Fault positioning method and device, electronic equipment, storage medium and product

Abstract

The invention provides a fault positioning method and device, electronic equipment, a storage medium and a product. The method comprises the following steps: identifying a load type of a submarine cable to be detected; determining an adopted fault pre-positioning mode according to the load type, wherein the fault pre-positioning mode comprises a power-off pre-positioning mode and an uninterruptible power pre- Determining a coarse positioning fault interval of the submarine cable to be detected through a fault pre-positioning mode; controlling the underwater robot to perform mobile detection in the coarse positioning fault section to obtain routing information of the submarine cable to be detected, and capturing leakage current electromagnetic waves and vibration sound waves of the fault point; controlling the underwater robot to move through the leakage current electromagnetic wave and the vibration sound wave, determining that the underwater robot moves to the position right above the fault point when the time difference between the two captured signals is smaller than a preset value, and obtaining the accurate position of the fault point; and meanwhile, the three-dimensional routing model is generated through the routing information of the submarine cable to be detected, so that the economic loss is reduced, the operation and maintenance efficiency is improved, the operation and maintenance operation risk is reduced, and the operation and maintenance blindness is reduced.

Description

Technical Field

[0001] This invention belongs to the field of submarine cable detection technology, and specifically relates to a fault location method, device, electronic equipment, storage medium and product. Background Technology

[0002] Currently, submarine cables are the main means of power and communication transmission in the construction of offshore wind farms. Since the current construction areas of offshore wind farms are mostly in near-shore coastal areas, with frequent ship and fishing activities and severe seabed erosion, interruptions, exposure, and suspension due to natural and human activities often occur. As a result, the operation and maintenance of submarine cables for offshore wind farms are becoming increasingly frequent.

[0003] Currently, submarine cable maintenance mainly relies on equipment carried by work vessels or underwater inspection and maintenance by divers. However, this method is inefficient and risky in harsh sea conditions, and it is difficult to achieve close-range, detailed inspection of the submarine cable itself. Furthermore, to locate faults, most current technologies require interrupting submarine cable operation, causing outages at offshore wind farms or cross-sea transmission lines, severely impacting the continuity and economic viability of power supply. Finally, current technologies provide submarine cable routing information primarily in two-dimensional or static form, failing to intuitively reflect changes in seabed topography and the actual condition of the submarine cable, resulting in low efficiency in correlating fault points with their routes. Summary of the Invention

[0004] This invention provides a fault location method, device, electronic device, storage medium, and product to address the problems of low efficiency and high risk in current submarine cable maintenance under harsh sea conditions, difficulty in achieving close-range and detailed inspection of the submarine cable itself, the impact of fault pre-location technology on the continuity and economy of power supply, and the inability of submarine cable routing information to intuitively reflect changes in seabed topography and the actual condition of the submarine cable, resulting in low efficiency in the correlation and location of fault points with routes.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows: In a first aspect, the present invention provides a fault location method, the method comprising: Identify the load type of the submarine cable to be tested; The fault pre-positioning mode is determined based on the load type, and the fault pre-positioning mode includes a power outage pre-positioning mode and a power outage pre-positioning mode. The coarse location fault range of the submarine cable to be tested is determined by the fault pre-location mode. The underwater robot is controlled to move and detect within the coarsely located fault area to obtain the routing information of the submarine cable to be detected, and at the same time capture the leakage current electromagnetic waves and vibration sound waves at the fault point. The underwater robot's movement is controlled by the leakage current electromagnetic wave and the vibration sound wave. When the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value, the underwater robot is determined to move directly above the fault point to obtain the precise location of the fault point. At the same time, a three-dimensional routing model is generated using the routing information of the submarine cable to be detected.

[0006] Optionally, identifying the load type of the submarine cable to be detected includes: Collect the operating parameters of the submarine cable to be tested; The operating parameters are input into a preset load loss correlation model, and the estimated value of the economic loss due to power outage of the submarine cable to be tested is output. The estimated economic loss from the power outage is compared with a preset economic loss threshold. If the estimated economic loss from the power outage is greater than the preset economic loss threshold, then the load type of the submarine cable to be tested is determined to be a critical load. If the estimated economic loss from the power outage is less than or equal to a preset economic loss threshold, then the load type of the submarine cable to be tested is determined to be a non-critical load.

[0007] Optionally, determining the fault pre-positioning mode based on the load type includes: If the load type is a critical load, then an uninterrupted power supply pre-positioning mode shall be adopted; If the load type is a non-critical load, then a power outage pre-positioning mode will be adopted.

[0008] Optionally, determining the coarse fault location range of the submarine cable under test through the fault pre-location mode includes: If the uninterrupted power supply positioning mode is adopted, temperature and stress data of the submarine cable under test at different locations will be collected. If the detected temperature data is greater than the temperature threshold, the location interval corresponding to the temperature data being greater than the temperature threshold is determined as a candidate fault interval. Alternatively, if the stress data change at an adjacent location is detected to be greater than a preset value, the location interval corresponding to the stress data change being greater than the preset value is determined as a candidate fault interval. Collect the target electromagnetic field signal of the submarine cable to be tested within the candidate fault area; The target electromagnetic field signal is used to divide the candidate fault intervals to coarsely locate the fault intervals of the submarine cable to be tested.

[0009] Optionally, determining the coarse fault location range of the submarine cable under test through the fault pre-location mode includes: If the power-off pre-positioning mode is adopted, the submarine cable to be tested will be disconnected; Detect the resistance of the submarine cable under test after it has been disconnected; The fault type of the submarine cable under test is determined by measuring its resistance. The target instrument to be used is determined based on the fault type, and the target instrument includes: a surge generator, an intelligent pulse reflection meter, and a high-voltage measuring bridge. The target instrument is used to determine the coarse location fault range of the submarine cable to be tested.

[0010] Optionally, determining the fault type of the submarine cable under test by measuring its resistance includes: If the resistance is high, the fault type of the submarine cable to be tested is predicted to be a conductor fault or a main insulation fault. If the resistance is low, the fault type of the submarine cable to be tested is predicted to be an outer sheath fault.

[0011] Optionally, after determining the coarse location fault range of the submarine cable to be inspected through the fault pre-location mode, the method further includes: The workboat is controlled to move to the coarse location fault area of ​​the submarine cable to be tested, and the workboat is connected to the underwater robot via an umbilical cable. Once it is determined that the underwater robot has been launched into the water, the initial positioning coordinates of the underwater robot are obtained; Obtain the current positioning coordinates of the workboat, as well as the relative positional relationship between the workboat and the underwater robot; The initial positioning coordinates are calibrated using the relative positional relationship and the current positioning coordinates to obtain the calibrated positioning coordinates of the underwater robot.

[0012] Optionally, controlling the underwater robot to perform movement detection within the coarse positioning fault range includes: Once it is determined that the underwater robot has been launched, the underwater robot is controlled to operate in a forward search mode. In the forward search mode, the underwater robot is controlled to move and detect within the coarse location fault range and collect the underwater electromagnetic field signal of the submarine cable to be tested. Once it is determined that the collected underwater electromagnetic field signal is in a stable state, the underwater robot's working mode is switched to tracking mode.

[0013] Optionally, obtaining the routing information of the submarine cable to be detected includes: The location, direction, and burial depth of the submarine cable to be inspected are obtained using a pipeline detector. The seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected are obtained by three-dimensional sonar.

[0014] Optionally, after controlling the underwater robot's movement via the leakage current electromagnetic wave and the vibration acoustic wave, the method further includes: The propagation speed of the vibration sound wave in seawater and the time difference between the leakage current electromagnetic wave and the vibration sound wave are obtained. The straight-line distance between the underwater robot and the fault point is determined by the time difference and the propagation speed. When the straight-line distance is less than a preset distance value, the underwater robot is determined to move directly above the fault point to obtain the precise location and image information of the fault point.

[0015] Optionally, generating a three-dimensional routing model using the routing information of the submarine cable to be detected further includes: Acquire the attitude information and calibrate the positioning coordinates of the underwater robot; Based on the location, direction, and burial depth information of the submarine cable to be detected, the seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected, as well as the attitude information and calibration positioning coordinates of the underwater robot, a three-dimensional routing model is generated. If an anomaly is detected based on the burial depth information, the target location of the anomaly in the three-dimensional routing model is determined. Add risk point markers at the target location.

[0016] In a second aspect, the present invention provides a fault location device, the device comprising: The first identification module is used to identify the load type of the submarine cable to be tested; The first determining module is used to determine the fault pre-positioning mode to be adopted based on the load type, wherein the fault pre-positioning mode includes a power outage pre-positioning mode and a power outage pre-positioning mode. The second determining module is used to determine the coarse location fault range of the submarine cable to be tested through the fault pre-location mode. The first acquisition module is used to control the underwater robot to move and detect within the coarse positioning fault range, acquire the routing information of the submarine cable to be detected, and capture the leakage current electromagnetic waves and vibration sound waves at the fault point. The first control module is used to control the movement of the underwater robot through the leakage current electromagnetic wave and the vibration sound wave; The fault location module is used to determine that the underwater robot has moved directly above the fault point and obtain the precise location of the fault point when the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value; at the same time, it generates a three-dimensional routing model through the routing information of the submarine cable to be detected.

[0017] Thirdly, the present invention provides an electronic device, comprising: a transceiver, a memory, a processor, and a program stored in the memory and executable on the processor; The processor is used to read the program in the memory to execute any of the fault location methods described above.

[0018] Fourthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform any of the fault location methods described above.

[0019] Fifthly, the present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the fault location method as described in the first aspect of the present invention.

[0020] In this invention, by identifying the load type of the submarine cable to be inspected, the appropriate fault pre-location mode is determined based on the load type. The fault pre-location modes include a power-off pre-location mode and a power-on pre-location mode, allowing for the selection of the most economical fault pre-location mode. This not only saves costs by selecting the power-off pre-location mode for non-critical load submarine cables but also allows for the selection of the power-on pre-location mode for critical load submarine cables, avoiding unplanned downtime caused by maintenance operations and reducing significant economic losses due to power outages. The fault pre-location mode determines the coarse location of the fault range of the submarine cable to be inspected, providing a clear operational target for subsequent high-precision but slow-searching underwater robots, greatly shortening the overall fault location time, improving maintenance efficiency, and controlling... The underwater robot performs mobile detection within the coarsely located fault area to acquire the routing information of the submarine cable under inspection, while simultaneously capturing leakage current electromagnetic waves and vibration sound waves at the fault point. This solves the problems of low efficiency and high risk in traditional maintenance operations due to wind and waves, and allows for close-range, detailed inspection of the submarine cable itself, improving operational efficiency and accuracy. By controlling the movement of the underwater robot to the fault point using leakage current electromagnetic waves and vibration sound waves, precise location of the submarine cable fault is achieved. A three-dimensional routing model is generated from the routing information of the submarine cable under inspection, which not only allows maintenance personnel to intuitively and quickly associate the fault location, but also analyzes the routing displacement trend of the submarine cable, providing data support for the protection of submarine cables against erosion and external damage, and reducing the blindness of subsequent maintenance. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of the steps of a fault location method provided by the present invention; Figure 2 yes Figure 1 The flowchart shown is a step 101 of a fault location method provided by the present invention; Figure 3 yes Figure 1 The diagram shown is a schematic representation of the underwater robot and workboat in a fault location method provided by the present invention. Figure 4 This is a structural diagram of a fault location device provided by the present invention; Figure 5 This is a structural diagram of an electronic device provided by the present invention. Detailed Implementation

[0023] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] With the large-scale development of offshore wind power and cross-sea power transmission projects, submarine cables, as key transmission carriers, are facing increasingly severe challenges in their operation and maintenance. Firstly, traditional submarine cable monitoring relies on underwater inspection and maintenance by work vessels or divers. However, this method is severely limited by limited marine weather windows, leading to response delays and allowing many potential, minor defects to escalate into serious faults due to delayed detection. Secondly, current fault detection for submarine cables often relies on pre-location techniques involving cable disconnection. This method, which interrupts operations, is neither economically viable nor reliable. Furthermore, the routing information currently provided for submarine cables during operation and maintenance is static data. When a fault occurs, maintenance personnel struggle to quickly establish a precise spatial correlation between the fault point signal and the physical route in the vast ocean, thus prolonging the time required for fault diagnosis and repair. Based on these problems, this invention provides a fault location method, referring to… Figure 1 , Figure 1 This is a flowchart of the steps of a fault location method provided by the present invention, as follows: Figure 1 As shown, the method may include: Step 101: Identify the load type of the submarine cable to be tested.

[0025] In this embodiment of the invention, the load type of the submarine cable to be tested can be determined by the submarine cable monitoring system of the onshore control center or the offshore booster station. The submarine cable monitoring system collects the operating parameters of the submarine cable to be tested at fixed intervals, including real-time transmission power, the generating capacity of the connected wind farm, the importance level of the power supply area, and the current electricity market price. These operating parameters are input into a preset load loss correlation model. This model can dynamically calculate a specific estimated value of the economic loss due to a power outage, taking into account multiple factors such as the duration of the outage, the scope of impact, and the cost of alternative power supply. This estimated value is then compared with a preset economic loss threshold, which can be set based on comprehensive standards such as the risk tolerance level of the enterprise or power grid, penalty clauses in the supply guarantee agreement, or tolerance for social impact. When the estimated economic loss due to a power outage is greater than the threshold, the load type of the submarine cable to be tested is determined to be a critical load, meaning that the cost of a power outage is too high and should be avoided. When the estimated economic loss due to a power outage is less than or equal to the threshold, the load type of the submarine cable to be tested is determined to be a non-critical load. Therefore, step 101 specifically includes the following sub-steps, such as... Figure 2 As shown: Sub-step 1011: Collect the operating parameters of the submarine cable to be tested.

[0026] Sub-step 1012: Input the operating parameters into the preset load loss correlation model and output the estimated value of the economic loss of the submarine cable to be tested due to power outage.

[0027] Sub-step 1013 compares the estimated economic loss from the power outage with the preset economic loss threshold.

[0028] Sub-step 1014: If the estimated economic loss from the power outage is greater than the preset economic loss threshold, then the load type of the submarine cable to be tested is determined to be a critical load.

[0029] In sub-step 1015, if the estimated economic loss from the power outage is less than or equal to the preset economic loss threshold, the load type of the submarine cable to be tested is determined to be a non-critical load.

[0030] For example, suppose there is a submarine cable connecting a large offshore wind farm to the mainland power grid. The real-time operating parameters of the cable are collected and input into the load loss correlation model, which outputs a specific "estimated economic loss of power outage", such as 5 million RMB per hour. The company's "significant economic loss threshold" is 1 million RMB per hour. Since 5 million RMB is much higher than the threshold of 1 million RMB, the load type of the cable is determined to be a critical load.

[0031] The above steps, by establishing a quantitative assessment system with economic loss as a unified benchmark, achieve an objective and accurate classification of the importance of submarine cables. This provides a direct, powerful, and highly persuasive basis for subsequent selection of uninterrupted power supply or pre-selected power outage mode, effectively avoiding the huge economic risks caused by blindly cutting off power or the waste of operation and maintenance resources caused by excessive conservatism.

[0032] It should be noted that, in addition to determining the load type of submarine cables by estimating the economic loss from power outages, it can also be determined by identifying the topology of the submarine cable under test. For example, if the submarine cable under test is a wind farm full grid-connected circuit, then the load type of the submarine cable under test is determined to be a critical load. If the submarine cable under test is an in-field collection line or a station backup power supply line, then the load type of the submarine cable under test is determined to be a non-critical load.

[0033] Step 102: Determine the fault pre-positioning mode to be adopted based on the load type. The fault pre-positioning modes include power outage pre-positioning mode and power-on pre-positioning mode.

[0034] In this embodiment of the invention, after determining the load type of the submarine cable to be tested, if the load type is a critical load, a pre-positioning mode without power interruption is adopted; if the load type is a non-critical load, a pre-positioning mode without power interruption is adopted. Therefore, step 102 specifically includes the following sub-steps: Sub-step 1021: If the load type is a critical load, then adopt the uninterrupted power supply pre-positioning mode.

[0035] Sub-step 1022: If the load type is a non-critical load, then adopt the power outage pre-positioning mode.

[0036] The above steps, by using load type as the key decision-making basis, ensure that, while prioritizing the continuous power supply to critical lines, the operation and maintenance of non-critical lines are given greater flexibility and economy, thereby achieving the optimal balance between operation and maintenance safety benefits and cost efficiency as a whole.

[0037] Step 103: Determine the coarse location fault range of the submarine cable to be tested through the fault pre-location mode.

[0038] This invention provides two fault pre-location modes: one with power off and one with continuous power. Therefore, coarse fault location of the submarine cable under test can be performed based on these two modes respectively. If the continuous power pre-location mode is adopted, a distributed optical fiber sensing device needs to be connected to the built-in or externally attached optical fiber of the submarine cable. With the submarine cable energized, temperature and stress data are collected in real time. If local overheating (temperature data exceeding a temperature threshold) or stress mutation (stress data change exceeding a preset value) is detected, the corresponding location area can be identified as a candidate fault region. This intelligently narrows down the area requiring further detailed investigation, pointing the way for subsequent precise location and improving troubleshooting efficiency. Because the distributed optical fiber sensing device can be installed at different locations on the submarine cable, the measured candidate fault region during detection is a distance range determined by the direction of the submarine cable based on the location of the distributed optical fiber sensing device. However, since the submarine cable is curved on the seabed, this distance range is not a straight line. Consequently, it becomes impossible to determine the distance between the fault zone and the coast based on the candidate fault zone, making it impossible to provide a relatively accurate operating position for subsequent work vessels. Therefore, in this embodiment of the invention, a non-contact electromagnetic monitoring instrument is installed at the shore or platform end. Using its electromagnetic induction principle, it non-contactly collects the electromagnetic field signals of the submarine cable to be tested within the candidate fault zone. If there is an uneven distribution of the electromagnetic field, the interval with the uneven electromagnetic field distribution within the candidate fault zone is determined as the coarsely located fault zone of the submarine cable to be tested. Therefore, step 103 specifically includes the following sub-steps: Sub-step 01: If the uninterrupted power-on positioning mode is adopted, temperature and stress data of the submarine cable to be tested at different locations are collected.

[0039] Sub-step 02: If the detected temperature data is greater than the temperature threshold, then the location interval corresponding to the temperature data being greater than the temperature threshold is determined as the candidate fault interval. Alternatively, if the stress data change at an adjacent location is detected to be greater than a preset value, the location interval corresponding to the stress data change being greater than the preset value is determined as a candidate fault interval.

[0040] Sub-step 03: Collect the target electromagnetic field signal of the submarine cable to be tested in the candidate fault area.

[0041] Sub-step 04: Using the target electromagnetic field signal, the coarse location fault range of the submarine cable to be tested is divided from the candidate fault range.

[0042] Among them, the distributed fiber optic sensing device will collect the location information of the temperature and stress data when collecting them.

[0043] The above steps outline the potential fault profile through preliminary screening of temperature and stress, and then perform secondary calibration by accurately judging the target electromagnetic field signal. This can efficiently and reliably lock the fault point in a sufficiently small range from tens or hundreds of kilometers of cable without interrupting cable operation, laying a solid foundation for subsequent precise robot operation, minimizing power outage losses and improving maintenance response efficiency.

[0044] In this embodiment of the invention, a power-off pre-positioning mode is also adopted. In this mode, the faulty submarine cable needs to be disconnected, and the resistance of the submarine cable is tested using a multimeter and megohmmeter. By analyzing the abnormality in the circuit resistance, the basic type of fault can be preliminarily determined. Different types of faults, such as low-resistance faults, high-resistance faults, or open-circuit faults, have different physical characteristics and optimal detection methods. Therefore, different target instruments are selected. For example, a high-voltage measuring bridge is used for low-resistance faults, while a surge generator and intelligent pulse reflection meter are used for high-resistance faults. The target instrument can be used to roughly measure the distance between the fault area and the detection instrument. Therefore, step 103 further includes the following sub-steps: Sub-step 11: If the power-off pre-positioning mode is adopted, disconnect the submarine cable to be tested.

[0045] Sub-step 12: Detect the resistance of the submarine cable to be tested after it has been disconnected.

[0046] Sub-step 13: Determine the fault type of the submarine cable under test by measuring its resistance.

[0047] Sub-step 14: Determine the target instrument to be used based on the fault type. The target instruments include: surge generator, intelligent pulse reflection meter and high voltage measuring bridge.

[0048] Sub-step 15: Using the target instrument, determine the coarse location fault range of the submarine cable to be inspected.

[0049] The above steps complete the initial fault diagnosis through basic resistance measurement, and then accurately call the most effective special detection instruments according to the fault type. Finally, by using these classic and reliable electrical methods, the fault point is locked in a relatively small range, which provides a crucial and well-defined search range for the underwater robot. Thus, even with the cost of power outages, the efficiency and success rate of subsequent repairs are maximized.

[0050] It should be noted that when determining the fault type through resistance, a high resistance usually means that the insulation at the fault point has not been completely lost, but there is still a high-impedance leakage path. This typically points to the deterioration of the cable's main insulation, such as aging, overheating, or local defects leading to a decrease in insulation performance, but it has not yet been completely broken down to form a low-resistance path. In this case, current can leak through this high-resistance path, but the resistance value is relatively large, so the fault type is usually a conductor fault or a main insulation fault. A low resistance usually means that a conductive path with extremely low resistance has been formed at the fault point. For submarine cables with metal armor and shielding layers, this is most commonly the case where the outer sheath of the cable is severely damaged, causing seawater to directly and extensively contact the metal armor or shielding layer. Since seawater is a good conductor, this is equivalent to establishing a low-resistance short circuit point between the internal conductor of the cable and the external environment (ground / seawater), so the fault type is usually an outer sheath fault. Therefore, sub-step 13 specifically includes the following steps: If S1 is high resistance, the fault type of the submarine cable to be tested is predicted to be either a conductor fault or a main insulation fault.

[0051] S2, if it is low resistance, then the fault type of the submarine cable to be tested is predicted to be an outer sheath fault.

[0052] The above steps can initially classify complex fault phenomena into high-resistance faults affecting the core insulation performance of cables or low-resistance faults indicating the failure of outer protection based on the most readily available resistance measurement values. This provides a clear and direct technical basis for the subsequent accurate selection of different professional testing instruments, effectively improving the initial response speed of fault diagnosis and the pertinence of subsequent location strategies.

[0053] Step 104: Control the underwater robot to move and detect within the coarsely located fault area, obtain the routing information of the submarine cable to be detected, and capture the leakage current electromagnetic waves and vibration sound waves at the fault point.

[0054] In this embodiment of the invention, after determining the coarse location fault range, the operating position of the workboat can be determined through the coarse location fault range. The workboat and the Remote Operated Vehicle (ROV) are connected via an umbilical cable, such as... Figure 3As shown. A Differential Global Positioning System (GPS) is installed on the workboat, and an Ultra Short Baseline (USBL) positioning system and an inertial navigation module are installed on the underwater robot. After moving the workboat to the coarse positioning fault zone, the underwater robot is placed in the water. Once submerged, the underwater robot can obtain its initial positioning coordinates through its USBL and inertial navigation module. When the USBL signal is blocked, the underwater robot can activate its own inertial navigation system to ensure that the positioning accuracy does not decrease for a short period of time, avoiding route tracking interruption. However, because the USBL and inertial navigation module are affected by seawater, the positioning is inaccurate, so correction is required. The workboat's GPS is accurate, and there is a relatively fixed relative positional relationship between the workboat and the underwater robot (the relative positional relationship can be comprehensively calculated using data such as the inclination angle and length of the umbilical cable and the acoustic short baseline). Therefore, the underwater robot's coordinates can be corrected based on the workboat's current positioning coordinates. The correction data transmission is achieved through the connected umbilical cable. Therefore, the implementation steps of the above process are as follows: The workboat is moved to the coarse location fault area of ​​the submarine cable to be inspected, and the workboat and the underwater robot are connected by an umbilical cable. Once it is determined that the underwater robot has been launched, obtain the initial positioning coordinates of the underwater robot. Obtain the current positioning coordinates of the workboat, as well as the relative positional relationship between the workboat and the underwater robot; The initial positioning coordinates are calibrated using relative positional relationships and current positioning coordinates to obtain the calibrated positioning coordinates of the underwater robot.

[0055] The above steps utilize the workboat as a known moving reference point and effectively overcome the positioning error after the robot enters the water and the cumulative error that may exist based on pure underwater acoustic positioning by calculating the relative spatial vector between it and the underwater robot in real time. This gives the underwater robot a high-precision initial spatial coordinate at the beginning of the operation, which lays a crucial spatial reference for its subsequent precise acoustic, magnetic, and optical detection and fault point tracking within the coarse positioning fault range. This greatly improves the starting accuracy of the entire underwater search operation and the reliability of subsequent data.

[0056] In this embodiment of the invention, after determining that the underwater robot has been launched, the underwater robot is switched to forward search mode. Then, the underwater robot slowly moves along the coarsely located fault zone. While moving, the dual coils of the underwater robot's pipeline detector collect the underwater electromagnetic field signal of the submarine cable to be detected. When the coils capture a stable underwater electromagnetic field signal of the submarine cable, the underwater robot's working module is switched to tracking mode. Therefore, step 104, "controlling the underwater robot to move and detect within the coarsely located fault zone," specifically includes the following sub-steps: Sub-step 1041: If it is determined that the underwater robot has been launched, control the underwater robot to operate in forward search mode. Sub-step 1042: In forward search mode, control the underwater robot to move and detect within the coarse localization fault range, and collect the underwater electromagnetic field signal of the submarine cable to be detected. Sub-step 1043: Once it is determined that the collected underwater electromagnetic field signal is in a stable state, the underwater robot's working mode is switched to tracking mode.

[0057] In forward search mode, the underwater robot prioritizes covering a wide area, cruising along a pre-set path to perform a preliminary scan of the target sea area within the coarsely located fault zone, rather than immediately conducting fine-grained detection. This ensures that no large-scale abnormal signals are missed within the fault zone. When the underwater electromagnetic field signal is stable, it indicates that the underwater robot has moved directly above the submarine cable, with the pipeline detector's dual orthogonal coils close to the cable. The underwater robot maintains a relatively fixed distance and orientation from the submarine cable, typically at a position 0.3–0.8 meters above the seabed. After launching, the underwater robot moves within the coarsely located fault zone. Therefore, its initial launch position is usually at the edge of the fault zone, close to the shore, or even closer to the shore than the fault zone itself. For example, if the fault zone is 300 to 350 meters from the shore, the underwater robot's initial launch position is typically 300 meters or 250 meters from the shore. This ensures that all locations within the coarsely located fault area can be detected.

[0058] In the above steps, the underwater robot can dynamically adjust its operation strategy according to the actual detection situation. This not only significantly improves the automation and efficiency of the search process and avoids the waste of resources from blindly carrying out detailed operations in uncertain areas, but also ensures that all subsequent high-precision data acquisition can be carried out in a stable and reliable relative position, thus providing high-quality data support for the accurate location and identification of the final fault point.

[0059] In this embodiment of the invention, the underwater robot uses a non-contact electromagnetic induction mode via a pipeline detector. This allows it to acquire the location information (including longitude and latitude), direction information (azimuth), and burial depth information of the submarine cable under test without contacting it, thus avoiding the risk of power outages. Furthermore, it can acquire seabed topography, water depth information, and obstacle distribution information (such as reefs, fishing nets, and shipwrecks) using three-dimensional sonar. Therefore, step 104, "acquiring the routing information of the submarine cable under test," specifically includes the following sub-steps: Sub-step 1043: Obtain the location, direction, and burial depth information of the submarine cable to be inspected using a pipeline detector.

[0060] Sub-step 1044: Obtain seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected using three-dimensional sonar.

[0061] The above steps obtain precise spatial information of the cable body through a pipeline detector and detailed environmental background information through 3D sonar, which provides a solid data foundation for the subsequent generation of a 3D routing model.

[0062] Step 105: Control the movement of the underwater robot by using leakage current electromagnetic waves and vibration sound waves.

[0063] In this embodiment of the invention, the underwater robot captures the leakage current electromagnetic waves and vibration sound waves at the fault point using an acoustomagnetic measurement probe. When capturing these waves, the robot first controls the faulty submarine cable to generate leakage current electromagnetic waves and vibration sound waves based on the previously selected fault pre-location mode. For example, if the fault pre-location mode is a power-off pre-location mode and the fault type is a conductor / main insulation fault, a surge generator is activated to apply periodic high-voltage pulses to the faulty cable, causing continuous discharge at the fault point. At this time, the acoustomagnetic measurement probe receives the leakage current electromagnetic waves (opening signal) and vibration sound waves (closing signal) from the fault point, ensuring signal strength. If the fault pre-location mode is a power-off pre-location mode, the acoustomagnetic measurement probe switches to a "weak signal capture mode." In this mode, the probe uses a high-sensitivity sensor to capture the leakage current electromagnetic waves (opening signal) and vibration sound waves (closing signal) at the fault point of the energized submarine cable, preventing the submarine cable from being de-energized due to the application of high voltage.

[0064] In this embodiment of the invention, when the underwater robot captures the leakage current electromagnetic waves and vibration sound waves at a fault point using an acoustic-magnetic measurement probe, the arrival times of these two waves at the probe are inconsistent due to their different speeds, resulting in a time difference. Since the propagation distance of both waves is the same as the distance from the fault point to the probe, and the speed difference between electromagnetic and sound waves is constant, the greater the propagation distance, the greater the corresponding time difference. Conversely, when the distance from the fault point to the probe decreases, the propagation distance decreases, and the time difference decreases. Therefore, this embodiment of the invention controls the underwater robot's movement to minimize this time difference.

[0065] Step 106: When the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value, determine that the underwater robot has moved directly above the fault point to obtain the precise location of the fault point, and at the same time generate a three-dimensional routing model through the routing information of the submarine cable to be detected.

[0066] Because the propagation speeds of leakage current electromagnetic waves and vibration sound waves are different, a time difference between the two will always exist. However, a preset value can be set, stipulating that when the time difference is less than the preset value, the underwater robot is considered to have moved directly above the fault point. At this point, the precise location of the fault point can be determined based on the position of the underwater robot.

[0067] Furthermore, embodiments of the present invention can also determine whether the underwater robot has moved directly above the fault point by calculating the straight-line distance between the underwater robot and the fault point. This requires obtaining the propagation speed of sound waves in seawater, vsound (approximately 1500 m / s), and simultaneously calculating the time difference Δt between the electromagnetic wave and the sound wave. Then, the straight-line distance S between the underwater robot and the fault point is calculated as S = vsound × Δt. The S value is transmitted back to the workboat interface. The operator displays the S value in real time and manipulates the underwater robot to move slowly. When the S value is less than a preset distance value, the underwater robot stops moving, indicating that the underwater robot has moved to the fault point. The high-definition camera of the underwater robot is activated (with the lighting turned on) to capture images of the fault point on the surface of the submarine cable at close range, confirming the fault point's characteristics (such as damaged outer sheath, exposed conductor, and burn marks). Therefore, the above steps include: The propagation speed of the vibration sound wave in seawater, as well as the time difference between the leakage current electromagnetic wave and the vibration sound wave, were obtained. The straight-line distance between the underwater robot and the fault point is determined by the time difference and the propagation speed. When the straight-line distance is less than the preset distance value, the underwater robot moves to directly above the fault point to obtain the precise location and image information of the fault point.

[0068] The above steps utilize the significant differences in the physical propagation characteristics of electromagnetic waves and sound waves, treating the fault point simultaneously as both an electromagnetic emission source and an acoustic vibration source. By measuring the time difference between the arrival of the two signals, a passive active ranging and navigation method is achieved that does not require prior knowledge of the precise direction of the fault point. This method can effectively guide underwater robots in low visibility or complex seabed environments, bypassing obstacles on the direct path, gradually approaching and ultimately visually confirming the fault point, greatly improving the reliability and success rate of accurately locating faults in real marine environments.

[0069] In addition to taking pictures, the underwater robot can also identify the scene of the submarine cable being covered by mud and sand based on the returned pictures. At this time, the operator can control the underwater robot's robotic arm (optionally mounted) to gently clean the surface mud and sand.

[0070] In this embodiment of the invention, after acquiring routing information, a three-dimensional routing model is generated based on the routing information. The routing information includes the location, direction, and burial depth of the submarine cable to be detected, as well as the seabed topography, water depth, and obstacle distribution information at the location of the submarine cable. However, this information is collected by different sensors at different times and cannot be integrated. Therefore, it is necessary to acquire the attitude information of the underwater robot and calibrate its positioning coordinates to establish a stable and accurate spatial reference frame, unifying the readings of all sensors into real-world coordinates, allowing data from different sources and at different times to be accurately superimposed on the same spatial reference frame. After establishing the three-dimensional routing model, automatic analysis can be performed based on the model's key parameter—burial depth—to determine if any anomalies have occurred. For example, if the burial depth is less than a preset safety standard (such as the minimum allowable burial depth), it may indicate that the cable is exposed due to ocean current erosion, which will be considered an anomaly. Once an anomaly is detected, the spatial coordinates of the anomaly point, i.e., the target location, will be accurately located in the newly generated three-dimensional routing model. A prominent risk point marker, such as a "flashing red marker," will be added to this target location. Surrounding information of the risk point (such as the distance to the nearest reef) can also be added, providing a clear basis for developing a maintenance plan. Therefore, step 106, "generating a three-dimensional routing model using the routing information of the submarine cable to be detected," specifically includes the following sub-steps: Sub-step 1061: Obtain the attitude information and calibration positioning coordinates of the underwater robot.

[0071] Sub-step 1062: Based on the location, direction and burial depth information of the submarine cable to be detected, the seabed topography, water depth and obstacle distribution information of the location of the submarine cable to be detected, and the attitude information and calibration positioning coordinates of the underwater robot, a three-dimensional routing model is generated.

[0072] Sub-step 1063: If an anomaly is detected by the burial depth information, then determine the target location of the anomaly in the three-dimensional routing model.

[0073] Sub-step 1064: Add a risk point marker at the target location.

[0074] The above steps organically combine discrete environmental detection data, cable body data, and robot positioning data to generate a dynamic and realistic three-dimensional digital sandbox. It can automatically identify potential risks such as insufficient burial depth, accurately locate them, and mark them in the model. This greatly enhances the overall perception of cable routing status by maintenance personnel, providing an intuitive and reliable basis for predictive maintenance and risk warning, thereby effectively preventing subsequent failures caused by hidden dangers such as exposed cables.

[0075] In this embodiment of the invention, the generated 3D routing model and the returned image information of the fault point can accurately locate the fault in the submarine cable to be detected. When displaying the 3D routing model, a "three-layer rendering" technique can be used: the upper layer displays the sea surface (including real-time position markers of the workboat and underwater robot), the middle layer displays the submarine cable routing trajectory, and the lower layer displays the seabed topography. The 3D model is updated synchronously as the underwater robot moves, ensuring that the routing trajectory displayed in the 3D routing model is consistent with the actual location of the submarine cable. Furthermore, the relevant data of the 3D routing model is automatically stored, supporting maintenance personnel to retrieve data by time and region, facilitating the review of the routing status at any time period and the analysis of the routing displacement trend of the submarine cable caused by ocean currents and scouring.

[0076] In addition to acquiring image information of the fault point, this embodiment of the invention allows the underwater robot to capture images of other locations on the submarine cable during operation and associate them with the 3D routing model. When displaying the 3D routing model, maintenance personnel can zoom, rotate the view, and click on any point on the route to display detailed information for that location, including detection time, burial depth, and images captured by the underwater robot. The maintenance team can then quickly develop a repair plan based on this information.

[0077] In this invention, by identifying the load type of the submarine cable to be inspected, the appropriate fault pre-location mode is determined based on the load type. The fault pre-location modes include a power-off pre-location mode and a power-on pre-location mode, allowing for the selection of the most economical fault pre-location mode. This not only saves costs by selecting the power-off pre-location mode for non-critical load submarine cables but also allows for the selection of the power-on pre-location mode for critical load submarine cables, avoiding unplanned downtime caused by maintenance operations and reducing significant economic losses due to power outages. The fault pre-location mode determines the coarse location of the fault range of the submarine cable to be inspected, providing a clear operational target for subsequent high-precision but slow-searching underwater robots, greatly shortening the overall fault location time, improving maintenance efficiency, and controlling... The underwater robot performs mobile detection within the coarsely located fault area to acquire the routing information of the submarine cable under inspection, while simultaneously capturing leakage current electromagnetic waves and vibration sound waves at the fault point. This solves the problems of low efficiency and high risk in traditional maintenance operations due to wind and waves, and allows for close-range, detailed inspection of the submarine cable itself, improving operational efficiency and accuracy. By controlling the movement of the underwater robot to the fault point using leakage current electromagnetic waves and vibration sound waves, precise location of the submarine cable fault is achieved. A three-dimensional routing model is generated from the routing information of the submarine cable under inspection, which not only allows maintenance personnel to intuitively and quickly associate the fault location, but also analyzes the routing displacement trend of the submarine cable, providing data support for the protection of submarine cables against erosion and external damage, and reducing the blindness of subsequent maintenance.

[0078] Figure 4 This is a structural diagram of a fault location device provided by the present invention, which may include: The first identification module 201 is used to identify the load type of the submarine cable to be tested.

[0079] The first determining module 202 is used to determine the fault pre-positioning mode to be adopted based on the load type. The fault pre-positioning modes include a power outage pre-positioning mode and a power-on pre-positioning mode.

[0080] The second determining module 203 is used to determine the coarse location fault range of the submarine cable to be tested through the fault pre-location mode.

[0081] The first acquisition module 204 is used to control the underwater robot to move and detect within the coarsely located fault range, acquire the routing information of the submarine cable to be detected, and capture the leakage current electromagnetic waves and vibration sound waves at the fault point.

[0082] The first control module 205 is used to control the movement of the underwater robot through leakage current electromagnetic waves and vibration sound waves.

[0083] The fault location module 206 is used to determine that the underwater robot has moved directly above the fault point and obtain the precise location of the fault point when the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value; at the same time, it generates a three-dimensional routing model through the routing information of the submarine cable to be tested.

[0084] Optionally, the first identification module 201 includes: The first acquisition submodule is used to acquire the operating parameters of the submarine cable to be tested.

[0085] The input / output submodule is used to input operating parameters into a preset load loss correlation model and output the estimated economic loss of the submarine cable under test due to power outage.

[0086] The comparison submodule is used to compare the estimated economic loss from a power outage with a preset economic loss threshold.

[0087] The first load type determination submodule is used to determine the load type of the submarine cable to be tested as a critical load if the estimated economic loss from a power outage is greater than a preset economic loss threshold.

[0088] The second load type determination submodule is used to determine that the load type of the submarine cable to be tested is a non-critical load if the estimated economic loss from a power outage is less than or equal to a preset economic loss threshold.

[0089] Optionally, the first determining module 202 includes: The first mode selection submodule is used to adopt the uninterrupted power supply pre-positioning mode if the load type is a critical load.

[0090] The second mode selection submodule is used to adopt the power outage pre-positioning mode if the load type is a non-critical load.

[0091] Optionally, the second determining module 203 includes: The second acquisition submodule is used to acquire temperature and stress data of the submarine cable under test at different locations if the uninterrupted power-on positioning mode is adopted.

[0092] The first determination submodule is used to determine the location interval corresponding to the temperature data being greater than the temperature threshold as a candidate fault interval if the detected temperature data is greater than the temperature threshold.

[0093] Alternatively, if the stress data change at an adjacent location is detected to be greater than a preset value, the location interval corresponding to the stress data change being greater than the preset value is determined as a candidate fault interval.

[0094] The third acquisition submodule is used to acquire the target electromagnetic field signal of the submarine cable under test in the candidate fault area.

[0095] The interval division submodule is used to coarsely locate the fault interval of the submarine cable to be detected from the candidate fault intervals by using the target electromagnetic field signal.

[0096] The disconnect cable submodule is used to disconnect the submarine cable under test if a power-off pre-positioning mode is adopted.

[0097] The resistance detection submodule is used to detect the resistance of the submarine cable under test after it has been disconnected.

[0098] The second determination submodule is used to determine the fault type of the submarine cable under test by measuring its resistance.

[0099] The third determination submodule is used to determine the target instrument to be used based on the fault type. The target instruments include: surge generator, intelligent pulse reflection meter and high voltage measurement bridge.

[0100] The fourth determination submodule is used to determine the coarse location fault range of the submarine cable to be inspected by using the target instrument.

[0101] Optionally, the second determining submodule includes: The first fault determination unit is used to predict whether the fault type of the submarine cable to be tested is a conductor fault or a main insulation fault if the resistance is high.

[0102] The second fault determination unit is used to predict that the fault type of the submarine cable to be tested is an outer sheath fault if the resistance is low.

[0103] Optionally, the fault location device may also include: The control module is used to control the movement of the workboat to the coarse location fault area of ​​the submarine cable to be inspected. The workboat and the underwater robot are connected by an umbilical cable.

[0104] The third acquisition module is used to acquire the initial positioning coordinates of the underwater robot when it is determined that the underwater robot has been launched into the water.

[0105] The fourth acquisition module is used to acquire the current positioning coordinates of the workboat and the relative positional relationship between the workboat and the underwater robot.

[0106] The calibration module is used to calibrate the initial positioning coordinates using relative positional relationships and the current positioning coordinates, thereby obtaining the calibrated positioning coordinates of the underwater robot.

[0107] Optionally, the first acquisition module 204 includes: The first mode control submodule is used to control the underwater robot to operate in a forward search mode when it is determined that the underwater robot has been launched into the water.

[0108] The detection submodule is used to control the underwater robot to move and detect within the coarsely located fault area in forward search mode, and to collect the underwater electromagnetic field signal of the submarine cable to be tested.

[0109] The second mode control submodule is used to switch the underwater robot's working mode to tracking mode when the collected underwater electromagnetic field signal is determined to be in a stable state.

[0110] The first acquisition submodule is used to acquire the location, direction and burial depth information of the submarine cable to be inspected through a pipeline detector.

[0111] The second acquisition submodule is used to acquire seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected using three-dimensional sonar.

[0112] Optionally, the fault location device may also include: The fifth acquisition module is used to acquire the propagation speed of the vibration sound wave in seawater, as well as the time difference between the leakage current electromagnetic wave and the vibration sound wave.

[0113] The third determination module is used to determine the straight-line distance between the underwater robot and the fault point by using the time difference and propagation speed.

[0114] The sixth acquisition module is used to determine when the straight-line distance is less than the preset distance value, and to acquire the precise location and image information of the fault point by moving the underwater robot directly above the fault point.

[0115] Optionally, the fault location module 206 includes: The third acquisition submodule is used to acquire the underwater robot's attitude information and calibrate its positioning coordinates.

[0116] The model generation submodule is used to generate a three-dimensional routing model based on the location, orientation, and burial depth information of the submarine cable to be detected, the seabed topography, water depth, and obstacle distribution information at the location of the submarine cable to be detected, as well as the attitude information and calibration positioning coordinates of the underwater robot.

[0117] The fifth determination submodule is used to determine the target location of the abnormal burial depth information in the three-dimensional routing model if an anomaly is detected by the burial depth information.

[0118] The marker addition submodule is used to add risk point markers at target locations.

[0119] In this invention, by identifying the load type of the submarine cable to be inspected, the appropriate fault pre-location mode is determined based on the load type. The fault pre-location modes include a power-off pre-location mode and a power-on pre-location mode, allowing for the selection of the most economical fault pre-location mode. This not only saves costs by selecting the power-off pre-location mode for non-critical load submarine cables but also allows for the selection of the power-on pre-location mode for critical load submarine cables, avoiding unplanned downtime caused by maintenance operations and reducing significant economic losses due to power outages. The fault pre-location mode determines the coarse location of the fault range of the submarine cable to be inspected, providing a clear operational target for subsequent high-precision but slow-searching underwater robots, greatly shortening the overall fault location time, improving maintenance efficiency, and controlling... The underwater robot performs mobile detection within the coarsely located fault area to acquire the routing information of the submarine cable under inspection, while simultaneously capturing leakage current electromagnetic waves and vibration sound waves at the fault point. This solves the problems of low efficiency and high risk in traditional maintenance operations due to wind and waves, and allows for close-range, detailed inspection of the submarine cable itself, improving operational efficiency and accuracy. By controlling the movement of the underwater robot to the fault point using leakage current electromagnetic waves and vibration sound waves, precise location of the submarine cable fault is achieved. A three-dimensional routing model is generated from the routing information of the submarine cable under inspection, which not only allows maintenance personnel to intuitively and quickly associate the fault location, but also analyzes the routing displacement trend of the submarine cable, providing data support for the protection of submarine cables against erosion and external damage, and reducing the blindness of subsequent maintenance.

[0120] The present invention also provides an electronic device, such as Figure 5 As shown, it includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304. Memory 303 is used to store computer programs; When processor 301 executes a program stored in memory 303, it performs the following steps: Identify the load type of the submarine cable to be tested; The fault pre-positioning mode is determined based on the load type, and the fault pre-positioning mode includes a power outage pre-positioning mode and a power outage pre-positioning mode. The coarse location fault range of the submarine cable to be tested is determined by the fault pre-location mode. The underwater robot is controlled to move and detect within the coarsely located fault area to obtain the routing information of the submarine cable to be detected, and at the same time capture the leakage current electromagnetic waves and vibration sound waves at the fault point. The underwater robot's movement is controlled by the leakage current electromagnetic wave and the vibration sound wave. When the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value, the underwater robot is determined to move directly above the fault point to obtain the precise location of the fault point. At the same time, a three-dimensional routing model is generated using the routing information of the submarine cable to be detected.

[0121] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into a physical address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0122] The communication interface is used for communication between the aforementioned terminal and other devices.

[0123] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0124] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0125] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the fault location method as described in any of the above embodiments of the present invention.

[0126] The present invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps in the fault location method as described in any of the above embodiments of the present invention.

[0127] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0128] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. The required structure for constructing this system is readily apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of this invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0129] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0130] Similarly, it should be understood that, in order to simplify the invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0131] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

[0132] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention can also be implemented as a device or apparatus program for performing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0133] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0134] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0135] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0136] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0137] It should be noted that the various data-related processes in the embodiments of the present invention are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.

Claims

1. A fault location method, characterized in that, The method includes: Identify the load type of the submarine cable to be tested; The fault pre-positioning mode is determined based on the load type, and the fault pre-positioning mode includes a power outage pre-positioning mode and a power outage pre-positioning mode. The coarse location fault range of the submarine cable to be tested is determined by the fault pre-location mode. The underwater robot is controlled to move and detect within the coarsely located fault area to obtain the routing information of the submarine cable to be detected, and at the same time capture the leakage current electromagnetic waves and vibration sound waves at the fault point. The underwater robot's movement is controlled by the leakage current electromagnetic wave and the vibration acoustic wave. When the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value, the underwater robot is determined to move directly above the fault point to obtain the precise location of the fault point. At the same time, a three-dimensional routing model is generated using the routing information of the submarine cable to be detected.

2. The method according to claim 1, characterized in that, The identification of the load type of the submarine cable to be detected includes: Collect the operating parameters of the submarine cable to be tested; The operating parameters are input into a preset load loss correlation model, and the estimated value of the economic loss due to power outage of the submarine cable to be tested is output. The estimated economic loss from the power outage is compared with a preset economic loss threshold. If the estimated economic loss from the power outage is greater than the preset economic loss threshold, then the load type of the submarine cable to be tested is determined to be a critical load. If the estimated economic loss from the power outage is less than or equal to a preset economic loss threshold, then the load type of the submarine cable to be tested is determined to be a non-critical load.

3. The method according to claim 2, characterized in that, The method of determining the pre-positioning mode for fault location based on the load type includes: If the load type is a critical load, then an uninterrupted power supply pre-positioning mode shall be adopted; If the load type is a non-critical load, then a power outage pre-positioning mode will be adopted.

4. The method according to claim 3, characterized in that, The step of determining the coarse location fault range of the submarine cable under test through the fault pre-location mode includes: If the uninterrupted power supply positioning mode is adopted, temperature and stress data of the submarine cable under test at different locations will be collected. If the detected temperature data is greater than the temperature threshold, the location interval corresponding to the temperature data being greater than the temperature threshold is determined as a candidate fault interval. Alternatively, if the stress data change at an adjacent location is detected to be greater than a preset value, the location interval corresponding to the stress data change being greater than the preset value is determined as a candidate fault interval. Collect the target electromagnetic field signal of the submarine cable to be tested within the candidate fault area; The target electromagnetic field signal is used to divide the candidate fault intervals to coarsely locate the fault intervals of the submarine cable to be tested.

5. The method according to claim 3, characterized in that, The step of determining the coarse location fault range of the submarine cable under test through the fault pre-location mode includes: If the power-off pre-positioning mode is adopted, the submarine cable to be tested will be disconnected; The resistance of the submarine cable under test was detected after it was disconnected; The fault type of the submarine cable under test is determined by measuring its resistance. The target instrument to be used is determined by the fault type, and the target instrument includes: a surge generator, an intelligent pulse reflection meter, and a high-voltage measuring bridge. The target instrument is used to determine the coarse location fault range of the submarine cable to be tested.

6. The method according to claim 5, characterized in that, The method of determining the fault type of the submarine cable under test by measuring its resistance includes: If the resistance is high, the fault type of the submarine cable to be tested is predicted to be a conductor fault or a main insulation fault. If the resistance is low, the fault type of the submarine cable to be tested is predicted to be an outer sheath fault.

7. The method according to claim 1, characterized in that, After determining the coarse location fault range of the submarine cable to be inspected through the fault pre-location mode, the method further includes: The workboat is controlled to move to the coarse location fault area of ​​the submarine cable to be tested, and the workboat is connected to the underwater robot via an umbilical cable. Once it is determined that the underwater robot has been launched into the water, the initial positioning coordinates of the underwater robot are obtained; Obtain the current positioning coordinates of the workboat, as well as the relative positional relationship between the workboat and the underwater robot; The initial positioning coordinates are calibrated using the relative positional relationship and the current positioning coordinates to obtain the calibrated positioning coordinates of the underwater robot.

8. The method according to claim 1, characterized in that, The control of the underwater robot to perform movement detection within the coarse positioning fault range includes: Once it is determined that the underwater robot has been launched, the underwater robot is controlled to operate in a forward search mode. In the forward search mode, the underwater robot is controlled to move and detect within the coarse location fault range and collect the underwater electromagnetic field signal of the submarine cable to be tested. Once it is determined that the collected underwater electromagnetic field signal is in a stable state, the underwater robot's working mode is switched to tracking mode.

9. The method according to claim 1, characterized in that, The step of obtaining the routing information of the submarine cable to be detected includes: The location, direction, and burial depth of the submarine cable to be inspected are obtained using a pipeline detector. The seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected are obtained by three-dimensional sonar.

10. The method according to claim 1, characterized in that, After controlling the underwater robot's movement via the leakage current electromagnetic wave and the vibration acoustic wave, the method further includes: The propagation speed of the vibration sound wave in seawater and the time difference between the leakage current electromagnetic wave and the vibration sound wave are obtained. The straight-line distance between the underwater robot and the fault point is determined by the time difference and the propagation speed. When the straight-line distance is less than a preset distance value, the underwater robot is determined to move directly above the fault point to obtain the precise location and image information of the fault point.

11. The method according to claim 9, characterized in that, The step of generating a three-dimensional routing model using the routing information of the submarine cable to be detected further includes: Acquire the attitude information and calibrate the positioning coordinates of the underwater robot; Based on the location, direction, and burial depth information of the submarine cable to be detected, the seabed topography, water depth, and obstacle distribution information of the location of the submarine cable to be detected, as well as the attitude information and calibration positioning coordinates of the underwater robot, a three-dimensional routing model is generated. If an anomaly is detected based on the burial depth information, the target location of the anomaly in the three-dimensional routing model is determined. Add risk point markers at the target location.

12. A fault location device, characterized in that, The device includes: The first identification module is used to identify the load type of the submarine cable to be tested; The first determining module is used to determine the fault pre-positioning mode to be adopted based on the load type, wherein the fault pre-positioning mode includes a power outage pre-positioning mode and a power outage pre-positioning mode. The second determining module is used to determine the coarse location fault range of the submarine cable to be tested through the fault pre-location mode. The first acquisition module is used to control the underwater robot to move and detect within the coarse positioning fault range, acquire the routing information of the submarine cable to be detected, and capture the leakage current electromagnetic waves and vibration sound waves at the fault point. The first control module is used to control the movement of the underwater robot through the leakage current electromagnetic wave and the vibration sound wave; The fault location module is used to determine that the underwater robot has moved directly above the fault point and obtain the precise location of the fault point when the time difference between the captured leakage current electromagnetic wave and the vibration sound wave is less than a preset value; at the same time, it generates a three-dimensional routing model through the routing information of the submarine cable to be detected.

13. An electronic device, characterized in that, include: A transceiver, a memory, a processor, and a program stored in the memory and executable on the processor; The processor is configured to read a program from the memory to implement the steps in the fault location method as described in any one of claims 1-11.

14. A readable storage medium for storing a program, characterized in that, When the stored program is executed by the processor, it implements the steps in the fault location method as described in any one of claims 1-11.

15. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps in the fault location method as described in any one of claims 1-11.

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