An acoustic mobile inspection device for the operating status of main equipment in a substation

Abstract

The present invention discloses a mobile acoustic inspection device for monitoring the operating status of substation main equipment. The device comprises a microphone array, a steering platform, an image acquisition module, and a mobile mechanism equipped with a control and communication module. The microphone array is mounted on the mobile mechanism via the steering platform and includes multiple microphones arranged in an array on the same plane. The microphones, the output end of the image acquisition module, and the control end of the steering platform are respectively connected to the control and communication module. The device can locate and adjust the target sound source to collect noise signals and images of substation main equipment, thereby providing a dual basis for diagnosing substation main equipment faults. This device can overcome the problems of low intelligence, high cost, and unintuitive and unreliable detection results in substation acoustic inspection, without requiring excessive manpower and equipment resources.

Description

Technical Field

[0001] The present invention relates to a power equipment status detection and evaluation technology, and in particular to an acoustic mobile inspection device for the operating status of main equipment in a substation. Background Art

[0002] Substations are a critical link in the transmission of electricity to users, and the safe operation of their main equipment is crucial for ensuring a reliable supply of electricity. Common methods for live detection and fault diagnosis of power equipment include online oil chromatography monitoring, partial discharge detection, infrared monitoring, current detection, X-ray detection, and visible light detection. The application of a large number of advanced detection technologies has significantly improved the safe operation of power equipment, but there is still a significant gap between the actual needs of safe operation of power equipment, and serious accidents such as burnout and short circuits in substation main equipment are common. With the continuous deepening of intelligent operation and maintenance and the construction of the ubiquitous power Internet of Things, there is an urgent need to propose new intelligent operation and maintenance technologies for substation main equipment to further improve the safe operation of substations.

[0003] Audible noise is generated during transformer operation. Its amplitude, time-domain waveform, and spectral characteristics are closely related to the operating voltage, current, mechanical state, excitation state, and insulation state, providing a timely reflection of changes in the equipment's operating status. Therefore, acoustic detection can complement other state-of-the-art detection technologies to effectively improve the safe and stable operation of substations.

[0004] Currently, the main audible sound detection methods used at substations include handheld sound level meters, online soundprint monitoring systems, and handheld sound source locators. Handheld sound level meters can only measure the sound pressure level of the main equipment, making it difficult to determine the equipment's operating status. Online soundprint monitoring systems are expensive and can only evaluate the operating status and defect types of individual equipment. They cannot locate the sound source, and the measurement results are not intuitive. Handheld sound source locators can only perform sound source location tests, have a low level of intelligence, and cannot perform online monitoring. Testing activities require a large amount of manpower and material resources, and cannot automatically determine the equipment's operating status or defect type. Summary of the Invention

[0005] The technical problem to be solved by the present invention is as follows: In response to the above-mentioned problems of the prior art, an acoustic mobile inspection device for the operating status of the main equipment of a substation is provided. The device of the present invention can realize the positioning adjustment of the target sound source to collect the noise signal and image of the main equipment of the substation, thereby providing a dual basis for the fault diagnosis of the main equipment of the substation. It can overcome the problems of low intelligence level, high cost, unintuitive and unreliable detection results of acoustic detection of substations, and does not require too much manpower and equipment resources.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] An acoustic mobile inspection device for the operating status of main equipment in a substation includes a microphone array, a steering platform, an image acquisition module, and a mobile mechanism with a control and communication module. The microphone array is mounted on the mobile mechanism via the steering platform. The microphone array is provided with a plurality of microphones arranged in an array on the same plane. The output ends of the microphones and the image acquisition module, and the control end of the steering platform are respectively connected to the control and communication module.

[0008] Optionally, the image acquisition module is installed on a microphone array.

[0009] Optionally, the array arrangement refers to that the plurality of microphones are arranged in multiple rows and columns, and the plurality of microphones have consistent frequency response characteristics.

[0010] Optionally, the steering platform is a platform with the function of rotating 360 degrees in the horizontal direction and rotating within the range of 0 to 90 degrees in the vertical direction.

[0011] Optionally, the image acquisition module includes at least one of a visible light camera and an infrared thermal imaging camera.

[0012] Optionally, the mobile mechanism is a mobile cart with a walking mechanism and a driving mechanism for driving the walking mechanism, and the control end of the walking mechanism is connected to the control communication module; the control communication module includes a data acquisition module, a microprocessor and a communication module connected in sequence, the output end of the microphone and the image acquisition module is connected to the microprocessor through the data acquisition module, the control end of the steering gimbal is connected to the microprocessor, and the communication module is a wireless communication module.

[0013] The present invention also provides an application method of the acoustic mobile inspection device for the operating status of main equipment in a substation, comprising:

[0014] 1) Plan inspection routes and determine the target locations of substation main equipment;

[0015] 2) Control the operation status of the main equipment of the substation. The acoustic mobile inspection device moves along the inspection route. When the inspection route reaches the target location where the main equipment of the substation is located, it jumps to the next step;

[0016] 3) Localize the target sound source based on the sound signals from each microphone in the microphone array, and control the steering platform to point the microphone array toward the target sound source;

[0017] 4) Acquire the sound signals of all microphones in the microphone array of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound source intensity distribution through the beamforming algorithm to obtain the sound source imaging result. At the same time, the image signal of the target sound source is collected through the image acquisition module.

[0018] Optionally, step 3) includes:

[0019] 3.1) Acquire the sound signals of multiple microphones in a specified row of the microphone array of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound pressure level, compare the sound pressure levels of each microphone, and if there is a microphone with the maximum sound pressure level, determine that the direction pointed by the microphone is the horizontal direction of the target sound source; if there are two or more microphones with the maximum sound pressure level, determine that the direction of the center line of the angle formed by all the microphones with the maximum sound pressure level and the center point of the microphone array is the horizontal direction of the target sound source; acquire the sound signals of multiple microphones in a specified column of the microphone array of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound pressure level, compare the sound pressure levels of each microphone, and if there is a microphone with the maximum sound pressure level, determine that the direction pointed by the microphone is the spatial direction of the target sound source; if there are two or more microphones with the maximum sound pressure level, determine that the direction of the center line of the angle formed by all the microphones with the maximum sound pressure level and the center point of the microphone array is the spatial direction of the target sound source;

[0020] 3.2) Controlling the Operation Status of Substation Main Equipment The steering platform of the acoustic mobile inspection device is steered towards the horizontal direction and spatial direction of the target sound source, respectively, so that the microphone array points to the target sound source.

[0021] Optionally, after step 4), the method further includes uploading the sound source imaging result and the image signal to a target server in the network, and performing defect identification based on the sound source imaging result and the image signal by the target server:

[0022] S1) identifying the equipment type and target components of the substation main equipment based on the sound source imaging result and the image signal;

[0023] S2) Extract voiceprint features from the sound source imaging results, and input the voiceprint features into a pre-trained machine learning classification model to determine the defect type of the target component of the substation main equipment.

[0024] Optionally, step S1) includes: extracting the sound source intensity distribution in the sound source imaging result, performing graphic discrete processing on the sound source intensity distribution, using the color gradient after discrete processing to determine the strongest position of the sound source, extracting the image coordinates of the strongest position of the sound source to obtain the sound source position; using the equipment photo based on deep learning neural network to identify the equipment type of the substation main equipment, and matching the sound source position to the equipment photo and determining the target component of the substation main equipment based on the sound source position.

[0025] Compared with existing technologies, the present invention offers the following advantages: The present invention's mobile acoustic inspection device for the operating status of substation main equipment includes a microphone array, a steering platform, an image acquisition module, and a mobile mechanism with a control and communication module. The microphone array is mounted on the mobile mechanism via the steering platform. The microphone array is equipped with multiple microphones arranged in an array on the same plane. The outputs of the microphones and the image acquisition module, as well as the control end of the steering platform, are each connected to the control and communication module. The present invention's device can accurately locate and adjust the target sound source to capture both noise signals and images of substation main equipment, thereby providing a dual basis for diagnosing substation main equipment faults. This device overcomes the problems of low intelligence, high cost, and unintuitive and unreliable detection results in substation acoustic inspection, while also requiring minimal human and equipment resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the structure of the device according to the embodiment of the present invention.

[0027] Figure 2 Schematic diagram of the electrical principle framework structure of the device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0028] like Figure 1 As shown, the acoustic mobile inspection device for the operating status of the main equipment of the substation in this embodiment includes a microphone array 1, a steering pan-tilt head 2, an image acquisition module 3 and a mobile mechanism 4 with a control and communication module. The microphone array 1 is installed on the mobile mechanism 4 through the steering pan-tilt head 2. The microphone array 1 is provided with a plurality of microphones 11 arranged in an array on the same plane. The microphone 11 and the output end of the image acquisition module 3 and the control end of the steering pan-tilt head 2 are respectively connected to the control and communication module.

[0029] In order to improve the accuracy of image acquisition by the image acquisition module 3, see Figure 1 The image acquisition module 3 is installed on the microphone array 1. Since the microphone array 1 is installed on the mobile mechanism 4 through the steering pan-tilt platform 2, the above structure can enable the image acquisition module 3 to capture images at an optimal angle, which is conducive to identifying the type of substation main equipment and the accuracy of the target component from the image captured by the image acquisition module 3; and the microphone array 1 and the image acquisition module 3 can be synchronously controlled by the steering pan-tilt platform 2, which makes the operation more convenient and quick.

[0030] like Figure 1 As shown, the array arrangement in this embodiment means that the multiple microphones 11 are arranged in multiple rows and columns. The multiple microphones 11 have consistent frequency response characteristics, which is beneficial to improving the accuracy of sound source positioning.

[0031] In order to facilitate the control of the steering platform 2 to point the microphone array 1 toward the target sound source, the steering platform 2 in this embodiment is a platform with 360-degree rotation in the horizontal direction and 0-90-degree rotation in the vertical direction, which is used to point the microphone array 1 toward the target sound source.

[0032] In this embodiment, the image acquisition module 3 includes at least one of a visible light camera and an infrared thermal imaging camera, so that at least one of a visible light image and an infrared thermal imaging image can be obtained, which can increase the diversity of features to improve the accuracy of identifying the type of substation main equipment and target components from the images captured by the image acquisition module 3.

[0033] like Figure 2 As shown, the mobile mechanism 4 is a mobile vehicle with a traveling mechanism and a driving mechanism for driving the traveling mechanism. The control end of the traveling mechanism is connected to the control communication module; the control communication module includes a data acquisition module, a microprocessor, and a communication module connected in sequence. The output end of the microphone 11 and the image acquisition module 3 is connected to the microprocessor through the data acquisition module. The control end of the steering platform 2 is connected to the microprocessor. The communication module is a wireless communication module. In this embodiment, the wireless communication module is a WiFi module. Figure 2 The acoustic mobile inspection device for the operation status of the main equipment of the substation in this embodiment communicates with the substation control system through the substation communication system.

[0034] See also Figure 2 The mobile mechanism 4 also includes a power supply module for providing power to various electrical components in the acoustic mobile inspection device for the operating status of the main equipment of the substation in this embodiment.

[0035] This embodiment further provides an application method of the aforementioned acoustic mobile inspection device for the operating status of main equipment in a substation, including:

[0036] 1) Plan the inspection route and determine the target location of the substation main equipment; the inspection route and the target location of the substation main equipment can be determined based on the distribution of the substation main equipment;

[0037] 2) Control the operation status of the main equipment of the substation. The acoustic mobile inspection device moves along the inspection route. When the inspection route reaches the target location where the main equipment of the substation is located, it jumps to the next step;

[0038] 3) locating the target sound source based on the sound signals of each microphone 11 in the microphone array 1, and controlling the steering platform 2 to point the microphone array 1 toward the target sound source;

[0039] 4) Acquire the sound signals of all microphones 11 of the microphone array 1 of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound source intensity distribution through the beamforming algorithm to obtain the sound source imaging result, and at the same time, collect the image signal of the target sound source through the image acquisition module 3.

[0040] In this embodiment, step 3) includes:

[0041] 3.1) Acquire the sound signals of multiple microphones 11 in a specified row of the microphone array 1 of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound pressure level. Compare the sound pressure levels of the microphones 11. If there is a microphone 11 with the maximum sound pressure level, the direction pointed by the microphone 11 is determined to be the horizontal direction of the target sound source. If there are two or more microphones 11 with the maximum sound pressure level, the direction of the center line of the angle formed by all the microphones 11 with the maximum sound pressure level and the center point of the microphone array 1 is determined to be the horizontal direction of the target sound source. direction; obtaining sound signals of multiple microphones 11 in a specified column of the microphone array 1 of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculating the sound pressure level, comparing the sound pressure levels of the microphones 11, and if there is a microphone 11 with the maximum sound pressure level, determining the direction pointed by the microphone 11 as the spatial direction of the target sound source; if there are two or more microphones 11 with the maximum sound pressure level, determining the direction of the center line of the angle formed by all the microphones 11 with the maximum sound pressure level and the center point of the microphone array 1 as the spatial direction of the target sound source;

[0042] 3.2) Controlling the Operation Status of Substation Main Equipment The steering platform 2 of the acoustic mobile inspection device is steered towards the horizontal direction and the spatial direction of the target sound source, respectively, so that the microphone array 1 points towards the target sound source.

[0043] In this embodiment, in step 3.1), the sound source direction is calculated using a planar arrangement of multiple microphones 11 in designated rows and columns, with four microphones connected to form a square. This allows the microphone array 1 to automatically rotate 360 degrees horizontally and within a range of 0 to 90 degrees vertically, ultimately pointing in the direction of the target sound source. In step 3.2), the steering platform 2 of the acoustic mobile inspection device for the operational status of substation main equipment is controlled to steer toward the target sound source horizontally and spatially. This can be done using either a single, on-demand adjustment or a step-by-step approach, for example, adjusting the horizontal direction first, then the spatial direction, or vice versa.

[0044] In this embodiment, after step 4), the step of uploading the sound source imaging result and the image signal to a target server in the network, and performing defect identification based on the sound source imaging result and the image signal by the target server is also included:

[0045] S1) identifying the equipment type and target components of the main equipment of the substation based on the sound source imaging result and the image signal (which may be a visible light image, an infrared image, or a fusion image thereof);

[0046] S2) Extract voiceprint features from the sound source imaging results, and input the voiceprint features into a pre-trained machine learning classification model to determine the defect type of the target component of the substation main equipment.

[0047] In this embodiment, step S1) includes: extracting the sound source intensity distribution from the sound source imaging result, performing graphic discretization processing on the sound source intensity distribution, using the color gradient after discretization processing to determine the strongest position of the sound source, extracting the image coordinates of the strongest position of the sound source to obtain the sound source position; using the equipment photo based on the deep learning neural network to identify the equipment type of the substation main equipment, and matching the sound source position to the equipment photo and determining the target component of the substation main equipment based on the sound source position.

[0048] See also Figure 2 In this embodiment, the target server refers to the substation control system, but it can also be other computer devices. In this embodiment, the substation control system has the functions of automatic sound source imaging identification and main equipment operating status analysis and diagnosis. In this embodiment, when the mobile acoustic inspection device for the substation main equipment operating status moves to the substation bushing location, it locates abnormal sound at the bushing location and performs sound source imaging. The substation control system automatically identifies this image using a deep learning model based on a convolutional neural network, automatically determining that the main equipment is a high-voltage bushing and the defect is located in the center of the bushing. Subsequently, the substation control system extracts voiceprint features based on the returned sound data and uses the least squares support vector machine pattern recognition method to determine the bushing defect type as a surface discharge defect, indicating possible surface contamination. Finally, it issues an early warning message, notifying operation and maintenance personnel to conduct inspection and maintenance. This enables mobile detection and intelligent diagnosis of the substation main equipment operating status, with the advantages of high intelligence, reduced labor and material costs, and intuitive and reliable detection results.

[0049] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including the instruction device, which implements the function specified in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0050] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An application method of an acoustic mobile inspection device for the operating status of main equipment in a substation, characterized in that: The substation main equipment operating status acoustic mobile inspection device comprises a microphone array (1), a steering platform (2), an image acquisition module (3), and a mobile mechanism (4) with a control communication module, wherein the microphone array (1) is mounted on the mobile mechanism (4) via the steering platform (2), and the microphone array (1) is provided with a plurality of microphones (11) arranged in an array on the same plane, and the output ends of the microphones (11) and the image acquisition module (3) and the control end of the steering platform (2) are respectively connected to the control communication module; the application method comprises: 1) Plan inspection routes and determine the target locations of substation main equipment; 2) Control the operating status of the substation main equipment. The acoustic mobile inspection device moves along the inspection route. When the inspection route reaches the target location where the substation main equipment is located, it jumps to the next step. 3) locating a target sound source based on the sound signals of each microphone (11) in the microphone array (1), and controlling the steering platform (2) to direct the microphone array (1) toward the target sound source; 4) Acquiring the sound signals of all microphones (11) of the microphone array (1) of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculating the sound source intensity distribution through a beamforming algorithm to obtain a sound source imaging result, while simultaneously acquiring an image signal of the target sound source through an image acquisition module (3); Step 3) includes: 3.1) Acquire the sound signals of multiple microphones (11) in a specified row of the microphone array (1) of the acoustic mobile inspection device for the operation status of the main equipment of the substation and calculate the sound pressure level, compare the sound pressure levels of the microphones (11), if there is a microphone (11) with the maximum sound pressure level, then determine that the direction pointed by the microphone (11) is the horizontal direction of the target sound source; if there are two microphones (11) with the maximum sound pressure level, then determine that the center line direction of the angle formed by all the microphones (11) with the maximum sound pressure level and the center point of the microphone array (1) is the horizontal direction of the target sound source; acquire the sound signals of the microphone array (1) of the acoustic mobile inspection device for the operation status of the main equipment of the substation The sound signals of the plurality of microphones (11) in the designated columns of the sound array (1) are calculated and the sound pressure levels are compared. If there is a microphone (11) with the maximum sound pressure level, the direction in which the microphone (11) points is determined to be the spatial direction of the target sound source; if there are two microphones (11) with the maximum sound pressure level, the direction of the center line of the angle formed by all the microphones (11) with the maximum sound pressure level and the center point of the microphone array (1) is determined to be the spatial direction of the target sound source; in step 3.1), the plurality of microphones (11) in the designated rows and columns are four microphones (11) arranged in a plane and connected to each other in a square. 3.2) Controlling the Operation Status of Substation Main Equipment The steering platform (2) of the acoustic mobile inspection device is steered towards the horizontal direction and the spatial direction of the target sound source, respectively, so that the microphone array (1) points towards the target sound source.

2. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 1 is characterized in that: The image acquisition module (3) is mounted on the microphone array (1).

3. The application method of the acoustic mobile inspection device for the operating status of the main equipment of the substation according to claim 2 is characterized in that: The array arrangement refers to the arrangement of multiple microphones (11) in multiple rows and columns, and the multiple microphones (11) have consistent frequency response characteristics.

4. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 3 is characterized in that: The steering platform (2) is a platform with the functions of 360-degree rotation in the horizontal direction and rotation within the range of 0 to 90 degrees in the vertical direction.

5. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 4 is characterized in that: The image acquisition module (3) includes at least one of a visible light camera and an infrared thermal imaging camera.

6. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 2 is characterized in that: The mobile mechanism (4) is a mobile vehicle with a walking mechanism and a driving mechanism for driving the walking mechanism. The control end of the walking mechanism is connected to a control communication module; the control communication module includes a data acquisition module, a microprocessor and a communication module connected in sequence. The output ends of the microphone (11) and the image acquisition module (3) are connected to the microprocessor through the data acquisition module. The control end of the steering platform (2) is connected to the microprocessor. The communication module is a wireless communication module.

7. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 1 is characterized in that: Step 4) also includes uploading the sound source imaging results and image signals to the target server in the network, and performing defect identification based on the sound source imaging results and image signals by the target server: S1) Identify the equipment type and target components of the substation main equipment based on the sound source imaging results and image signals; S2) Extract voiceprint features from the sound source imaging results and input the voiceprint features into a pre-trained machine learning classification model to determine the defect type of the target component of the substation main equipment.

8. The application method of the acoustic mobile inspection device for the operating status of main equipment in a substation according to claim 7 is characterized in that: Step S1) includes: extracting the sound source intensity distribution from the sound source imaging result, performing graphic discretization processing on the sound source intensity distribution, using the color gradient after discretization processing to determine the strongest sound source position, extracting the image coordinates of the strongest sound source position to obtain the sound source position; using the equipment photo based on deep learning neural network to identify the equipment type of the substation main equipment, and matching the sound source position to the equipment photo to determine the target component of the substation main equipment.

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