Cable state monitoring method and device, electronic equipment and nonvolatile storage medium

Abstract

The invention discloses a cable state monitoring method and device, electronic equipment and a nonvolatile storage medium. The method comprises the following steps: determining a first total inclination angle of a state recognition device; when the change amplitude of the first total inclination angle relative to the initial total inclination angle exceeds a preset amplitude threshold value, starting a laser in the state recognition device to perform distance measurement to obtain a first distance; according to the first distance and the first total inclination angle, the cable state of the cable is determined, and the cable state comprises height normal and height abnormal. The technical problem that in the cable state recognition process of the related technology, laser ranging equipment needs to be started frequently, and consequently the service life of a laser is short is solved.

Description

Technical Field

[0001] This application relates to the field of network and security technology, and more specifically, to a cable status monitoring method, device, electronic device, and non-volatile storage medium. Background Technology

[0002] In engineering and industrial applications, it is necessary to accurately measure the vertical distance between the cable and the ground when crossing optical cables to ensure the safe operation of the cables and to promptly detect potential risks. Among the related technologies for identifying the status of cross optical cables, a commonly used monitoring scheme is based on laser ranging equipment. The typical application method is to fix the laser ranging equipment in the middle of the optical cable, allowing it to hang naturally vertically, which facilitates accurate measurement of the vertical distance.

[0003] However, cross-line optical cables can sway due to factors such as wind direction, causing the laser ranging equipment to deviate in its measurement direction. This results in the measured distance being the slant distance rather than the vertical distance, leading to significant errors. Furthermore, in conventional cross-line optical cable status identification systems, the laser ranging equipment needs to continuously emit laser beams to measure the distance between the cable and the ground. This continuous laser emission not only consumes a large amount of electricity but, more importantly, significantly reduces the lifespan of the laser. As a critical component, the lifespan of the laser directly affects the system's reliability and maintenance costs. Research shows that the lifespan of a laser is typically around several thousand hours; frequent start-ups and shutdowns accelerate its aging, thus limiting the system's long-term operational capability.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a cable status monitoring method, device, electronic device, and non-volatile storage medium to at least solve the technical problem of short laser life caused by the frequent start-up of laser ranging equipment in the cable status identification process of related technologies.

[0006] According to one aspect of the embodiments of this application, a cable status monitoring method is provided, comprising: determining a first total tilt angle of a status identification device, wherein the status identification device is disposed in the middle of the cable of a cross-path optical cable, and the first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane; when the change of the first total tilt angle compared with the initial total tilt angle exceeds a preset amplitude threshold, activating a laser in the status identification device to perform distance measurement to obtain a first distance, wherein the initial total tilt angle is the total tilt angle of the status identification device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status identification device and the ground along the laser emission direction, the laser emission direction being a direction perpendicular to the bottom of the status identification device and directed towards the ground; determining the cable status of the cable based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0007] Optionally, the state recognition device further includes a gyroscope; determining the first total tilt angle of the state recognition device includes: acquiring target attitude information of the state recognition device identified by the gyroscope, wherein the target attitude information includes: pitch angle and roll angle, the pitch angle being used to characterize the degree of tilt of the state recognition device in the forward and backward direction, and the roll angle being used to characterize the degree of tilt of the state recognition device in the left and right direction; determining the radian values ​​corresponding to the pitch angle and roll angle respectively, and determining a composite deviation value based on the radian values, wherein the composite deviation value is used to characterize the comprehensive degree of tilt of the state recognition device relative to the horizontal plane in three-dimensional space; and determining the first total tilt angle based on the composite deviation value.

[0008] Optionally, acquiring the attitude information of the state recognition device identified by the gyroscope includes: acquiring the original attitude information of the state recognition device acquired at the first acquisition time, and the target attitude information of the state recognition device corresponding to the second acquisition time, wherein the second acquisition time is the previous acquisition time immediately adjacent to the first acquisition time; determining a smoothing factor, and determining the weight coefficients corresponding to the first acquisition time and the second acquisition time respectively based on the smoothing factor, wherein the smoothing factor is used to adjust the relative importance of the original attitude information and the target attitude information in the fusion process to smooth the attitude data; and performing weighted fusion of the original attitude information corresponding to the first acquisition time and the target attitude information corresponding to the second acquisition time based on the weight coefficients to obtain the target attitude information corresponding to the first acquisition time.

[0009] Optionally, determining the cable status based on the first distance and the first total tilt angle includes: determining the cosine value corresponding to the first total tilt angle, and determining the theoretical vertical height of the cable based on the first distance and the cosine value; if the difference between the theoretical vertical height and the initial correct height is less than a preset difference threshold, determining the cable status as normal height; if the difference between the theoretical vertical height and the initial correct height is not less than a preset difference threshold, determining the cable status as abnormal height, and sending a first alarm message.

[0010] Optionally, determining the cable status based on the first distance and the first total tilt angle further includes: determining a second distance based on the cosine value corresponding to the initial correct height and the first total tilt angle, wherein the second distance is the distance that laser ranging should obtain when the cable height is normal; if the difference between the first distance and the second distance is less than a preset difference threshold, the cable status is determined to be normal height; if the difference between the first distance and the second distance is not less than the preset difference threshold, the cable status is determined to be abnormal height, and a first alarm message is sent.

[0011] Optionally, before sending the first alarm message, the method further includes: if the cable status is determined to be abnormally high, determining the target retest number and the retest time interval, wherein the target retest number is used to indicate the number of times the laser is activated to remeasure the first distance, and the retest time interval is the time interval between each measurement; after each remeasurement of the first distance, re-determining the cable status based on the first total tilt angle and the remeasured first distance; and if the retest number has reached the target retest number, and the cable status is determined to be abnormally high in each retest, sending the first alarm message.

[0012] Optionally, the method further includes: determining the maximum ranging range of the laser; determining a critical tilt angle threshold based on the maximum ranging range and the initial correct height, wherein the laser will be unable to effectively perform distance strategies if the first total tilt angle is greater than the critical tilt angle threshold; and sending a second alarm message if the first total tilt angle is greater than the critical tilt angle threshold, wherein the second alarm message is used to characterize an abnormal tilt of the cable.

[0013] According to another aspect of the embodiments of this application, a cable status monitoring device is also provided, comprising: a tilt angle monitoring module, used to determine a first total tilt angle of a status identification device, wherein the status identification device is disposed in the middle of the cross-path optical cable, and the first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane; a laser ranging module, used to activate the laser in the status identification device to perform distance measurement and obtain a first distance when the change of the first total tilt angle compared with the initial total tilt angle exceeds a preset amplitude threshold, wherein the initial total tilt angle is the total tilt angle of the status identification device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status identification device and the ground along the laser emission direction, wherein the laser emission direction is a direction perpendicular to the bottom of the status identification device and directed towards the ground; and a status judgment module, used to determine the cable status of the cable based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes a cable status monitoring method during runtime.

[0015] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored computer program, wherein the device where the non-volatile storage medium is located executes a cable status monitoring method by running the computer program.

[0016] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of a cable status monitoring method.

[0017] In this embodiment, a first total tilt angle of the status identification device is determined. The status identification device is located in the middle of the cross-path optical cable. The first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane. When the change of the first total tilt angle compared to the initial total tilt angle exceeds a preset threshold, the laser in the status identification device is activated to measure the distance and obtain a first distance. The initial total tilt angle is the total tilt angle of the status identification device when the cable is at the initial correct height. The first distance is the straight-line distance between the status identification device and the ground along the laser emission direction, which is perpendicular to the bottom of the status identification device and directed towards the ground. Based on the first distance and the first total tilt angle, the cable status is determined. The cable status includes: normal height and abnormal height. By monitoring the change of the total tilt angle of the status identification device located in the middle of the cross-path optical cable, the purpose of accurately locating changes in the cable status is achieved. This solves the technical problem of short laser life caused by the frequent activation of the laser ranging device in the cable status identification process of related technologies. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a hardware structure block diagram of a computer terminal (or electronic device) for implementing a method for cable status monitoring according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of a cable condition monitoring method provided according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a cable condition monitoring device according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the working state of a cable condition monitoring device according to an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of tilt ranging using an electronic gyroscope and a laser rangefinder for cable status monitoring, according to an embodiment of this application.

[0024] Figure 6 This is a schematic diagram of a cable condition monitoring method provided according to an embodiment of this application;

[0025] Figure 7 This is a schematic diagram illustrating the calculation of pitch angle p and roll angle r for cable condition monitoring according to an embodiment of this application.

[0026] Figure 8 This is a schematic diagram illustrating the core principle of a cable condition monitoring device provided according to an embodiment of this application;

[0027] Figure 9 This is a schematic diagram illustrating the principle of calculating vertical distance based on slant distance for cable status monitoring according to an embodiment of this application;

[0028] Figure 10 This is a schematic diagram of a cable condition monitoring device provided according to an embodiment of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] To facilitate a better understanding of the embodiments of this application by those skilled in the art, some technical terms or nouns involved in the embodiments of this application are explained as follows:

[0032] Pitch angle: The angle between the longitudinal axis of an object and the horizontal plane, with the longitudinal axis of the object as the reference. Essentially, it is the angle formed by the object rotating around its transverse axis. For example, the longitudinal axis of an aircraft is the axis pointing from the tail to the nose, and the longitudinal axis of a ship is the axis pointing from the stern to the bow. The pitch angle describes the attitude angle of an object tilting forward or backward, primarily reflecting the degree of pitching up or down.

[0033] Roll angle: The angle between the object's transverse axis and the horizontal plane, with the transverse axis as the reference point. Essentially, it's the angle formed by the object rotating around its longitudinal axis. For example, the wingspan of an aircraft or the port and starboard sides of a ship are considered the "transverse axis." The roll angle describes the angle of inclination of an object in the left-right direction, primarily reflecting the degree of lateral tilt (higher on one side and lower on the other).

[0034] Total tilt angle: Pitch angle (p) and roll angle (r) are considered as two tilt components in the vertical direction (pitch corresponds to the forward and backward direction, and roll corresponds to the left and right direction). The total tilt angle is the total tilt degree obtained by vector synthesis of these two components. The total tilt angle is not an independent attitude angle, but a combined tilt magnitude of pitch angle and roll angle, reflecting the severity of the object's overall deviation from the horizontal plane, without distinguishing between forward and backward tilt and left and right tilt.

[0035] In technologies related to cross-path optical cable status identification, a monitoring scheme based on laser ranging equipment is commonly used. However, this monitoring method and technology have many shortcomings, mainly including:

[0036] 1) Reduced laser lifespan: The lifespan of a laser is only a few thousand hours. The method of measuring the slant distance D using a laser rangefinder requires constantly starting the laser, which greatly reduces the laser's lifespan.

[0037] 2) Limited range: Once the slant distance D exceeds the range of the laser range measuring device by 15 meters, the device will not work and will lose its monitoring function.

[0038] 3) Poor anti-interference capability: The slant distance D measured by the laser rangefinder is easily affected by external factors. For example, if there is a parked vehicle below the rangefinder, the measured slant distance D will be incorrect, interfering with the monitoring results and causing false alarms.

[0039] To address the aforementioned issues, this application provides relevant solutions, which are detailed below.

[0040] According to an embodiment of this application, a method for monitoring cable status is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0041] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer terminal (or electronic device) for implementing a cable condition monitoring method is shown. Figure 1 As shown, the computer terminal 10 (or electronic device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1The different configurations shown.

[0042] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or electronic device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0043] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the cable status monitoring method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the above-mentioned cable status monitoring method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0044] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0045] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or electronic device).

[0046] Under the above operating environment, this application provides a cable status monitoring method. Figure 2 This is a schematic diagram of a cable condition monitoring method provided according to an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0047] Step S202: Determine the first total tilt angle of the status identification device, wherein the status identification device is disposed in the middle of the cross-path optical cable, and the first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane.

[0048] Step S204: When the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset amplitude threshold, the laser in the status recognition device is activated to measure the distance and obtain the first distance. Here, the initial total tilt angle is the total tilt angle of the status recognition device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status recognition device and the ground along the laser emission direction. The laser emission direction is the direction perpendicular to the bottom of the status recognition device and pointing towards the ground.

[0049] Step S206: Determine the cable status based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0050] Through the above steps, the cable status monitoring device monitors the change in total tilt angle, thereby achieving the goal of accurately locating changes in cable status. This solves the technical problem of short laser life caused by the frequent start-up of laser ranging equipment in the cable status identification process of related technologies.

[0051] The cable status monitoring method in steps S202 to S206 of the embodiments of this application will be further described below.

[0052] like Figure 3 The diagram shows a cable status monitoring device (i.e., status identification device). The device includes a laser ranging module, a gyroscope module, a data processing module, a mounting module, a power supply module, and a wireless communication module. The mounting module secures the entire device to the middle of the cross-path optical cable, ensuring stable suspension and allowing it to withstand cable vibration to some extent without affecting normal operation. An adjustable clamping bracket can be used. The power supply module provides stable power to all modules, ensuring continuous operation. The data processing module is electrically connected to the laser ranging module and the gyroscope module, receiving data from both. Based on the angle deviation data, it automatically calibrates and compensates the laser ranging data using a preset compensation algorithm to obtain an accurate vertical distance measurement. It also controls the automatic start and stop of the laser ranging module's measurement, achieving fully automatic measurement. Furthermore, a wireless communication module (such as an NB module) transmits the calibrated measurement values ​​from the data processing module to an external terminal device and stores them in the internal memory. The system outputs key data such as the first distance, pitch angle, roll angle, first total tilt angle, and vertical height via a serial port for real-time viewing, analysis, and tracking by the user.

[0053] like Figure 4The diagram shows the working state of the cable status monitoring device. The gyroscope is located in the middle of the cross-path optical cable and can automatically monitor the first total tilt angle of the device, reflecting the degree of tilt relative to the horizontal plane. The laser is also located in the middle of the cable and measures the vertical straight-line distance between the status recognition device and the ground along the laser emission direction. The laser emission direction is perpendicular to the direction from the bottom of the status recognition device towards the ground.

[0054] The principle of the cross-path optical cable status identification method in the embodiments of this application is as follows: when the combined deviation and total tilt angle are the same, the height perpendicular to the total tilt angle plane is the same, specifically as follows: Figure 8 As shown, with the same total tilt angle, different pitch and roll angles can produce a circle of equal height, meaning the height perpendicular to the total tilt plane is the same.

[0055] Based on this principle, the embodiments of this application will accurately measure and calculate the height value according to the change of the total tilt angle, which will be described in detail below.

[0056] To determine whether the equipment is tilted (i.e., whether the total tilt angle has changed compared to the initial total tilt angle), an initial reference plane needs to be determined first, such as... Figure 4 As shown, when the cable is at the initial correct height, the tilt angle of the device relative to the horizontal plane is measured and recorded by the gyroscope, which is the aforementioned initial total tilt angle. Specifically, after the system starts, it will prompt "Keep the device vertical for 3 seconds," waiting for the user to fix the device in a vertical position; after 3 seconds, the system will continuously collect the pitch angle p and roll angle r of the gyroscope 10 times, and take the average value as the initial pitch angle and initial roll angle, which is recorded as the reference plane; after calibration, the angle deviation of subsequent measurements will be referenced to this reference. Ideally, the device should be perpendicular to the ground, and under the influence of no external interference such as wind or cable vibration, the initial total tilt angle should be 0 degrees.

[0057] During the status monitoring process, the current first total tilt angle is monitored in real time. In this embodiment, the tilt angle of the status recognition device can be monitored in real time through the electronic gyroscope module to determine the first total tilt angle of the device relative to the horizontal plane. The specific steps are as follows:

[0058] In some embodiments of this application, the state recognition device further includes: a gyroscope; determining the first total tilt angle of the state recognition device includes: acquiring target attitude information of the state recognition device identified by the gyroscope, wherein the target attitude information includes: pitch angle and roll angle, the pitch angle being used to characterize the degree of tilt of the state recognition device in the forward and backward direction, and the roll angle being used to characterize the degree of tilt of the state recognition device in the left and right direction; determining the radian values ​​corresponding to the pitch angle and roll angle respectively, and determining a composite deviation value based on the radian values, wherein the composite deviation value is used to characterize the comprehensive degree of tilt of the state recognition device relative to the horizontal plane in three-dimensional space; and determining the first total tilt angle based on the composite deviation value.

[0059] For example, the gyroscope module in this application can use an MPU6050 gyroscope to monitor the device's attitude changes in three-dimensional space in real time, including left-right swaying, forward-backward swaying, and attitude deviations in other directions caused by wind direction. Using the plane where the gyroscope was initially installed as a reference plane, the angular deviation data of the device's current attitude relative to the reference plane is obtained and connected to the data processing module via an I2C interface. SDA is connected to pin A4, SCL to pin A5, VCC to 3.3V, and GND to GND.

[0060] Specifically, the gyroscope obtained in this embodiment can identify the pitch angle p and roll angle r of the device relative to the initial plane. The pitch angle describes the tilt angle of an object in the forward / backward direction, primarily reflecting the degree of tilting (up or down). The roll angle describes the tilt angle of an object in the left / right direction, primarily reflecting the degree of lateral tilt (one side higher, one side lower). Furthermore, by synthesizing the pitch and roll deviations, the total tilt angle in three-dimensional space can be obtained, thus determining the first total tilt angle θ of the device. total .

[0061] Among them, the first total tilt angle θ is determined by synthesis. total When doing so, it is necessary to start from the geometric meaning of pitch angle p and roll angle r, combine trigonometric functions and angle-to-radian conversion rules to analyze, convert the angle to radians to calculate trigonometric functions, and then convert the result back to angles, such as... Figure 7 The diagram shown illustrates the calculation of pitch angle p and roll angle r in this application. The specific calculation steps are as follows:

[0062] Step 1: Convert the pitch angle p and roll angle r into radians for easier trigonometric function calculations. The specific formulas are as follows:

[0063] Pitch angle in radians:

[0064] The roll angle in radians:

[0065] Step 2: Since the pitch angle and roll angle are perpendicular to each other in three-dimensional space, their tilt effect can be decomposed into two perpendicular "sine components", as shown in the following formula:

[0066] The sine component of the pitch angle:

[0067] The sine component of the roll angle:

[0068] Step 3: Since the two components are perpendicular, according to the Pythagorean theorem, the square root of the sum of their squares is taken to obtain the composite deviation value, which is used to characterize the overall tilt of the state recognition device relative to the horizontal plane in three-dimensional space. The specific formula is as follows:

[0069] Resultant deviation =

[0070] Step 4: First total tilt angle θ total It is the angle between the composite deviation and the horizontal direction. First, the arctangent function is used to calculate the radian value, and then the radian value is converted into an angle to obtain the first total tilt angle θ. total The specific formula is as follows:

[0071] The radian value of the composite deviation:

[0072] First total inclination angle:

[0073] Additionally, it should be noted that in this embodiment, the acquisition of the target attitude information of the gyroscope-recognized state recognition device is refined into a series of steps, aiming to improve the accuracy and stability of the attitude data. The specific details are as follows:

[0074] In some embodiments of this application, obtaining the attitude information of the state recognition device identified by the gyroscope includes: obtaining the original attitude information of the state recognition device acquired at a first acquisition time, and the target attitude information of the state recognition device corresponding to a second acquisition time, wherein the second acquisition time is the previous acquisition time immediately adjacent to the first acquisition time; determining a smoothing factor, and determining weight coefficients corresponding to the first acquisition time and the second acquisition time respectively based on the smoothing factor, wherein the smoothing factor is used to adjust the relative importance of the original attitude information and the target attitude information in the fusion process to smooth the attitude data; and performing weighted fusion of the original attitude information corresponding to the first acquisition time and the target attitude information corresponding to the second acquisition time based on the weight coefficients to obtain the target attitude information corresponding to the first acquisition time.

[0075] Specifically, during the state detection process, the system enters a cyclical operation state, for example, completing a measurement and compensation every 100ms (MEASUREMENT_DELAY). The specific steps are as follows:

[0076] First, the current attitude information of the MPU6050 gyroscope module (i.e., the original attitude information of the state recognition device acquired at the first acquisition moment) is read in real time, namely pitch angle and roll angle. Second, a low-pass filtering algorithm (GYRO_FILTER_FACTOR=0.8, i.e., a smoothing factor of 0.8) is used to smooth the data, as shown in the following formula:

[0077]

[0078]

[0079]

[0080] This smoothing factor acts as a regulator to balance the weight of the original and target attitude information in the fusion process, thereby achieving smooth processing of attitude data and reducing data jitter.

[0081] If the current first total tilt angle is the same as the initial total tilt angle (no change), it is determined to be a normal state, no alarm is triggered, and the laser remains off.

[0082] If the sag of the cross-path optical cable changes due to wind, heavy loads, or other external forces, causing the device to tilt, such as... Figure 5 As shown, when the change in the first total tilt angle exceeds the preset threshold, the laser ranging module is automatically activated to start measuring the straight-line distance from the bottom of the device to the ground, thus obtaining the first distance between the status recognition device and the ground.

[0083] Specifically, the laser ranging module in this application can be a UP-T201PX4 pulsed laser module, used for transmitting and receiving laser signals. The distance between the device measuring the time difference between laser signal transmission and reception and the ground is calculated, with a ranging range of 0-15 meters. The specific calculation formula is as follows:

[0084]

[0085] In this embodiment, the laser ranging module can be connected to the data processing module via SoftwareSerial, with RX connected to pin 2, TX connected to pin 3, VCC connected to 5V, and GND connected to GND. The default baud rate is 115200.

[0086] The first distance (slope distance D) can be obtained by measuring the distance with a laser. Then, based on the first distance and the first total tilt angle, the cable status can be determined and it can be judged whether the cable height is abnormal. This will be explained below.

[0087] like Figure 6The diagram shows a flowchart of the cable status monitoring method of this application, illustrating the specific method flow for cross-path optical cable status identification. It clearly demonstrates the logical steps and workflow of the entire identification method from initiation to completion. In addition to visualizing the logical steps of the cross-path optical cable status identification method, the height alarm step is described in detail below. This embodiment utilizes the total tilt angle to perform efficient and accurate monitoring of cable height status, ensuring accurate judgment and response under different conditions such as normal, abnormal, false alarm, and range exceeding limits.

[0088] In some embodiments of this application, determining the cable status based on the first distance and the first total tilt angle includes: determining the cosine value corresponding to the first total tilt angle, and determining the theoretical vertical height of the cable based on the first distance and the cosine value; if the difference between the theoretical vertical height and the initial correct height is less than a preset difference threshold, determining that the cable status is normal; if the difference between the theoretical vertical height and the initial correct height is not less than the preset difference threshold, determining that the cable status is abnormal and sending a first alarm message.

[0089] Specifically, in this application, the first distance measured by the laser is the straight-line distance (slope distance) from the bottom surface of the status recognition device to the ground, while what is actually needed is the vertical height, i.e., the distance perpendicular to the ground. For example... Figure 9 As shown, the pitch angle monitored in real time by the gyroscope is ∠ACB, and the roll angle is ∠ADB. Therefore, BC is the pitch component, and BD is the roll component. By the Pythagorean theorem, the laser ranging tilt angle is ∠AEB, and the laser ranging height is AE (i.e., the first distance). Finally, the vertical height AB (i.e., the theoretical vertical height) can be determined using trigonometric functions. The specific formula is as follows:

[0090] H=D×

[0091] Where H is the theoretical vertical height and D is the first distance measured by the laser.

[0092] Once a change in the first total tilt angle is detected from the initial total tilt angle, the laser is activated to measure the vertical height. The theoretical vertical height measured by the laser is compared with the initial correct height corresponding to the initial total tilt angle. If the difference between the two is less than a preset difference threshold, the cable status is determined to be normal in height; if the difference between the two is not less than the preset difference threshold, the tilt angle and height are determined to be abnormal, and the first alarm message is output.

[0093] In this embodiment, another cable status determination mechanism based on a first distance and a first total tilt angle is also provided, the details of which are as follows.

[0094] In some embodiments of this application, determining the cable status based on the first distance and the first total tilt angle further includes: determining a second distance based on the cosine value corresponding to the initial correct height and the first total tilt angle, wherein the second distance is the distance that laser ranging should obtain when the cable height is normal; determining that the cable status is normal height when the difference between the first distance and the second distance is less than a preset difference threshold; and determining that the cable status is abnormal height and sending a first alarm message when the difference between the first distance and the second distance is not less than the preset difference threshold.

[0095] Specifically, depth verification can be performed based on the first distance obtained by laser ranging and the theoretical second distance corresponding to the initial correct height and tilt angle. That is, assuming the initial correct height remains unchanged, the expected distance (i.e., the second distance) representing the cable height under normal conditions is calculated based on the cosine value of the initial correct height and the current first total tilt angle. In other words, assuming the cable height is normal, the theoretical value that laser ranging should obtain under the current first total tilt angle is calculated.

[0096] When the difference between the actual value (first distance) obtained by laser ranging and the theoretical value (second distance) is less than the preset difference threshold, the data processing module determines that the cable status is normal and no alarm needs to be triggered; otherwise, if the difference is not less than the preset threshold, the cable status is determined to be abnormal and the first alarm message is sent to remind maintenance personnel to respond quickly.

[0097] In this embodiment of the application, when the system determines that the cable status of the cross-path optical cable is highly abnormal, it will further verify it through multiple retests, as detailed below.

[0098] In some embodiments of this application, before sending the first alarm message, the method further includes: if the cable status of the cable is determined to be abnormally high, determining a target number of retests and a retest time interval, wherein the target number of retests is used to indicate the number of times the laser is activated to remeasure the first distance, and the retest time interval is the time interval between each measurement; after each remeasurement of the first distance, re-determining the cable status of the cable based on the first total tilt angle and the remeasured first distance; and if the number of retests has reached the target number of retests, and the cable status of the cable is determined to be abnormally high in each retest, sending the first alarm message.

[0099] Specifically, when the system determines that the cable status of the cross-path optical cable is abnormally high, it further determines the target retest number and retest interval. The target retest number indicates the number of times the laser will be activated to remeasure the slant distance, and the retest interval is the time interval between two measurements, thus ensuring measurement accuracy. After each remeasurement of the first distance, the system will reassess the cable status based on the current total tilt angle and the remeasured first distance. Only when the target retest number has been reached, and every measurement result during this period indicates that the cable status is abnormally high, will the first alarm message be sent.

[0100] This interval retesting mechanism can effectively avoid false alarms caused by temporary external interference during laser ranging. For example, if a car parked or passing by temporarily in the ranging direction causes an error in the first laser ranging measurement, multiple interval retests can effectively avoid false alarms caused by this situation.

[0101] In addition, to address the issue of limited laser ranging range, this application proposes a corresponding alarm mechanism, as detailed below.

[0102] In some embodiments of this application, the maximum ranging range of the laser is determined; based on the maximum ranging range and the initial correct height, a critical tilt angle threshold is determined, wherein if the first total tilt angle is greater than the critical tilt angle threshold, the laser will be unable to effectively perform the distance strategy; if the first total tilt angle is greater than the critical tilt angle threshold, a second alarm message is sent, wherein the second alarm message is used to characterize an abnormal tilt of the cable.

[0103] Specifically, this application defines a critical tilt angle threshold. When the first total tilt angle increases to a certain threshold, causing the laser to be unable to obtain an effective height value, it is directly determined that the first distance exceeds the limit, i.e., the laser slant distance exceeds the device's measurement range. When the first total tilt angle detected by the cross-path optical cable status identification device exceeds this critical threshold, the laser will be unable to effectively obtain distance information at its current position. At this time, the device will send a second alarm message, indicating that the cable has abnormally tilted. In addition, the approximate height can also be calculated using the change in the total tilt angle, providing reference value.

[0104] This application reduces the number of laser start-ups by monitoring the total tilt angle, greatly extending the laser's lifespan. Simultaneously, it utilizes a gyroscope for fully automated measurement, ensuring the laser remains vertical and improving measurement accuracy. Secondly, it precisely calculates the height value using changes in the total tilt angle, allowing for approximate height calculations even outside the range of the laser rangefinder. Finally, this application significantly reduces external interference with the measurement results by utilizing the total tilt angle, improving the system's anti-interference capability.

[0105] According to an embodiment of this application, an embodiment of a cable condition monitoring device is also provided. Figure 10 This is a structural schematic diagram of a cable condition monitoring device provided according to an embodiment of this application. Figure 10 As shown, the device includes:

[0106] The tilt angle monitoring module 1000 is used to determine the first total tilt angle of the status identification device, wherein the status identification device is located in the middle of the cross-path optical cable, and the first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane.

[0107] The laser ranging module 1002 is used to activate the laser in the status recognition device to measure the distance when the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset amplitude threshold, thereby obtaining a first distance. The initial total tilt angle is the total tilt angle of the status recognition device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status recognition device and the ground along the laser emission direction, which is the direction perpendicular to the bottom of the status recognition device and directed towards the ground.

[0108] The status judgment module 1004 is used to determine the cable status of the cable based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0109] Optionally, the state recognition device further includes a gyroscope; determining the first total tilt angle of the state recognition device includes: acquiring target attitude information of the state recognition device identified by the gyroscope, wherein the target attitude information includes: pitch angle and roll angle, the pitch angle being used to characterize the degree of tilt of the state recognition device in the forward and backward direction, and the roll angle being used to characterize the degree of tilt of the state recognition device in the left and right direction; determining the radian values ​​corresponding to the pitch angle and roll angle respectively, and determining a composite deviation value based on the radian values, wherein the composite deviation value is used to characterize the comprehensive degree of tilt of the state recognition device relative to the horizontal plane in three-dimensional space; and determining the first total tilt angle based on the composite deviation value.

[0110] Optionally, acquiring the attitude information of the state recognition device identified by the gyroscope includes: acquiring the original attitude information of the state recognition device acquired at the first acquisition time, and the target attitude information of the state recognition device corresponding to the second acquisition time, wherein the second acquisition time is the previous acquisition time immediately adjacent to the first acquisition time; determining a smoothing factor, and determining the weight coefficients corresponding to the first acquisition time and the second acquisition time respectively based on the smoothing factor, wherein the smoothing factor is used to adjust the relative importance of the original attitude information and the target attitude information in the fusion process to smooth the attitude data; and performing weighted fusion of the original attitude information corresponding to the first acquisition time and the target attitude information corresponding to the second acquisition time based on the weight coefficients to obtain the target attitude information corresponding to the first acquisition time.

[0111] Optionally, determining the cable status based on the first distance and the first total tilt angle includes: determining the cosine value corresponding to the first total tilt angle, and determining the theoretical vertical height of the cable based on the first distance and the cosine value; if the difference between the theoretical vertical height and the initial correct height is less than a preset difference threshold, determining the cable status as normal height; if the difference between the theoretical vertical height and the initial correct height is not less than a preset difference threshold, determining the cable status as abnormal height, and sending a first alarm message.

[0112] Optionally, determining the cable status based on the first distance and the first total tilt angle further includes: determining a second distance based on the cosine value corresponding to the initial correct height and the first total tilt angle, wherein the second distance is the distance that laser ranging should obtain when the cable height is normal; if the difference between the first distance and the second distance is less than a preset difference threshold, the cable status is determined to be normal height; if the difference between the first distance and the second distance is not less than the preset difference threshold, the cable status is determined to be abnormal height, and a first alarm message is sent.

[0113] Optionally, before sending the first alarm message, the status judgment module 1004 is further configured to: determine the target retest number and retest time interval when the cable status is determined to be abnormally high, wherein the target retest number is used to indicate the number of times the laser is activated to remeasure the first distance, and the retest time interval is the time interval between each measurement; after each remeasurement of the first distance, re-determine the cable status based on the first total tilt angle and the remeasured first distance; and send the first alarm message when the retest number has reached the target retest number and the cable status is determined to be abnormally high in each retest.

[0114] Optionally, the status judgment module 1004 is further configured to: determine the maximum ranging range of the laser; determine the critical tilt angle threshold based on the maximum ranging range and the initial correct height, wherein the laser will be unable to effectively perform the distance strategy if the first total tilt angle is greater than the critical tilt angle threshold; and send a second alarm message if the first total tilt angle is greater than the critical tilt angle threshold, wherein the second alarm message is used to characterize an abnormal tilt of the cable.

[0115] It should be noted that each module in the above-mentioned cable status monitoring device can be a program module (for example, a set of program instructions to implement a certain function) or a hardware module. For the latter, it can be manifested in the following forms, but is not limited to them: each of the above modules is manifested as a processor, or the functions of each of the above modules are implemented by a processor.

[0116] It should be noted that the cable status monitoring device provided in this embodiment can be used to perform... Figure 2 The cable status monitoring method shown above is also applicable to the embodiments of this application, and will not be repeated here.

[0117] This application embodiment also provides a non-volatile storage medium, which includes a stored computer program. The device containing the non-volatile storage medium executes the following cable status monitoring method by running the computer program: determining a first total tilt angle of a status identification device, wherein the status identification device is located in the middle of the cross-path optical cable, and the first total tilt angle characterizes the degree of tilt of the status identification device relative to the horizontal plane; when the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset amplitude threshold, activating a laser in the status identification device to perform distance measurement and obtain a first distance, wherein the initial total tilt angle is the total tilt angle of the status identification device when the cable is at its initial correct height, and the first distance is the straight-line distance between the status identification device and the ground along the laser emission direction, the laser emission direction being perpendicular to the bottom of the status identification device and directed towards the ground; and determining the cable status based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0118] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the cable status monitoring method steps described in various embodiments of this application: determining a first total tilt angle of a status identification device, wherein the status identification device is disposed in the middle of the cross-path optical cable, and the first total tilt angle is used to characterize the degree of tilt of the status identification device relative to the horizontal plane; when the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset amplitude threshold, activating the laser in the status identification device to perform distance measurement to obtain a first distance, wherein the initial total tilt angle is the total tilt angle of the status identification device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status identification device and the ground along the laser emission direction, the laser emission direction being a direction perpendicular to the bottom of the status identification device and directed towards the ground; determining the cable status of the cable based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

[0119] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0120] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0122] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0124] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0125] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for monitoring cable condition, characterized in that, include: A first total tilt angle is determined for the status identification device, wherein the status identification device is disposed in the middle of the cross-path optical cable, and the first total tilt angle is used to characterize the degree of inclination of the status identification device relative to the horizontal plane. If the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset threshold, the laser in the status recognition device is activated to measure the distance and obtain a first distance. The initial total tilt angle is the total tilt angle of the status recognition device when the cable is at the initial correct height, and the first distance is the straight-line distance between the status recognition device and the ground along the laser emission direction. The laser emission direction is the direction perpendicular to the bottom of the status recognition device and directed towards the ground. Based on the first distance and the first total tilt angle, the cable status of the cable is determined, wherein the cable status includes: normal height and abnormal height.

2. The cable condition monitoring method according to claim 1, characterized in that, The state recognition device further includes: a gyroscope; determining the first total tilt angle of the state recognition device includes: The target attitude information of the state recognition device identified by the gyroscope is obtained, wherein the target attitude information includes: pitch angle and roll angle, wherein the pitch angle is used to characterize the degree of tilt of the state recognition device in the forward and backward direction, and the roll angle is used to characterize the degree of tilt of the state recognition device in the left and right direction. The pitch angle and roll angle are respectively determined in radians, and a composite deviation value is determined based on the radian values, wherein the composite deviation value is used to characterize the overall tilt degree of the state recognition device relative to the horizontal plane in three-dimensional space; The first total tilt angle is determined based on the synthesized deviation value.

3. The cable condition monitoring method according to claim 2, characterized in that, Obtaining the attitude information of the state recognition device identified by the gyroscope includes: The original posture information of the state recognition device collected at the first acquisition time and the target posture information of the state recognition device corresponding to the second acquisition time are obtained, wherein the second acquisition time is the previous acquisition time immediately adjacent to the first acquisition time. A smoothing factor is determined, and based on the smoothing factor, weight coefficients corresponding to the first acquisition time and the second acquisition time are determined respectively. The smoothing factor is used to adjust the relative importance of the original attitude information and the target attitude information in the fusion process to smooth the attitude data. Based on the weighting coefficients, the original attitude information corresponding to the first acquisition time and the target attitude information corresponding to the second acquisition time are weighted and fused to obtain the target attitude information corresponding to the first acquisition time.

4. The cable condition monitoring method according to claim 1, characterized in that, Determining the cable status of the cable based on the first distance and the first total tilt angle includes: Determine the cosine value corresponding to the first total tilt angle, and determine the theoretical vertical height of the cable based on the first distance and the cosine value; If the difference between the theoretical vertical height and the initial correct height is less than a preset difference threshold, the cable status is determined to be normal height. If the difference between the theoretical vertical height and the initial correct height is not less than a preset difference threshold, the cable status is determined to be abnormal in height, and a first alarm message is sent.

5. The cable condition monitoring method according to claim 1, characterized in that, Determining the cable status of the cable based on the first distance and the first total tilt angle further includes: Based on the initial correct height and the cosine value corresponding to the first total tilt angle, a second distance is determined, wherein the second distance is the distance that laser ranging should obtain when the cable height is normal; If the difference between the first distance and the second distance is less than a preset difference threshold, the cable status is determined to be normal height. If the difference between the first distance and the second distance is not less than a preset difference threshold, the cable status is determined to be abnormal, and a first alarm message is sent.

6. The cable condition monitoring method according to claim 4 or 5, characterized in that, Before sending the first alarm message, the method further includes: If the cable condition is determined to be highly abnormal, the target retest number and retest time interval are determined, wherein the target retest number is used to indicate the number of times the laser is activated to remeasure the first distance, and the retest time interval is the time interval between each measurement; After each remeasurement of the first distance, the cable status of the cable is reassessed based on the first total tilt angle and the remeasured first distance. If the number of retests has reached the target number of retests, and the cable status is determined to be highly abnormal in each retest, the first alarm message is sent.

7. The cable condition monitoring method according to claim 1, characterized in that, The method further includes: Determine the maximum ranging range of the laser; Based on the maximum ranging range and the initial correct height, a critical tilt angle threshold is determined, wherein if the first total tilt angle is greater than the critical tilt angle threshold, the laser will be unable to effectively perform distance strategy. If the first total tilt angle is greater than the critical tilt angle threshold, a second alarm message is sent, wherein the second alarm message is used to indicate that the cable has tilted abnormally.

8. A cable condition monitoring device, characterized in that, include: An inclination monitoring module is used to determine the first total inclination angle of the status identification device, wherein the status identification device is disposed in the middle of the cable of the cross-path optical cable, and the first total inclination angle is used to characterize the degree of inclination of the status identification device relative to the horizontal plane. A laser ranging module is used to activate the laser in the status recognition device to measure distance and obtain a first distance when the change in the first total tilt angle compared to the initial total tilt angle exceeds a preset amplitude threshold. The initial total tilt angle is the total tilt angle of the status recognition device when the cable is at the initial correct height. The first distance is the straight-line distance between the status recognition device and the ground along the laser emission direction, and the laser emission direction is the direction perpendicular to the bottom of the status recognition device and directed towards the ground. The status determination module is used to determine the cable status of the cable based on the first distance and the first total tilt angle, wherein the cable status includes: normal height and abnormal height.

9. An electronic device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, executes the cable status monitoring method according to any one of claims 1 to 7.

10. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored computer program, wherein the device containing the non-volatile storage medium executes the cable status monitoring method according to any one of claims 1 to 7 by running the computer program.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the cable condition monitoring method according to any one of claims 1 to 7.

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