A special inspection method and system for underground cable

Abstract

The application relates to a special underground cable inspection method and system, and relates to the technical field of cable detection. The application comprises the following steps: collecting self-posture parameters, detection images and space perception data of an inspection robot; identifying the detection images to determine cable images and placement space images; determining the types of the placement spaces according to the placement space images; combining the space perception data, the types of the placement spaces and the cable images to generate required posture parameters; analyzing the deviation between the required posture parameters and the self-posture parameters to obtain posture deviation parameters; determining inspection control information according to the posture deviation parameters, and outputting the inspection control information to the inspection robot. The application has the effect of conveniently and accurately detecting underground cables by the inspection robot.

Description

Technical Field

[0001] This invention relates to the field of cable inspection technology, and in particular to a special inspection method and system for underground cables. Background Technology

[0002] Cable testing refers to the testing and verification of the performance, quality, safety and reliability of various cables, identifying defects in the cables throughout their entire life cycle of production, installation and use, and ensuring that they meet design requirements, industry standards and application scenarios.

[0003] Underground cables refer to cables that are typically buried underground, usually laid in cable trenches, tunnels, pipes, or indoors. Currently, the inspection of underground cables generally involves an inspection robot entering the cable duct. The robot moves along a predetermined path, using onboard sensors such as cameras and lidar to detect defects such as pipe deformation and damage to the cable's outer sheath, facilitating timely repair of any defects.

[0004] When using inspection robots to inspect underground cables, they generally move along a predetermined path. However, underground cable trenches, tunnels, or pipes may experience changes in trench width, deformation of tunnel sidewalls, or compression and denting of pipes due to settlement or collapse. This can easily cause the inspection robot to be unable to pass through the predetermined path or turn the detection range into a blind spot, making it inconvenient to collect complete data on the underground cables. Summary of the Invention

[0005] To facilitate accurate inspection of underground cables by inspection robots, this invention provides a special inspection method and system for underground cables.

[0006] In a first aspect, the present invention provides a special inspection method for underground cables, employing the following technical solution: A special inspection method for underground cables includes: S1: Collect the inspection robot's own posture parameters, detection images, and spatial perception data; S2: Identify the cable image and the placement space image based on the detected image; S3: Determine the placement space type based on the placement space image; S4: Combine spatial perception data, placement space type and cable image to generate required attitude parameters; S5: Analyze the deviation between the required attitude parameters and the existing attitude parameters to obtain the attitude deviation parameters; S6: Determine the inspection control information based on the attitude deviation parameters and output the inspection control information to the inspection robot.

[0007] By adopting the above technical solution, the robot can accurately identify cable images and placement space types by collecting its own posture parameters, detection images, and spatial perception data. It can then generate posture parameters that meet the requirements and calibrate deviations to obtain inspection control information, which is then output to the inspection robot. This enables the inspection robot to dynamically adapt to the underground cable placement space, improves the accuracy of inspection posture, reduces blind spots and collision risks, and facilitates accurate inspection of underground cables by the inspection robot.

[0008] Optional methods for determining the required attitude parameters include: S41: Generate center deviation and sidewall anomaly regions based on spatial perception data; S42: Based on the cable image and preset cable features, identify the cable entanglement situation; S43: Determine the center reference deviation by combining the type of placement space and the cable winding situation; S44: Determine whether the center deviation meets the center reference deviation; S45: If yes, then determine the center deviation attitude parameter based on the center deviation degree, and use the center deviation attitude parameter as the required attitude parameter; S46: If not, then combine the center deviation and the abnormal sidewall area to determine the abnormal attitude parameters, and use the abnormal attitude parameters as the required attitude parameters.

[0009] By adopting the above technical solution, the center deviation and abnormal side wall areas are determined by spatial perception data. Combined with the cable winding situation, the center deviation and abnormal scenarios are distinguished to generate the required attitude parameters, which are adapted to different cable distributions and spatial states. This avoids the inadequacy of adaptation caused by single attitude adjustment, improves the pertinence and rationality of the required attitude parameters, and ensures the integrity of inspection coverage.

[0010] Optional methods for determining the deviation from the center reference include: S431: Determine the baseline deviation of the space type based on the placement space type; S432: Retrieve the number of cable items and winding method based on the cable winding situation; S433: Determine the unit interval value for winding according to the winding method; S434: Calculate and determine the estimated winding interval value based on the winding unit interval value and the number of cables; S435: Determine the impact value of interval deviation based on the estimated winding interval value; S436: Calculate the product between the spatial type baseline deviation and the interval deviation influence value and use it as the center baseline deviation.

[0011] By adopting the above technical solution, the spatial type reference deviation is determined by the placement space type, and the interval deviation influence value is determined by the cable winding situation. Then, the center reference deviation is calculated so that the center reference deviation fits the actual space and cable winding scenario, providing a precise reference for determining the required attitude parameters and reducing attitude adjustment deviation.

[0012] Optional methods for determining abnormal attitude parameters include: S461: Retrieve the abnormal area value and the abnormal center location point based on the abnormal area of ​​the sidewall; S462: Determine the center point of the cable based on cable images and spatial perception data; S463: Determine the impact value of center deviation by combining the cable center location point and the abnormal center location point; S464: Determine the area impact value based on abnormal area values; S465: Calculate the product between the center deviation impact value and the area impact value and use it as the abnormal area impact value; S466: Adjust the center deviation attitude parameters based on the influence value of the abnormal region to form abnormal adjustment attitude parameters, and use the abnormal adjustment attitude parameters as abnormal attitude parameters.

[0013] By adopting the above technical solution, the influence value of the abnormal area is calculated by combining the abnormal area value of the abnormal area of ​​the side wall, the abnormal center location point and the cable center location point. The center deviation posture parameters are then adjusted to adjust the posture to achieve accurate posture adaptation under abnormal scenarios, thereby improving inspection safety and detection accuracy.

[0014] Optional methods for determining the center deviation impact value include: S4631: Determine the direction of the regional center deviation and the distance value of the regional center based on the location of the anomaly center; S4632: Determine the direction of cable center deviation and the cable center distance value based on the cable center location point; S4633: Analyze the angle between the direction of the deviation of the center of the region and the direction of the deviation of the cable center, and use it as the deviation angle value; S4634: Calculate the ratio between the cable center distance value and the area center distance value and use it as the distance ratio value; S4635: Combine the deviation angle value and the distance ratio value to determine the comprehensive influence value of angle and distance, and use the comprehensive influence value of angle and distance as the center deviation influence value.

[0015] By adopting the above technical solution, the influence value of center deviation is determined by comprehensively considering the deviation direction, distance value, and deviation angle of the area and cable, combined with the distance ratio value. This fully covers the position and angle dimensions, making the influence value more consistent with the actual deviation and optimizing the attitude adaptation effect.

[0016] Optional methods for determining the combined influence value of angle and distance include: S46351: Determine the angle influence coefficient based on the deviation angle value; S46352: Determine the cable space ratio by combining cable images and placement space images; S46353: Determine the distance reference ratio based on the cable space ratio; S46354: Determine whether the distance scale value is less than the distance reference scale value; S46355: If yes, calculate the product between the distance ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance; S46356: If not, calculate the product between the distance reference ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance.

[0017] By adopting the above technical solution, the angle influence coefficient is determined by the deviation angle value, the distance reference ratio value is limited by the cable space ratio, and the comprehensive influence value of angle and distance is calculated by judging whether the distance ratio value is less than the distance reference ratio value. This avoids over-adjustment caused by the distance ratio exceeding the limit, ensures that the influence value is adapted to the cable space scenario, and improves the stability and rationality of abnormal posture adjustment.

[0018] Optionally, methods for determining inspection control information include: S61: Collect equipment specifications and parameters for the inspection robot; S62: Determine the maximum adjustment parameter based on the equipment specifications; S63: Analyze and adjust the maximum parameter and its own attitude parameter to determine the allowable deviation parameter; S64: Determine whether the attitude deviation parameters meet the allowable deviation parameters; S65: If yes, then determine the attitude adjustment information based on the attitude deviation parameters, and use the attitude adjustment information as the inspection control information; S66: If not, determine the type of sidewall anomaly based on the area of ​​sidewall anomaly; S67: Combine the sidewall anomaly type and anomaly area value to determine anomaly handling information, and use the anomaly handling information as inspection control information.

[0019] By adopting the above technical solution, the maximum adjustment parameter is determined in combination with the equipment specification parameters, and then the allowable deviation parameter is determined. Based on the judgment result of whether the attitude deviation parameter meets the allowable deviation parameter, attitude adjustment information or abnormal handling information is determined as inspection control information. This ensures that the attitude adjustment meets the equipment capability and accurately handles abnormal scenarios that exceed the allowable range, thereby improving the safety and adaptability of inspection control.

[0020] Optionally, methods for determining exception handling information include: S671: Permissible types of data retrieval and processing based on equipment specification parameters; S672: When the sidewall anomaly type is consistent with the permissible treatment type, determine the treatment reference area value and the type unit power value by combining the equipment specification parameters and the sidewall anomaly type. S673: Calculate the quotient between the abnormal area value and the processing baseline area value and use it as the area ratio value; S674: Calculate the product between the power per unit area value and the area ratio value and use it as the power demand value for processing. S675: Determine the type control information based on the sidewall anomaly type, and combine the processing power requirement value with the type control information as anomaly processing information.

[0021] By adopting the above technical solution, the processing power requirement is calculated by combining the processing allowable types of equipment specifications with the side wall anomaly type and anomaly area value. The type control information is integrated to generate anomaly processing information, thereby achieving precise adaptation and processing of manageable anomalies, improving anomaly processing efficiency, and avoiding equipment overload operation.

[0022] Optionally, methods for determining exception handling information may also include: S6761: When the sidewall anomaly type does not match the handling tolerance type, collect the movement path and target path of the inspection robot; S6762: Determine the path ratio based on the moving path and the target path; S6763: Determine the baseline scale value of the path based on the target path; S6764: Determine abnormal alarm information based on the type of sidewall abnormality; S6765: Determine whether the path scale value is less than the path baseline scale value; S6766: If yes, then select the branch location points from the target path based on the movement path; S6767: Determine movement control information based on the selected branch location point, and combine the movement control information with the abnormal alarm information as abnormal handling information; S6768: If not, determine the return movement information based on the movement path, and combine the return movement information with the abnormal alarm information as abnormal handling information.

[0023] By adopting the above technical solution, when the type of sidewall anomaly does not match the type of acceptable handling, the system selects a branch or returns and alarms based on the movement path and target path, avoiding ineffective inspections and equipment damage, achieving reasonable handling of unmanageable anomalies, ensuring the safety of the inspection robot, and providing timely feedback on anomalies to improve the timeliness of operation and maintenance response.

[0024] Secondly, this invention provides a special inspection system for underground cables, employing the following technical solution: A special inspection system for underground cables includes: The acquisition module is used to acquire its own posture parameters, detection images, spatial perception data, device specification parameters, movement path, and target path. The memory stores a program for implementing a special inspection method for underground cables as described in any one of the first aspects; The processor loads and executes programs stored in memory.

[0025] In summary, the present invention has at least one of the following beneficial technical effects: 1. By collecting its own posture parameters, detection images and spatial perception data, the robot can accurately identify cable images and placement space types, generate posture parameters that meet the requirements and calibrate deviations to obtain inspection control information and output it to the inspection robot. This enables the inspection robot to dynamically adapt to the underground cable placement space, improve the accuracy of inspection posture, reduce blind spots and collision risks, and facilitate the inspection robot to accurately inspect underground cables. 2. By using spatial perception data to determine the center deviation and abnormal areas of the side walls, and combining the cable entanglement situation to distinguish between center deviation and abnormal scenarios, the required attitude parameters are generated to adapt to different cable distributions and spatial conditions. This avoids insufficient adaptation caused by single attitude adjustment, improves the pertinence and rationality of the required attitude parameters, and ensures the integrity of inspection coverage. 3. Determine the maximum adjustment parameter based on the equipment specifications, and then determine the allowable deviation parameter. Based on the judgment result of whether the attitude deviation parameter meets the allowable deviation parameter, determine the attitude adjustment information or abnormal handling information as inspection control information. This ensures that the attitude adjustment meets the equipment capability and accurately handles abnormal scenarios that exceed the allowable range, thereby improving the safety and adaptability of inspection control. Attached Figure Description

[0026] Figure 1 This is a flowchart of a special inspection method for underground cables; Figure 2 This is a flowchart illustrating the method for determining the required posture parameters; Figure 3 This is a flowchart illustrating the method for determining inspection and control information. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] A special inspection method for underground cables is proposed. This method collects the robot's own posture parameters, detection images, spatial perception data, equipment specifications, movement paths, and target paths. First, it identifies the cable image and the type of the placement space. Then, it determines the required posture parameters by combining information such as cable entanglement and abnormal sidewall areas, and compares these with the robot's own posture parameters to obtain the deviation. Next, it combines these with the equipment specifications to determine if the deviation is acceptable. If it is compatible, it outputs posture adjustment information; otherwise, it handles the issue according to the type of sidewall abnormality. This enables the inspection robot to dynamically adapt to the underground cable placement space, improving the accuracy of the inspection posture, reducing blind spots and collision risks, and facilitating accurate inspection of underground cables by the inspection robot.

[0029] Reference Figure 1 This invention discloses a special inspection method for underground cables, comprising: S1: Collect the inspection robot's own posture parameters, detection images, and spatial perception data.

[0030] Among them, the self-attitude parameters refer to the attitude state data of the inspection robot when it is running in the underground cable laying space (cable trench / tunnel / pipe), including parameters such as position coordinates, pitch angle, roll angle, heading angle, and travel speed. The self-attitude parameters are obtained by querying the inspection robot.

[0031] Inspection images refer to the visual images of underground cables, the side walls of the laying space, and the surrounding environment captured by the inspection robot through visual sensors, covering key areas such as cable surfaces, joints, and pipe inner walls.

[0032] Spatial sensing data refers to the geometric parameters of the laying space acquired through spatial sensing devices, including data such as distance, dimensions, and obstacle positions. Spatial sensing devices can be lidar, ultrasonic sensors, etc.

[0033] S2: Identify the cable image and the placement space image based on the detected image.

[0034] Cable images refer to identified images containing cable-related targets such as the cable body, cable joints, and cable insulation. Placement space images refer to images reflecting the underground cable laying carrier (cable trench / tunnel / pipeline) and its surrounding environment.

[0035] The features of the cable in the detection image are extracted by a convolutional neural network and matched with a preset cable feature library. The cable-related area is segmented to obtain the cable image. At the same time, the structural features of the laying space (such as the straight contour of the trench wall, the arc-shaped inner wall of the tunnel, and the circular boundary of the pipe) are extracted to segment the non-cable area to obtain the placement space image.

[0036] The cable feature library pre-stores features such as cylindrical outlines, specific colors / textures, and joint shapes. The cable feature library is retrieved after pre-entry by the operator.

[0037] S3: Determine the placement space type based on the placement space image.

[0038] Among them, the type of placement space refers to the category of the carrier for laying underground cables, including cable trenches, cable tunnels, and cable ducts.

[0039] The placement space image is processed by an image feature extraction algorithm to extract key features such as outline shape, size range, and structural layout. These features are then matched and identified with a preset placement space type feature library to obtain the placement space type.

[0040] The space type feature library is obtained after the operator pre-inputs. For example, the space type feature library stores the features of cable trenches as straight trench walls and flat trench bottom, cable tunnels as arc-shaped tops and open internal spaces, and cable ducts as circular closed internal walls.

[0041] S4: Combine spatial perception data, placement space type and cable image to generate required attitude parameters.

[0042] Among them, the required posture parameters refer to the target posture data that the inspection robot needs to achieve in order to adapt to the current placement space type, cable distribution status and inspection requirements.

[0043] By combining and analyzing spatial perception data, placement space type, and cable images, the required attitude parameters are generated for convenient subsequent use.

[0044] To further ensure the rationality of the required attitude parameters, it is necessary to perform further separate analysis and calculation on the required attitude parameters, which will be explained in detail through the steps shown below.

[0045] Reference Figure 2 The method for determining the required attitude parameters includes the following steps: S41: Generate center deviation and sidewall anomaly areas based on spatially perceived data.

[0046] Among them, the center deviation refers to the degree of deviation between the current position of the inspection robot and the center of the placement space (such as the center of a cable duct, the central axis of a tunnel, or the center line of a cable trench). The center deviation includes the deviation distance and the deviation direction.

[0047] Abnormal sidewall areas refer to specific areas in the sidewalls of placement spaces (cable trench walls, tunnel walls, pipe inner walls) where the structural form does not conform to normal standards (such as the presence of protrusions, depressions, damage, attachments, etc.).

[0048] The spatial center coordinates are obtained by fitting the spatial perception data (e.g., fitting the center of a circle using circumferential point cloud data in a pipeline scenario), the current position coordinates of the inspection robot are then extracted, and the deviation distance and direction between the two coordinates are calculated and used as the center deviation.

[0049] By comparing the three-dimensional contour of the sidewall acquired by spatial perception data with the preset normal sidewall contour model, when the contour deviation value of a certain area exceeds the threshold (e.g., ≥0.5cm), its location range, area and abnormality type (e.g., protrusion, depression) are marked and it is regarded as an abnormal area of ​​the sidewall.

[0050] S42: Based on the cable image and preset cable features, identify the cable entanglement situation.

[0051] Among them, cable winding condition refers to the distribution status information when multiple cables run in parallel. Cable winding condition includes the number of cables wound and the winding method (such as spiral winding or parallel tight arrangement).

[0052] By identifying cable images against preset cable features, the number of cables in the cable image can be identified. Based on the overlap of cable positions, the variation of spacing, and the arrangement of cables, the winding method of the cables can be determined, thus forming the cable winding situation.

[0053] S43: Determine the center reference deviation by combining the type of placement space and the cable winding situation.

[0054] Among them, the center reference deviation refers to the maximum reasonable center deviation threshold that the inspection robot can be allowed to meet, taking into account the structural constraints of the placement space type and the distribution requirements of cable entanglement.

[0055] By combining the analysis of the placement space type and the cable winding situation, the deviation of the center reference can be determined, which facilitates subsequent use.

[0056] To further ensure the rationality of the center datum deviation, it is necessary to perform a further separate analysis and calculation of the center datum deviation, which will be explained in detail through the steps shown below.

[0057] The method for determining the deviation of the center reference includes the following steps: S431: Determine the space type baseline deviation based on the placement space type.

[0058] Among them, the spatial type reference deviation refers to the maximum reasonable center deviation threshold that the inspection robot can be allowed for, which is determined by the structural constraints of the placement space type. The spatial type reference deviation includes the reference deviation distance and the range of the reference deviation direction.

[0059] Different placement space types have structural constraints (sealing, openness, size range), and corresponding preset reference deviation thresholds. Cable ducts are sealed and have a small inner diameter, resulting in the strongest constraints and the smallest reference deviation setting. Cable trenches are semi-open, with moderate constraints and a moderate reference deviation setting. Cable tunnels are open, with the weakest constraints and the largest reference deviation. The reference deviation for each placement space type is preset by the operator according to requirements.

[0060] S432: Retrieve the number of cables and winding method based on the cable winding situation.

[0061] Here, "number of cables" refers to the number of cables wound in width. "Wrapping method" refers to the arrangement of the wound cables.

[0062] The cable winding details can be retrieved to obtain the cable quantity and winding method for convenient subsequent use.

[0063] S433: Determine the unit interval value of winding according to the winding method.

[0064] The unit spacing value refers to the theoretical increase in the diameter of the entire cable bundle due to the addition of one cable.

[0065] Different winding methods correspond to different winding unit interval values. By inputting the winding method into a preset unit interval database, the winding unit interval value can be matched and obtained for convenient subsequent use.

[0066] The unit interval database pre-stores a lookup table of different winding methods and their corresponding winding unit interval values. The unit interval database is preset by the operator according to actual needs.

[0067] S434: Calculate and determine the estimated winding interval value based on the winding unit interval value and the number of cables.

[0068] Among them, the estimated winding interval value refers to the theoretical increase in the diameter of the entire cable bundle estimated for each cable.

[0069] The product of the winding unit interval value and the number of cables is calculated, and the calculation result is used as the estimated winding interval value for convenient subsequent use.

[0070] S435: Determine the impact value of interval deviation based on the estimated winding interval value.

[0071] Among them, the interval deviation impact value refers to the degree of influence of the increase in the diameter of the entire cable bundle on the spatial type reference deviation.

[0072] The larger the estimated winding interval value, the greater the impact of the interval deviation. The estimated winding interval value is input into a preset interval deviation impact database to obtain the interval deviation impact value, which is convenient for subsequent use.

[0073] The interval deviation impact database has a pre-stored table that compares different estimated winding interval values ​​with their corresponding interval deviation impact values. The interval deviation impact database can be pre-set by the operator according to their needs.

[0074] S436: Calculate the product between the spatial type baseline deviation and the interval deviation influence value and use it as the center baseline deviation.

[0075] Specifically, the benchmark deviation distance and benchmark deviation direction range are retrieved by the benchmark deviation degree of the spatial type. The product value between the benchmark deviation distance and the interval deviation influence value is calculated to obtain the benchmark influence distance. The center direction and the range angle are determined by the benchmark deviation direction range. The benchmark influence angle is obtained by calculating the product value between the range angle and the interval deviation influence value. Then, the range endpoint direction is re-determined with the center direction as the center and the benchmark influence angle as the direction range angle, thereby obtaining the benchmark influence direction range. Finally, the benchmark influence distance and the benchmark influence direction range are combined as the center benchmark deviation degree to improve the accuracy of the obtained center benchmark deviation degree.

[0076] S44: Determine whether the center deviation meets the center reference deviation. If yes, proceed to S45; if no, proceed to S46.

[0077] Specifically, the center deviation is determined by retrieving the distance and direction of the center deviation and using them as the center deviation distance and direction. Furthermore, the center deviation is used to retrieve the range of the reference influence distance and direction. If the center deviation distance is less than the reference influence distance and the center deviation direction is within the range of the reference influence direction, the center deviation meets the center reference deviation requirement. Conversely, if the center deviation is less than the reference influence distance and the center deviation direction is within the range of the reference influence direction, the center deviation does not meet the center reference deviation requirement.

[0078] By judging whether the center deviation meets the center reference deviation, it can be determined whether the attitude can be adjusted directly based on the center deviation.

[0079] S45: Determine the center deviation attitude parameters based on the center deviation degree, and use the center deviation attitude parameters as the required attitude parameters.

[0080] Among them, the center deviation attitude parameter refers to the attitude parameter that needs to be in after attitude adjustment based on the center deviation degree.

[0081] When the center deviation meets the center reference deviation, it means that the attitude can be directly adjusted based on the center deviation. Therefore, by retrieving the deviation distance and deviation direction through the center deviation, the off-center position that the inspection robot needs to reach can be determined. Then, the position coordinates, pitch angle, roll angle, heading angle and travel speed corresponding to the inspection robot when it is at the off-center position are retrieved as center deviation attitude parameters. Finally, the center deviation attitude parameters are used as the required attitude parameters to improve the accuracy of the obtained required attitude parameters.

[0082] S46: Combine the center deviation and the abnormal sidewall area to determine the abnormal attitude parameters, and use the abnormal attitude parameters as the required attitude parameters.

[0083] Among them, abnormal attitude parameters refer to the attitude parameters corresponding to additional adjustments made based on abnormal regions.

[0084] When the center deviation does not meet the center reference deviation, it means that attitude adjustment cannot be directly based on the center deviation. Therefore, by combining the center deviation with the abnormal area of ​​the sidewall, abnormal attitude parameters are determined and used as the required attitude parameters to improve the accuracy of the obtained required attitude parameters.

[0085] To further ensure the rationality of the abnormal attitude parameters, it is necessary to perform further separate analysis and calculation on the abnormal attitude parameters, which will be explained in detail through the steps shown below.

[0086] The method for determining abnormal attitude parameters includes the following steps: S461: Retrieve the abnormal area value and the abnormal center location point based on the abnormal area of ​​the sidewall.

[0087] The abnormal area value refers to the area covered by the abnormal region on the sidewall. The abnormal center point refers to the center point of the abnormal region on the sidewall.

[0088] The abnormal area value is obtained by calculating the area of ​​the abnormal region on the side wall, and the center position of the abnormal region on the side wall is calculated as the abnormal center position point for convenient subsequent use.

[0089] S462: Determine the center point of the cable based on cable images and spatial perception data.

[0090] The cable center point refers to the actual location of the center of the cable bundle.

[0091] The distance between the inspection robot and the cable bundle is retrieved from the spatial perception data and used as the detection distance value. The width of the cable bundle is identified from the cable image, and the parameters of the vision sensor preset on the inspection robot are queried. The actual width of the cable bundle is obtained by combining the analysis. The cable bundle radius is estimated by retrieving the winding method from the cable image. Thus, the center position of the cable is determined based on the inspection robot's own position, the detection distance value, and the cable bundle radius.

[0092] S463: Determine the center deviation impact value by combining the cable center location point and the abnormal center location point.

[0093] Among them, the center deviation influence value refers to the degree of influence caused by the distance between the cable position and the abnormal center position.

[0094] By combining the analysis of the cable center location point and the abnormal center location point, the influence value of the center deviation can be determined, which facilitates subsequent use.

[0095] To further ensure the rationality of the center deviation impact value, it is necessary to perform a further separate analysis and calculation of the center deviation impact value, which will be explained in detail through the steps shown below.

[0096] The method for determining the influence value of center deviation includes the following steps: S4631: Determine the direction of the regional center deviation and the distance value of the regional center based on the location of the anomaly center.

[0097] Among them, the direction of deviation of the regional center refers to the offset direction of the abnormal center location point relative to the center of the placement space, and the distance value of the regional center refers to the straight-line distance of the abnormal center location point relative to the center of the placement space.

[0098] By retrieving the coordinates of the spatial center and calculating the coordinates of the anomaly center location point and the spatial center coordinates, the direction and distance between the two coordinates are obtained and used as the deviation direction and distance value of the regional center, respectively, for convenient subsequent use.

[0099] S4632: Determine the direction of cable center deviation and the cable center distance value based on the cable center location point.

[0100] Among them, the direction of cable center deviation refers to the offset direction of the cable center position point relative to the center of the placement space, and the cable center distance value refers to the straight-line distance of the cable center position point relative to the center of the placement space.

[0101] By calculating the coordinates of the cable center location point and the spatial center coordinates, the direction and distance between the two coordinates are obtained, and these are used as the cable center deviation direction and cable center distance value, respectively, for convenient subsequent use.

[0102] S4633: Analyze the angle between the direction of the center deviation of the region and the direction of the center deviation of the cable and use it as the deviation angle value.

[0103] The deviation angle value refers to the angle between the deviation direction of the area center and the deviation direction of the cable center.

[0104] By analyzing and calculating the deviation angle value, it is convenient for subsequent use.

[0105] S4634: Calculate the ratio between the cable center distance value and the area center distance value and use it as the distance ratio value.

[0106] The distance ratio refers to the ratio between the cable center distance and the area center distance.

[0107] Calculating the distance ratio makes it easier to use later.

[0108] S4635: Combine the deviation angle value and the distance ratio value to determine the comprehensive influence value of angle and distance, and use the comprehensive influence value of angle and distance as the center deviation influence value.

[0109] Among them, the comprehensive influence value of angle and distance refers to the influence value corresponding to the ratio of comprehensive deviation angle to distance.

[0110] By combining the deviation angle value with the distance ratio value, the comprehensive influence value of angle and distance is determined, and the comprehensive influence value of angle and distance is used as the center deviation influence value, thereby improving the accuracy of the obtained center deviation influence value.

[0111] To further ensure the rationality of the comprehensive influence value of angle and distance, it is necessary to conduct a further separate analysis and calculation of the comprehensive influence value of angle and distance, which will be explained in detail through the following steps.

[0112] The method for determining the combined influence value of angle and distance includes the following steps: S46351: Determine the angle influence coefficient based on the deviation angle value.

[0113] The angle influence coefficient refers to the coefficient that determines the degree of influence of the deviation angle per unit distance on the adjustment of abnormal attitude parameters. The smaller the deviation angle value, the closer the angle influence coefficient is to 1.

[0114] By inputting the deviation angle value into a preset angle influence database, the angle influence coefficient is obtained for easy subsequent use.

[0115] The angle influence database has a pre-stored table of different deviation angle ranges and their corresponding angle influence coefficients. The angle influence database is preset by the operator.

[0116] S46352: Determine the cable space ratio value by combining the cable image and the placement space image.

[0117] The cable space ratio refers to the ratio of the actual space occupied by the cable to the available space for its placement.

[0118] By retrieving the pixel size corresponding to the cable image and the pixel size corresponding to the placement space image, and then calculating the ratio between the two pixel sizes, the cable space ratio value is obtained, which is convenient for subsequent use.

[0119] S46353: Determine the distance reference ratio based on the cable space ratio.

[0120] Among them, the distance reference ratio value refers to the reference threshold set based on the cable space ratio value.

[0121] The larger the cable space ratio value, the larger the distance reference ratio value. The distance reference ratio value is obtained by inputting the cable space ratio value into a preset distance reference ratio database, which facilitates subsequent use.

[0122] The distance reference ratio database pre-stores a table that compares different cable space ratio values ​​with their corresponding distance reference ratio values. The distance reference ratio database is pre-set by the operator according to actual needs.

[0123] For example, the distance reference ratio database can be set to a distance reference ratio of 0.5 when the cable space ratio is ≤0.3; 0.6 when the cable space ratio is 0.3 to 0.6; 0.7 when the cable space ratio is 0.6 to 0.8; and 0.8 when the cable space ratio is >0.8.

[0124] S46354: Determine if the distance scale value is less than the distance reference scale value. If yes, proceed to S46355; if no, proceed to S46356.

[0125] Specifically, the system determines whether the distance ratio can be directly used by judging whether the distance ratio value is less than the distance benchmark ratio value.

[0126] S46355: Calculate the product between the distance ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance.

[0127] When the distance ratio is less than the distance reference ratio, it means that the distance ratio can be used directly. Therefore, the product between the distance ratio and the angle influence coefficient is calculated, and the calculation result is used as the comprehensive influence value of angle and distance to improve the accuracy of the obtained comprehensive influence value of angle and distance.

[0128] S46356: Calculate the product between the distance reference ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance.

[0129] When the distance ratio is not less than the distance reference ratio, it means that the distance ratio cannot be used directly. Therefore, the product of the distance reference ratio and the angle influence coefficient is calculated, and the calculation result is used as the comprehensive influence value of angle and distance to improve the accuracy of the obtained comprehensive influence value of angle and distance.

[0130] S464: Determine the area impact value based on the abnormal area value.

[0131] Among them, the area impact value refers to the value that quantifies the degree of influence of abnormal area on the adjustment of abnormal attitude parameters.

[0132] The larger the abnormal area value, the greater the area impact value. Abnormal area values ​​are entered into a preset area impact database to obtain the corresponding area impact values, facilitating subsequent use.

[0133] The area impact database pre-stores a table of different abnormal area values ​​and their corresponding area impact values, and is obtained after the operator pre-inputs the data.

[0134] S465: Calculate the product of the center deviation impact value and the area impact value and use it as the impact value of the abnormal area.

[0135] The abnormal area impact value refers to the comprehensive coefficient of the degree of influence of the abnormal area on the overall posture adjustment of the inspection robot. The smaller the center deviation impact value and the smaller the area impact value, the smaller the posture parameters that need to be adjusted.

[0136] The product of the center deviation impact value and the area impact value is calculated, and the calculation result is used as the impact value of the abnormal area for convenient subsequent use.

[0137] S466: Adjust the center deviation attitude parameters based on the influence value of the abnormal region to form abnormal adjustment attitude parameters, and use the abnormal adjustment attitude parameters as abnormal attitude parameters.

[0138] Among them, the abnormal adjustment attitude parameters refer to the attitude parameters corresponding to the attitude adjustment after adjusting the attitude based on the abnormal region.

[0139] The deviation distance and direction corresponding to the deviation from the center position are retrieved by the center deviation attitude parameters. The deviation distance and direction are adjusted by the abnormal area influence value to obtain the updated adjusted position as the position of the inspection robot after attitude adjustment. Then, the position coordinates, pitch angle, roll angle, heading angle and travel speed corresponding to the inspection robot when it is in the adjusted position are retrieved as abnormal adjustment attitude parameters. Finally, the abnormal adjustment attitude parameters are used as abnormal attitude parameters to improve the accuracy of the obtained abnormal attitude parameters.

[0140] S5: Analyze the deviation between the required attitude parameters and the existing attitude parameters to obtain the attitude deviation parameters.

[0141] Among them, the attitude deviation parameter refers to the set of deviation parameters between the required attitude parameter and its own attitude parameter.

[0142] By retrieving the position coordinates, pitch angle, roll angle, yaw angle, and speed of the required attitude parameters and the self-attitude parameters respectively, and calculating the deviations separately, the deviation results are combined as attitude deviation parameters for convenient subsequent use.

[0143] S6: Determine the inspection control information based on the attitude deviation parameters and output the inspection control information to the inspection robot.

[0144] Among them, inspection control information refers to the control information used to control the inspection robot to perform subsequent inspections.

[0145] By analyzing the posture deviation parameters, inspection control information is obtained and output to the inspection robot, enabling the inspection robot to dynamically adapt to the underground cable placement space, improving the accuracy of inspection posture, reducing blind spots and collision risks, and facilitating accurate inspection of underground cables by the inspection robot.

[0146] To further ensure the rationality of the inspection control information, it is necessary to perform further separate analysis and calculation on the inspection control information, which will be explained in detail through the steps shown below.

[0147] Reference Figure 3 The method for determining inspection control information includes the following steps: S61: Collect equipment specifications and parameters for the inspection robot.

[0148] Among them, the equipment specifications refer to the inherent hardware parameters of the inspection robot's specifications, including body size and performance indicators.

[0149] This information was obtained by querying the inspection robot.

[0150] S62: Determine the maximum adjustment parameter based on the equipment specifications.

[0151] Among them, the maximum adjustable parameter refers to the maximum parameter that the inspection robot can adjust.

[0152] By inputting the equipment specifications into a preset specifications database, the maximum adjustable parameters can be obtained for easier subsequent use.

[0153] The specification database pre-stores a table of different equipment specification parameters and their corresponding maximum adjustable parameters, which is obtained after the operator pre-inputs the parameters.

[0154] S63: Analyze and adjust the maximum parameter and its own attitude parameters to determine the allowable deviation parameter.

[0155] Among them, the deviation tolerance parameter refers to the posture parameters that the inspection robot can adjust under the current posture.

[0156] By comparing and calculating the maximum adjustment parameter with the various attitude parameters of its own attitude parameters, and combining the calculation results of each attitude parameter to form a set of attitude deviation parameters, which are then used as the deviation tolerance parameters.

[0157] S64: Determine whether the attitude deviation parameters meet the allowable deviation parameters. If yes, proceed to S65; if no, proceed to S66.

[0158] Specifically, by retrieving each attitude parameter of the attitude deviation parameter and the deviation tolerance parameter, it is determined whether each attitude parameter of the attitude deviation parameter meets each attitude parameter of the deviation tolerance parameter, thereby determining whether attitude adjustment can be performed.

[0159] S65: Determine the attitude adjustment information based on the attitude deviation parameters, and use the attitude adjustment information as inspection control information.

[0160] Among them, attitude adjustment information refers to the control information corresponding to the attitude adjustment of the inspection robot.

[0161] By inputting attitude deviation parameters into a preset attitude control database to obtain attitude adjustment information, and using the attitude adjustment information as inspection control information, the accuracy of the obtained inspection control information is improved.

[0162] The attitude control database pre-stores a lookup table of different attitude deviation parameters and their corresponding attitude adjustment information, which is obtained after the operator pre-inputs the information.

[0163] S66: Determine the type of sidewall abnormality based on the abnormal area of ​​the sidewall.

[0164] Among them, sidewall anomaly types refer to the classification of abnormal areas on the sidewall according to their morphological characteristics, causes, and impact on inspection. Sidewall anomaly types include protrusions, depressions, damage, and attached substances.

[0165] The abnormality type is retrieved from the abnormal area of ​​the sidewall and used as the sidewall abnormality type for convenient subsequent use.

[0166] S67: Combine the sidewall anomaly type and anomaly area value to determine anomaly handling information, and use the anomaly handling information as inspection control information.

[0167] Among them, abnormal handling information refers to the control information used to control the operation of the inspection robot based on abnormal conditions of the sidewall.

[0168] By combining the analysis of sidewall anomaly types and anomaly area values, anomaly handling information can be determined, and this anomaly handling information can be used as inspection control information to improve the accuracy of the obtained inspection control information.

[0169] To further ensure the rationality of the exception handling information, it is necessary to perform further separate analysis and calculation on the exception handling information, which will be explained in detail through the steps shown below.

[0170] The method for determining exception handling information includes the following steps: S671: Retrieval and processing permission type based on equipment specification parameters.

[0171] Among them, the permissible processing type refers to the types of things that the inspection robot can process, including attachments, dents, and damage.

[0172] S672: When the sidewall anomaly type is consistent with the permissible treatment type, determine the treatment reference area value and type unit power value by combining the equipment specification parameters and the sidewall anomaly type.

[0173] The processing baseline area value refers to the maximum area value corresponding to the inspection robot's processing of sidewall anomaly types. The type-specific power value refers to the power value per unit area corresponding to the inspection robot's processing of sidewall anomaly types.

[0174] When the side wall anomaly type matches the permissible handling type, it means that the inspection robot can handle the anomaly. Therefore, by inputting the equipment specification parameters and the side wall anomaly type into the preset anomaly type handling database, the processing reference area value and type unit power value can be obtained for convenient subsequent use.

[0175] The anomaly type processing database pre-stores a table that compares different equipment specifications, side wall anomaly types with corresponding processing baseline area values ​​and type unit power values. The anomaly type processing database is obtained after the operator pre-inputs the data.

[0176] S673: Calculate the quotient between the abnormal area value and the treatment baseline area value and use it as the area ratio value.

[0177] The area ratio value refers to the quotient between the abnormal area value and the processing baseline area value.

[0178] Calculating the area ratio makes it easier to use later.

[0179] S674: Calculate the product between the power value per unit area and the area ratio and use it as the power value required for processing.

[0180] The processing power requirement refers to the power required by the inspection robot to process side wall anomalies.

[0181] The product of the power value per unit area and the area ratio is calculated, and the result is used as the power value required for processing, which is convenient for subsequent use.

[0182] S675: Determine the type control information based on the sidewall anomaly type, and combine the processing power requirement value with the type control information as anomaly processing information.

[0183] Among them, type control information refers to the control information corresponding to the processing of sidewall anomaly types.

[0184] By inputting the sidewall anomaly type into a preset type control database to obtain type control information, and combining the processing demand power value with the type control information as anomaly processing information, the accuracy of the obtained anomaly processing information is improved.

[0185] The type control database pre-stores a lookup table of different sidewall anomaly types and their corresponding type control information, which is obtained after the operator pre-inputs the information.

[0186] For example, the type control database pre-sets the type control information for when the side wall anomaly type is attachment to control the air blowing device preset on the inspection robot to blow air, and the type control information for when the side wall anomaly type is dent or damage to control the repair spraying device preset on the inspection robot to spray.

[0187] To further ensure the rationality of the exception handling information, it is necessary to perform further separate analysis and calculation on the exception handling information, which will be explained in detail through the steps shown below.

[0188] The method for determining exception handling information also includes the following steps: S6761: When the sidewall anomaly type does not match the handling tolerance type, collect the movement path and target path of the inspection robot.

[0189] The movement path refers to the path the inspection robot has already traveled. The target path refers to the entire path the inspection robot needs to inspect. Both the movement path and the target path are obtained by querying the inspection robot.

[0190] When the sidewall anomaly type does not match the processing tolerance type, the movement path and target path are collected to facilitate subsequent use.

[0191] S6762: Determine the path ratio based on the moving path and the target path.

[0192] The path ratio value refers to the ratio between the length of the moving path and the length of the target path.

[0193] By retrieving the length values ​​of the moving path and the target path respectively, and calculating the ratio between the two length values, the path ratio value is obtained for convenient subsequent use.

[0194] S6763: Determine the baseline scale value of the path based on the target path.

[0195] The path baseline ratio value refers to the maximum ratio value that needs to be continued during inspection.

[0196] The path length is retrieved, and a preset path baseline ratio database is queried to obtain the path baseline ratio value, which is convenient for subsequent use.

[0197] The path baseline ratio database pre-stores a table that maps the lengths of different target paths to their corresponding path baseline ratio values. The path baseline ratio database is pre-set by the operator according to actual needs.

[0198] S6764: Determine the abnormal alarm information based on the type of sidewall abnormality.

[0199] Among them, abnormal alarm information refers to alarm information that alerts to abnormal types of sidewalls.

[0200] By inputting the side wall abnormality type into the preset alarm database, abnormal alarm information can be obtained for convenient subsequent use.

[0201] The alarm database has a pre-stored table of different side wall abnormality types and their corresponding alarm information. The alarm database is retrieved after the operator has pre-entered the information.

[0202] S6765: Determine whether the path ratio value is less than the path baseline ratio value. If yes, proceed to S6766; if no, proceed to S6768.

[0203] Specifically, the system determines whether further inspection is needed by checking whether the path ratio is less than the path baseline ratio.

[0204] S6766: Select branch location points from the target path based on the movement path.

[0205] Among them, the branch location point refers to the intersection point of the path branch before the current position.

[0206] When the path ratio value is greater than the path baseline ratio value, it means that inspection needs to continue. Therefore, the location of the branch road is selected from the target path covered by the moving path and used as the branch road location point for convenient use later.

[0207] S6767: Determine the movement control information based on the selected branch location point, and combine the movement control information with the abnormal alarm information as abnormal handling information.

[0208] Among them, the movement control information refers to the control information that controls the inspection robot to move to the branch location point for inspection.

[0209] By selecting a path back to the branch location from the target path and a path for continued inspection from the branch location, and combining them to form a supplementary inspection path, motion control information is generated based on the supplementary inspection path. This motion control information is then combined with abnormal alarm information to serve as abnormal handling information, thereby improving the accuracy of the obtained abnormal handling information.

[0210] S6768: Determine the return movement information based on the movement path, and combine the return movement information with the abnormal alarm information as abnormal handling information.

[0211] Among them, the return movement information refers to the control information corresponding to the return of the inspection robot.

[0212] When the path ratio is not less than the path baseline ratio, it means that no further inspection is needed. Therefore, by using the moving path as the return path and forming return moving information, and combining the return moving information with the abnormal alarm information as abnormal handling information, the accuracy of the obtained abnormal handling information is improved.

[0213] Based on the same inventive concept, embodiments of the present invention provide a special inspection system for underground cables, comprising: The acquisition module is used to acquire its own posture parameters, detection images, spatial perception data, device specification parameters, movement path, and target path. The memory stores a program for implementing a special inspection method for underground cables as described above. The processor loads and executes programs stored in memory.

[0214] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0215] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A special inspection method for underground cables, characterized in that, include: S1: Collect the inspection robot's own posture parameters, detection images, and spatial perception data; S2: Identify the cable image and the placement space image based on the detected image; S3: Determine the placement space type based on the placement space image; S4: Combine spatial perception data, placement space type and cable image to generate required attitude parameters; S5: Analyze the deviation between the required attitude parameters and the existing attitude parameters to obtain the attitude deviation parameters; S6: Determine the inspection control information based on the attitude deviation parameters and output the inspection control information to the inspection robot; Methods for determining the required attitude parameters include: S41: Generate center deviation and sidewall anomaly regions based on spatial perception data; S42: Based on the cable image and preset cable features, identify the cable entanglement situation; S43: Determine the center reference deviation by combining the type of placement space and the cable winding situation; S44: Determine whether the center deviation meets the center reference deviation; S45: If yes, then determine the center deviation attitude parameter based on the center deviation degree, and use the center deviation attitude parameter as the required attitude parameter; S46: If not, then combine the center deviation and the abnormal area of ​​the sidewall to determine the abnormal attitude parameters, and use the abnormal attitude parameters as the required attitude parameters. Methods for determining the deviation from the center reference include: S431: Determine the baseline deviation of the space type based on the placement space type; S432: Retrieve the number of cable items and winding method based on the cable winding situation; S433: Determine the unit interval value for winding according to the winding method; S434: Calculate and determine the estimated winding interval value based on the winding unit interval value and the number of cables; S435: Determine the impact value of interval deviation based on the estimated winding interval value; S436: Calculate the product between the spatial type baseline deviation and the interval deviation influence value and use it as the center baseline deviation.

2. The special inspection method for underground cables according to claim 1, characterized in that, Methods for determining abnormal attitude parameters include: S461: Retrieve the abnormal area value and the abnormal center location point based on the abnormal area of ​​the sidewall; S462: Determine the center point of the cable based on cable images and spatial perception data; S463: Determine the impact value of center deviation by combining the cable center location point and the abnormal center location point; S464: Determine the area impact value based on abnormal area values; S465: Calculate the product between the center deviation impact value and the area impact value and use it as the abnormal area impact value; S466: Adjust the center deviation attitude parameters based on the influence value of the abnormal region to form abnormal adjustment attitude parameters, and use the abnormal adjustment attitude parameters as abnormal attitude parameters.

3. The special inspection method for underground cables according to claim 2, characterized in that, Methods for determining the influence value of center deviation include: S4631: Determine the direction of the regional center deviation and the distance value of the regional center based on the location of the anomaly center; S4632: Determine the direction of cable center deviation and the cable center distance value based on the cable center location point; S4633: Analyze the angle between the direction of the deviation of the center of the region and the direction of the deviation of the cable center, and use it as the deviation angle value; S4634: Calculate the ratio between the cable center distance value and the area center distance value and use it as the distance ratio value; S4635: Combine the deviation angle value and the distance ratio value to determine the comprehensive influence value of angle and distance, and use the comprehensive influence value of angle and distance as the center deviation influence value.

4. The special inspection method for underground cables according to claim 3, characterized in that, The methods for determining the combined influence value of angle and distance include: S46351: Determine the angle influence coefficient based on the deviation angle value; S46352: Determine the cable space ratio by combining cable images and placement space images; S46353: Determine the distance reference ratio based on the cable space ratio; S46354: Determine whether the distance scale value is less than the distance reference scale value; S46355: If yes, calculate the product between the distance ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance; S46356: If not, calculate the product between the distance reference ratio and the angle influence coefficient and use it as the comprehensive influence value of angle and distance.

5. A special inspection method for underground cables according to claim 2, characterized in that, The methods for determining inspection and control information include: S61: Collect equipment specifications and parameters for the inspection robot; S62: Determine the maximum adjustment parameter based on the equipment specifications; S63: Analyze and adjust the maximum parameter and its own attitude parameter to determine the allowable deviation parameter; S64: Determine whether the attitude deviation parameters meet the allowable deviation parameters; S65: If yes, then determine the attitude adjustment information based on the attitude deviation parameters, and use the attitude adjustment information as the inspection control information; S66: If not, determine the type of sidewall anomaly based on the area of ​​sidewall anomaly; S67: Combine the sidewall anomaly type and anomaly area value to determine anomaly handling information, and use the anomaly handling information as inspection control information.

6. A special inspection method for underground cables according to claim 5, characterized in that, Methods for determining exception handling information include: S671: Permissible types of data retrieval and processing based on equipment specification parameters; S672: When the sidewall anomaly type is consistent with the permissible treatment type, determine the treatment reference area value and the type unit power value by combining the equipment specification parameters and the sidewall anomaly type. S673: Calculate the quotient between the abnormal area value and the processing baseline area value and use it as the area ratio value; S674: Calculate the product between the power per unit area value and the area ratio value and use it as the power demand value for processing. S675: Determine the type control information based on the sidewall anomaly type, and combine the processing power requirement value with the type control information as anomaly processing information.

7. A special inspection method for underground cables according to claim 6, characterized in that, Methods for determining exception handling information also include: S6761: When the sidewall anomaly type does not match the handling tolerance type, collect the movement path and target path of the inspection robot; S6762: Determine the path ratio based on the moving path and the target path; S6763: Determine the baseline scale value of the path based on the target path; S6764: Determine abnormal alarm information based on the type of sidewall abnormality; S6765: Determine whether the path scale value is less than the path baseline scale value; S6766: If yes, then select the branch location points from the target path based on the movement path; S6767: Determine movement control information based on the selected branch location point, and combine the movement control information with the abnormal alarm information as abnormal handling information; S6768: If not, determine the return movement information based on the movement path, and combine the return movement information with the abnormal alarm information as abnormal handling information.

8. A special inspection system for underground cables, characterized in that, include: The acquisition module is used to acquire its own posture parameters, detection images, spatial perception data, device specification parameters, movement path, and target path. The memory stores a program for implementing a special inspection method for underground cables as described in any one of claims 1 to 7; The processor loads and executes programs stored in memory.

Images