Partial discharge positioning method and system of cable tunnel inspection robot and medium
A technology for inspection robots and cable tunnels, which is applied to instruments, manipulators, and measuring electronics. It can solve the problems of partial discharge detection and positioning of cables that cannot be long, so as to overcome the problems of partial discharge detection and positioning, simple calculation, and accurate positioning. Effect
Active Publication Date: 2020-04-10
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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[0003] The technical problem to be solved by the present invention: Aiming at the above-mentioned problems of the prior art, a partial discharge positioning method, system and medium of a cable tunnel inspection robot are provided. The present invention can utilize the three-degree-of-freedom mechanical arm of the cable tunnel inspection robot The three-segment manipulator obtains two sets of time difference information through attitude adjustment and calculates the position of the partial discharge signal source, which can detect and locate the partial discharge of the power cable, realize the precise positioning of the partial discharge source, and overcome the problem that the cable cannot be long Partial discharge detection and positioning problems have the advantages of accurate positioning, simple calculation, safety and reliability, and are suitable for automatic inspection of cable tunnels
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[0038] Such as figure 1 As shown, the implementation steps of the partial discharge positioning method of the cable tunnel inspection robot in this embodiment include:
[0039] 1) Obtain the first time difference information of the partial discharge signal collected by three UHF sensors A, B, and C, and the three UHF sensors A, B, and C are respectively installed in three sections of the three-degree-of-freedom mechanical arm of the cable tunnel inspection robot on the arm;
[0040] 2) Obtain the second time difference information of the partial discharge signal collected by the three UHF sensors A, B, and C after the position of the mechanical arm at the end of the three-degree-of-freedom mechanical arm is adjusted;
[0041] 3) Calculate the position of the partial discharge signal source according to the first time difference information and the second time difference information.
[0042] In this embodiment, the first time difference information in step 1) includes the ti...
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The invention discloses a partial discharge positioning method and system of a cable tunnel inspection robot, and a medium. The discharge positioning method comprises the following steps of: acquiringfirst time difference information of partial discharge signals collected by three UHF sensors A, B and C respectively mounted on three sections of a three-degree-of-freedom mechanical arm of the cable tunnel inspection robot; acquiring second time difference information of partial discharge signals collected by three UHF sensors A, B and C after the position of the arm section at the extreme endof a three-degree-of-freedom mechanical arm is adjusted; and resolving the position of the partial discharge signal source according to the first time difference information and the second time difference information. By using the three sections of the three-degree-of-freedom mechanical arm of the cable tunnel inspection robot, two groups of time difference information can be acquired through posture adjustment and the position of the partial discharge signal source is resolved, and the partial discharge positioning method and system and the media have the advantages of accuracy in positioning, simplicity in resolution, safety, reliability, and suitability for automatic cable tunnel inspection.
Description
technical field [0001] The invention relates to a partial discharge detection technology of a cable tunnel, in particular to a partial discharge positioning method, system and medium of a cable tunnel inspection robot. Background technique [0002] In our country, most cables are mainly laid in tunnels, and insulated power cables are required to have high power supply reliability and stability as a tool for transmitting electric energy. For the cables installed in the tunnel, due to the influence of the electric field, temperature, water, acid-base mixture and microorganisms inside the tunnel, the insulation degree is getting lower and lower. The reduction of insulation can easily cause partial discharge. In addition, due to defects in the process of installing or manufacturing cables, their own insulation performance has been greatly reduced, and the possibility of partial discharge has also been accelerated. It is easy for cables to fail during operation and cause power o...
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IPC IPC(8): B25J5/02B25J9/12B25J13/08B25J18/00G01R31/12
CPCB25J5/02B25J9/12B25J13/08B25J18/00G01R31/1272
Inventor 王旭红樊韪铖樊绍胜程嘉翊张申毅
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY