CN110850233A - Cable fault positioning method and device - Google Patents
Cable fault positioning method and device Download PDFInfo
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- CN110850233A CN110850233A CN201911133598.0A CN201911133598A CN110850233A CN 110850233 A CN110850233 A CN 110850233A CN 201911133598 A CN201911133598 A CN 201911133598A CN 110850233 A CN110850233 A CN 110850233A
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- G06T7/0002—Inspection of images, e.g. flaw detection
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Abstract
The invention discloses a cable fault positioning method and a device, wherein the method comprises the following steps: receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct; identifying the image to judge whether the underground cable has a fault; when the underground cable has a fault, reading the communication signal strength of the robot; determining the position of the robot according to the communication signal strength; and obtaining the fault position of the underground cable according to the position of the robot. By adopting the method, the accuracy of cable fault positioning can be improved.
Description
Technical Field
The invention relates to a cable fault positioning method and device, and belongs to the technical field of communication.
Background
Cables buried underground are often exploded due to the temperature rise of the cables during power transmission; or, the cable is damaged due to water inflow of the underground laying pipeline, so that normal transmission of the cable is influenced.
In the conventional technology, in order to monitor underground cables, the cables need to be manually checked one by one, so that the monitoring efficiency is reduced.
Disclosure of Invention
In view of the above problems in the prior art, the present invention is directed to a method and an apparatus for locating a cable fault.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cable fault location method, the method comprising:
receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct;
identifying the image to judge whether the underground cable has a fault;
when the underground cable has a fault, reading the communication signal strength of the robot;
determining the position of the robot according to the communication signal strength;
and obtaining the fault position of the underground cable according to the position of the robot.
In one embodiment, the identifying the image to determine whether the underground cable has a fault includes:
carrying out binarization processing on the image;
matching the image after the binarization processing with a standard image;
and if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, judging that the underground cable has a fault, otherwise, judging that the underground cable does not have the fault.
In one embodiment, the determining the position of the robot according to the communication signal strength includes:
the method comprises the steps of obtaining the received signal strength of a WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal;
measuring the distance between the robot and a WIFI hotspot of the terminal according to the received signal strength;
and positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
In one embodiment, the obtaining of the received signal strength of the WIFI hotspot signal by analyzing WIFI hotspot signal data of the terminal includes:
acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal;
and correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
In one embodiment, the positioning the robot according to the distance and the WIFI hotspot geographic position of the terminal includes:
constructing a circumference by corresponding the distance and the WIFI hotspot geographical position of the terminal;
counting the positions and densities of the intersection points among the circumferences;
and positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
In one embodiment, before receiving the image returned by the robot, the method further includes:
acquiring current environment data and current operation data of the underground cable through an underground cable acquisition system;
inputting the current environmental data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result;
acquiring the geographical position of the underground cable corresponding to the fault prediction result;
transmitting the geographic location of the underground cable to the robot to indicate that the robot travels to the geographic location of the underground cable.
In one embodiment, the current environmental data includes one or more of temperature data, water sensitivity data, and displacement data.
A cable fault locating device, the device comprising:
the receiving module is used for receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct;
the judging module is used for identifying the image and judging whether the underground cable has a fault;
the signal intensity acquisition module is used for reading the communication signal intensity of the robot when the underground cable has a fault;
the position determining module is used for determining the position of the robot according to the communication signal intensity;
and the positioning module is used for obtaining the fault position of the underground cable according to the position of the robot.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
Compared with the prior art, the cable fault positioning method and the cable fault positioning device provided by the invention have the following advantages:
the robot is placed in the cable trench, the real-time state in the cable trench can be obtained through shooting, whether a cable in the cable trench breaks down or not can be judged through an image returned by the robot, if the cable breaks down, the position of the robot can be determined through the communication signal strength of the robot, namely, the distance from the robot to a signal emission source is determined according to the communication signal strength of the robot, the position of the robot is determined, the fault position of an underground cable can be obtained, and the accuracy of determining the fault position of the underground cable is improved.
Drawings
FIG. 1 is a diagram of an application environment of a cable fault location method provided by the present invention;
FIG. 2 is a flow chart of a cable fault location method provided by the present invention;
FIG. 3 is a block diagram of a cable fault locating device provided by the present invention;
FIG. 4 is a block diagram of a computer device provided by the present invention.
Detailed Description
The present invention will be described more fully with reference to the following examples and comparative examples.
The underground cable fault early warning method provided by the application can be applied to the application environment shown in figure 1. Wherein the monitor terminal 102 and the robot 104 communicate with each other. The robot is placed in the cable trench, a real-time state in the cable trench can be obtained through shooting, whether a cable in the cable trench breaks down or not can be judged through an image returned by the robot, if the cable breaks down, the position of the robot can be determined through the communication signal strength of the robot, namely, the distance from the robot to a signal emission source is determined according to the communication signal strength of the robot, the position of the robot is determined, the fault position of an underground cable can be obtained, and the accuracy of determining the fault position of the underground cable is improved. The monitoring terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
In one embodiment, as shown in fig. 2, a method for warning a fault in an underground cable is provided, which is described by taking the method as an example for being applied to the server in fig. 1, and includes the following steps:
s202: and receiving an image returned by the robot, wherein the image is shot by the robot in the cable duct.
Specifically, the staff puts the robot in the cable pit to send the instruction to the robot, so that the robot walks and shoots, for example the robot can receive the walking instruction and the shooting instruction that monitor terminal sent, thereby can walk according to the direction and the speed that this walking instruction corresponds, and shoot according to the shooting instruction, and optionally can shoot through infrared camera, or open light and shoot through the natural light camera.
S204: and identifying the image to judge whether the underground cable has a fault.
Specifically, the step of identifying, by the monitoring terminal, the image to determine whether the underground cable has a fault may be to determine similarity between the image and a standard image, for example, first determine that the image is matched with an image with no fault in the standard to obtain a first similarity, match the image with an image with a fault in the standard to obtain a second similarity, determine whether the first similarity is smaller than a first preset value, if so, determine that the underground cable has a fault, and then determine whether the second similarity is larger than a second preset value, and if so, determine that the underground cable has a fault.
S206: and when the underground cable has a fault, reading the communication signal strength of the robot.
Specifically, when there is a fault in the underground cable, the communication signal strength of the robot may be obtained, and the communication signal strength may be wifi signal strength.
S208: and determining the position of the robot according to the communication signal strength.
Specifically, the monitoring terminal calculates the distance between the robot and the wifi transmitting terminal according to the communication signal strength, namely the distance between the wifi transmitting terminal and the wifi transmitting terminal connected to the robot, and obtains the position of the robot according to the distance between the wifi transmitting terminal and the existing underground cable distribution diagram.
S210: and obtaining the fault position of the underground cable according to the position of the robot.
Specifically, after the position of the robot is determined, the monitoring terminal can acquire the fault position of the underground cable according to the position of the robot, for example, shooting time can be determined in the image, then process time can be calculated according to the current time and the shooting time, a route can be acquired according to the speed and the process time of the robot, and then the fault position of the underground cable can be acquired according to the route, a distribution map of the existing underground cable and the position of the robot.
According to the method, the robot is placed in the cable trench, the real-time state in the cable trench can be obtained through shooting, whether the cable in the cable trench breaks down or not can be judged through the image returned by the robot, if the cable breaks down, the position of the robot can be determined according to the communication signal strength of the robot, namely the distance between the robot and a signal emission source is determined according to the communication signal strength of the robot, so that the position of the robot is determined, the fault position of the underground cable can be obtained, and the accuracy of determining the fault position of the underground cable is improved.
In one embodiment, the identifying the image to determine whether the underground cable has a fault includes: carrying out binarization processing on the image; matching the image after the binarization processing with a standard image; and if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, judging the fault position of the underground cable, otherwise, judging that the underground cable has no fault.
Specifically, in this embodiment, in order to avoid an influence caused by an environmental factor or the like, the standard image is subjected to binarization processing, and after the binarization processing, a background image is removed, then a foreground image with valid information is acquired, and the foreground image is matched with the standard image, that is, matched with the standard image without a fault, if the similarity is smaller than a preset value, it is indicated that the underground cable has a fault, and in order to determine the fault type, the foreground image may be compared with the standard image with a fault, and if the similarity is larger than a second preset value, a fault type corresponding to the standard image with a fault is acquired, so that the fault type may be determined. And optionally, if the standard image with the similarity larger than the second preset value and having the fault does not exist, only the standard image with the fault can be output, and after the fault type is determined manually, the image and the fault type are stored so as to facilitate subsequent judgment.
In one embodiment, the determining the position of the robot according to the communication signal strength includes:
the method comprises the steps of obtaining the received signal strength of a WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal;
and calculating the distance between the WIFI hotspot and the robot according to the characteristic that the signal strength of the wireless signal becomes weaker along with the extension of the propagation distance. And the WIFI signal intensity obtained from the position of the robot is the received signal intensity of the WIFI hotspot signal, and the distance between the WIFI hotspot and the robot is calculated according to the received signal intensity.
And measuring the distance between the robot and the WIFI hotspot of the terminal according to the received signal strength.
Specifically, the distance between the robot and the WIFI hotspot may be measured according to the following calculation formula:
the unit is a constant, is a loss coefficient of a free space, and is a value set in different environments in a differentiated manner, and can be set by setting different influence factors in different environments. In decibel millivolts or decibel milliwatts, is used to represent signal strength.
And positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
And determining the plane position of the robot according to the geographic position of the WIFI hotspot and the distance between the WIFI hotspot and the robot, and determining the three-dimensional space coordinate by combining the WIFI hotspot with the similar longitude and latitude coordinate but different distance from the robot. Due to the fact that the WIFI signal intensity is convenient to measure, the position of the robot can be conveniently and quickly determined through the signal intensity and the geographical position of the WIFI hotspot, and efficiency is improved.
In one embodiment, the obtaining of the received signal strength of the WIFI hotspot signal by analyzing WIFI hotspot signal data of the terminal includes: acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal; and correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
The signal receiving intensity of the WIFI hotspot signal is obtained by calculating the amplitude, frequency or period of the WIFI signal, and meanwhile, the signal receiving intensity is corrected by synthesizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
In one embodiment, the positioning the robot according to the distance and the WIFI hotspot geographic position of the terminal includes:
and constructing a circumference by correspondingly constructing the distance and the WIFI hotspot geographical position of the terminal.
In this embodiment, a circle may be determined according to a principle that one circle may be determined according to one radius and one circle center, a circumference function may be constructed with the geographic location of the WIFI hotspot as the circle center and the distance between the corresponding WIFI hotspot and the robot as the radius, a range and a position of one circle may be determined according to the circumference function, and each point on the circumference may be a possible distribution position of the robot.
And counting the intersection point positions and the intersection point density between the circumferences.
In this embodiment, an intersection point between every two circles is obtained according to the constructed circle function, and the position of the intersection point may be represented by longitude and latitude coordinates or by referring to a relative position of the geographic position of the WIFI hotspot. And counting the distribution frequency histograms of the intersection points in the transverse direction and the longitudinal direction by using a preset step length so as to obtain intersection point density data.
And positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
In this embodiment, according to a preset statistical window, a window position where both the transverse distribution frequency and the longitudinal distribution frequency are maximum is used as an intersection point region where the intersection point density is highest, and a center point position of the window is determined by a coordinate average method or a minimum circumference method, so as to determine a position where the robot is located.
In one embodiment, before receiving the image returned by the robot, the method further includes:
and acquiring current environment data and current operation data of the underground cable through an underground cable acquisition system.
Specifically, the current environmental data includes one or more of temperature data, water sensitive data, environmental gas data, and displacement data, the operational data includes, but is not limited to, partial discharge signals, and the current operational data may also refer to the magnitude of current in the underground cable, etc. Underground cable collection systems are installed underground, for example, at the junction of underground cables, and are used for collecting environmental data and operational data at the junction of underground cables. After the underground cable acquisition system acquires the environmental data and the operation data of the underground cable, the environmental data and the operation data are sent to the server, so that the server can judge whether the underground cable breaks down or not after processing. In order to ensure the data queryability, the underground cable acquisition system and the geographical position of the underground cable are sent to the server together when sending data, and optionally, the label of the underground cable can be preset, and the corresponding relation between the label and the position of the underground cable is established, so that when the service receives the data sent by the underground cable acquisition system with a certain label, the geographical position information corresponding to the underground cable can be queried according to the label.
And inputting the current environment data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result.
Specifically, the fault early warning model is a training model which is generated according to historical data and used for judging whether the underground cable has faults or not, the input of the model is current environment data and current operation data, and the output of the model is the probability of the underground cable having faults. And the server inputs the current environmental data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result, compares the fault prediction result with a predetermined threshold value, judges that the underground cable has a fault if the fault prediction result is larger than the predetermined threshold value, and otherwise, judges that the underground cable has no fault. Optionally, when the fault early warning model processes the current environment data and the current operation data, the current environment data may be compared with the environment data of the historical fault during the training of the model, the current operation data may be compared with the operation data of the historical fault, so as to obtain the similarity, and then all the similarities are integrated to obtain the fault prediction result.
Acquiring the geographical position of the underground cable corresponding to the fault prediction result;
transmitting the geographic location of the underground cable to the robot to indicate that the robot travels to the geographic location of the underground cable.
When the server judges that the underground cable has a fault, the server can acquire the position information of the underground cable, then combine the position information and the fault information to obtain early warning information, and send the early warning information to a certain monitoring terminal so that the monitoring terminal can process the early warning information, for example, the geographical position is sent to the robot so as to control the robot to run to the geographical position, and the like.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 3, there is provided a cable fault locating device comprising: the system comprises a receiving module 100, a judging module 200, a signal strength acquiring module 300, a position determining module 400 and a positioning module 500, wherein:
the receiving module is used for receiving an image returned by the robot, wherein the image is shot by the robot in the cable duct.
And the judging module is used for identifying the image and judging whether the underground cable has a fault.
And the signal strength acquisition module is used for reading the communication signal strength of the robot when the underground cable has a fault.
And the position determining module is used for determining the position of the robot according to the communication signal strength.
And the positioning module is used for obtaining the fault position of the underground cable according to the position of the robot.
In one embodiment, the determining module may include:
a binarization processing unit for performing binarization processing on the image;
the matching unit is used for matching the image after the binarization processing with the standard image;
and the judging unit is used for judging that the underground cable has a fault if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, and otherwise, judging that the underground cable does not have the fault.
In one embodiment, the position determining module may include:
and the signal intensity acquisition unit is used for acquiring the received signal intensity of the WIFI hotspot signal by analyzing the WIFI hotspot signal data of the terminal.
And the distance acquisition unit is used for measuring the distance between the robot and the WIFI hotspot of the terminal according to the received signal strength.
And the positioning unit is used for positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
In one embodiment, the signal strength obtaining unit is configured to include:
the first calculation unit is used for acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal;
and the correcting unit is used for correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
In one embodiment, the positioning module comprises:
the circumference constructing unit is used for correspondingly constructing a circumference according to the distance and the WIFI hotspot geographical position of the terminal;
the statistical unit is used for counting the intersection point positions and the intersection point densities among the circumferences;
and the positioning unit is used for positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
In one embodiment, the cable fault location device may further include:
the operation data acquisition module is used for acquiring current environment data and current operation data of the underground cable through the underground cable acquisition system;
the prediction module is used for inputting the current environment data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result;
the rough positioning module is used for acquiring the geographical position of the underground cable corresponding to the fault prediction result;
and the sending module is used for sending the geographic position of the underground cable to the robot so as to indicate the robot to run to the geographic position of the underground cable.
In one embodiment, the current environmental data includes one or more of temperature data, water sensitivity data, ambient gas data, and displacement data, and the operational data includes, but is not limited to, partial discharge signals.
For specific definition of the cable fault location device, reference may be made to the above definition of the cable fault location method, which is not described herein again. The modules in the cable fault location device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a cable fault location method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct; identifying the image to judge whether the underground cable has a fault; when the underground cable has a fault, reading the communication signal strength of the robot; determining the position of the robot according to the communication signal strength; and obtaining the fault position of the underground cable according to the position of the robot.
In one embodiment, said identifying said image, as implemented by the processor executing the computer program, to determine whether the underground cable is faulty comprises: carrying out binarization processing on the image; matching the image after the binarization processing with a standard image; and if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, judging that the underground cable has a fault, otherwise, judging that the underground cable does not have the fault.
In one embodiment, said determining the position of said robot from said communication signal strength, as implemented by a processor executing a computer program, comprises: the method comprises the steps of obtaining the received signal strength of a WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal; measuring the distance between the robot and a WIFI hotspot of the terminal according to the received signal strength; and positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
In one embodiment, the obtaining of the received signal strength of the WIFI hotspot signal by analyzing the WIFI hotspot signal data of the terminal, which is implemented when the processor executes the computer program, includes: acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal; and correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
In one embodiment, the locating the position of the robot according to the distance and the WIFI hotspot geographic position of the terminal, implemented when the processor executes the computer program, comprises: constructing a circumference by corresponding the distance and the WIFI hotspot geographical position of the terminal; counting the positions and densities of the intersection points among the circumferences; and positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
In one embodiment, before the receiving the image returned by the robot when the processor executes the computer program, the method further comprises: acquiring current environment data and current operation data of the underground cable through an underground cable acquisition system; inputting the current environmental data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result; acquiring the geographical position of the underground cable corresponding to the fault prediction result; transmitting the geographic location of the underground cable to the robot to indicate that the robot travels to the geographic location of the underground cable.
In one embodiment, the current environmental data implemented by the processor when executing the computer program comprises one or more of temperature data, water sensitive data, ambient gas data, and displacement data, and the operational data includes, but is not limited to, partial discharge signals.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct; identifying the image to judge whether the underground cable has a fault; when the underground cable has a fault, reading the communication signal strength of the robot; determining the position of the robot according to the communication signal strength; and obtaining the fault position of the underground cable according to the position of the robot.
In one embodiment, said identifying said image, implemented when the computer program is executed by the processor, of whether the underground cable is faulty comprises: carrying out binarization processing on the image; matching the image after the binarization processing with a standard image; and if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, judging that the underground cable has a fault, otherwise, judging that the underground cable does not have the fault.
In one embodiment, the determining the position of the robot from the communication signal strength, implemented when the computer program is executed by the processor, comprises: the method comprises the steps of obtaining the received signal strength of a WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal; measuring the distance between the robot and a WIFI hotspot of the terminal according to the received signal strength; and positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
In one embodiment, the obtaining of the received signal strength of the WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal, which is implemented when a computer program is executed by a processor, includes: acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal; and correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
In one embodiment, the positioning of the robot according to the distance and the WIFI hotspot geographic location of the terminal, implemented when the computer program is executed by the processor, comprises: constructing a circumference by corresponding the distance and the WIFI hotspot geographical position of the terminal; counting the positions and densities of the intersection points among the circumferences; and positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
In one embodiment, before the receiving the image returned by the robot, the computer program, when executed by the processor, further comprises: acquiring current environment data and current operation data of the underground cable through an underground cable acquisition system; inputting the current environmental data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result; acquiring the geographical position of the underground cable corresponding to the fault prediction result; transmitting the geographic location of the underground cable to the robot to indicate that the robot travels to the geographic location of the underground cable.
In one embodiment, the current environmental data implemented when the computer program is executed by the processor includes one or more of temperature data, water sensitive data, ambient gas data, and displacement data, and the operational data includes, but is not limited to, partial discharge signals.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Finally, it must be said here that: the above embodiments are only used for further detailed description of the technical solutions of the present invention, and should not be understood as limiting the scope of the present invention, and the insubstantial modifications and adaptations made by those skilled in the art according to the above descriptions of the present invention are within the scope of the present invention.
Claims (10)
1. A method of cable fault location, the method comprising:
receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct;
identifying the image to judge whether the underground cable has a fault;
when the underground cable has a fault, reading the communication signal strength of the robot;
determining the position of the robot according to the communication signal strength;
and obtaining the fault position of the underground cable according to the position of the robot.
2. The method of claim 1, wherein said identifying the image to determine whether a cable fault exists in the underground cable comprises:
carrying out binarization processing on the image;
matching the image after the binarization processing with a standard image;
and if the matching degree of the image after the binarization processing and the standard image is smaller than a preset value, judging that the underground cable has a fault, otherwise, judging that the underground cable does not have the fault.
3. The method of claim 1 or 2, wherein said determining the location of the robot from the communication signal strength comprises:
the method comprises the steps of obtaining the received signal strength of a WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal;
measuring the distance between the robot and a WIFI hotspot of the terminal according to the received signal strength;
and positioning the position of the robot according to the distance and the WIFI hotspot geographical position of the terminal.
4. The method of claim 3, wherein the obtaining the received signal strength of the WIFI hotspot signal by analyzing WIFI hotspot signal data of a terminal comprises:
acquiring the received signal strength of the WIFI hotspot signal by calculating the amplitude, frequency or period of the WIFI signal;
and correcting the intensity of the received signal by utilizing the fluctuation condition of the WIFI signal and the multipath propagation of the signal.
5. The method of claim 1, wherein the locating the robot according to the distance and the WIFI hotspot geographic location of the terminal comprises:
constructing a circumference by corresponding the distance and the WIFI hotspot geographical position of the terminal;
counting the positions and densities of the intersection points among the circumferences;
and positioning the central point of the intersection point region with the highest intersection point density as the position of the robot.
6. The method of claim 1, wherein prior to receiving the image returned by the robot, further comprising:
acquiring current environment data and current operation data of the underground cable through an underground cable acquisition system;
inputting the current environmental data and the current operation data into a pre-trained fault early warning model to obtain a fault prediction result;
acquiring the geographical position of the underground cable corresponding to the fault prediction result;
transmitting the geographic location of the underground cable to the robot to indicate that the robot travels to the geographic location of the underground cable.
7. The method of claim 6, wherein the current environmental data includes one or more of temperature data, water sensitive data, ambient gas data, and displacement data, and wherein the operational data includes, but is not limited to, partial discharge signals.
8. A cable fault locating device, the device comprising:
the receiving module is used for receiving an image returned by the robot, wherein the image is obtained by shooting the robot in the cable duct;
the judging module is used for identifying the image and judging whether the underground cable has a fault;
the signal intensity acquisition module is used for reading the communication signal intensity of the robot when the underground cable has a fault;
the position determining module is used for determining the position of the robot according to the communication signal intensity;
and the positioning module is used for obtaining the fault position of the underground cable according to the position of the robot.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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