Overhauling method and overhauling device for visualized cable trench and storage medium

Abstract

Provided in the present invention are an overhauling method and overhauling device for a visualized cable trench and a storage medium. The overhauling method comprises: by means of an information acquisition unit, acquiring a plurality of first fault images of a cable trench and position information of a fault occurring in the cable trench, the position information comprising determining a faulty cable is on a first trench wall or a second trench wall and the horizontal distance and vertical distance of the faulty cable; moving, on the basis of the horizontal distance in the position information, a visible light mirror to an area corresponding to the fault occurring in the cable trench, adjusting the deflection angle of the visible light mirror on the basis of determining that the faulty cable is on the first trench wall or the second trench wall, adjusting the height of the visible light mirror on the basis of the vertical distance, and then acquiring a plurality of second fault images; respectively superimposing the plurality of first fault images and the plurality of second fault images in different directions on a one-to-one basis to display same, so as to obtain a plurality of superimposed images; and identifying a fault type on the basis of the plurality of superimposed images, and overhauling the cable trench on the basis of the fault type.

Description

Method and device for visualizing cable trench maintenance and storage medium Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202410985267.4, filed on July 23, 2024 in China, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of cable trench, in particular to a method for visualizing cable trench maintenance, a device for visualizing cable trench maintenance and a storage medium. BACKGROUND

[0003] In today's era of rapid development, the number of power transmission and distribution lines is gradually increasing. However, since the cable trench is mostly underground, and long-term operation leads to aging discharge of cable outer insulation, as well as accumulation of water and moisture inside the cable trench, combined with accumulation of methane and other flammable gases produced by microbial decomposition of some plants and animals in the cable trench, which may eventually cause a fire and explosion in the underground cable trench. Moreover, the internal environment of the underground cable trench is small and complex, making it particularly difficult for workers to inspect. Therefore, various advanced underground cable trench detection devices and methods have emerged.

[0004] However, the current detection method has the problem of being unable to accurately identify the fault type, which further leads to a long maintenance time. SUMMARY

[0005] The problem solved by the present application is that the existing method for visualizing cable trench maintenance is prone to a long maintenance time.

[0006] To solve the above problems, the present application provides a method for visualizing cable trench maintenance, the cable trench comprising a first trench wall and a second trench wall arranged opposite to each other, a maintenance device being arranged in the cable trench, the maintenance device comprising a visible light mirror movably arranged in the cable trench and an information acquisition unit fixedly arranged in the cable trench, the maintenance method comprising:

[0007] acquiring, by the information acquisition unit, a plurality of first fault images of the cable trench and position information of the cable trench where a fault occurs, the position information comprising a horizontal distance and a vertical distance of a fault cable from the first trench wall or the second trench wall;

[0008] moving the visible light mirror to a region corresponding to the cable trench where a fault occurs according to the horizontal distance in the position information, adjusting a deflection angle of the visible light mirror according to the determination that the fault cable is in the first trench wall or the second trench wall, and acquiring a plurality of second fault images after adjusting a height of the visible light mirror according to the vertical distance;

[0009] superimpose the plurality of first fault images and the plurality of second fault images respectively in different directions one by one to obtain a plurality of superimposed images;

[0010] identify a fault type according to the plurality of superimposed images, and perform maintenance on the cable trench according to the fault type.

[0011] Optionally, the cable trench is divided into M regions in a horizontal direction, and N visible light mirrors are arranged in each region, M>0, N>0, and the visible light mirror is moved to a region corresponding to a fault of the cable trench according to the horizontal distance in the position information, comprising:

[0012] obtaining at least one fault region of the cable trench, and each fault region corresponds to at least one fault point;

[0013] determining at least one target visible light mirror in each fault region according to the number of fault points and the horizontal distance;

[0014] activating at least one target visible light mirror arranged in each fault region, and moving the target visible light mirror to the corresponding fault point.

[0015] Optionally, the determination of at least one target visible light mirror in each fault region according to the number of fault points and the horizontal distance comprises:

[0016] obtaining the number of fault points in each fault region;

[0017] if there is one fault point in the fault region, determining the visible light mirror closest to the fault point as the target visible light mirror according to the horizontal distance;

[0018] if there are multiple fault points in the fault region, determining the distance between two adjacent fault points, a first coincidence rate of the multiple fault points in a vertical direction, and a second coincidence rate of the multiple fault points in a horizontal direction;

[0019] if the distance, the first coincidence rate and the second coincidence rate all satisfy a preset condition, determining one target visible light mirror according to the horizontal distance;

[0020] if at least one of the distance, the first coincidence rate and the second coincidence rate does not satisfy the preset condition, determining multiple target visible light mirrors according to the distance and the horizontal distance, wherein each fault point corresponds to at least one target visible light mirror.

[0021] Optionally, the cable trench is sequentially provided with L cable supports in the vertical direction, each cable support is provided with a cable, the information acquisition unit comprises L camera assemblies connected in parallel, one camera assembly is arranged around one cable support, and the maintenance method further comprises:

[0022] In the T1 period, the L camera assemblies are controlled to work in sequence for a T2 period from the bottom to the top of the cable trench to detect the state of the cable on each cable support, and the plurality of visible light mirrors are controlled to be in a standby state;

[0023] If a fault is detected in the cable trench in the T1 period, the visible light mirror in the area is activated;

[0024] If no fault is detected in the cable trench in the T1 period, in the next T1 period, the L camera assemblies are controlled to work in sequence from the top to the bottom of the cable trench, and the working time is sequentially decreased by a T3 period, wherein the length of the T2 period is greater than the length of the T3 period;

[0025] When the cycle T1 period reaches K times or a worker is detected to be on patrol, in a T4 period, at least one visible light mirror in each area is controlled to be woken up in sequence to detect the state of the cable trench, and the L camera assemblies are controlled to be in a standby state, wherein the length of the T4 period is greater than the length of the T1 period, and K times of T1 periods and T4 periods constitute 24 periods of a natural day.

[0026] Optionally, the adjusting the deflection angle of the visible light mirror according to the determination that the faulty cable is on the first trench wall or the second trench wall comprises:

[0027] determining that each of the fault points corresponding to the target visible light mirror is on the first trench wall or the second trench wall;

[0028] if the fault points corresponding to the target visible light mirror are all on the first trench wall or all on the second trench wall, adjusting the deflection angle of the target visible light mirror according to the relationship between the visible light distance and the visible light angle;

[0029] if the fault points corresponding to the target visible light mirror are on the first trench wall and the second trench wall respectively, first adjusting the rotation angle of the target visible light mirror to present the fault point on the first trench wall, and then adjusting the rotation angle of the visible light mirror to present the fault point on the second trench wall according to the relationship between the visible light distance and the visible light angle.

[0030] Optionally, the one-to-one corresponding superimposed display of the plurality of first fault images and the plurality of second fault images in different directions comprises:

[0031] The plurality of first fault images and the plurality of second fault images are grouped according to similarity and orientation, such that in each group there is one first fault image and one second fault image corresponding to each other;

[0032] The first fault image and the second fault image in each group are divided into candidate overlay regions according to a preset order;

[0033] The candidate overlay region in the first fault image in each group and the candidate overlay region in the matching second fault image are overlaid to obtain multiple images to be synthesized.

[0034] The multiple images to be synthesized are stitched together in the preset order to obtain a superimposed image.

[0035] Optionally, identifying the fault type based on multiple overlaid images includes:

[0036] The photos with corresponding fault points in the multiple superimposed images are respectively grouped so that all superimposed images in each group correspond to a fault point;

[0037] The images in each set are categorized based on their density with the fault points to obtain a first cluster and a second cluster, with the density of the first cluster being greater than that of the second cluster.

[0038] Based on the mapping relationship between images and faults, a first fault is identified based on multiple superimposed images in the first cluster, and a second fault is identified based on multiple superimposed images in the second cluster;

[0039] If the first fault and the second fault are the same, then the fault type is determined to be either the first fault or the second fault.

[0040] If the first fault and the second fault are different and do not conflict, then the fault type is determined to be the first fault and the second fault.

[0041] If the first fault and the second fault are different and conflict, then obtain the first fault image and the second fault image.

[0042] Optionally, the cable trench includes a first cover plate and a second cover plate, which are stacked on top of each other on the first trench wall and the second trench wall, respectively. The first cover plate can be flipped relative to the first trench wall or the second trench wall. Before inspecting the cable trench according to the fault type, the inspection method further includes:

[0043] The multiple fault points are determined to be located on the first trench wall or the second trench wall;

[0044] If the multiple fault points are located on the first trench wall, the corresponding first cover plate is disconnected from the first trench wall to open the first cover plate, and the second cover plate is folded toward the second trench wall to open the second cover plate.

[0045] If the multiple fault points are located on the second trench wall, the corresponding first cover plate is disconnected from the second trench wall to open the first cover plate, and the second cover plate is folded toward the first trench wall to open the second cover plate.

[0046] This application embodiment also provides a maintenance device for a visualized cable trench, the cable trench including a first trench wall and a second trench wall disposed opposite to each other, the maintenance device comprising:

[0047] A visible light mirror, which is movably disposed within the cable trench;

[0048] An information acquisition unit is disposed within the cable trench;

[0049] The processor is connected to the visible light mirror and the information acquisition unit, and is used to acquire multiple first fault images of the cable trench and the location information of the fault in the cable trench through the information acquisition unit. The location information includes determining the faulty cable on the first trench wall or the second trench wall and the horizontal and vertical distances of the faulty cable.

[0050] Based on the horizontal distance in the location information, the visible light mirror is moved to the area corresponding to the fault in the cable trench. The deflection angle of the visible light mirror is adjusted according to whether the faulty cable is on the first trench wall or the second trench wall. After adjusting the height of the visible light mirror according to the vertical distance, multiple second fault images are obtained.

[0051] The multiple first fault images and the multiple second fault images are superimposed and displayed in a one-to-one correspondence in different directions to obtain multiple superimposed images;

[0052] The fault type is identified based on the multiple superimposed images, and the cable trench is repaired according to the fault type.

[0053] This application also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the maintenance method described above.

[0054] The visualization cable trench inspection method provided in this application embodiment acquires multiple first fault images of the cable trench and the location information of the fault in the cable trench through an information acquisition unit. Then, it controls the corresponding visible light mirror to move to the corresponding position to acquire a second fault image by using the horizontal distance, vertical distance and deflection angle of the faulty cable in the location information. This allows for accurate acquisition of the second fault image. By superimposing the first fault image and the second fault image in different directions, the fault type of the cable trench is identified. By identifying cable trench faults from multiple directions, misjudgment and omission are avoided, further improving the accuracy of fault type identification. Attached Figure Description

[0055] Figure 1 is a flowchart illustrating the inspection method for a visualized cable trench provided in an embodiment of this application;

[0056] Figure 2 is a schematic diagram of the process of moving the visible light mirror to the fault area in the maintenance method shown in Figure 1.

[0057] Figure 3 is a flowchart illustrating the process of superimposing multiple first fault images and multiple second fault images in the maintenance method shown in Figure 1.

[0058] Figure 4 is a schematic diagram of the process for controlling the camera assembly and visible light mirror in the maintenance method shown in Figure 1. Detailed Implementation

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below.

[0060] Please refer to Figure 1, which is a flowchart illustrating the inspection method for a visualized cable trench provided in this embodiment. This embodiment provides a method for inspecting a visualized cable trench. The cable trench includes a first trench wall and a second trench wall arranged opposite to each other. An inspection device is installed inside the cable trench. The inspection device includes an information acquisition unit and a visible light mirror. The visible light mirror is movably installed inside the cable trench, and the information acquisition unit is fixedly installed inside the cable trench. The inspection method includes the following steps:

[0061] 110. The information acquisition unit acquires multiple first fault images of the cable trench and the location information of the fault in the cable trench. The location information includes determining the faulty cable on the first or second trench wall and the horizontal and vertical distances of the faulty cable.

[0062] The cable trench has L layers of cable supports arranged vertically. The cable supports are usually made of metal and are fixed to the first and second trench walls by welding or screws. The cables are supported by the supports and kept at a certain distance from the bottom of the trench.

[0063] The information acquisition unit includes L camera components connected in parallel. Each camera component is arranged around a cable support layer. Each camera component includes multiple camera parts arranged in series. The multiple camera parts are spaced apart in the horizontal direction. The camera parts can be image information measured by lidar, vertical distance measured by depth camera, and horizontal distance measured by ultrasound.

[0064] The image information is used to confirm whether there is a fault in the cable trench. If a fault is identified in the cable trench, multiple first fault images and location information are obtained.

[0065] The horizontal distance is the distance from the fault point to a fixed point in the horizontal direction, and the vertical distance is the distance from the bottom of the cable trench to the fault point in the vertical direction. This fixed point can be set according to actual conditions, such as at both ends of the cable trench, the midpoint, or other locations; no specific limitations are specified here.

[0066] 120. Based on the horizontal distance in the location information, move the visible light mirror to the area corresponding to the fault in the cable trench. Based on whether the faulty cable is on the first or second trench wall, adjust the deflection angle of the visible light mirror. Based on the vertical distance, adjust the height of the visible light mirror and then acquire multiple second fault images.

[0067] The cable trench is divided into M regions in the horizontal direction, and N visible light mirrors are set in each region, where M>0 and N>0.

[0068] The specific steps for moving the visible light mirror to the area corresponding to the cable trench fault based on the horizontal distance in the location information are shown in Figure 2. Figure 2 is a flowchart illustrating the process of moving the visible light mirror to the fault area in the maintenance method shown in Figure 1. The specific steps are as follows:

[0069] 121. Obtain at least one fault area in the cable trench where a fault has occurred, and each fault area corresponds to at least one fault point.

[0070] Identify the fault area in the cable trench. This fault area can be one or more, depending on the specific circumstances. Each fault area corresponds to one or more fault points.

[0071] 122. Determine at least one target visible light mirror within each fault area based on the number of fault points and their horizontal distance.

[0072] For example, the number of fault points in each fault area is obtained; if there is one fault point in the fault area, the visible light mirror closest to the fault point is determined as the target visible light mirror based on the horizontal distance. If there are multiple fault points in the fault area, the distance between two adjacent fault points, the first overlap rate of the multiple fault points in the vertical direction, and the second overlap rate of the multiple fault points in the horizontal direction are determined.

[0073] If the distance, the first overlap rate, and the second overlap rate all meet the preset conditions, then a target visible light mirror is determined based on the horizontal distance; if at least one of the distance, the first overlap rate, and the second overlap rate does not meet the preset conditions, then multiple target visible light mirrors are determined based on the distance and the horizontal distance, wherein each fault point corresponds to at least one target visible light mirror.

[0074] Among them, the first overlap rate, the second overlap rate and the distance between multiple fault points are used to determine whether the target visible light mirror can detect multiple fault points at the same time. This reduces the number of target visible light mirrors while ensuring detection efficiency, thereby reducing energy consumption and ensuring detection efficiency.

[0075] Understandably, preset conditions can be designed based on actual conditions, historical data, the size of the visible light filter, and the shooting range, etc., without specific restrictions here.

[0076] 123. Activate at least one target visible light mirror set in each fault area and move the target visible light mirror to the corresponding fault point.

[0077] Activate the target visible light mirror set in each fault area, and control the corresponding target visible light mirror to move to the corresponding fault point.

[0078] Multiple target visible light mirrors are controlled to move to the nearest fault point. If the number of fault points is greater than the number of target visible light mirrors, the target visible light mirrors are controlled to move sequentially to the multiple fault points using the shortest path to acquire a fault image for each fault point. Furthermore, to avoid image confusion between different fault points, the fault image acquired for each fault point is labeled.

[0079] The process of adjusting the deflection angle of the visible light mirror based on whether the faulty cable is located on the first or second trench wall includes the following steps:

[0080] Each fault point corresponding to a target visible light mirror is determined to be on the first or second groove wall. If all fault points corresponding to the target visible light mirror are on the first groove wall or all are on the second groove wall, the deflection angle of the target visible light mirror is adjusted according to the relationship between visible light distance and visible light angle.

[0081] If the fault points corresponding to the target visible light mirror are on the first groove wall and the second groove wall respectively, then according to the relationship between visible light distance and visible light angle, first adjust the target visible light mirror to present the fault point on the first groove wall, and then adjust the visible light mirror to present the fault point on the second groove wall.

[0082] Among them, adjusting the deflection angle of the target visible light mirror based on the relationship between visible light distance and visible light angle can be obtained through training and data processing with a large amount of data. The specific settings can be made according to the actual situation, and will not be elaborated here.

[0083] 130. Multiple first fault images and multiple second fault images are superimposed and displayed in different directions to obtain multiple superimposed images.

[0084] Please refer to Figure 3. Figure 3 is a flowchart illustrating the process of overlaying multiple first fault images and multiple second fault images in the maintenance method shown in Figure 1. The specific steps for overlaying and displaying multiple first fault images and multiple second fault images are as follows:

[0085] 131. Group multiple first fault images and multiple second fault images according to similarity and orientation, so that in each group there is a first fault image and a second fault image corresponding to each other.

[0086] The similarity can be calculated and analyzed based on the overlap rate between the first fault image and the second fault image. For example, the overlap rate of the first fault image and the second fault image in the first direction and the overlap rate in the second direction can be obtained. The similarity can be obtained by performing difference calculation or average calculation on the overlap rates in multiple directions.

[0087] By grouping multiple first fault images and multiple second fault images, it is convenient to superimpose first fault images and second fault images with high similarity, thereby improving the accuracy and effectiveness of image recognition after superposition and avoiding situations where no effective information can be obtained after superposition.

[0088] 132. Divide the first fault image and the second fault image in each group into candidate overlay regions according to a preset order.

[0089] The preset order can be clockwise, counterclockwise, or any other predetermined order.

[0090] The number of candidate overlay regions after division can also be set according to actual conditions, historical data, user experience, etc., and no specific limit is set here.

[0091] For example, the first fault image and the second fault image in each group are divided into four candidate overlay regions in a clockwise order: a1, a2, a3, and a4.

[0092] Image segmentation is used to extract meaningful features from an image, which facilitates further image recognition, analysis, and understanding.

[0093] 133. Overlay the candidate overlay region in the first fault image in each group with the candidate overlay region in the matching second fault image to obtain multiple images to be synthesized.

[0094] For example, the candidate overlay region a1 in the first fault image in each group is overlaid with the candidate overlay region a1 in the second fault image to obtain the image to be synthesized a, thereby obtaining multiple images to be synthesized.

[0095] 134. Multiple images to be synthesized are stitched together in a preset order to obtain an overlay image.

[0096] 140. Identify the fault type based on multiple superimposed images, and repair the cable trench according to the fault type.

[0097] Before identifying the fault type, multiple overlaid images are enhanced and restored to improve image quality, remove noise, and improve image clarity.

[0098] The process of identifying the fault type based on multiple overlaid images includes the following steps:

[0099] The photos with corresponding fault points in multiple superimposed images are grouped separately so that all superimposed images in each group correspond to a single fault point.

[0100] The images in each set are categorized based on their density with the fault points to obtain a first cluster and a second cluster. The density of the first cluster is greater than that of the second cluster.

[0101] Based on the mapping relationship between images and faults, the first fault is identified by multiple superimposed images in the first cluster, and the second fault is identified by multiple superimposed images in the second cluster.

[0102] If the first fault and the second fault are the same, then the fault type is determined to be either the first fault or the second fault.

[0103] If the first fault and the second fault are different and do not conflict, then the fault type is determined to be the first fault and the second fault.

[0104] If the first fault and the second fault are different and conflict, then obtain the first fault image and the second fault image.

[0105] Identifying the first and second faults from the images, and determining the fault type based on the relationship between the first and second faults, can increase the accuracy of fault type identification and avoid misjudgment or omission.

[0106] Please refer to Figure 4, which is a flowchart illustrating the control of the camera assembly and visible light lens in the maintenance method shown in Figure 1. In some embodiments, the maintenance method further includes the following steps:

[0107] 210. During time period T1, control L camera components to work sequentially from the bottom to the top of the cable trench. During time period T2, detect the status of the cables on each cable bracket and control multiple visible light mirrors to be in standby mode.

[0108] 220. If a fault is detected in the cable trench during time period T1, activate the visible light mirror in that area.

[0109] 230. If no fault is detected in the cable trench during time period T1, then in the next time period T1, control L camera components to work in order from the top to the bottom of the cable trench, and the working time decreases sequentially from time period T3, wherein the duration of time period T2 is longer than the duration of time period T3.

[0110] 240. When the cycle T1 period reaches K or when a staff member is detected patrolling, during the T4 period, at least one visible light mirror in each area is sequentially awakened to detect the status of the cable trench, and L camera components are controlled to be in standby mode. The duration of the T4 period is longer than the duration of the T1 period, and K T1 periods and T4 periods together form a 24-period cycle of a natural day.

[0111] By controlling L camera components to be woken up and put into operation or to be put into standby mode in sequence, power consumption is saved and energy consumption is reduced while ensuring the detection of cable trenches.

[0112] In some embodiments, the cable trench includes a first cover plate and a second cover plate, which are stacked on top of each other on the first trench wall and the second trench wall. The first cover plate can be flipped relative to the first trench wall or the second trench wall. Before repairing the cable trench according to the fault type, the repair method further includes the following steps:

[0113] Multiple fault points were identified as being located on the first trench wall or the second trench wall;

[0114] If multiple fault points are located on the first trench wall, the corresponding first cover plate is disconnected from the first trench wall to open the first cover plate, and the second cover plate is folded towards the second trench wall to open the second cover plate.

[0115] If multiple fault points are located on the second trench wall, the corresponding first cover plate is disconnected from the second trench wall to open the first cover plate, and the second cover plate is folded towards the first trench wall to open the second cover plate.

[0116] If some fault points are located on the first trench wall and some on the second trench wall, the corresponding first cover plate is disconnected from the second trench wall to open the first cover plate and remove the second cover plate; or the corresponding second cover plate is disconnected from the first trench wall to open the second cover plate and remove the first cover plate. By opening the first and second cover plates according to the location of the fault, users can easily inspect and repair the fault points.

[0117] In some embodiments, both the first cover plate and the second cover plate are made of transparent material, allowing users to directly observe the condition of the cable trench.

[0118] This application embodiment also provides a visualization cable trench inspection device, the cable trench including: a first trench wall and a second trench wall disposed opposite to each other. The inspection device includes a visible light mirror, an information acquisition unit, and a processor. The visible light mirror is movably disposed within the cable trench; the information acquisition unit is disposed within the cable trench; the processor is connected to the visible light mirror and the information acquisition unit, and is used to acquire multiple first fault images of the cable trench and location information of the fault in the cable trench through the information acquisition unit. The location information includes determining whether the faulty cable is on the first or second trench wall and the horizontal and vertical distances of the faulty cable; moving the visible light mirror to the area corresponding to the fault in the cable trench according to the horizontal distance in the location information; adjusting the deflection angle of the visible light mirror according to determining whether the faulty cable is on the first or second trench wall; adjusting the height of the visible light mirror according to the vertical distance to acquire multiple second fault images; superimposing the multiple first fault images and the multiple second fault images one-to-one in different directions to obtain multiple superimposed images; identifying the fault type based on the multiple superimposed images, and inspecting the cable trench according to the fault type.

[0119] In some embodiments, the visualized cable trench also includes a WIFI positioning module for locating fault locations inside the cable trench.

[0120] This application also provides a readable storage medium storing computer-executable instructions. When the computer-executable instructions are read and executed by a processor, the surgical robot located on the readable storage medium is controlled to perform the inspection method for the visualized cable trench as described in the above embodiments.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed method and apparatus for inspecting and maintaining visualized cable trenches can also be implemented in other ways. The embodiments described above are merely illustrative.

[0122] If the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0123] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method of visualizing a cable trench inspection, characterized in that, The cable trench comprises a first trench wall and a second trench wall arranged oppositely, a maintenance device is arranged in the cable trench, the maintenance device comprises a visible light mirror movably arranged in the cable trench and an information acquisition unit fixedly arranged in the cable trench, and the maintenance method comprises: acquiring a plurality of first fault images of the cable trench and position information of a fault position of the cable trench by the information acquisition unit, the position information comprising horizontal distance and vertical distance of a fault cable determined at the first trench wall or the second trench wall; moving the visible light mirror to a region corresponding to the fault position of the cable trench according to the horizontal distance in the position information, adjusting a deflection angle of the visible light mirror according to that the fault cable is determined at the first trench wall or the second trench wall, and acquiring a plurality of second fault images after adjusting a height of the visible light mirror according to the vertical distance; superimposing and displaying the plurality of first fault images and the plurality of second fault images one by one in different directions respectively to obtain a plurality of superimposed images; identifying a fault type according to the plurality of superimposed images respectively, and maintaining the cable trench according to the fault type.

2. The method of servicing of claim 1, wherein, The cable trench is divided into M regions in a horizontal direction, N visible light mirrors are arranged in each region, M>0 and N>0, and the moving of the visible light mirror to the region corresponding to the fault position of the cable trench according to the horizontal distance in the position information comprises: acquiring at least one fault region of the cable trench, each fault region corresponding to at least one fault point; determining at least one target visible light mirror in each fault region according to the number of fault points and the horizontal distance; activating at least one target visible light mirror arranged in each fault region, and moving the target visible light mirror to the corresponding fault point.

3. The method of servicing of claim 2, wherein, The determining of at least one target visible light mirror in each fault region according to the number of fault points and the horizontal distance comprises: acquiring the number of fault points in each fault region; if there is one fault point in the fault region, determining the visible light mirror closest to the fault point as the target visible light mirror according to the horizontal distance; if there are a plurality of fault points in the fault region, determining the distance between adjacent two fault points, a first coincidence rate of the plurality of fault points in a vertical direction, and a second coincidence rate of the plurality of fault points in a horizontal direction; if the distance, the first coincidence rate and the second coincidence rate all satisfy a preset condition, determining one target visible light mirror according to the horizontal distance; if at least one of the distance, the first coincidence rate and the second coincidence rate does not satisfy the preset condition, determining a plurality of target visible light mirrors according to the distance and the horizontal distance, wherein each fault point corresponds to at least one target visible light mirror.

4. The method of servicing of claim 2, wherein, The cable trench is sequentially provided with L layers of cable supports in a vertical direction, one cable is arranged on each cable support, the information acquisition unit comprises L camera assemblies connected in parallel, one camera assembly is arranged around one layer of cable supports, and the maintenance method further comprises: In the T1 period, the L camera assemblies are controlled to work in sequence from the bottom to the top of the cable trench for T2 to detect the state of the cable on each cable support, and the visible light mirrors are in standby state; If a fault is detected in the T1 period, the visible light mirror in the area is activated; If no fault is detected in the T1 period, in the next T1 period, the L camera assemblies are controlled to work in sequence from the top to the bottom of the cable trench, and the working time is decreased by T3; When the cycle T1 period reaches K times or a worker is detected to patrol, in the T4 period, at least one visible light mirror in each area is woken up to detect the state of the cable trench, and the L camera assemblies are in standby state, wherein the T4 period is longer than the T1 period, and K times of the T1 period and the T4 period constitute a 24-hour period of a natural day.

5. The method of servicing of claim 2, wherein, The adjusting the deflection angle of the visible light mirror according to the determination of the fault cable on the first trench wall or the second trench wall comprises: determining whether each fault point corresponding to the target visible light mirror is on the first trench wall or the second trench wall; if all the fault points corresponding to the target visible light mirror are on the first trench wall or the second trench wall, adjusting the deflection angle of the target visible light mirror according to the relationship between the visible light distance and the visible light angle; if the fault points corresponding to the target visible light mirror are on the first trench wall and the second trench wall respectively, adjusting the rotation angle of the target visible light mirror to present the fault point on the first trench wall first, and then adjusting the rotation angle of the visible light mirror to present the fault point on the second trench wall.

6. The method of servicing according to any one of claims 1 to 5, characterized in that, The one-to-one corresponding superimposition display of the plurality of first fault images and the plurality of second fault images in different directions comprises: grouping the plurality of first fault images and the plurality of second fault images according to similarity and direction, so that each group has a first fault image corresponding to a second fault image; dividing the first fault image and the second fault image in each group into candidate superimposition regions according to a preset order; superimposing the candidate superimposition regions in the first fault image and the candidate superimposition regions in the second fault image matched therewith in each group to obtain a plurality of to-be-combined images; splicing the plurality of to-be-combined images according to the preset order to obtain a superimposed image.

7. The method of servicing of claim 6, wherein, The identifying the fault type according to the plurality of superimposed images comprises: collecting the photos with corresponding fault points in the plurality of superimposed images to make all the superimposed images in each collection correspond to one fault point; classifying the superimposed images in each collection according to the closeness to the fault point to obtain a first cluster and a second cluster, wherein the closeness of the first cluster is greater than that of the second cluster; identify a first fault according to the plurality of superimposed images in the first cluster and identify a second fault according to the plurality of superimposed images in the second cluster; if the first fault and the second fault are the same, determine that the fault type is the first fault or the second fault; if the first fault and the second fault are different and not conflicting, determine that the fault type is the first fault and the second fault; if the first fault and the second fault are different and conflicting, obtain a first fault image and a second fault image.

8. The method of inspection according to any one of claims 1 to 5, characterized in that, The cable trench comprises a first cover plate and a second cover plate, the first cover plate and the second cover plate are arranged on the first trench wall and the second trench wall in a superimposed manner, the first cover plate can be flipped relative to the first trench wall or the second trench wall, and before the cable trench is repaired according to the fault type, the repair method further comprises: determining that a plurality of fault points are located on the first trench wall or the second trench wall; if the plurality of fault points are located on the first trench wall, controlling the corresponding first cover plate to be disconnected from the first trench wall to open the first cover plate, and the second cover plate is folded towards the second trench wall to open the second cover plate; if the plurality of fault points are located on the second trench wall, controlling the corresponding first cover plate to be disconnected from the second trench wall to open the first cover plate, and the second cover plate is folded towards the first trench wall to open the second cover plate.

9. A visualizing cable trench servicing device, characterized in that The cable trench comprises a first trench wall and a second trench wall arranged oppositely, and the repair device comprises: a visible light mirror movably arranged in the cable trench; an information acquisition unit arranged in the cable trench; a processor connected with the visible light mirror and the information acquisition unit, used to acquire a plurality of first fault images of the cable trench and position information of the cable trench through the information acquisition unit, the position information comprising horizontal distance and vertical distance of a fault cable determined on the first trench wall or the second trench wall; moving the visible light mirror to a region corresponding to the cable trench according to the horizontal distance in the position information, adjusting a deflection angle of the visible light mirror according to the fault cable determined on the first trench wall or the second trench wall, and acquiring a plurality of second fault images after adjusting the height of the visible light mirror according to the vertical distance; superimposedly displaying the plurality of first fault images and the plurality of second fault images one by one in different directions respectively to obtain a plurality of superimposed images; identifying a fault type according to the plurality of superimposed images respectively, and repairing the cable trench according to the fault type.

10. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, which are executed by the processor to realize the steps of the repair method according to any one of claims 1 to 7.

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