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CN113701890A - Sensing monitoring method and system for tracking cable hot spot and damage - Google Patents

Sensing monitoring method and system for tracking cable hot spot and damage Download PDF

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Publication number
CN113701890A
CN113701890A CN202110906673.3A CN202110906673A CN113701890A CN 113701890 A CN113701890 A CN 113701890A CN 202110906673 A CN202110906673 A CN 202110906673A CN 113701890 A CN113701890 A CN 113701890A
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cable
damage
visible light
monitoring
target
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王承
原佳亮
王骁迪
陈艳玲
吴辰斌
蒋晓娟
周韫捷
袁奇
陈浩年
钟俊玲
夏军
何磊
黄炜
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Suong Shanghai Automation Technology Co ltd
State Grid Shanghai Electric Power Co Ltd
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Suong Shanghai Automation Technology Co ltd
State Grid Shanghai Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0066—Radiation pyrometry, e.g. infrared or optical thermometry for hot spots detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires

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Abstract

本发明涉及一种用于电缆热点和破损跟踪的传感监控方法和系统，系统包括红外传感器、可见光摄像头、机械臂和处理器，红外传感器和可见光摄像头均安装在机械臂上，处理器的数据处理过程包括：通过红外传感器获取电缆的红外传感数据，判断温度异常点，并标记坐标位置；通过可见光摄像头获取电缆的可见光数据，确定电缆破损区域，并标记坐标位置；驱动机械臂进行转动，获取温度异常点和电缆破损区域的坐标位置；根据温度最高或破损范围最大的目标，驱动机械臂进行位置调整，使得温度最高或破损范围最大的目标位于监控范围以内。与现有技术相比，本发明具备自主检测能力，减少了人为操作，并能对监测目标实现实时跟踪。

Figure 202110906673

The invention relates to a sensor monitoring method and system for cable hot spot and damage tracking. The system includes an infrared sensor, a visible light camera, a mechanical arm and a processor. The processing process includes: obtaining the infrared sensing data of the cable through the infrared sensor, judging the abnormal temperature point, and marking the coordinate position; obtaining the visible light data of the cable through the visible light camera, determining the damaged area of the cable, and marking the coordinate position; driving the mechanical arm to rotate, Obtain the coordinates of the abnormal temperature point and the damaged area of the cable; according to the target with the highest temperature or the largest damage range, drive the robot arm to adjust the position, so that the target with the highest temperature or the largest damage range is within the monitoring range. Compared with the prior art, the present invention has the capability of autonomous detection, reduces the manual operation, and can realize real-time tracking of the monitoring target.

Figure 202110906673

Description

Sensing monitoring method and system for tracking cable hot spot and damage
Technical Field
The invention relates to the technical field of cable monitoring, in particular to a sensing monitoring method and a sensing monitoring system for tracking hot spots and damages of cables.
Background
Currently, common safety monitoring equipment (infrared temperature measurement and camera) can be divided into:
1. and the monitoring of a fixed place is small in monitoring range, the angle cannot be changed, and the flexibility is low.
2. In the monitoring system with the holder, the camera can rotate left and right or up and down, but the degree of automation is low, real-time online operation is required, and the existing common monitoring equipment cannot be well utilized due to the large monitoring range.
The fault monitoring of the cable is also mostly realized by adopting a monitoring scheme of a fixed place, for example, the invention with the publication number of CN111707902A discloses an underground cable fault detection device and method based on infrared images. The device comprises at least one detection node arranged at a downhole cable, wherein the at least one detection node is in data interaction with an upper computer and comprises a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module; the method is realized based on the device.
The scheme still carries out environmental monitoring through the detection node set at a fixed point, the monitoring range is limited, and the automation degree is lower.
Disclosure of Invention
The invention aims to overcome the defects of limited monitoring range and low automation degree of the cable in the prior art, and provides a sensing monitoring method and a sensing monitoring system for tracking hot spots and breakage of the cable.
The purpose of the invention can be realized by the following technical scheme:
a sensing and monitoring method for cable hotspot and breakage tracking, comprising the steps of:
hot spot detection: acquiring infrared sensing data of a cable, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
a cable monitoring step: and respectively carrying out temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain coordinate positions of temperature abnormal points and a cable damage area, and determining a monitoring angle of the cable according to a target with the highest temperature or the largest damage range so that the target with the highest temperature or the largest damage range is positioned in the monitoring range.
Further, the determination of the cable breakage area is specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
Further, the acquiring of the infrared image specifically comprises: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
The invention also provides a sensing monitoring system for tracking the hot spot and the damage of the cable, which comprises an infrared sensor, a visible light camera, a mechanical arm and a processor, wherein the infrared sensor and the visible light camera are both arranged on the mechanical arm and driven by the mechanical arm, the processor is respectively connected with the infrared sensor, the visible light camera and the mechanical arm, and the data processing process of the processor comprises the following steps:
hot spot detection: acquiring infrared sensing data of the cable through the infrared sensor, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable through the visible light camera, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
cable monitoring presetting step: driving the mechanical arm to rotate according to a preset rotation mode, and respectively performing temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain a temperature abnormal point and a coordinate position of a cable damage area;
a cable monitoring step: and determining a monitoring angle of the cable according to the target with the highest temperature or the largest damage range, so as to drive the mechanical arm to adjust the position, and enable the target with the highest temperature or the largest damage range to be positioned within the monitoring range of the infrared sensor and the visible light camera.
Further, the cable monitoring step further comprises: and after determining the target with the highest temperature or the largest damage range, focusing and photometry are carried out on the target.
Further, the determination of the cable breakage area is specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
Further, the acquiring of the infrared image specifically comprises: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
Further, the coordinate position of the temperature abnormal point is the relative position of the temperature abnormal point relative to the infrared sensor; the coordinate position of the cable damage area is the relative position of the cable damage area relative to the visible light camera.
Further, the cable monitoring step further comprises: and displaying the collected infrared image and the visible light image in real time, and identifying the temperature abnormal point and the cable damage area through the square frame so that the square frame identification area is not lost.
Further, the cable monitoring step further comprises: and if the target with the highest temperature or the largest damage range is lost in the real-time monitoring process, the cable monitoring presetting step and the cable monitoring step are executed again in sequence.
Compared with the prior art, the invention has the following advantages:
(1) according to the invention, the monitoring angle of the cable is determined by judging the cable hot spot and the damaged position of the monitoring data acquired in real time, so that the target with the highest temperature or the largest damaged range is positioned within the monitoring range, and therefore, the cable monitoring device has the autonomous detection capability, reduces manual operation and can realize real-time tracking on the monitored target.
(2) According to the invention, the infrared sensor and the visible light camera are arranged on the mechanical arm, the position of the target is automatically identified through image identification, the mechanical arm is actively controlled to drive the infrared sensor and the visible light camera to enable the monitored target to be within a monitoring range, and dynamic and reliable monitoring is realized; and meanwhile, automatic focusing and photometry are carried out on the target, so that the definition of pictures and videos is improved.
(3) Compared with the traditional fixed camera mounting mode, the invention reduces the mounting quantity of the sensing devices, can realize large-scale automatic monitoring by one sensing monitoring system, and reduces the operation of monitoring personnel.
Drawings
Fig. 1 is a schematic control flow diagram of a sensing monitoring system for tracking a cable hot spot and a cable breakage according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment provides a sensing monitoring system for cable hot spot and damaged tracking, including infrared sensor, visible light camera, arm and treater, infrared sensor and visible light camera are all installed on the arm, are driven by this arm, and infrared sensor, visible light camera and arm are connected respectively to the treater, as shown in fig. 1, the data processing process of treater includes following step:
hotspot detecting step S1: acquiring infrared sensing data of the cable through an infrared sensor, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
the acquisition of the infrared image specifically comprises the following steps: the received infrared sensing data is converted into an electric signal, and then the electric signal is amplified, shaped and converted into a digital signal through analog-to-digital conversion to form an infrared image.
Breakage detection step S2: acquiring visible light data of the cable through a visible light camera, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
the cable breakage area is determined specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
The coordinate position of the temperature abnormal point is the relative position of the temperature abnormal point relative to the infrared sensor; the coordinate position of the cable damage region is the relative position of the cable damage region with respect to the visible light camera.
Cable monitoring preset step S3: the method comprises the steps that a mechanical arm is driven to rotate according to a preset rotation mode, temperature identification and image identification are carried out on the surrounding environment of a cable through a hot spot tracking step and a damage tracking step respectively, and a temperature abnormal point and the coordinate position of a cable damage area are obtained;
cable monitoring step S4: and determining the monitoring angle of the cable according to the target with the highest temperature or the largest damage range, so as to drive the mechanical arm to adjust the position, and enable the target with the highest temperature or the largest damage range to be positioned within the monitoring range of the infrared sensor and the visible light camera.
The cable monitoring step further comprises:
1) and after determining the target with the highest temperature or the largest damage range, focusing and photometry are carried out on the target.
2) The collected infrared image and the visible light image are displayed in real time, and the temperature abnormal point and the cable damage area are marked through the square frame, so that the square frame mark area is not lost.
3) And if the target with the highest temperature or the largest damage range is lost in the real-time monitoring process, the cable monitoring presetting step and the cable monitoring step are executed again in sequence.
The following provides a specific implementation process of the above sensing monitoring system:
the mechanical arm rotates according to a preset rotation mode, and all-around monitoring of the sensing monitoring system is achieved. The infrared sensor and the visible light camera carry out temperature measurement and image recognition on the real-time video, and actively search ambient temperature abnormal points and damage points.
And (3) hotspot tracking: the temperature is monitored in real time, points with abnormal temperatures are identified by rectangular boxes and marked with temperature values, heat radiation energy in an infrared band received by an infrared sensor is converted into electric signals, and the electric signals are amplified, shaped and converted into digital signals through analog-to-digital conversion to present infrared images. And determining whether a point with abnormal temperature exists in the monitoring range of the infrared sensor, obtaining the position of the sensor where the target is located, and moving the mechanical arm with the degree of freedom of 5 according to the position relation between the infrared sensor and the target, so that the target in the moving process can be in the monitoring range.
Breakage (cable breakage) tracking: the visible light camera is mounted on a robot arm with a degree of freedom of 5, and the cable surface is black in the case of a cable breakage by an image recognition algorithm, so that pixels which are not black are extracted from input data in the first step. This is followed by a calculation to determine the horizontal and vertical gradients of the target boundary using brightness and contrast, and then using a hough transform algorithm to find the target contour. By means of the image recognition function, the object in the camera is automatically recognized and analyzed, and finally the cable damage is found. After the damaged department of discovery target, rotate the arm and make damaged target department can keep appearing within monitoring range to appear the rectangle square frame and realize warning, and carry out accurate focusing and photometry so that shoot to the target at any time, prevent that the mistake of focusing from leading to the picture fuzzy.
The process that the arm rotated according to predetermined rotation mode and carried out hotspot and damaged detection is for predetermineeing the model promptly, in predetermineeing the mode, when a plurality of temperature anomaly, damaged target appear, then take the picture to the target in proper order. The target in which the temperature is best or the damage range is largest is monitored.
In the real-time monitoring process, if the target cannot be monitored, the method returns to a preset mode to automatically monitor whether the periphery is abnormal or not, and obtains a new target for monitoring.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1.一种用于电缆热点和破损跟踪的传感监控方法，其特征在于，包括以下步骤：1. a sensor monitoring method for cable hot spot and damage tracking, is characterized in that, comprises the following steps: 热点探测步骤：获取电缆的红外传感数据，构建红外图像，判断该红外图像中的温度异常点，并标记该温度异常点的坐标位置；The step of hot spot detection: acquiring the infrared sensing data of the cable, constructing an infrared image, judging the abnormal temperature point in the infrared image, and marking the coordinate position of the abnormal temperature point; 破损探测步骤：获取电缆的可见光数据，构建可见光图像，对该可见光图像进行图像识别，确定电缆破损区域，并标记该电缆破损区域的坐标位置；Damage detection step: obtain the visible light data of the cable, construct a visible light image, perform image recognition on the visible light image, determine the damaged area of the cable, and mark the coordinate position of the damaged area of the cable; 电缆监控步骤：分别通过所述热点跟踪步骤和破损跟踪步骤，对电缆四周环境进行温度识别和图像识别，获取温度异常点和电缆破损区域的坐标位置，并根据温度最高或破损范围最大的目标，确定对电缆的监控角度，使得所述温度最高或破损范围最大的目标位于监控范围以内。Cable monitoring step: through the hot spot tracking step and the damage tracking step, respectively, perform temperature identification and image identification on the surrounding environment of the cable, obtain the coordinate position of the abnormal temperature point and the cable damage area, and according to the target with the highest temperature or the largest damage range, The monitoring angle of the cable is determined so that the target with the highest temperature or the largest damage range is within the monitoring range. 2.根据权利要求1所述的一种用于电缆热点和破损跟踪的传感监控方法，其特征在于，所述电缆破损区域的确定具体为：电缆表面的可见光为第一颜色，则从获取的所述可见光数据中剔除第一颜色的像素；然后通过亮度和对比度，确定目标边界的水平和垂直渐变，最后利用霍夫变换算法获取目标轮廓，根据该目标轮廓，确定电缆破损区域。2. A sensor monitoring method for cable hot spots and damage tracking according to claim 1, wherein the determination of the cable damage area is specifically: the visible light on the surface of the cable is the first color, then obtain the The pixels of the first color are removed from the visible light data of 1; then the horizontal and vertical gradients of the target boundary are determined by brightness and contrast, and finally the target contour is obtained by using the Hough transform algorithm, and the cable damaged area is determined according to the target contour. 3.根据权利要求1所述的一种用于电缆热点和破损跟踪的传感监控方法，其特征在于，所述红外图像的获取具体为：将接收的所述红外传感数据转换为电信号，然后经过放大、整型、模数转换后成数字信号，构成所述红外图像。3. A sensor monitoring method for cable hot spot and damage tracking according to claim 1, wherein the acquisition of the infrared image is specifically: converting the received infrared sensor data into an electrical signal , and then converted into a digital signal after amplification, shaping, and analog-to-digital conversion to form the infrared image. 4.一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，包括红外传感器、可见光摄像头、机械臂和处理器，所述红外传感器和可见光摄像头均安装在所述机械臂上，受该机械臂带动，所述处理器分别连接所述红外传感器、可见光摄像头和机械臂，所述处理器的数据处理过程包括以下步骤：4. A sensor monitoring system for cable hotspots and damage tracking, characterized in that it comprises an infrared sensor, a visible light camera, a robotic arm and a processor, and the infrared sensor and the visible light camera are all mounted on the robotic arm, Driven by the robotic arm, the processor is respectively connected to the infrared sensor, the visible light camera and the robotic arm, and the data processing process of the processor includes the following steps: 热点探测步骤：通过所述红外传感器获取电缆的红外传感数据，构建红外图像，判断该红外图像中的温度异常点，并标记该温度异常点的坐标位置；The step of hot spot detection: obtaining the infrared sensing data of the cable through the infrared sensor, constructing an infrared image, judging the abnormal temperature point in the infrared image, and marking the coordinate position of the abnormal temperature point; 破损探测步骤：通过所述可见光摄像头获取电缆的可见光数据，构建可见光图像，对该可见光图像进行图像识别，确定电缆破损区域，并标记该电缆破损区域的坐标位置；Damage detection step: obtain the visible light data of the cable through the visible light camera, construct a visible light image, perform image recognition on the visible light image, determine the cable damage area, and mark the coordinate position of the cable damage area; 电缆监控预设步骤：驱动所述机械臂按照预设的转动模式进行转动，并分别通过所述热点跟踪步骤和破损跟踪步骤，对电缆四周环境进行温度识别和图像识别，获取温度异常点和电缆破损区域的坐标位置；Cable monitoring preset steps: drive the robotic arm to rotate according to a preset rotation mode, and perform temperature identification and image identification on the surrounding environment of the cable through the hot spot tracking step and the damage tracking step respectively, and obtain temperature abnormal points and cables. The coordinate position of the damaged area; 电缆监控步骤：根据温度最高或破损范围最大的目标，确定对电缆的监控角度，从而驱动所述机械臂进行位置调整，使得所述温度最高或破损范围最大的目标位于所述红外传感器和可见光摄像头的监控范围以内。Cable monitoring step: According to the target with the highest temperature or the largest damage range, determine the monitoring angle of the cable, so as to drive the mechanical arm to adjust the position, so that the target with the highest temperature or the largest damage range is located at the infrared sensor and the visible light camera. within the monitoring range. 5.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述电缆监控步骤还包括：确定温度最高或破损范围最大的目标后，对该目标进行对焦和测光。5. A sensor monitoring system for cable hot spot and damage tracking according to claim 4, wherein the cable monitoring step further comprises: after determining the target with the highest temperature or the largest damage range, Focus and meter. 6.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述电缆破损区域的确定具体为：电缆表面的可见光为第一颜色，则从获取的所述可见光数据中剔除第一颜色的像素；然后通过亮度和对比度，确定目标边界的水平和垂直渐变，最后利用霍夫变换算法获取目标轮廓，根据该目标轮廓，确定电缆破损区域。6. A sensor monitoring system for cable hot spots and damage tracking according to claim 4, wherein the determination of the cable damage area is specifically: the visible light on the cable surface is the first color, then obtain the The pixels of the first color are removed from the visible light data of 1; then the horizontal and vertical gradients of the target boundary are determined by brightness and contrast, and finally the target contour is obtained by using the Hough transform algorithm, and the cable damaged area is determined according to the target contour. 7.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述红外图像的获取具体为：将接收的所述红外传感数据转换为电信号，然后经过放大、整型、模数转换后成数字信号，构成所述红外图像。7 . The sensor monitoring system for cable hotspot and damage tracking according to claim 4 , wherein the acquisition of the infrared image is specifically: converting the received infrared sensor data into an electrical signal. 8 . , and then converted into a digital signal after amplification, shaping, and analog-to-digital conversion to form the infrared image. 8.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述温度异常点的坐标位置为温度异常点相对于红外传感器的相对位置；所述电缆破损区域的坐标位置为电缆破损区域相对于可见光摄像头的相对位置。8. A sensor monitoring system for cable hot spot and damage tracking according to claim 4, wherein the coordinate position of the temperature anomaly point is the relative position of the temperature anomaly point with respect to the infrared sensor; the The coordinate position of the damaged cable area is the relative position of the damaged cable area with respect to the visible light camera. 9.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述电缆监控步骤还包括：对采集的所述红外图像和可见光图像进行实时显示，并通过方框标识所述温度异常点和电缆破损区域，使得方框标识区域不丢失。9 . The sensor monitoring system for cable hotspot and damage tracking according to claim 4 , wherein the cable monitoring step further comprises: displaying the collected infrared images and visible light images in real time, 10 . And the abnormal temperature point and the cable damaged area are marked by a box, so that the area marked by the box is not lost. 10.根据权利要求4所述的一种用于电缆热点和破损跟踪的传感监控系统，其特征在于，所述电缆监控步骤还包括：若在实时监控过程中丢失所述温度最高或破损范围最大的目标，则重新依次执行所述电缆监控预设步骤和电缆监控步骤。10. A sensor monitoring system for cable hot spots and damage tracking according to claim 4, wherein the cable monitoring step further comprises: if the temperature maximum or damage range is lost in the real-time monitoring process If the target is the largest, then execute the cable monitoring preset step and the cable monitoring step in sequence.
CN202110906673.3A 2021-08-09 2021-08-09 Sensing monitoring method and system for tracking cable hot spot and damage Pending CN113701890A (en)

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Application publication date: 20211126