can be used to identify and classify these fault patterns.

[0040] The cable detection result includes abnormal detection results and normal detection results.

[0041] As can be seen, through fault analysis in this embodiment, the cable of the underwater robot can maintain good working condition during task execution, reducing work interruption and safety risks caused by cable failure.

[0042] S40, if the cable detection result is an abnormal detection result, generate an alarm signal and fault diagnosis information.

[0043] The alarm signal can be in various forms, such as audible and visual alarms, vibration reminders, etc. to ensure effective communication in different environments.

[0044] The fault diagnosis information usually includes voltage, current abnormal data, historical fault records, etc. The fault diagnosis information provides detailed data on fault type, location and severity. If the fault is serious, it may need to adjust or suspend the task immediately and develop an emergency plan to protect the equipment and task target. Maintenance may require the dispatch of divers or the use of remotely operated vehicles (ROVs) for on-site inspection and repair. The choice of repair method depends on the depth and complexity of the fault.

[0045] Optionally, after maintenance is completed, system testing must be performed to ensure that the problem has been resolved. Testing includes functional testing and safety verification to ensure that the cable has returned to normal and meets all operating standards. Test results will be recorded for future reference and analysis.

[0046] As can be seen, through timely alarm and detailed fault diagnosis information in this embodiment, the safety and reliability of underwater robot operation can be significantly improved, reducing downtime and potential safety risks caused by cable failure.

[0047] The present application has the following beneficial effects: by acquiring the cable voltage data and the motor rotation rate of the underwater robot during launching and landing, the running state of the robot can be monitored in real time, and the integrity and accuracy of the data are ensured; the voltage data is processed in sections according to the motor rotation rate, and then the relationship between the voltage change and the motor rotation rate can be accurately identified, so that the possible fault point of the cable can be more accurately located; the fault analysis of multiple voltage intervals helps to identify potential cable problems, discover abnormalities in time, and avoid greater losses caused by faults; once an abnormality is detected, the system can quickly generate an alarm signal and fault diagnosis information to notify relevant personnel for timely processing, reduce downtime and maintenance costs, ensure the continuity and safety of underwater robot operation, and avoid operation interruption or equipment damage caused by cable failure.

[0048] In an embodiment, the motor rotation data includes a motor rotation direction, and the segmented processing of the cable voltage data according to the motor rotation data to obtain multiple voltage intervals includes: performing drawing processing on the motor rotation rate in the target time period to obtain a motor rotation rate curve; segmenting the motor rotation rate curve according to a first preset algorithm to obtain a motor rotation rate subsequence corresponding to each motor rotation rate; analyzing the motor rotation rate curve to obtain a maximum rotation rate and a minimum rotation rate; performing interval division on the motor rotation rate according to the maximum rotation rate and the minimum rotation rate to obtain multiple first rotation rate intervals and a rotation rate difference value; matching each motor rotation rate subsequence with the multiple first rotation rate intervals to obtain multiple second rotation rate intervals containing the corresponding motor rotation rate subsequences; performing data processing on the multiple second rotation rate intervals according to the motor rotation direction and the rotation rate difference value to obtain multiple third rotation rate intervals; and performing segmented processing on the cable voltage data according to the multiple third rotation rate intervals to obtain multiple voltage intervals.

[0049] The first preset algorithm can be a PAA (Piecewise Aggregate Approximation) algorithm. The PAA algorithm is a time series data dimensionality reduction method that approximates the original time series by dividing the time series into equal-length segments and aggregating (usually taking the average) each segment. When processing the motor rotation rate curve, the PAA algorithm can effectively extract key features while reducing data volume, facilitating subsequent analysis.

[0050] PAA algorithm divides the entire motor rotation rate curve into a fixed number of segments. The length of each segment is the original sequence length divided by the number of segments. For each segment, the PAA algorithm calculates the average value of all data points in the segment, which represents the feature value of the segment. After PAA processing, the original motor rotation rate curve is converted into a simplified time series composed of these average values, i.e., motor rotation speed sub-sequences, which retain the main trends and characteristics of the original sequence but have smaller data volume, facilitating processing and analysis.

[0051] In the drawing process, the motor rotation rate over time can be plotted into a motor rotation rate curve using data visualization tools such as Matplotlib or Excel. The motor rotation rate curve should clearly show the fluctuations and trends of the rotation speed.

[0052] In the process of interval division of the motor rotation rate according to the maximum rotation rate and the minimum rotation rate, the following formula can be referred to:

[0053] represents the rotation speed difference value of each interval, represents the smaller boundary value of the rotation speed of the i-th interval, represents the larger boundary value of the rotation speed of the i-th interval, represents the maximum rotation rate and represents the minimum rotation rate, represents the rotation speed interval.

[0054] In the process of matching each motor rotation speed sub-sequence with the multiple first rotation speed rate intervals to determine their belonging intervals, the following formula can be referred to:

[0055] In the process of segmenting the cable voltage data according to the multiple third rotation speed rate intervals to obtain multiple voltage intervals, the specific implementation process can be referred to the description in S102, which is not repeated here.

[0056] In the process of segmenting the cable voltage data according to the multiple third rotation speed rate intervals to obtain multiple voltage intervals, the specific implementation process can be referred to the description in S103, which is not repeated here.

[0057] It can be seen that in this embodiment, the working state of the motor and how the cable voltage responds to the change of the motor rotation speed are accurately analyzed, thereby providing data support for fault diagnosis and performance optimization.

[0058] ​S102、In an embodiment, the data processing of the plurality of second speed rate intervals according to the motor rotation direction and the speed difference value to obtain a plurality of third speed rate intervals comprises: obtaining a first target speed rate interval and a first motor rotation direction corresponding to the first target speed rate interval, a second target speed rate interval and a second motor rotation direction corresponding to the second target speed rate interval, the first target speed rate interval and the second target speed rate interval being any two adjacent speed rate intervals in the plurality of second speed rate intervals; calculating the first target speed rate interval and the first motor rotation direction corresponding to the first target speed rate interval, the second target speed rate interval and the second motor rotation direction corresponding to the second target speed rate interval, and the speed difference value to obtain the fluctuation degree between the first target speed rate interval and the second target speed rate interval; if the fluctuation degree is less than a preset fluctuation degree, merging the first target speed rate interval and the second target speed rate interval to obtain a merged third target speed rate interval; traversing a plurality of target speed rate intervals to obtain a plurality of third speed rate intervals, the plurality of third speed rate intervals comprising a plurality of third target speed rate intervals and a plurality of fourth target speed rate intervals, the fourth target speed rate interval being a target speed rate interval when the fluctuation degree is greater than or equal to a preset fluctuation degree.

[0059] Specifically, any two adjacent intervals are selected from the plurality of second speed rate intervals, and are marked as a first target speed rate interval and a second target speed rate interval respectively. At the same time, the motor rotation directions corresponding to the two intervals are obtained, and are marked as a first motor rotation direction and a second motor rotation direction respectively.

[0060] Specifically, in the process of calculating the first target speed rate interval and the first motor rotation direction corresponding to the first target speed rate interval, the second target speed rate interval and the second motor rotation direction corresponding to the second target speed rate interval, and the speed difference value to obtain the fluctuation degree between the first target speed rate interval and the second target speed rate interval, the following formula can be referred to:

[0061] Wherein, and represent the angle of the motor direction of the vth and v+1th segment respectively, represents the change degree of the included angle of the two directions, and represent the speed of the motor of the vth and v+1th segment respectively, represents the fluctuation degree of the voltage in each interval of the rotational speed, and the greater the value, the greater the fluctuation degree of the voltage, is the fluctuation degree between the first target rotational speed rate interval and the second target rotational speed rate interval.

[0062] wherein, is a function commonly used in multi-classification problems, which converts an arbitrary real number vector into a probability distribution. is used to normalize the calculated fluctuation degree, so that the sum is 1, so that the result can be interpreted as a probability distribution of the fluctuation degree between different intervals.

[0063] wherein, is a sine function, which is used to calculate the ratio of the opposite side to the hypotenuse in a right triangle. In the present scheme, is used to calculate the degree of change of the included angle between two directions. The value of the sine function ranges from -1 to 1, which can be used to measure the similarity or degree of change between two directions. Specifically, if the two directions are completely consistent (i.e. the included angle is 0 degrees), the sine value is 0; if the included angle is 90 degrees, the sine value is 1, indicating the maximum change. In this way, can help evaluate the degree of change between the directions of the two motors.

[0064] wherein, represents the included angle between the vth and (v+1)th segmented motor direction, represents the sine value of the included angle between the vth and (v+1)th segmented motor direction, which reflects the degree of change between the two directions.

[0065] wherein, and can be obtained from the first motor rotation direction and the second motor rotation direction.

[0066] wherein, the preset fluctuation degree is used to determine whether to merge the intervals. The preset fluctuation degree needs to be determined according to the specific application scenario and the performance requirements of the motor. The preset fluctuation degree can be 0.1, which is not limited here.

[0067] Specifically, when the fluctuation degree is less than the preset fluctuation degree, it means that the voltages of the two segments are likely to be in the same stage, and due to the motor rotation direction, the motor speed may have jitter, so it is considered that the two adjacent intervals are relatively stable in terms of speed change, and they can be merged into a larger interval, i.e. the third target rotational speed rate interval.

[0068] Specifically, the above process is repeated to traverse all the second speed rate intervals to determine which intervals can be merged. The final plurality of third speed rate intervals will include merged intervals (third target speed rate intervals) and unmerged intervals (fourth target speed rate intervals).

[0069] It can be seen that, in the embodiment, whether to merge adjacent intervals is determined by the fluctuation degree, merging adjacent speed rate intervals can reduce the number of unnecessary intervals, simplify the data analysis process, and also reduce misjudgments caused by slight fluctuations, thereby improving the accuracy and efficiency of fault detection.

[0070] In one embodiment, the segmenting the cable voltage data according to the plurality of third speed rate intervals to obtain a plurality of voltage intervals comprises: obtaining a time period corresponding to each third speed rate interval in the plurality of third speed rate intervals to obtain a plurality of first time periods; and segmenting the cable voltage data in the target time period according to the plurality of first time periods to obtain a plurality of voltage intervals, wherein each voltage interval corresponds to the third speed rate interval in the same time period.

[0071] For each third speed rate interval, its specific position in the original target time period is determined, thereby obtaining the corresponding time period, which is referred to as a first time period.

[0072] The first time period is used to segment the cable voltage data in the target time period, so each voltage interval will correspond to a specific third speed rate interval, and these voltage intervals are collected in the same time period.

[0073] The segmenting processing ensures that the time labels of the third speed rate intervals and the time labels of the cable voltage data are one-to-one corresponding, thereby correctly matching the voltage data and the speed rate intervals.

[0074] For each third speed rate interval, the start and end time points in the original time sequence are found, and the corresponding voltage values are extracted from the cable voltage data according to the time points to form voltage intervals.

[0075] Each voltage interval should have a clear corresponding relationship, that is, it is only associated with a specific third speed rate interval. This corresponding relationship is used to understand the relationship between voltage changes and motor speed in subsequent analysis.

[0076] It can be seen that, in the embodiment, the corresponding relationship of the time period can link the speed rate change of the motor to the voltage change of the cable, thereby providing detailed data support for analyzing the working state of the motor and the health condition of the cable.

[0077] In one embodiment, the fault analysis on the plurality of voltage intervals to obtain the cable detection result of the underwater robot includes: performing wavelet transform on the plurality of voltage intervals according to a preset wavelet function to obtain a frequency spectrum curve corresponding to each voltage interval; obtaining a standard frequency spectrum corresponding to each voltage interval according to the frequency spectrum curve corresponding to each voltage interval; performing abnormal processing on the standard frequency spectrum corresponding to each voltage interval and the frequency spectrum curve corresponding to each voltage interval to obtain an abnormal value of each voltage interval; and if the abnormal value is greater than a preset abnormal threshold, obtaining the cable detection result of the underwater robot, and the cable detection result is the abnormal detection result.

[0078] The wavelet transform is a time-frequency analysis tool that can decompose a signal into components of different frequencies and show how these components change over time. Through wavelet transform, a frequency spectrum curve corresponding to each voltage interval can be obtained, which reflects the energy distribution of the voltage signal at different frequencies.

[0079] The standard frequency spectrum can be regarded as the frequency spectrum characteristics of the voltage signal under normal circumstances, and is used for comparison and identification of abnormalities.

[0080] The abnormal processing aims to find the parts of the voltage signal that deviate from the normal mode, and these deviations may indicate the failure or abnormal state of the cable or electrical system.

[0081] The abnormal value can be a quantitative indicator of spectral difference, such as energy difference, frequency component difference, etc.

[0082] The preset abnormal threshold can be artificially set or pre-set, which is not limited here. The preset abnormal threshold can be 0.8. If it is greater than this value, it means that the cable may have a voltage anomaly.

[0083] The specific process of obtaining the standard frequency spectrum corresponding to each voltage interval according to the frequency spectrum curve corresponding to each voltage interval can refer to the specific description in S105-S106, which is not repeated here.

[0084] The specific process of performing abnormal processing on the standard frequency spectrum corresponding to each voltage interval and the frequency spectrum curve corresponding to each voltage interval to obtain the abnormal value of each voltage interval can refer to the specific description in S107, which is not repeated here.

[0085] As can be seen, through fault analysis in this embodiment, the health status of the underwater robot cable is effectively monitored, possible problems are found and prevented in time, and stable operation of the system is ensured.

[0086] S105、In an embodiment, the standard frequency spectrum corresponding to each voltage interval is obtained according to the frequency spectrum curve corresponding to each voltage interval, comprising: voltage segmentation of each voltage interval to obtain at least one voltage segment in each voltage interval; in the frequency spectrum curve corresponding to each voltage interval, obtaining the frequency spectrum region corresponding to at least one voltage segment in each voltage interval; in each voltage interval, the frequency spectrum regions corresponding to all voltage segments in each voltage interval are intersected to obtain the first frequency spectrum interval in each voltage interval, and the first frequency spectrum interval is the intersection of the frequency spectrum regions corresponding to all voltage segments; and data processing of the frequency spectrum regions corresponding to at least one voltage segment in each voltage interval and the first frequency spectrum interval in each voltage interval to obtain the standard frequency spectrum corresponding to each voltage interval.

[0087] Wherein, the voltage segmentation is to divide the continuous voltage signal into multiple smaller intervals, so as to more finely analyze the characteristics in each interval, and further more accurately capture the details of voltage change. The voltage segmentation can be equal length or based on specific voltage characteristics.

[0088] Wherein, the frequency spectrum region shows the frequency components and corresponding energy distribution of the voltage segmentation.

[0089] Wherein, in each voltage interval, the frequency spectrum regions corresponding to all voltage segments in each voltage interval are intersected to obtain the first frequency spectrum interval in each voltage interval, and the first frequency spectrum interval is the intersection of the frequency spectrum regions corresponding to all voltage segments. In the specific implementation, the following formula can be referred to:

[0090] Wherein, represents the number of voltage segments in the u-th rotational speed interval, represents the frequency spectrum region of the i-th voltage segment of the u-th rotational speed interval, represents the first frequency spectrum interval (the intersection of the frequency spectrum regions corresponding to all voltage segments).

[0091] Wherein, the purpose of intersection processing is to find the common characteristics of all voltage segment frequency spectrum regions, i.e. those frequency components appearing in all segments, to help identify the core frequency spectrum characteristics of the voltage interval.

[0092] Wherein, the first frequency spectrum interval represents the common characteristics of all voltage segments in the voltage interval, i.e. the common part of all voltage segment frequency spectrum regions.

[0093] Optionally, the data processing can include calculating the average frequency spectrum, the standardized frequency spectrum, removing outliers, etc. to obtain a standard frequency spectrum representing the characteristics of the voltage interval.

[0094] In the process of performing data processing on the first frequency spectrum region in each voltage interval and the frequency spectrum region corresponding to at least one voltage segment in the voltage interval, the standard frequency spectrum corresponding to each voltage interval can be obtained, and specific processes can refer to the specific description in S106, which will not be repeated here.

[0095] It can be seen that, in the embodiment, the intersection processing ensures that the standard frequency spectrum reflects the most common and stable frequency characteristics in the voltage interval, thereby more accurately analyzing the voltage signal and providing powerful data support for fault detection and performance evaluation of the cable.

[0096] In one embodiment, the data processing on the first frequency spectrum region in each voltage interval and the frequency spectrum region corresponding to at least one voltage segment in the voltage interval to obtain the standard frequency spectrum corresponding to each voltage interval includes: performing similarity analysis on the first frequency spectrum region in each voltage interval and the frequency spectrum region corresponding to at least one voltage segment in the voltage interval to obtain the similarity between each voltage segment in the voltage interval and the first frequency spectrum region in the voltage interval; if the similarity is greater than a preset similarity threshold, at least one target voltage segment is obtained, the target voltage segment being a voltage segment greater than the preset similarity threshold; extracting the frequency spectrum peak of the at least one target voltage segment; and performing mean value processing on the frequency spectrum peak to obtain the standard frequency spectrum corresponding to each voltage interval.

[0097] In the similarity analysis, the similarity between two frequency spectrum regions is evaluated.

[0098] In the similarity analysis on the first frequency spectrum region in each voltage interval and the frequency spectrum region corresponding to at least one voltage segment in the voltage interval to obtain the similarity between each voltage segment in the voltage interval and the first frequency spectrum region in the voltage interval, the following formula can be referred to:

[0099] In the similarity analysis on the first frequency spectrum region in each voltage interval and the frequency spectrum region corresponding to at least one voltage segment in the voltage interval to obtain the similarity between each voltage segment in the voltage interval and the first frequency spectrum region in the voltage interval, the following formula can be referred to: denotes the frequency spectrum region of the i-th voltage segment in the u-th speed interval, denotes the peak value of the j-th peak of the frequency spectrum of the i-th voltage segment in the u-th speed interval, denotes the frequency spectrum region of the intersection denotes the peak value of the peak closest to the j-th peak of the frequency spectrum of the i-th voltage segment in the u-th speed interval, denotes the number of peaks of the frequency spectrum of the i-th voltage segment in the u-th speed interval. is the intersection, representing the common spectral part in both spectral intervals, represents the spectrum and the first spectral interval , the frequency distance between them, measures the proportion or difference of the intersection region in the entire spectrum, so the larger the value is, the more likely the segmented spectrum belongs to the standard spectral peak, is the similarity between each voltage segment in the voltage interval and the first spectral interval in the voltage interval.

[0100] wherein, The calculation method includes the following ways: (1) Euclidean distance: calculate the Euclidean distance of the intersection region and the entire spectrum region on the frequency axis; (2) normalized distance: normalize the frequency range of the intersection region and the frequency range of the entire spectrum for comparison; (3) weighted distance: consider the weight of each frequency component, and calculate the weighted distance of the frequency components of the intersection region and the entire spectrum region; (4) similarity quantification: through the calculation of frequency distance, the similarity between two spectrums can be quantified. The smaller the distance is, the more similar the two spectrums are; the larger the distance is, the greater the difference between the two spectrums is.

[0101] Specifically, the center frequency of and the center frequency of are found, and the first absolute difference between the two center frequencies is calculated; the frequency range of and the frequency range of are found, and the difference between the two frequency ranges is calculated, for example, the second absolute difference of the difference between their minimum and maximum frequencies can be calculated; therefore, = first absolute difference * a + (1-a) * second absolute difference, a is a weight factor used to balance the importance of the center frequency difference and the frequency range difference.

[0102] wherein, the preset similarity threshold is a standard for screening, ensuring that only those voltage segments with high consistency with the overall characteristics are selected. The preset similarity threshold can be 0.7, which is not limited here.

[0103] wherein, if the similarity is greater than the preset similarity threshold, the voltage segment is marked as a target voltage segment. The target voltage segment represents the part with typical characteristics in the voltage interval.

[0104] Among them, the spectral peak is the frequency component with the highest energy in the spectrum, which usually represents the main characteristics of the signal. In specific implementation, signal processing tools (such as the find_peaks function in the SciPy library of Python) are used to automatically detect the local maximum values in the spectrum, and these local maximum values are extracted as spectral peaks.

[0105] Among them, the mean value processing is to calculate the average value of the spectral peaks to generate a standard spectrum representing the voltage interval. The standard spectrum can be used as a reference to monitor the changes of the voltage signal and identify abnormalities. Specifically, statistical tools (such as the NumPy library of Python) can be used to calculate the mean value of the spectral peaks.

[0106] It can be seen that in this embodiment, the similarity analysis is used to identify which voltage segments are closest to the typical characteristics of the entire voltage interval in terms of spectral characteristics, so as to filter out reliable data for the construction of the standard spectrum; further, according to the extraction of the spectral peaks, the key frequency components in the signal are identified; by performing mean value processing on the spectral peaks, the influence of individual outliers can be reduced, and a more stable and reliable standard spectrum can be obtained, so that meaningful spectral characteristics can be effectively extracted from the voltage data, and a standard spectrum for subsequent analysis and fault detection can be constructed, which helps to improve the accuracy and efficiency of fault detection.

[0107] In one embodiment, the method further comprises: extracting a first spectral parameter from the standard spectrum corresponding to each voltage interval, and extracting a second spectral parameter from the spectral curve corresponding to each voltage interval; and calculating the first spectral parameter and the second spectral parameter to obtain the abnormal value of each voltage interval.

[0108] Among them, the first spectral parameter is a specific spectral parameter extracted from the standard spectrum corresponding to each voltage interval, which can be frequency, amplitude, phase, energy, etc. The first spectral parameter represents the typical spectral characteristics of the voltage interval and is the reference value under normal working conditions.

[0109] Among them, the extraction process can use signal processing tools (such as FFT transformation) to analyze the spectrum.

[0110] Among them, the second spectral parameter is the same or different spectral parameter extracted from the spectral curve corresponding to each voltage interval, and the second spectral parameter reflects the actual measured spectral characteristics in the voltage interval.

[0111] Among them, the calculation process of the first spectral parameter and the second spectral parameter to obtain the abnormal value of each voltage interval is shown in the following formula:

[0112] wherein, represents the length of the spectrum of the i-th voltage segment of the u-th rotating speed interval, represents the length of the standard spectrum of the u-th rotating speed interval; represents the smaller the value is, the more concentrated the energy of the current voltage spectrum distribution is; represents the number of peaks of the spectrum of the i-th voltage segment of the u-th rotating speed interval, and represents the minimum frequency value and the maximum frequency value corresponding to the peak of the standard spectrum of the u-th rotating speed interval; represents the frequency value corresponding to the j-th peak of the spectrum of the i-th voltage segment of the u-th rotating speed interval, the larger the value is, the more the current peak distribution is reflected on the high frequency, is an abnormal value of each voltage interval.

[0113] wherein, the abnormal value quantifies the deviation between the actual spectrum curve and the standard spectrum. The size of the abnormal value can indicate whether there is an abnormal situation in the voltage interval. The larger the abnormal value is, the greater the difference between the actual spectrum and the standard spectrum, and there may be a fault or an abnormality.

[0114] It can be seen that in the embodiment, by extracting the spectrum parameters and calculating the abnormal value between the actual and the standard, the quantized analysis of the voltage signal spectrum characteristics is realized, and the potential fault or abnormal situation is effectively identified.

[0115] It should be noted that the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0116] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0117] As another aspect of the embodiments of the present application, the embodiments of the present application provide a cable fault diagnosis device based on a tethered underwater robot. Wherein, the cable fault diagnosis device based on the tethered underwater robot can be a software module, the software module includes a plurality of instructions, which are stored in a memory, and a processor can access the memory to call the instructions for execution to complete the cable fault diagnosis method of the tethered underwater robot described in each embodiment.

[0118] Referring to Figure 2 ,Figure 2 is a structural schematic diagram of a cable fault diagnosis device of a tethered underwater robot provided by an embodiment of the present application. As shown in the figure, the cable fault diagnosis device 200 based on the tethered underwater robot includes: Figure 2 An acquisition unit 201 is configured to acquire cable voltage data and motor rotation data of an underwater robot in a target time period, the motor rotation data including motor rotation rate, and the target time period being a time period during which the underwater robot is launched and landed. A processing unit 202 is configured to perform segmented processing on the cable voltage data according to the motor rotation data, to obtain a plurality of voltage intervals. An analysis unit 203 is configured to perform fault analysis on the plurality of voltage intervals, to obtain a cable detection result of the underwater robot. A generation unit 204 is configured to generate an alarm signal and fault diagnosis information if the cable detection result is an abnormal detection result.

[0119] The present application has the following beneficial effects: the present application can monitor the running state of the robot in real time by acquiring the cable voltage data and the motor rotation rate of the underwater robot during launching and landing, to ensure the integrity and accuracy of the data; the voltage data is segmented processed according to the motor rotation rate, so that the relationship between voltage change and motor speed can be accurately identified, to more accurately locate the possible fault point of the cable; the fault analysis on the plurality of voltage intervals helps to identify potential cable problems, to timely find abnormalities and avoid greater losses caused by faults; once an abnormality is detected, the system can quickly generate an alarm signal and fault diagnosis information, to notify relevant personnel to handle in time, to reduce downtime and maintenance costs, to ensure the continuity and safety of the underwater robot operation, and to avoid operation interruption or equipment damage caused by cable faults.

[0120] ​In an embodiment, in the motor rotation data comprises a motor rotation direction, the processing unit 202 is further configured to: plot the motor rotation rate in the target time period to obtain a motor rotation rate curve; segment the motor rotation rate curve according to a first preset algorithm to obtain a motor rotation rate sub-sequence corresponding to each motor rotation rate; analyze the motor rotation rate curve to obtain a maximum rotation rate and a minimum rotation rate; divide the motor rotation rate into intervals according to the maximum rotation rate and the minimum rotation rate to obtain a plurality of first rotation rate intervals and a rotation rate difference value; match each motor rotation rate sub-sequence with the plurality of first rotation rate intervals to obtain a plurality of second rotation rate intervals containing the corresponding motor rotation rate sub-sequence; perform data processing on the plurality of second rotation rate intervals according to the motor rotation direction and the rotation rate difference value to obtain a plurality of third rotation rate intervals; and segment the cable voltage data according to the plurality of third rotation rate intervals to obtain a plurality of voltage intervals.

[0121] In an embodiment, in the data processing on the plurality of second rotation rate intervals according to the motor rotation direction and the rotation rate difference value to obtain a plurality of third rotation rate intervals, the processing unit 202 is further configured to: obtain a first target rotation rate interval and a first motor rotation direction corresponding to the first target rotation rate interval, a second target rotation rate interval and a second motor rotation direction corresponding to the second target rotation rate interval, the first target rotation rate interval and the second target rotation rate interval being any two adjacent rotation rate intervals in the plurality of second rotation rate intervals; calculate the first target rotation rate interval and the first motor rotation direction corresponding to the first target rotation rate interval, the second target rotation rate interval and the second motor rotation direction corresponding to the second target rotation rate interval, and the rotation rate difference value to obtain a fluctuation degree between the first target rotation rate interval and the second target rotation rate interval; if the fluctuation degree is less than a preset fluctuation degree, merge the first target rotation rate interval and the second target rotation rate interval to obtain a merged third target rotation rate interval; and traverse a plurality of target rotation rate intervals to obtain a plurality of third rotation rate intervals, the plurality of third rotation rate intervals including a plurality of third target rotation rate intervals and a plurality of fourth target rotation rate intervals, the fourth target rotation rate interval being a target rotation rate interval when the fluctuation degree is greater than or equal to the preset fluctuation degree.

[0122] In an embodiment, in the step of segmenting the cable voltage data according to the plurality of third rotating speed rate intervals to obtain a plurality of voltage intervals, the processing unit 202 is further configured to obtain a time period corresponding to each third rotating speed rate interval in the plurality of third rotating speed rate intervals to obtain a plurality of first time periods; and segment the cable voltage data in the target time period according to the plurality of first time periods to obtain a plurality of voltage intervals, wherein each voltage interval corresponds to the third rotating speed rate interval in the same time period.

[0123] In an embodiment, in the step of performing fault analysis on the plurality of voltage intervals to obtain the cable detection result of the underwater robot, the analysis unit 203 is further configured to: perform wavelet transform on the plurality of voltage intervals according to a preset wavelet function to obtain a frequency spectrum curve corresponding to each voltage interval; obtain a standard frequency spectrum corresponding to each voltage interval according to the frequency spectrum curve corresponding to each voltage interval; perform anomaly processing on the standard frequency spectrum corresponding to each voltage interval and the frequency spectrum curve corresponding to each voltage interval to obtain an abnormal value of each voltage interval; and if the abnormal value is greater than a preset abnormal threshold, obtain the cable detection result of the underwater robot, wherein the cable detection result is the abnormal detection result.

[0124] In an embodiment, in the step of obtaining a standard frequency spectrum corresponding to each voltage interval according to the frequency spectrum curve corresponding to each voltage interval, the analysis unit 203 is further configured to: segment each voltage interval into voltage segments to obtain at least one voltage segment in each voltage interval; obtain a frequency spectrum region corresponding to at least one voltage segment in each voltage interval in the frequency spectrum curve corresponding to each voltage interval; perform intersection processing on the frequency spectrum regions corresponding to all voltage segments in each voltage interval to obtain a first frequency spectrum interval in each voltage interval, wherein the first frequency spectrum interval is the intersection of the frequency spectrum regions corresponding to all voltage segments; and perform data processing on the frequency spectrum regions corresponding to at least one voltage segment in each voltage interval and the first frequency spectrum interval in each voltage interval to obtain the standard frequency spectrum corresponding to each voltage interval.

[0125] In an embodiment, in the data processing of the first frequency spectrum region in each voltage interval corresponding to the frequency spectrum region corresponding to at least one voltage segment in the voltage interval, the analysis unit 203 is further configured to: perform similarity analysis on the first frequency spectrum region in each voltage interval corresponding to the frequency spectrum region corresponding to at least one voltage segment in the voltage interval, to obtain the similarity between each voltage segment in the voltage interval and the first frequency spectrum region in the voltage interval; if the similarity is greater than a preset similarity threshold, at least one target voltage segment is obtained, the target voltage segment being a voltage segment greater than the preset similarity threshold; extract a frequency spectrum peak of the at least one target voltage segment; and perform mean value processing on the frequency spectrum peak to obtain the standard frequency spectrum corresponding to each voltage interval.

[0126] In an embodiment, in the abnormal processing of the standard frequency spectrum corresponding to each voltage interval and the frequency spectrum curve corresponding to each voltage interval to obtain the abnormal value of each voltage interval, the analysis unit 203 is further configured to: extract a first frequency spectrum parameter in the standard frequency spectrum corresponding to each voltage interval, extract a second frequency spectrum parameter in the frequency spectrum curve corresponding to each voltage interval; and perform calculation on the first frequency spectrum parameter and the second frequency spectrum parameter to obtain the abnormal value of each voltage interval.

[0127] It should be noted that the above cable fault diagnosis device based on the tethered underwater robot can execute the tethered underwater robot cable fault diagnosis method provided by the embodiments of the present application, has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the embodiment of the cable fault diagnosis device based on the tethered underwater robot can be referred to the tethered underwater robot cable fault diagnosis method provided by the embodiments of the present application.

[0128] Referring to Figure 3 , Figure 3 is a structural schematic diagram of a computer device provided by an embodiment of the present application. As shown in Figure 3 , the computer device 300 includes a processor 301 and a memory 302. The processor 301 is in communication connection with the memory 302.

[0129] The processor 301 is configured to support the computer device to perform the corresponding functions in the cable fault diagnosis method of the tethered underwater robot in the above-mentioned method embodiments. The processor 301 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0130] Specifically, the processor 301 can include a sending card, a receiving card and a driving chip.

[0131] The memory 302 is used to store program codes and the like. The memory 302 can include a volatile memory (VM) such as a random access memory (RAM), and can also include a non-volatile memory (NVM) such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), and can further include a combination of the above-mentioned memories.

[0132] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program includes program instructions, and the program instructions, when executed by a computer, cause the computer to perform the cable fault diagnosis method of the tethered underwater robot as described in the above-mentioned embodiments.

[0133] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a Read-Only memory (ROM) or a Random Access memory (RAM).

Claims

1. A cable fault diagnosis method for a tethered underwater robot, characterized by, The method is applied to a cable fault diagnosis system of a tethered underwater robot, and the method comprises the following steps: obtaining cable voltage data and motor rotation data of the underwater robot in a target time period, wherein the motor rotation data comprises a motor rotation rate, and the target time period is a time period from launching to landing of the underwater robot; segmenting the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals; performing fault analysis on the plurality of voltage intervals to obtain a cable detection result of the underwater robot; generating an alarm signal and fault diagnosis information if the cable detection result is an abnormal detection result.

2. The cable fault diagnosis method for the tethered underwater robot according to claim 1, characterized by, The motor rotation data comprises a motor rotation direction, and the step of segmenting the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals comprises the following steps: performing drawing processing on the motor rotation rate in the target time period to obtain a motor rotation rate curve; segmenting the motor rotation rate curve according to a first preset algorithm to obtain a motor rotation rate sub-sequence corresponding to each motor rotation rate; analyzing the motor rotation rate curve to obtain a maximum rotation rate and a minimum rotation rate; dividing the motor rotation rate into intervals according to the maximum rotation rate and the minimum rotation rate to obtain a plurality of first rotation rate intervals and a rotation rate difference value; matching each motor rotation rate sub-sequence with the plurality of first rotation rate intervals to obtain a plurality of second rotation rate intervals containing the corresponding motor rotation rate sub-sequence; performing data processing on the plurality of second rotation rate intervals according to the motor rotation direction and the rotation rate difference value to obtain a plurality of third rotation rate intervals; segmenting the cable voltage data according to the plurality of third rotation rate intervals to obtain a plurality of voltage intervals.

3. The cable fault diagnosis method for the tethered underwater robot according to claim 2, characterized by, The step of performing data processing on the plurality of second rotation rate intervals according to the motor rotation direction and the rotation rate difference value to obtain a plurality of third rotation rate intervals comprises the following steps: obtaining a first target rotation rate interval, a first motor rotation direction corresponding to the first target rotation rate interval, a second target rotation rate interval, and a second motor rotation direction corresponding to the second target rotation rate interval, wherein the first target rotation rate interval and the second target rotation rate interval are any two adjacent rotation rate intervals in the plurality of second rotation rate intervals; calculating the first target rotation rate interval, the first motor rotation direction corresponding to the first target rotation rate interval, the second target rotation rate interval, the second motor rotation direction corresponding to the second target rotation rate interval, and the rotation rate difference value to obtain a fluctuation degree between the first target rotation rate interval and the second target rotation rate interval; if the fluctuation degree is less than a preset fluctuation degree, merging the first target rotation rate interval and the second target rotation rate interval to obtain a merged third target rotation rate interval; The plurality of target rotating speed rate intervals are traversed to obtain a plurality of third rotating speed rate intervals, the plurality of third rotating speed rate intervals including a plurality of the third target rotating speed rate intervals and a plurality of fourth target rotating speed rate intervals, the fourth target rotating speed rate interval being a target rotating speed rate interval when the fluctuation degree is greater than or equal to a preset fluctuation degree.

4. The cable fault diagnosis method of the tethered underwater robot according to claim 2, characterized by, The cable voltage data is processed according to the plurality of third rotating speed rate intervals to obtain a plurality of voltage intervals, including: A time period corresponding to each third rotating speed rate interval in the plurality of third rotating speed rate intervals is obtained to obtain a plurality of first time periods; The cable voltage data in the target time period is processed according to the plurality of first time periods to obtain a plurality of voltage intervals, wherein each voltage interval corresponds to the third rotating speed rate interval in the same time period.

5. The cable fault diagnosis method of the tethered underwater robot according to claim 1, characterized by, The plurality of voltage intervals are analyzed to obtain the cable detection result of the underwater robot, including: The plurality of voltage intervals are wavelet transformed according to a preset wavelet function to obtain a frequency spectrum curve corresponding to each voltage interval; A standard frequency spectrum corresponding to each voltage interval is obtained according to the frequency spectrum curve corresponding to each voltage interval; An abnormal value of each voltage interval is obtained by performing an abnormality processing on the standard frequency spectrum corresponding to each voltage interval and the frequency spectrum curve corresponding to each voltage interval; If the abnormal value is greater than a preset abnormal threshold, the cable detection result of the underwater robot is obtained, and the cable detection result is the abnormal detection result.

6. The cable fault diagnosis method of the tethered underwater robot according to claim 5, characterized by, The standard frequency spectrum corresponding to each voltage interval is obtained according to the frequency spectrum curve corresponding to each voltage interval, including: Each voltage interval is voltage segmented to obtain at least one voltage segment in each voltage interval; In the frequency spectrum curve corresponding to each voltage interval, a frequency spectrum region corresponding to at least one voltage segment in each voltage interval is obtained; In each voltage interval, an intersection processing is performed on the frequency spectrum regions corresponding to all voltage segments in each voltage interval to obtain a first frequency spectrum interval in each voltage interval, the first frequency spectrum interval being an intersection of the frequency spectrum regions corresponding to all voltage segments; The frequency spectrum region corresponding to at least one voltage segment in each voltage interval and the first frequency spectrum interval in each voltage interval are data processed to obtain the standard frequency spectrum corresponding to each voltage interval.

7. The cable fault diagnosis method for the tethered underwater robot according to claim 6, characterized by, The standard frequency spectrum corresponding to each voltage interval is obtained according to the frequency spectrum curve corresponding to each voltage interval, including: A similarity analysis is performed on the frequency spectrum region corresponding to at least one voltage segment in each voltage interval and the first frequency spectrum interval in each voltage interval to obtain a similarity between each voltage segment in each voltage interval and the first frequency spectrum interval in each voltage interval; If the similarity is greater than a preset similarity threshold, at least one target voltage segment is obtained, the target voltage segment being a voltage segment greater than the preset similarity threshold; extracting a spectrum peak of the at least one target voltage segment; performing mean processing on the spectrum peak to obtain a standard spectrum corresponding to each voltage interval.

8. The cable fault diagnosis method of the tethered underwater robot according to claim 5, characterized by, The abnormal processing of the standard spectrum corresponding to each voltage interval and the spectrum curve corresponding to each voltage interval to obtain an abnormal value of each voltage interval comprises: extracting a first spectrum parameter in the standard spectrum corresponding to each voltage interval and a second spectrum parameter in the spectrum curve corresponding to each voltage interval; calculating the first spectrum parameter and the second spectrum parameter to obtain the abnormal value of each voltage interval.

9. A cable fault diagnosis system for a tethered underwater robot, characterized by The cable fault diagnosis system of the tethered underwater robot comprises:

10. A cable fault diagnosis device for a tethered underwater robot, characterized by comprising: A device is applied to a cable fault diagnosis system of a tethered underwater robot, and the device comprises: An acquisition unit is configured to acquire cable voltage data and motor rotation data of the underwater robot in a target time period, wherein the motor rotation data comprises a motor rotation rate, and the target time period is a time period during which the underwater robot is in water and on shore. A processing unit is configured to perform segmentation processing on the cable voltage data according to the motor rotation data to obtain a plurality of voltage intervals. An analysis unit is configured to perform fault analysis on the plurality of voltage intervals to obtain a cable detection result of the underwater robot. A generation unit is configured to generate an alarm signal and fault diagnosis information if the cable detection result is an abnormal detection result.

Images