Substation partial discharge detection method and device

Abstract

The application provides a substation partial discharge detection method and device, the method comprises the following steps: collecting sound signals, visual signals and laser point cloud signals of a position to be detected; generating an echogram according to the sound signals, wherein the echogram contains the intensity and frequency band of the sound signals; fusing the echogram with the visual signals to obtain a soundprint image; obtaining the position information of a sound source according to the sound signals; obtaining the distance information of the sound source according to the laser point cloud signals and the soundprint image; and judging and positioning the partial discharge of the position to be detected according to the intensity and frequency band of the sound signals and the position information and distance information of the sound source. The application can improve the accuracy of substation partial discharge detection, reduce the labor cost and improve the detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of substation inspection technology, specifically to a method and device for detecting partial discharge in substations. Background Technology

[0002] Partial discharge detection in substations is a crucial method for determining whether abnormalities have occurred in their operational status. Currently, the detection method of identifying partial discharge in substations by sound is mainly carried out manually, which relies excessively on work experience and subjective judgment, making it difficult to guarantee the accuracy of the detection. Furthermore, the working environment for inspection personnel is relatively harsh, resulting in high economic and time costs. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a method and apparatus for detecting partial discharge in substations, which can improve the accuracy of partial discharge detection in substations, reduce labor costs, and increase detection efficiency.

[0004] The technical solution adopted in this invention is as follows:

[0005] A method for detecting partial discharge in a substation includes the following steps: acquiring sound signals, visual signals, and laser point cloud signals at the location to be detected; generating an acoustic image based on the sound signals, wherein the acoustic image includes the intensity and frequency band of the sound signals; fusing the acoustic image with the visual signals to obtain an acoustic print image; obtaining the location information of the sound source based on the sound signals; obtaining the distance information of the sound source based on the laser point cloud signals and the acoustic print image; and determining and locating the location to be detected based on the intensity and frequency band of the sound signals and the location and distance information of the sound source.

[0006] The sound signal is acquired through a microphone array, the visual signal is acquired through a camera, and the laser point cloud signal is acquired through a lidar.

[0007] The acoustic image is a color contour map. Generating the acoustic image based on the sound signal specifically includes: after noise suppression of the sound signal, using a deconvolution beamforming algorithm to obtain the distribution result of the sound signal, and filling the color contour map according to the distribution result of the sound signal.

[0008] Obtaining the location information of the sound source based on the sound signal specifically includes: traversing the set D0 of the sound source focusing plane grid points and filtering out the set D1 of grid points where the sound source may exist; filtering out the set De of edge grid points in the set D1 of possible sound source grid points; performing connectivity judgment on every two elements in the set De of edge grid points to determine whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is a multiple sound source. If it is a single sound source, store all elements in D1 into the same sound source region array, traverse the sound source focusing plane grid of region D1, and obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is a multiple sound source, store the connected sub-regions into the same sound source array to form a sound source region set, traverse the sound source focusing plane grid of each sound source region, and obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source.

[0009] A spatial coordinate system is constructed between the lidar, microphone array, and camera to obtain precise world coordinates and distance information. The distance information is then mapped onto the voiceprint image. The distance information of the sound source is obtained based on the lidar point cloud signal and the voiceprint image. Specifically, this includes: obtaining the distance information of each point in the lidar point cloud signal; obtaining the pixel points in the voiceprint image corresponding to each point in the point cloud signal through coordinate transformation; and determining the pixel points of the sound source to obtain the distance information of the sound source.

[0010] A substation partial discharge detection device includes: a data acquisition module for acquiring sound signals, visual signals, and laser point cloud signals at a location to be detected; a generation module for generating an acoustic image based on the sound signals, wherein the acoustic image includes the intensity and frequency band of the sound signals; a fusion module for fusing the acoustic image with the visual signals to obtain a voiceprint image; a first acquisition module for acquiring the location information of a sound source based on the sound signals; a second acquisition module for acquiring the distance information of the sound source based on the laser point cloud signals and the voiceprint image; and a detection module for determining and locating partial discharge at the location to be detected based on the intensity and frequency band of the sound signals and the location and distance information of the sound source.

[0011] The acquisition module includes a microphone array, a camera, and a lidar.

[0012] The acoustic image is a color contour map. The generation module is specifically used to: after noise suppression of the sound signal, use a deconvolution beamforming algorithm to obtain the distribution result of the sound signal, and fill the color contour map according to the distribution result of the sound signal.

[0013] The first acquisition module is specifically used for: traversing the set D0 of the sound source focusing plane grid points, filtering out the set D1 of grid points where the sound source may exist; filtering out the set De of edge grid points in the set D1 of possible sound source grid points; performing connectivity judgment on every two elements in the set De of edge grid points, determining whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is a multiple sound source. If it is a single sound source, store all elements in D1 into the same sound source region array, traverse the sound source focusing plane grid of region D1, and obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is a multiple sound source, store the connected sub-regions into the same sound source array to form a sound source region set, traverse the sound source focusing plane grid of each sound source region, and obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source.

[0014] A spatial position transformation coordinate system is constructed between the lidar, microphone array, and camera to obtain accurate world coordinates and distance information, and the distance information is mapped onto the voiceprint image. The second acquisition module is specifically used to: acquire the distance information of each point in the lidar point cloud signal; acquire the pixel points in the voiceprint image corresponding to each point in the point cloud signal through coordinate transformation, and determine the pixel points of the sound source to obtain the distance information of the sound source.

[0015] The beneficial effects of this invention are:

[0016] This invention processes and analyzes sound signals, visual signals, and laser point cloud signals. It can display the source location, intensity, band, and distance information of ultrasonic signals emitted by equipment in substations due to faults in real time in the form of visualized contour lines in images or videos. Combining laser point clouds with acoustic imaging can effectively improve the accuracy of partial discharge localization. The acoustic image provides sound intensity and band data, and can display partial discharge information in harsh and complex environments such as darkness, rain, and snow. By automatically analyzing and processing the collected signals, it can reduce labor costs and improve detection efficiency. Attached Figure Description

[0017] Figure 1 This is a flowchart of a substation partial discharge detection method according to an embodiment of the present invention;

[0018] Figure 2 This is a block diagram of a substation partial discharge detection device according to an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 As shown, the substation partial discharge detection method of this invention includes the following steps:

[0021] S1 collects sound signals, visual signals, and laser point cloud signals at the location to be detected.

[0022] In one embodiment of the present invention, sound signals can be acquired through a microphone array, visual signals can be acquired through a camera, and laser point cloud signals can be acquired through a lidar.

[0023] In one specific embodiment of the present invention, the microphone array can be a 128-level portable microphone array, capable of detecting frequencies of 2kHz-40kHz and sound pressure range of 30dBA-120dBA. Its internal chip reads new time and second pulse signals from the GPS / BeiDou module to control the real-time acquisition of multi-band sound signals, and outputs time-stamped data via gigabit network using UDP (User Datagram Protocol).

[0024] The camera can be a multispectral PTZ camera capable of capturing visible or infrared light images, with adjustable focal length, 12 megapixels, and outputting raw RGB data with timestamps via gigabit network and UDP.

[0025] The lidar can be 16 lines or more, collecting laser reflection signals with a laser wavelength of 905nm, a horizontal field resolution of 0.4°, a vertical angular resolution of 2°, a frame rate of 30Hz, and an output point count of 30000pts / s. It outputs data such as three-dimensional spatial coordinates, reflection intensity, and timestamps via gigabit network using UDP.

[0026] The computer can receive the aforementioned sound signals, visual signals, and laser point cloud signals, and then match them using timestamp data, packaging them into data packets with 30Hz as a frame for subsequent data processing.

[0027] S2, Generate an acoustic image based on the sound signal, wherein the acoustic image contains the intensity and frequency band of the sound signal.

[0028] Specifically, a spatial rectangular coordinate system can be established with the camera coordinate system origin as the origin and the direction pointing to the position to be detected as the z-axis to determine parameters such as the spatial coordinates of the sound source focusing plane and the microphone array coordinates.

[0029] The sound signal is input into a noise suppression algorithm for noise suppression, and then a deconvolution beamforming algorithm is used to obtain the distribution result of the sound signal. The color contour map, i.e., the sound image map, is filled according to the distribution result of the sound signal.

[0030] The deconvolution beamforming algorithm flow is as follows:

[0031] (1) Calculate the wavenumber domain at the center point of the sound source focusing plane:

[0032] PSF(k) = FFT[psf(r0 / r s )]

[0033] Where psf(r0 / r s ) represents the point spread function at the center point of the sound source focusing plane, where r0 is the vector of the center point of the sound focusing plane, r s Let be the sound source vector. FFT represents the Fast Fourier Transform, and the number of FFT points is the same as the vector length.

[0034] (2) Calculate the constant p0:

[0035]

[0036] (3) Set the initial value of the iteration output x0(r) s If ) = 0, then the calculation for the (n+1)th iteration is as follows:

[0037]

[0038]

[0039] Where, k x and k y The beams representing the x-axis and y-axis, k c b represents the filter cutoff function. w (r s ) indicates that the zero-padded wavenumber domain is in r s Beamforming output at b n (r s ) indicates that the zero-padded wavenumber domain is in r s Beamforming output at x n+1 (r s ) represents the output of the (n+1)th iteration, x n (r s ) represents the output of the nth iteration.

[0040] After iterative calculations through the above steps, the sound source distribution on the focal plane can be obtained.

[0041] In one embodiment of the present invention, in order to improve the accuracy of the sound signal distribution results, the output of the deconvolution beamforming algorithm can be smoothed and filtered before filling the color contour map.

[0042] S3, fuses the acoustic image with the visual signal to obtain the voiceprint image.

[0043] S4, obtain the location information of the sound source based on the sound signal.

[0044] Specifically, the set of grid points D0 of the sound source focusing plane can be traversed to filter out the set of grid points D1 where the sound source may exist; the set of edge grid points De in the set of grid points D1 where the sound source may exist can be filtered out; for each pair of elements in the set of edge grid points De, connectivity is checked to determine whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is a multiple sound source. If it is a single sound source, all elements in D1 are stored in the same sound source region array. The sound source focusing plane grid of region D1 is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is a multiple sound source, the connected sub-regions are stored in the same sound source array to form a sound source region set. The sound source focusing plane grid of each sound source region is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. Finally, the coordinates of the sound source in the camera coordinate system are transformed to the world coordinate system.

[0045] S5 obtains the distance information of the sound source based on the laser point cloud signal and the acoustic image.

[0046] A spatial coordinate system is constructed between the lidar, microphone array, and camera to obtain precise world coordinates and distance information, which is then mapped onto the voiceprint image. Specifically, the distance information of each point in the lidar point cloud signal can be obtained, and then the corresponding pixel in the voiceprint image is obtained through coordinate transformation. The pixel of the sound source is then determined to obtain the distance information of the sound source.

[0047] The distance information of each point in the laser point cloud signal can be the distance from the point to the laser transmitter. Finally, the distance information of the sound source can be the distance from the sound source to the laser transmitter, or the distance from the sound source to the camera.

[0048] S6 performs partial discharge judgment and localization on the location to be detected based on the intensity, frequency band, and location and distance information of the sound signal and the sound source.

[0049] The processing steps S2 to S5 are all based on the aforementioned 30Hz data packets as a unit. All the obtained processing information is also based on a fixed time step, so the information can be synchronized according to the timestamp and finally output to the display screen simultaneously.

[0050] In one embodiment of the present invention, the partial discharge situation at the detection location can be automatically determined by comparing the intensity, frequency band, and threshold of the sound signal. The sound source can be located based on its coordinates and distance, and the source of the sound can be identified as being emitted by a specific device or part of that device. The determination and location results can also be displayed on a screen.

[0051] In another embodiment of the present invention, the determination and location of partial discharge can also be done manually. By manually reading the intensity, frequency band, and location and distance information of the sound signal displayed on the screen, the partial discharge situation and the specific location of the partial discharge can be determined directly based on this information.

[0052] The substation partial discharge detection method according to embodiments of the present invention processes and analyzes sound signals, visual signals, and laser point cloud signals. It can display the source location, intensity, band, and distance information of ultrasonic signals emitted by equipment in the substation due to faults in real time in the form of visualized contour lines in images or videos. Combining laser point clouds with acoustic imaging can effectively improve the accuracy of partial discharge localization. The acoustic image provides sound intensity and band data, and can display partial discharge information in harsh and complex environments such as darkness, rain, and snow. By automatically analyzing and processing the collected signals, it can reduce labor costs and improve detection efficiency.

[0053] Corresponding to the substation partial discharge detection method in the above embodiments, the present invention also proposes a substation partial discharge detection device.

[0054] like Figure 2 As shown, the substation partial discharge detection device of this invention includes: a data acquisition module 10, a generation module 20, a fusion module 30, a first acquisition module 40, a second acquisition module 50, and a detection module 60. The data acquisition module 10 is used to acquire sound signals, visual signals, and laser point cloud signals at the location to be detected; the generation module 20 is used to generate an acoustic image based on the sound signals, wherein the acoustic image includes the intensity and frequency band of the sound signals; the fusion module 30 is used to fuse the acoustic image with the visual signals to obtain a voiceprint image; the first acquisition module 40 is used to acquire the location information of the sound source based on the sound signals; the second acquisition module 50 is used to acquire the distance information of the sound source based on the laser point cloud signals and the voiceprint image; and the detection module 60 is used to determine and locate the partial discharge at the location to be detected based on the intensity and frequency band of the sound signals and the location and distance information of the sound source.

[0055] In one embodiment of the present invention, the acquisition module 10 includes a microphone array, a camera, and a lidar.

[0056] In one specific embodiment of the present invention, the microphone array can be a 128-level portable microphone array, capable of detecting frequencies of 2kHz-40kHz and sound pressure range of 30dBA-120dBA. Its internal chip reads new time and second pulse signals from the GPS / BeiDou module to control the real-time acquisition of multi-band sound signals, and outputs time-stamped data via gigabit network using UDP (User Datagram Protocol).

[0057] The camera can be a multispectral PTZ camera capable of capturing visible or infrared light images, with adjustable focal length, 12 megapixels, and outputting raw RGB data with timestamps via gigabit network and UDP.

[0058] The lidar can be 16 lines or more, collecting laser reflection signals with a laser wavelength of 905nm, a horizontal field resolution of 0.4°, a vertical angular resolution of 2°, a frame rate of 30Hz, and an output point count of 30000pts / s. It outputs data such as three-dimensional spatial coordinates, reflection intensity, and timestamps via gigabit network using UDP.

[0059] After receiving the aforementioned sound signals, visual signals, and laser point cloud signals, the subsequent modules can match them using timestamp data, package them into data packets with 30Hz as a frame, and use them for subsequent data processing.

[0060] A spatial rectangular coordinate system can be established with the camera coordinate system origin as the origin and the direction pointing to the position to be detected as the z-axis to determine parameters such as the spatial coordinates of the sound source focusing plane and the microphone array coordinates.

[0061] The generation module 20 can input the sound signal into the noise suppression algorithm for noise suppression, and then use the deconvolution beamforming algorithm to obtain the distribution result of the sound signal, and fill the color contour map, i.e., the sound image map, according to the distribution result of the sound signal.

[0062] The deconvolution beamforming algorithm flow is as follows:

[0063] (1) Calculate the wavenumber domain at the center point of the sound source focusing plane:

[0064] PSF(k) = FFT[psf(r0 / r s )]

[0065] Where psf(r0 / r s ) represents the point spread function at the center point of the sound source focusing plane, where r0 is the vector of the center point of the sound focusing plane, r s Let be the sound source vector. FFT represents the Fast Fourier Transform, and the number of FFT points is the same as the vector length.

[0066] (2) Calculate the constant p0:

[0067]

[0068] (3) Set the initial value of the iteration output x0(r) s If ) = 0, then the calculation for the (n+1)th iteration is as follows:

[0069]

[0070]

[0071] Where, k x and k y The beams representing the x-axis and y-axis, k c b represents the filter cutoff function. w (r s ) indicates that the zero-padded wavenumber domain is in r s Beamforming output at b n (r s ) indicates that the zero-padded wavenumber domain is in r s Beamforming output at x n+1 (r s ) represents the output of the (n+1)th iteration, x n (r s ) represents the output of the nth iteration.

[0072] After iterative calculations through the above steps, the sound source distribution on the focal plane can be obtained.

[0073] In one embodiment of the present invention, in order to improve the accuracy of the sound signal distribution results, the generation module 20 may also perform smoothing filtering on the output of the deconvolution beamforming algorithm before filling the color contour map.

[0074] The first acquisition module 40 specifically iterates through the set D0 of the sound source focusing plane grid points, filters out the set D1 of grid points where the sound source may exist; filters out the set De of edge grid points in the set D1 of possible sound source grid points; performs connectivity judgment on every two elements in the set De of edge grid points, and determines whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is a multiple sound source. If it is a single sound source, all elements in D1 are stored in the same sound source region array, and the sound source focusing plane grid of region D1 is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is a multiple sound source, the connected sub-regions are stored in the same sound source array to form a sound source region set, and the sound source focusing plane grid of each sound source region is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. Finally, the coordinates of the sound source in the camera coordinate system are transformed to the world coordinate system.

[0075] A spatial coordinate system is constructed between the lidar, microphone array, and camera to obtain precise world coordinates and distance information, and this distance information is mapped onto the voiceprint image. Specifically, the second acquisition module 50 acquires the distance information of each point in the lidar point cloud signal, then uses coordinate transformation to obtain the corresponding pixels in the voiceprint image, and determines the pixels of the sound source to obtain the distance information of the sound source.

[0076] The distance information of each point in the laser point cloud signal can be the distance from the point to the laser transmitter. Finally, the distance information of the sound source can be the distance from the sound source to the laser transmitter, or the distance from the sound source to the camera.

[0077] Each module processes the signal in units of the aforementioned 30Hz data packets. All the processed information is processed in fixed time steps, so the information can be synchronized according to the timestamp and finally output to the display screen simultaneously.

[0078] In one embodiment of the present invention, the detection module 60 can automatically determine the partial discharge situation at the detection location by comparing the intensity, frequency band, and threshold of the sound signal. It can also locate the sound source based on its coordinates and distance, determining which device or part of the device emitted the sound. The determination and location results can also be displayed on the screen.

[0079] The substation partial discharge detection device according to embodiments of the present invention processes and analyzes sound signals, visual signals, and laser point cloud signals. It can display the source location, intensity, band, and distance information of ultrasonic signals emitted by equipment in the substation due to faults in real time in the form of visualized contour lines in images or videos. Combining laser point clouds with acoustic imaging can effectively improve the accuracy of partial discharge localization. The acoustic image provides sound intensity and band data, and can display partial discharge information in harsh and complex environments such as darkness, rain, and snow. By automatically analyzing and processing the collected signals, it can reduce labor costs and improve detection efficiency.

[0080] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0082] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0085] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0086] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0087] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0088] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0089] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for detecting partial discharge in a substation, characterized in that, Includes the following steps: Acquire sound signals, visual signals, and laser point cloud signals at the location to be detected; An acoustic image is generated based on the sound signal, wherein the acoustic image includes the intensity and frequency band of the sound signal; The acoustic image is fused with the visual signal to obtain a voiceprint image; The location information of the sound source is obtained based on the sound signal; The distance information of the sound source is obtained based on the laser point cloud signal and the acoustic print image; The partial discharge location is determined and located based on the intensity and frequency band of the sound signal and the location and distance information of the sound source. The sound signals are acquired using a microphone array, the visual signals are acquired using a camera, and the laser point cloud signals are acquired using a lidar system. Obtaining the location information of the sound source based on the sound signal specifically includes: traversing the set D0 of the sound source focusing plane grid points and filtering out the set D1 of grid points where the sound source may exist; filtering out the set De of edge grid points in the set D1 of possible sound source grid points; performing connectivity checks on every two elements in the set De of edge grid points to determine whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is multiple sound sources. If it is a single sound source, all elements in D1 are stored in the same sound source region array. The sound source focusing plane grid of region D1 is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is multiple sound sources, connected sub-regions are stored in the same sound source array to form a sound source region set. The sound source focusing plane grid of each sound source region is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. A spatial coordinate system is constructed between the lidar, microphone array, and camera to obtain precise world coordinates and distance information. The distance information is then mapped onto the voiceprint image. The distance information of the sound source is obtained based on the lidar point cloud signal and the voiceprint image. Specifically, this includes: obtaining the distance information of each point in the lidar point cloud signal; obtaining the pixel points in the voiceprint image corresponding to each point in the point cloud signal through coordinate transformation; and determining the pixel points of the sound source to obtain the distance information of the sound source.

2. The substation partial discharge detection method according to claim 1, characterized in that, The acoustic image is a color contour map. Generating the acoustic image based on the sound signal specifically includes: After noise suppression of the sound signal, the distribution result of the sound signal is obtained by using a deconvolution beamforming algorithm, and the color contour map is filled according to the distribution result of the sound signal.

3. A substation partial discharge detection device, characterized in that, include: The acquisition module is used to acquire sound signals, visual signals, and laser point cloud signals at the location to be detected. A generation module is used to generate an acoustic image based on the sound signal, wherein the acoustic image includes the intensity and frequency band of the sound signal; A fusion module is used to fuse the acoustic image with the visual signal to obtain a voiceprint image; The first acquisition module is used to acquire the location information of the sound source based on the sound signal; The second acquisition module is used to acquire the distance information of the sound source based on the laser point cloud signal and the acoustic pattern image; The detection module is used to determine and locate the position to be detected based on the intensity and frequency band of the sound signal and the location and distance information of the sound source. The acquisition module includes a microphone array, a camera, and a lidar. The first acquisition module is specifically used for: traversing the set D0 of the sound source focusing plane grid points, filtering out the set D1 of grid points where the sound source may exist; filtering out the set De of edge grid points in the set D1 of possible sound source grid points; performing connectivity judgment on every two elements in the set De of edge grid points, determining whether the shortest path between all two elements passes through grid points in D1. If so, it is a single sound source; otherwise, it is multiple sound sources. If it is a single sound source, all elements in D1 are stored in the same sound source region array, and the sound source focusing plane grid of region D1 is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. If it is multiple sound sources, connected sub-regions are stored in the same sound source array to form a sound source region set, and the sound source focusing plane grid of each sound source region is traversed to obtain the coordinates of the grid point with the highest sound power, which is the coordinate of the sound source. A spatial position transformation coordinate system is constructed between the lidar, microphone array, and camera to obtain accurate world coordinates and distance information, and the distance information is mapped onto the voiceprint image. The second acquisition module is specifically used to: acquire the distance information of each point in the lidar point cloud signal; acquire the pixel points in the voiceprint image corresponding to each point in the point cloud signal through coordinate transformation, and determine the pixel points of the sound source to obtain the distance information of the sound source.

4. The substation partial discharge detection device according to claim 3, characterized in that, The acoustic image is a color contour map, and the generation module is specifically used for: After noise suppression of the sound signal, the distribution result of the sound signal is obtained by using a deconvolution beamforming algorithm, and the color contour map is filled according to the distribution result of the sound signal.

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