Transformer robotic fish obstacle avoidance system and method based on generalized cross-correlation

Abstract

The invention relates to a transformer robotic fish obstacle avoidance system and method based on generalized cross-correlation. The system comprises a robotic fish ultrasonic transmitting unit, an ultrasonic receiving unit, an ultrasonic propagation delay estimation unit, a distance calculation unit and a motion unit. The ultrasonic transmitting unit transmits ultrasonic signals to the front direction, the rear direction, the left direction, the right direction, the upper direction and the lower direction of the robotic fish; the ultrasonic receiving unit receives echo signals reflected in six directions; an ultrasonic propagation time delay estimation unit calculates time delay between the ultrasonic emission signals and the reflection echo signals in six directions. The distance calculation unit calculates the distances between the six directions of the robotic fish and the obstacle; the motion unit controls left-right steering, upward floating and sinking of the robotic fish so asto avoid obstacles. According to the method, the exponential adjustment factor in the PHAT-beta generalized cross-correlation algorithm is flexibly adjusted according to the complex condition of the internal noise of the transformer, so that the accurate time delay estimation performance can be obtained, and the function that the robotic fish avoids obstacles in the transformer oil is realized.

Description

technical field [0001] The invention belongs to the technical field of transformers, in particular to a transformer robot fish obstacle avoidance system and method based on generalized cross-correlation. Background technique [0002] The safe operation of the transformer plays a vital role in the stability of the power grid, but with the increase of service time and the impact of bad working conditions, various faults will occur in the transformer during operation, especially internal faults that are difficult to detect in time, Problems of detection and localization. Therefore, detecting and monitoring the operating status of transformers and establishing transformer fault diagnosis and early warning systems have important theoretical research significance and engineering application value for ensuring the safety of transformers and power grids. [0003] At present, transformer fault detection methods mainly include: partial discharge monitoring and dissolved gas analysis ...

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Problems solved by technology

[0002] The safe operation of the transformer plays a vital role in the stability of the power grid, but with the increase of service time and the impact of bad working conditions, various faults will occur in the transformer during operation, especially internal faults that are difficult to detect in time, Problems with detection and localization

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