An integrated operation and maintenance supervision method and system based on global drainage facilities

Abstract

The application relates to an integrated operation and maintenance supervision method and system based on a global drainage facility, relates to the municipal pipe network detection and fault removal field, and comprises the following steps: collecting internal and external work order information, various types of work information, work order flow state information, multi-dimensional work information and work order unified operation and maintenance information; obtaining internal and external work order data based on the internal and external work order information; obtaining whole-process work data based on the various types of work information; obtaining a work order completion progress through the work order flow state information; obtaining core quantitative indexes based on the multi-dimensional work information; collecting the internal and external work order data, the whole-process work data, the work order completion progress and the core quantitative indexes to obtain work order whole-process completion traces; and realizing integrated operation and maintenance supervision through a preset work order flow closed-loop method based on the work order whole-process completion traces and the work order unified operation and maintenance information. The application has the effect of improving operation and maintenance supervision quality.

Description

Technical Field

[0001] This invention relates to the field of municipal pipeline network inspection and troubleshooting, and in particular to an integrated operation and maintenance monitoring method and system based on the entire drainage system. Background Technology

[0002] Integrated operation and maintenance supervision of drainage facilities across the entire region refers to the technology that unifies the supervision of drainage facilities such as pumping stations, pipe networks, inspection wells, and septic tanks within an administrative area, with the competent department and third-party operation and maintenance organizations jointly undertaking daily inspection, maintenance, testing, and repair tasks.

[0003] Currently, the operation and maintenance management of drainage facilities mainly includes paper-based ledger management and internal information system management. Operation and maintenance personnel manually record the operation status and summarize it manually afterwards. Internal information has been managed by the system, including the dispatch of internal work orders.

[0004] However, the original system only supports the management of maintenance work orders by internal company personnel. The operation process of third-party maintenance units cannot be included in the system supervision, resulting in non-standard operation processes, opaque data, and fragmentation of internal and external maintenance data, making it difficult to guarantee the quality of maintenance. Summary of the Invention

[0005] To improve the quality of operation and maintenance supervision, this invention provides an integrated operation and maintenance supervision method and system based on the entire drainage facility.

[0006] Firstly, the present invention provides an integrated operation and maintenance monitoring method based on comprehensive drainage facilities, employing the following technical solution: An integrated operation and maintenance monitoring method based on comprehensive drainage facilities includes: Collect internal and external work order information, various types of operation information, work order flow status information, multi-dimensional work information, and unified operation and maintenance information for work orders; Internal and external work order data are obtained based on internal and external work order information; The entire process of operation data is obtained based on various types of operation information; The progress of work order completion can be obtained through work order status information; Core quantitative indicators are obtained based on multidimensional work information; By summarizing internal and external work order data, full-process operation data, work order completion progress and core quantitative indicators, a complete work order completion trace can be obtained. The entire process of work orders, including completion traces and unified operation and maintenance information, is integrated into a closed-loop work order flow system for unified operation and maintenance supervision.

[0007] By adopting the above technical solution, the system summarizes internal and external work order data, full-process operation data, work order flow status information, and multi-dimensional work information to obtain a complete work order process trace. The complete work order process trace and unified work order operation and maintenance information are then integrated into the operation and maintenance supervision of the entire drainage facility through a work order flow closed-loop method, thereby improving the quality of operation and maintenance.

[0008] Optionally, it also includes a unified method for collecting work order maintenance information: Collect employee account information; The work order permission level and work order permission category are obtained based on employee account information; Divide work order permissions into internal work order categories and external work order categories; Differentiate work order permission levels to grant access to view work order information; By summarizing internal work order categories, external work order categories, and access permissions for viewing work order information, unified operation and maintenance information for work orders can be obtained.

[0009] By adopting the above technical solution, employee account information is first extracted from the system. Then, the viewable work order permission level and work order permission category are extracted from the employee account information. By distinguishing the work order permission level and work order permission category, the viewable work order information permissions can be obtained. The viewable work order information permissions are then summarized with internal work order categories and external work order categories to obtain unified work order operation and maintenance information. This opens up the internal and external work order data links, realizes the supervision of third-party organizations, and further improves the quality of operation and maintenance.

[0010] Optionally, the work order flow closed-loop method includes: The work order status is obtained based on the work order status information. The workflow level is determined by the workflow status; The workflow level is incremented to obtain the next workflow level; If the next transfer level is pending acceptance, a transfer warning will be issued; If the acceptance test fails, the work order will be returned to the previous processing level and processed again until the acceptance test is passed.

[0011] By adopting the above technical solution, the workflow level of a work order is first determined from its workflow status. Then, the workflow level is incremented to obtain the next workflow level. If the next workflow level is pending acceptance, a workflow warning needs to be issued. Finally, if the pending acceptance result is unsuccessful, the work order is returned to the previous workflow level and the workflow is restarted. This ensures that the next level of inspector can promptly inspect the work results, thereby achieving a closed loop in the work order workflow and improving overall work efficiency.

[0012] Optionally, methods for correcting various types of job information are also included: Extract work environment data based on various types of work information; Detect operational environment data and compare it with a pre-set anomaly database; If the work environment data matches the anomaly model in the anomaly database, it is marked as work environment anomaly data; The abnormal data of the work environment is processed according to the preset abnormality handling method to obtain the abnormality-handled work environment data; The corrected work environment information is obtained by updating the work environment data after anomaly handling.

[0013] By adopting the above technical solution, various types of work information are extracted to obtain work environment data. Then, the work environment data is compared with an anomaly database. If the comparison result matches the anomaly model in the anomaly database, it is marked as work environment anomaly data. The marked work environment anomaly data is then processed according to the anomaly handling method to obtain anomaly-processed work environment data, thereby correcting various types of work information and realizing the real-time nature of various types of work information.

[0014] Optionally, the exception handling method includes: Environmental anomaly information is extracted from abnormal work environment data; The area and depth of environmental anomalies were confirmed by identifying environmental anomaly information. The control robot evaluates the results of handling anomalies in the area and depth of the environment. If the anomaly handling result is assessed as passable, the robot can proceed slowly and normally. If the anomaly handling result is deemed impassable, the robot will be controlled to perform a preset gripping and filling method until the anomaly handling result is deemed passable.

[0015] By adopting the above technical solution, environmental anomaly information is first extracted from the abnormal data of the working environment, and then the area and depth of the environmental anomaly are confirmed. In this way, the working robot is controlled to evaluate the results of the anomaly processing based on the area and depth. If the evaluation result is that it is passable, the working robot can pass normally at a slow speed. If the evaluation result is that it is not passable, the clamping and filling method is adopted to process it until the evaluation result is passable, thereby improving the working robot's ability to work in abnormal environments.

[0016] Optionally, the pinch-filling method includes: Extracting foreign object data from the work environment based on operational environment data; The comparison results are obtained by comparing environmental foreign object data with an anomaly database; Extract solid foreign matter data from the comparison results; The coordinates of the solid foreign object are obtained based on the solid foreign object data; The control robot picks up solid foreign objects based on their coordinates, covers the location of the environmental anomaly with solid foreign objects, and evaluates the anomaly handling results again until the anomaly handling results are evaluated as passable.

[0017] By adopting the above technical solution, environmental foreign object data is first extracted, and then compared with the anomaly database to obtain the comparison results. Solid foreign object data is then extracted from the comparison results to obtain the coordinates of the solid foreign object. Subsequently, the robot is controlled to pick up the solid foreign object and perform a covering placement of the solid foreign object. The anomaly handling results are evaluated again until the anomaly handling results are evaluated as passable, which further improves the operation capability of the robot.

[0018] Optionally, the method for covering and placing solid foreign objects includes: The location of the anomaly can be determined by extracting environmental anomaly information; Divide the cells into exception ranges based on the range in which the exception is located; The optimal route for the robot to pass through is calculated based on the cells within the abnormal range; The optimal route cell is obtained by comparing it with the cells in the abnormal range; The robot is controlled to place the solid foreign object it picks up onto the nearest optimal route cell and mark it as a placed cell. Check if the placed cells touch the boundary of the area containing the anomaly; If the boundary of the abnormal area is not reached, the robot is controlled to repeatedly perform the operation of picking up solid foreign objects and placing them on the nearest optimal route cell.

[0019] By adopting the above technical solution, the range of the anomaly in the environmental anomaly information is first extracted and the anomaly range cells are divided. Then, the optimal route for the robot to pass through is calculated. The optimal route cell is obtained by comparing the optimal route with the anomaly range cells. The robot is then controlled to place the solid foreign object it picks up on the nearest optimal route cell and mark it as a placed cell. Finally, it is checked whether the placed cell touches the boundary of the anomaly range. If it does not touch the boundary, the operation of picking up solid foreign objects and placing them on the nearest optimal route cell is repeated, thereby improving the efficiency of the robot in abnormal environments.

[0020] Optionally, before performing the covering placement method for solid foreign objects, a method for screening the load-bearing capacity of the solid foreign objects is also included: Collect surface hardness and three-dimensional shape information of solid foreign objects; The surface hardness and three-dimensional shape information of solid foreign objects are summarized into physical property data of solid foreign objects; Compare the physical property data with the preset paving material compatibility conditions; If the physical property data meets the compatibility conditions of the laying material, the solid foreign object is marked as a layable unit, and the subsequent operation of covering and placing the solid foreign object is performed. If the conditions are not met, the solid foreign object is marked as an unlayable unit, and the next solid foreign object is repositioned and grabbed.

[0021] By adopting the above technical solution, the physical properties of solid foreign objects are obtained by summarizing the surface hardness and three-dimensional shape information of solid foreign objects. The physical property data is then compared with the compatibility conditions of the laying material. If the comparison result meets the compatibility conditions of the laying material, the solid foreign object is marked as a layable unit and the subsequent operation of covering and placing solid foreign objects is performed. If the compatibility conditions are not met, it is marked as an unlayable unit and the next solid foreign object is repositioned and grasped, which further improves the working efficiency of the robot in completing the method of covering and placing solid foreign objects.

[0022] Optionally, during the process of covering and placing solid foreign objects, a method for dynamically monitoring the pressure resistance of the placed solid foreign objects is also included: The collected solid foreign objects form the current laying layer, and the operating robot is controlled to conduct a local pressure test on the current laying layer, while collecting settlement displacement data. The settlement displacement data is compared with the preset settlement safety threshold. If the settlement displacement data is greater than the settlement safety threshold, it is determined that the local bearing capacity of the current paving layer is insufficient, and the operation of covering and placing foreign objects is performed again. The local pressure test and settlement monitoring are performed cyclically until the settlement monitoring of each area of ​​the current paved layer is lower than the settlement safety threshold, at which point the operation robot is controlled to pass.

[0023] By adopting the above technical solution, the placed solid foreign objects are collected into the current paving layer and a local pressure test is performed to collect settlement displacement data. Then, the settlement displacement data is compared with the settlement safety threshold. If the settlement displacement data is greater than the settlement safety threshold, it is determined that the local pressure bearing capacity of the current paving layer is insufficient, and the operation of covering and placing foreign objects is performed again. Finally, the local pressure test and settlement monitoring are repeated until the settlement monitoring of each area of ​​the current paving layer is lower than the settlement safety threshold. Then, the operation robot is controlled to pass through, thereby improving the safety of the operation robot.

[0024] Secondly, this application provides an integrated operation and maintenance monitoring system based on the entire drainage system, which adopts the following technical solution: An integrated operation and maintenance monitoring system based on comprehensive drainage facilities includes: The data acquisition module is used to collect internal and external work order information, various types of operation information, work order flow status information, multi-dimensional work information, and unified operation and maintenance information for work orders. The memory is used to store the program that implements an integrated operation and maintenance monitoring method based on the entire drainage facility. The processor is used to load and execute programs stored in memory.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. By summarizing internal and external work order data, full-process operation data, work order flow status information, and multi-dimensional work information obtained by the system, the work order full-process completion trace is obtained. The work order full-process completion trace and unified work order operation and maintenance information are combined through the work order flow closed-loop method to realize the integrated operation and maintenance supervision of drainage facilities across the entire area, thereby improving the operation and maintenance quality. 2. First, extract the range of the anomaly from the environmental anomaly information and divide the anomaly range into cells. Then, calculate the optimal route for the robot to pass through. Compare the optimal route with the anomaly range cells to obtain the optimal route cell. Then, control the robot to place the picked-up solid foreign object on the nearest optimal route cell and mark it as a placed cell. Finally, check whether the placed cell touches the boundary of the anomaly range. If it does not touch the boundary, repeat the operation of picking up solid foreign objects and placing them on the nearest optimal route cell, thereby improving the robot's efficiency in abnormal environments. 3. Collect all placed solid foreign objects into the current paving layer and conduct local pressure tests to collect settlement displacement data. Then compare the settlement displacement data with the settlement safety threshold. If the settlement displacement data is greater than the settlement safety threshold, it is determined that the local pressure bearing capacity of the current paving layer is insufficient, and the operation of covering and placing foreign objects is performed again. Finally, the local pressure test and settlement monitoring are repeated until the settlement monitoring of each area of ​​the current paving layer is lower than the settlement safety threshold. Then, the operation robot is controlled to pass through, thereby improving the safety of the operation robot. Attached Figure Description

[0026] Figure 1 This is a flowchart of a method for integrated operation and maintenance supervision of drainage facilities across the entire region; Figure 2 This is the overall structure diagram of the unified operation and maintenance main model; Figure 3 This is a schematic diagram of the operation process of the robot. Detailed Implementation

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

[0028] refer to Figure 1 , Figure 2 and Figure 3 This application discloses an integrated operation and maintenance monitoring method based on the entire drainage system, including the following steps: S10: Collect internal and external work order information, various types of operation information, work order flow status information, multi-dimensional work information, and unified operation and maintenance information for work orders.

[0029] Internal and external work order information refers to information that includes work orders from internal organizations and work orders from third-party organizations.

[0030] Various types of work information refer to information including preparation records before pipeline operations, records during pipeline operations, and processing records after pipeline operations.

[0031] Preparatory records before pipeline operations refer to the safety briefing before the operation, which records the personnel involved and the content of the briefing.

[0032] Pipeline operation records refer to all data collected during pipeline operations.

[0033] The information in the post-pipeline operation handling record refers to the abnormal handling record and operation completion status that are uploaded and reported after the pipeline operation is completed.

[0034] Work order status information refers to the entire process information of a work order from creation, pending assignment, pending survey, in operation, pending acceptance to completion.

[0035] Multidimensional work information refers to information such as the completion time of the operation, the coordinate information of the operating equipment, the organization to which the work order belongs, the pass rate of the work order acceptance, and the completion rate of the work order.

[0036] The unified operation and maintenance information for work orders refers to information including employee account information, the category to which the work order belongs, and the permissions to view the work order. The specific collection method will be described in detail in subsequent sections S20 to S24, and will not be repeated here.

[0037] Internal and external work order information, various operation information, work order flow status information, and multi-dimensional work information are extracted through a unified operation and maintenance subject model.

[0038] The unified operation and maintenance entity model refers to an operation and maintenance entity model that connects internal organizations and external third-party organizations, and automatically stores and records internal and external work order information, various operation information, work order flow status information, and multi-dimensional work information.

[0039] In this embodiment, the unified operation and maintenance entity model is deployed on a cloud server, using a MySQL database to store internal and external work order data, personnel account information and permission configurations. Unstructured attachments are stored in an independent object storage system. The system is divided into an account and permission management module, a work order management module, a data aggregation and analysis module and a third-party access gateway. The web client and mobile app access each module through the API gateway. The gateway performs request-level permission interception based on the operator_type field. When the work order status changes, the work order management module asynchronously sends an event notification through a message queue, triggering a workflow warning push.

[0040] S11: Obtain internal and external work order data based on internal and external work order information.

[0041] Internal and external work order data refers to data that includes work orders from internal organizations and work orders from external third-party organizations.

[0042] Internal and external work order data are obtained by extracting internal and external work order information, which contains internal and external work order data.

[0043] S12: Obtain full-process operation data based on various types of operation information.

[0044] Full-process operation data refers to data that includes the entire operation process.

[0045] The entire process operation data is obtained by extracting various types of operation information, including preparation records before pipeline operation, records during pipeline operation, and processing records after pipeline operation. By integrating these relevant information, the entire process operation data can be obtained.

[0046] S13: Obtain the work order completion progress through the work order flow status information.

[0047] Work order completion progress refers to the progress that has been completed during the current workflow of a work order.

[0048] The current work order status is obtained by retrieving the work order flow status information, which includes the current work order flow status. The corresponding work order completion progress is retrieved according to the preset work order flow progress table, which is a reference table established in advance by those skilled in the art based on the work order flow status and the corresponding work order completion progress.

[0049] S14: Core quantitative indicators are obtained based on multi-dimensional work information.

[0050] The core quantitative indicators are task completion rate, average processing time, first-time acceptance rate, and patrol coverage rate.

[0051] Task completion rate is a quantitative indicator that reflects the overall task completion capability of a third-party organization. It is the ratio of the total number of work orders completed by the third-party organization this month to the total number of work orders undertaken by the third-party organization.

[0052] Average processing time is a quantitative indicator used to evaluate the overall efficiency of work order processing by a third-party organization. Average processing time is the average difference between the completion time and the assignment time of completed work orders.

[0053] The first-pass acceptance rate is a quantitative indicator for evaluating the overall work quality of a third-party organization. It is the ratio of the number of work orders that pass the first acceptance to the total number of accepted work orders.

[0054] Patrol coverage rate refers to a quantitative indicator used to evaluate the mileage of patrol supervision during operations. Patrol coverage rate is the ratio of the mileage of patrols performed to the total planned mileage.

[0055] By extracting multidimensional work information, we can obtain the above-mentioned various relevant work information and analyze and calculate the core quantitative indicators.

[0056] S15: Summarize internal and external work order data, full-process operation data, work order completion progress and core quantitative indicators to obtain the work order full-process completion trace.

[0057] The work order completion trace refers to the information generated at each step of the work order process from its creation to its completion and acceptance.

[0058] By aggregating internal and external work order data, full-process operation data, work order completion progress, and core quantitative indicators, a complete work order completion trace can be obtained.

[0059] In this embodiment, the specific method for summarizing internal and external work order data, full-process operation data, work order completion progress, and core quantitative indicators is as follows: In the MySQL database, using the work order number order_id as the primary association key, the work order main table, operation record table, status flow table, and indicator statistics table are associated through a JOIN operation to establish a unified aggregated view named view_full_trace. When the supervisor initiates a query request, the system directly reads this view and can immediately generate a full-process completion trace of the work order carrying complete internal and external attribution tags, full-process operation traces, current progress, and quantitative evaluation results.

[0060] S16: The entire process of work order completion traces and unified work order operation and maintenance information are integrated into operation and maintenance supervision through a pre-set work order flow closed-loop method.

[0061] The work order flow closed-loop method refers to the method to achieve a closed loop for the entire work order flow, which is described in detail in S30 to S34 and will not be repeated here.

[0062] By implementing a closed-loop circulation method based on the work order completion traces and unified work order operation and maintenance information, integrated operation and maintenance supervision can be achieved.

[0063] It also includes a unified method for collecting work order maintenance information: S20: Collect employee account information.

[0064] Employee account information refers to the employee account information of internal and third-party organizations obtained by retrieving and storing data from the unified operation and maintenance entity model.

[0065] S21: Obtain the work order permission level and work order permission category based on employee account information.

[0066] The work order permission level refers to the level of information viewing permissions of an employee account. Employees can view work order information at this level and below.

[0067] The work order permission category refers to the category of work order information that the employee account can view, including internal work order categories and external work order categories.

[0068] The work order permission level and work order permission category can be obtained by retrieving employee account information. The employee account information includes the work order permission level and work order permission category.

[0069] S22: Divide work order permission categories to obtain internal work order classification and external work order classification.

[0070] Internal work order classification refers to the permission category for viewing work orders being internal organization permissions.

[0071] External work order classification refers to the permission category for viewing work orders being external third-party organization permissions.

[0072] The work order permission category is used to distinguish between internal and external work order categories. This work order permission category includes both internal and external work order categories.

[0073] S23: Differentiate work order permission levels to obtain permission to view work order information.

[0074] The permission to view work order information refers to the scope of work order information that can be viewed. For example, the internal organization permission allows viewing work order information from both internal and external third-party organizations, while the external third-party organization permission only allows viewing work order information from external third-party organizations.

[0075] By differentiating work order permission levels and looking up the permission information table, the permissions to view work order information are obtained. This permission information table refers to a reference table established in advance by those skilled in the art, which corresponds to the permissions to view work order information based on the work order permission level.

[0076] S24: Summarize internal work order categories, external work order categories, and permissions to view work order information to obtain unified operation and maintenance information for work orders.

[0077] Unified operation and maintenance information for work orders is obtained by aggregating data based on the unified operation and maintenance subject model by classifying internal work orders, classifying external work orders, and granting access permissions for viewing work order information.

[0078] The work order flow closed-loop method includes: S30: Obtain the work order status based on the work order status information.

[0079] The work order status refers to the real-time status of the work order during its current flow process, such as pending assignment, pending survey, or in progress.

[0080] The work order status is obtained by extracting the work order flow status information, which contains the work order flow status.

[0081] S31: Determine the work order flow level based on the work order flow status.

[0082] The work order flow level refers to the current flow level of the work order.

[0083] The work order flow status is confirmed and the work order flow level is obtained by retrieving the preset work order flow level table. The work order flow level table is a reference table established in advance by those skilled in the art, which corresponds to different work order flow levels according to different work order flow statuses. For example, flow status P0 corresponds to the flow level being created, and flow status P1 corresponds to the flow level being awaited assignment.

[0084] S32: Increment the work order flow level to obtain the next flow level.

[0085] The next workflow level refers to the next workflow level retrieved and queried based on the unified operation and maintenance subject model of the current work order workflow level. For example, the next workflow level of the created work order is "to be assigned" and the next workflow level of the job is "to be accepted".

[0086] S33: If the next transfer level is pending acceptance, a transfer warning will be issued.

[0087] "Pending acceptance" refers to a work order workflow level where the work has been completed and submitted, and the relevant person in charge needs to accept the work results.

[0088] Work order processing early warning refers to a reminder issued to the relevant person in charge at the work order acceptance processing level, reminding them to complete the acceptance work as soon as possible.

[0089] If the next workflow level of the work order is pending acceptance, a system pop-up will be sent to the relevant person in charge on the unified operation and maintenance main model, and a text message will be sent to the contact information left by the person in charge to provide workflow warning, improve overall work efficiency, and upload the acceptance result to the unified operation and maintenance main model.

[0090] The content of system pop-ups and SMS notifications is generated in advance by those skilled in the art according to a fixed format.

[0091] S34: If the acceptance test fails, the work order will be returned to the previous workflow level and processed again until the acceptance test is passed.

[0092] If the inspector reports an acceptance result of "not passed", the work order will be returned to the previous workflow level on the unified operation and maintenance main model and the work order will be processed again until the acceptance is passed to achieve a closed loop of work order workflow.

[0093] It also includes methods for correcting various types of job information: S40: Extract work environment data based on various types of work information.

[0094] Operating environment data refers to the overall model data collected by the robot in the current pipeline operating environment.

[0095] The operational environment data is obtained by retrieving the pipeline operation records from various types of operational information. The pipeline operation records refer to the full-process information during the pipeline operation environment. The information is collected by the operation robot and automatically uploaded to the unified operation and maintenance main model, which includes the operational environment data.

[0096] S41: Detect the operating environment data and compare it with the preset anomaly database.

[0097] An anomaly database is a database that stores anomalies that may occur under various routine operating conditions. This database is established by those skilled in the art after they have statistically analyzed various anomaly data models in the relevant pipeline operating environment.

[0098] The system detects and extracts abnormal data in the current work environment by analyzing the abnormal database.

[0099] S42: If the work environment data matches the anomaly model in the anomaly database, then mark it as work environment anomaly data.

[0100] Abnormal operating environment data refers to data that is abnormal in the current operating environment, such as abnormal area and depth. In this embodiment, the abnormality in the current operating environment is silt.

[0101] If some data in the work environment data matches the anomaly model in the anomaly database, then that part is marked as abnormal work environment data; otherwise, it is determined to be a normal work environment and no anomaly handling is required.

[0102] S43: Process the abnormal data of the working environment according to the preset abnormal handling method to obtain the abnormal working environment data.

[0103] The anomaly handling method refers to the way the robot handles anomalies in the working environment. This method is described in detail in S50 to S54 and will not be elaborated here.

[0104] Post-anomaly handling operational environment data refers to operational environment data collected again after the robot has processed the anomalies in the operational environment.

[0105] The abnormal data of the work environment is processed according to the abnormality handling method to obtain the abnormality-handled work environment data.

[0106] S44: Update the work environment data using the work environment data after anomaly handling to obtain corrected work information for various tasks.

[0107] The work environment data after anomaly handling is used to supplement and correct the work environment data before processing based on the unified operation and maintenance subject model to obtain various corrected work information.

[0108] The exception handling method includes: S50: Extract environmental anomaly information based on abnormal work environment data.

[0109] Environmental anomaly information refers to information related to anomalies in the current working environment, such as the area and depth of the anomaly.

[0110] Anomaly information is obtained by retrieving abnormal work environment data, which contains information about environmental anomalies.

[0111] S51: Confirm the area and depth of environmental anomalies through environmental anomaly information.

[0112] The area and depth of environmental anomalies refer to the area and depth of anomalies confirmed by the robot after comparing abnormal data in the current working environment.

[0113] The area and depth of environmental anomalies are obtained by extracting environmental anomaly information, which includes the area and depth of environmental anomalies.

[0114] S52: Control the operation robot to evaluate the results of abnormal handling of the area and depth of environmental anomalies.

[0115] Anomaly handling result evaluation refers to the process where, when the robot approaches the boundary of an abnormal area, it attempts to enter the abnormal area at a preset slow speed and collects torque sensor data from the walking motor in real time. If the resistance value increases beyond the preset resistance threshold within a preset time window after the robot enters the silt area, it indicates that the silt is viscous and deeply embedded, and the robot is deemed impassable. The robot is then controlled to immediately retreat.

[0116] At the same time, based on the area of ​​environmental anomalies, if the area is greater than the preset safety threshold for anomalies and / or the resistance exceeds the limit, it is determined that the road is impassable; otherwise, it is determined that the road is passable.

[0117] The abnormal area safety threshold refers to the maximum value of an abnormal area that can be controlled to allow the robot to pass safely, as set in advance by those skilled in the art.

[0118] The slow speed, time window, and resistance threshold were all set in advance after multiple tests by those skilled in the art.

[0119] The results of anomaly handling are evaluated by controlling the operation robot to refer to the area and depth of environmental anomalies.

[0120] S53: If the anomaly handling result is assessed as passable, the robot can proceed slowly and normally.

[0121] When the anomaly handling result is assessed as passable, it means that the anomaly does not affect the normal passage of the robot, so the robot is controlled to move slowly through.

[0122] S54: If the anomaly handling result is assessed as impassable, control the robot to perform a preset gripping and filling method until the anomaly handling result is assessed as passable.

[0123] The gripping and filling method refers to the method of controlling the robot to grip solid foreign objects in the working environment to fill environmental anomalies. This method is described in detail in S60 to S64, and will not be repeated here.

[0124] When the anomaly handling result is assessed as impassable, it indicates that the anomaly hinders the passage of the robot. The robot is then controlled to handle the environmental anomaly using the gripping and filling method until the anomaly handling result is assessed as passable.

[0125] The clamping and filling method includes: S60: Extract foreign object data from the working environment based on the working environment data.

[0126] Foreign object data refers to data in the current working environment that differs from the routine working pipeline environment data.

[0127] By retrieving the operational environment data and comparing it with a pre-entered database of conventional operational pipeline environments, the data that differs from that database is identified as foreign matter data.

[0128] The conventional operation pipeline environment database is established in advance by those skilled in the art after integrating various operation pipeline environment data.

[0129] S61: The comparison results are obtained by comparing environmental foreign object data with the anomaly database.

[0130] The comparison result refers to comparing the data to be compared with the data in the abnormal database one by one. If the data overlap rate exceeds the preset overlap threshold, it is marked as the corresponding abnormal result. The overlap threshold is set in advance by those skilled in the art after multiple tests based on the actual recognition accuracy.

[0131] The comparison results are obtained by comparing the environmental foreign object data with the data model of aluminum cans in the anomaly database. For example, if the overlap between some environmental foreign object data and the aluminum can data model in the anomaly database exceeds the preset overlap threshold, then the environmental foreign object is marked as an aluminum can. The anomaly database stores data on anomalies that may occur under various normal working conditions.

[0132] S62: Extract solid foreign matter data from the comparison results.

[0133] Solid foreign object data refers to the portion of data that is confirmed as solid foreign objects after comparing environmental foreign object data with various abnormal data models pre-entered in the abnormal database.

[0134] Based on the comparison results, the corresponding solid foreign object data in the environmental foreign object data is extracted to determine the solid foreign object data segment in the working environment foreign object data.

[0135] S63: Obtain the coordinates of the solid foreign object based on the solid foreign object data.

[0136] Solid object coordinates refer to the coordinates of the solid object relative to the location of the robot in the current working environment.

[0137] By extracting solid foreign object data, an airborne depth camera module integrating an infrared light source emitter and an infrared CMOS sensor acquires depth images and RGB images, actively emits infrared structured light, and uses a deep learning-based target detection algorithm to locate the bounding box of the solid foreign object in the RGB image. Combined with the depth value of the corresponding region in the depth image, a spatial coordinate system is established with the robot itself as the origin, and the two-dimensional coordinates of the solid foreign object in the image are mapped to three-dimensional coordinates in physical space, thus obtaining the coordinates of the solid foreign object.

[0138] S64: Control the robot to grasp the solid foreign object based on the coordinates of the solid foreign object, cover the location of the environmental anomaly with the solid foreign object, and evaluate the anomaly handling result again until the anomaly handling result is evaluated as passable.

[0139] Covering solid foreign objects refers to covering foreign objects in the environment by using a clamping and filling method to allow the operation robot to pass. The specific methods are described in detail in S70 to S76, and will not be repeated here.

[0140] The robot is controlled to pick up solid foreign objects based on their coordinates and cover the location of the environmental anomaly. The anomaly handling result is then evaluated again. This process is repeated until the anomaly handling result is deemed passable.

[0141] The method for covering and placing solid foreign objects includes: S70: Obtain the range of the anomaly by extracting environmental anomaly information.

[0142] The scope of the anomaly refers to the range within which the environmental anomaly exists in the current working environment.

[0143] The location of the anomaly is determined by extracting environmental anomaly information, which is collected by an airborne camera and includes the location of the anomaly.

[0144] S71: Divide the cells into exception ranges based on the range of the exception.

[0145] An anomaly range cell refers to a cell in which the area of ​​the anomaly is divided equally into multiple cells according to the coordinate system to fill solid foreign objects. The area of ​​the cell is the minimum cross-sectional area among the solid foreign object data collected at the moment.

[0146] The coordinate system is established with the robot itself as the origin.

[0147] S72: Calculate the optimal route for the robot to pass through the abnormal range of cells.

[0148] The optimal route refers to the shortest route that a robot can take through abnormal environments.

[0149] The shortest route is obtained by taking the distance between the coordinates of the robot itself and the cell coordinates of the boundary of the abnormal range in the direction of the robot's movement.

[0150] S73: The optimal route cell is obtained by comparing the cells in the optimal route with the cells in the abnormal range.

[0151] The optimal route cell refers to the cell where the robot takes the shortest route through the abnormal range.

[0152] By comparing the cells of the optimal route and the abnormal range, the cells that overlap are obtained, which are the cells of the optimal route.

[0153] S74: Control the robot to place the picked-up solid foreign object on the nearest optimal route cell and mark it as a placed cell.

[0154] "Placed cell" refers to a cell in which the robot has already placed a solid foreign object.

[0155] By controlling the robot, solid foreign objects are filled into the optimal route cell closest to the robot itself and marked as placed cells.

[0156] S75: Detect whether the placed cell has touched the boundary of the range where the exception is located.

[0157] The system uses an onboard camera to detect placed cells to determine whether the placed cells have touched the boundary of the area where the anomaly is located.

[0158] S76: If the boundary of the area where the abnormality is located is not touched, control the robot to repeatedly perform the operation of picking up solid foreign objects and placing them on the nearest optimal route cell.

[0159] If the judgment result is that the boundary of the abnormal area is not touched, the robot is controlled to perform cyclic grabbing and placing operations on the optimal route cell along the optimal route; otherwise, the robot is controlled to pass through.

[0160] Before performing the aforementioned method for placing solid foreign objects in a covering manner, a method for screening the load-bearing capacity of the solid foreign objects is also included: S80: Collects surface hardness and three-dimensional shape information of solid foreign objects.

[0161] Surface hardness refers to the surface pressure resistance of a solid foreign object.

[0162] Three-dimensional shape information refers to the three-dimensional data model of a solid foreign object.

[0163] The airborne camera captures real-time video and creates a 3D model of the solid foreign object to obtain its 3D shape information. Then, the robot extends its robotic arm to perform a pressure test on the surface of the solid foreign object. The surface hardness information is obtained by looking up a preset pressure reference table based on the change in motor torque.

[0164] A pressure resistance comparison table refers to a table established by a person skilled in the art, which is created by controlling a robot in an experimental environment to perform multiple indentation tests on standard samples with different known hardnesses at a fixed extension angle and speed, recording the corresponding changes in motor torque, and establishing a mapping relationship between the torque changes and the surface hardness.

[0165] S81: Summarize the surface hardness and three-dimensional shape information of solid foreign objects into physical property data of solid foreign objects.

[0166] Physical property data refers to information such as the surface hardness and shape of solid foreign objects.

[0167] By summarizing the surface hardness and three-dimensional shape information of the solid foreign object, the physical property data of the solid foreign object can be obtained, which facilitates the subsequent comparison of adaptation conditions.

[0168] S82: Compare the physical property data with the preset paving material compatibility conditions.

[0169] The paving material compatibility conditions refer to the minimum hardness and minimum size of the paving material that can support the operation robot after multiple tests by those skilled in the art.

[0170] Based on the physical property data of the solid foreign object and the compatibility conditions of the laying material, the surface hardness of the solid foreign object must be higher than the preset bearing hardness threshold to ensure that the solid foreign object will not be crushed by the working robot after laying. Furthermore, the cross-sectional size of the solid foreign object is obtained by non-contact measurement through an onboard camera. This cross-sectional size must be greater than the minimum support area of ​​the working robot to support the passing of the working robot.

[0171] Minimum support area of ​​the robot = Total weight of the robot / Abnormal ultimate load capacity.

[0172] The abnormal ultimate bearing capacity can be determined on-site by static cone penetration test. The specific method is as follows: after the working robot reaches the abnormal area, the miniature static cone penetration probe carried by it penetrates the silt layer vertically at a constant speed of 2cm / s, collects the penetration resistance data in real time, and converts it into the ultimate bearing capacity by the following formula: ultimate bearing capacity of silt = intercone resistance obtained by static cone penetration test x conversion factor 0.1.

[0173] The bearing hardness threshold refers to the minimum hardness of the paving material that can support the passage of the working robot, which is pre-established after multiple calculations and tests by those skilled in the art. Specifically, it is calculated as follows: First, based on the overall weight of the working robot and the effective grounding area of ​​the walking mechanism, the grounding pressure on the paving layer when the working robot passes is calculated as: Overall weight / Grounding area. Then, the above grounding pressure is multiplied by a safety factor of 1.2, and the result is the bearing hardness threshold. This threshold ensures that only solid foreign objects with a surface hardness higher than this value will be selected, thereby physically ensuring that the paving material can withstand the crushing of the robot without being pulverized.

[0174] The non-contact measurement method involves acquiring images using a vision sensor mounted on a robot, segmenting the target, establishing a conversion ratio between physical dimensions and pixels on the image, and finally cropping the minimum width of the projection of one side of the paving surface. Based on the conversion ratio, the actual physical dimensions of the cross-section are obtained, which is the cross-sectional dimensions under the current posture.

[0175] S83: If the physical property data meets the material compatibility conditions, mark the solid foreign object as a layable unit and perform the subsequent cover-type placement of the solid foreign object.

[0176] Layable units refer to solid foreign objects that meet the compatibility requirements of laying materials.

[0177] If the physical properties of the solid foreign object meet the compatibility requirements of the laying material, it means that the solid foreign object can support the operation robot to pass through. Then, the solid foreign object is marked as a layable unit to facilitate the subsequent operation of covering and placing solid foreign objects.

[0178] S84: If not satisfied, mark the solid foreign object as an unlayable unit and reposition and grab the next solid foreign object.

[0179] Unlayable units refer to solid foreign objects that do not meet the compatibility requirements of the laying materials.

[0180] If the material compatibility conditions are not met, it means that the solid foreign object cannot support the robot to pass through. The solid foreign object is then marked as an unlayable unit, and the robot is repositioned, screened, and picked up the next solid foreign object.

[0181] The process of placing solid foreign objects in a covered manner also includes a method for monitoring the dynamic pressure resistance of the placed solid foreign objects. S90: Collect the placed solid foreign objects as the current laying layer, and control the working robot to conduct a local pressure test on the current laying layer, while collecting settlement displacement data.

[0182] The current layer refers to the solid foreign matter that has been filled.

[0183] Settlement displacement data refers to the displacement data generated during the local bearing pressure test of the current paving layer.

[0184] The solid foreign objects that have been placed are collected and marked as the current laying layer. The robot is controlled to conduct a local pressure test on the current laying layer. At the same time, the displacement difference before and after settlement is collected by the airborne camera, thus obtaining the settlement displacement data.

[0185] S91: Compare the settlement displacement data with the preset settlement safety threshold.

[0186] The settlement safety threshold refers to the safety threshold at which the current paving layer can support the passage of the operating robot. This threshold is set in advance by those skilled in the art.

[0187] By comparing settlement displacement data with settlement safety thresholds, it can be determined whether the current paving layer can support the passage of the operating robot.

[0188] S92: If the settlement displacement data is greater than the settlement safety threshold, it is determined that the local bearing capacity of the current paving layer is insufficient, and the operation of covering and placing foreign objects is performed again.

[0189] If the current settlement displacement data is greater than the settlement safety threshold, it means that the local bearing capacity of the current paving layer is not sufficient to support the passage of the operating robot, and it is necessary to perform the covering and placing of foreign objects again to correct the situation.

[0190] S93: Cycle through local pressure tests and settlement monitoring until the settlement monitoring of each area of ​​the current paved layer is below the settlement safety threshold, then control the operation robot to pass.

[0191] By controlling the onboard camera and extended robotic arm of the work robot, local pressure bearing tests and settlement tests are repeatedly performed until the settlement displacement data of each area of ​​the current paving layer are lower than the settlement safety threshold, and then the work robot is controlled to pass.

[0192] Based on the same inventive concept, embodiments of the present invention provide an integrated operation and maintenance monitoring system for comprehensive drainage facilities, comprising: The data acquisition module is used to collect internal and external work order information, various operation information, work order flow status information, multi-dimensional work information, unified operation and maintenance information of work orders, employee account information, surface hardness, three-dimensional shape information and settlement displacement data; The memory is used to store the program that implements an integrated operation and maintenance monitoring method based on the entire drainage facility. The processor is used to load and execute programs stored in memory.

[0193] 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.

[0194] 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. An integrated operation and maintenance monitoring method based on comprehensive drainage facilities, characterized in that, include: Collect internal and external work order information, various types of operation information, work order flow status information, multi-dimensional work information, and unified operation and maintenance information for work orders; Internal and external work order data are obtained based on internal and external work order information; The entire process of operation data is obtained based on various types of operation information; The progress of work order completion can be obtained through work order status information; Core quantitative indicators are obtained based on multidimensional work information; By summarizing internal and external work order data, full-process operation data, work order completion progress and core quantitative indicators, a complete work order completion trace can be obtained. The entire process of work orders, including completion traces and unified operation and maintenance information, is integrated into a closed-loop work order flow system for unified operation and maintenance supervision.

2. The integrated operation and maintenance monitoring method based on the whole-area drainage facility according to claim 1, characterized in that, It also includes a unified method for collecting work order maintenance information: Collect employee account information; The work order permission level and work order permission category are obtained based on employee account information; Divide work order permissions into internal work order categories and external work order categories; Differentiate work order permission levels to grant access to view work order information; By summarizing internal work order categories, external work order categories, and access permissions for viewing work order information, unified operation and maintenance information for work orders can be obtained.

3. The integrated operation and maintenance monitoring method based on comprehensive drainage facilities according to claim 1, characterized in that, The work order flow closed-loop method includes: The work order status is obtained based on the work order status information. The workflow level is determined by the workflow status; The workflow level is incremented to obtain the next workflow level; If the next transfer level is pending acceptance, a transfer warning will be issued; If the acceptance test fails, the work order will be returned to the previous processing level and processed again until the acceptance test is passed.

4. The integrated operation and maintenance monitoring method based on the whole-area drainage facility according to claim 1, characterized in that, It also includes methods for correcting various types of job information: Extract work environment data based on various types of work information; Detect operational environment data and compare it with a pre-set anomaly database; If the work environment data matches the anomaly model in the anomaly database, it is marked as work environment anomaly data; The abnormal data of the work environment is processed according to the preset abnormality handling method to obtain the abnormality-handled work environment data; The corrected work environment information is obtained by updating the work environment data after anomaly handling.

5. The integrated operation and maintenance monitoring method based on the whole-area drainage facility according to claim 4, characterized in that, The exception handling method includes: Environmental anomaly information is extracted from abnormal work environment data; The area and depth of environmental anomalies were confirmed by identifying environmental anomaly information. The control robot evaluates the results of handling anomalies in the area and depth of the environment. If the anomaly handling result is assessed as passable, the robot can proceed slowly and normally. If the anomaly handling result is deemed impassable, the robot will be controlled to perform a preset gripping and filling method until the anomaly handling result is deemed passable.

6. The integrated operation and maintenance monitoring method based on the whole-area drainage facility according to claim 5, characterized in that, The clamping and filling method includes: Extracting foreign object data from the work environment based on operational environment data; The comparison results are obtained by comparing environmental foreign object data with an anomaly database; Extract solid foreign matter data from the comparison results; The coordinates of the solid foreign object are obtained based on the solid foreign object data; The control robot picks up solid foreign objects based on their coordinates, covers the location of the environmental anomaly with solid foreign objects, and evaluates the anomaly handling results again until the anomaly handling results are evaluated as passable.

7. The integrated operation and maintenance supervision method based on the whole-area drainage facility according to claim 6, characterized in that, The method for covering and placing solid foreign objects includes: The location of the anomaly can be determined by extracting environmental anomaly information; Divide the cells into exception ranges based on the range in which the exception is located; The optimal route for the robot to pass through is calculated based on the cells within the abnormal range; The optimal route cell is obtained by comparing it with the cells in the abnormal range; The robot is controlled to place the solid foreign object it picks up onto the nearest optimal route cell and mark it as a placed cell. Check if the placed cells touch the boundary of the area containing the anomaly; If the boundary of the abnormal area is not reached, the robot is controlled to repeatedly perform the operation of picking up solid foreign objects and placing them on the nearest optimal route cell.

8. The integrated operation and maintenance supervision method based on the whole-area drainage facility according to claim 7, characterized in that, Before performing the aforementioned method for placing solid foreign objects in a covering manner, a method for screening the load-bearing capacity of the solid foreign objects is also included: Collect surface hardness and three-dimensional shape information of solid foreign objects; The surface hardness and three-dimensional shape information of solid foreign objects are summarized into physical property data of solid foreign objects; Compare the physical property data with the preset paving material compatibility conditions; If the physical property data meets the compatibility conditions of the laying material, the solid foreign object is marked as a layable unit, and the subsequent operation of covering and placing the solid foreign object is performed. If the conditions are not met, the solid foreign object is marked as an unlayable unit, and the next solid foreign object is repositioned and grabbed.

9. The integrated operation and maintenance supervision method based on the whole-area drainage facility according to claim 7, characterized in that, The process of placing solid foreign objects in a covered manner also includes a method for monitoring the dynamic pressure resistance of the placed solid foreign objects. The collected solid foreign objects form the current laying layer, and the operating robot is controlled to conduct a local pressure test on the current laying layer, while collecting settlement displacement data. The settlement displacement data is compared with the preset settlement safety threshold. If the settlement displacement data is greater than the settlement safety threshold, it is determined that the local bearing capacity of the current paving layer is insufficient, and the operation of covering and placing foreign objects is performed again. The local pressure test and settlement monitoring are performed cyclically until the settlement monitoring of each area of ​​the current paved layer is lower than the settlement safety threshold, at which point the operation robot is controlled to pass.

10. An integrated operation and maintenance monitoring system based on comprehensive drainage facilities, characterized in that, include: The data acquisition module is used to collect internal and external work order information, various types of operation information, work order flow status information, multi-dimensional work information, and unified operation and maintenance information for work orders. A memory for storing a program that implements an integrated operation and maintenance monitoring method based on a whole-area drainage facility as described in any one of claims 1 to 9; The processor is used to load and execute programs stored in memory.

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