Method for detecting defects of ultra-high voltage power switch equipment by high-energy rays

Abstract

The application discloses a method for detecting defects of super-high-voltage power switch equipment by high-energy rays, which adopts high-energy rays with energy of 0.4-10 MeV to perform nondestructive detection on the power switch equipment. The method is favorable for guaranteeing defect detection efficiency, defect detection sensitivity and environmental safety.

Description

Technical Field

[0001] This invention relates to the field of X-ray inspection technology, and in particular to a method for detecting defects in ultra-high voltage power switchgear using high-energy X-rays. Background Technology

[0002] With the development of high-energy X-ray inspection technology, how to efficiently and safely detect common defects in the inspected equipment has become an important direction for the industry's technological development.

[0003] Taking power switchgear as an example, X-ray non-destructive testing is one of the common defect detection methods in the power industry, such as for the inspection of components like cables, tension clamps, and insulators. However, for large power switchgear, especially ultra-high voltage and extra-high voltage transmission and transformation stations, such as GIS equipment (gas-insulated metal-enclosed switchgear), due to its large size and thick outer walls, ordinary X-ray machines have difficulty penetrating it. Therefore, a testing device capable of penetrating such large power switchgear is needed to complete defect inspection.

[0004] Meanwhile, regarding the application of high-energy X-ray detection in the field of power switchgear, the applicant disclosed a technical solution for a mobile high-energy X-ray device for defect detection of GIS equipment in UHV substations, application number CN202210979437.9. This solution is a DR detection device that solves the problem of difficult alignment of X-rays in space when the split-type X-ray machine is blocked by GIS equipment by setting up a cantilever mechanism to configure the relative position of the detector (imaging device) and the X-ray machine (radiation emitting device). In addition, the applicant disclosed a technical solution for an on-site ionizing radiation early warning and protection method for X-ray detection of power switchgear, application number CN202211574229.7. In this solution, the maximum radiation dose value required for the current detection, the radiation dose value at different locations, and the safety factor are used to obtain the radiation exceeding zone and the safe transition zone. Then, the safety of on-site personnel is ensured by using warning lines and video capture schemes.

[0005] To promote the application of high-energy X-ray inspection in the defect detection of power switchgear, it is necessary to further optimize the high-energy X-ray inspection system to ensure detection performance and environmental safety. Summary of the Invention

[0006] To address the aforementioned technical challenge of further optimizing high-energy X-ray detection systems to ensure detection performance and environmental safety in order to promote the application of high-energy X-ray detection in the defect detection of power switchgear, this invention provides a method for detecting defects in ultra-high voltage and extra-high voltage power switchgear using high-energy X-rays. This method helps ensure defect detection efficiency, defect detection accuracy, and environmental safety.

[0007] To address the aforementioned problems, the present invention provides a method for detecting defects in ultra-high voltage power switchgear using high-energy rays, which solves the problems through the following technical points: The method uses high-energy rays with an energy of 0.4 to 10 MeV to perform non-destructive testing on the power switchgear.

[0008] As will be readily understood by those skilled in the art, in this solution, the ultra-high voltage power switchgear refers to ultra-high voltage power switchgear and extra-high voltage power switchgear. In this field, the high-energy rays commonly referred to include X-rays and gamma rays.

[0009] This paper proposes a method for non-destructive testing of power switchgear using high-energy rays with energies of 0.4–10 MeV, specifically for the application of high-energy rays in defect detection of ultra-high voltage power switchgear.

[0010] Specifically, this plan includes:

[0011] The purpose of setting the lower limit of high-energy X-ray energy value to 0.4 MeV is to address the following issues: Ultra-high voltage power switchgear is generally characterized by its large size and thickness. In actual testing, the X-ray energy determines its penetration performance, and there is a direct relationship between X-ray energy and penetration power. X-ray energy below 0.4 MeV cannot effectively guarantee the X-ray penetration requirements. Therefore, the lower limit is set to 0.4 MeV to ensure the efficiency of defect detection in power switchgear.

[0012] The purpose of setting the energy value of high-energy rays in the range of 0.4 to 10 MeV is to address the following issues: When a high-energy ray emitting device is working, taking X-rays as an example, the interaction between the rays and air causes the air to be ionized, producing ozone gas and nitrogen oxide gas that are harmful to the environment. Especially for electrical switching equipment in indoor environments, since these environments are relatively closed, when these harmful gases exist in the environment for a long time and at a high concentration, they can cause personal injury if directly inhaled by personnel entering the environment. Therefore, this scheme is adopted. While meeting the requirements for ray penetration, by using the above-mentioned range of ray energy values, the amount of harmful gases generated during the detection process can be effectively controlled, which is conducive to ensuring environmental safety.

[0013] In addition, for defect detection performance, resolution or the critical size at which defects can be detected is an important indicator. This indicator is inversely proportional to the radiation energy. Therefore, the above scheme is adopted. On the basis of meeting the radiation penetration requirements, the above radiation energy range is used. The aim is to propose a technical solution that uses a smaller radiation energy value to ensure the imaging quality of the imaging device, thereby ensuring defect detection performance or defect detection accuracy.

[0014] In addition, the reduced radiation energy is proportional to the radiation value at the testing site. Therefore, the above scheme, while meeting the radiation penetration requirements, adopts the above radiation energy range, which facilitates on-site radiation protection.

[0015] In optimal applications, the high-energy rays referred to in this solution possess the dual characteristics of high energy and low dose. Taking maximum power as an example, when the high-energy rays are detected / output at maximum power, the radiation dose rate at 1m in front is less than 8R / min, and the on-site radiation protection distance is less than or equal to 180m. This solution aims to address the following issues: the radiation dose rate directly affects not only the radiation level at the detection site but also the setting of the on-site radiation protection distance, exhibiting the following relationship: the radiation dose rate and the on-site radiation protection distance are positively correlated. Thus, when a higher radiation dose rate is used, the on-site radiation protection distance needs to be set to a larger value. This not only affects the defect detection efficiency but also, the greater safety distance affects the on-site personnel's judgment of the reliability and accuracy of the detection process (e.g., requiring visual supervision of the detection process to determine the location, area, and angle of the high-energy rays), leading to doubts about the detection results from the inspected party. This solution, using the above-mentioned radiation dose rate and radiation protection distance, not only meets the requirements for high-energy ray defect detection of conventional power switchgear but also ensures a lower radiation dose level and a smaller safety distance at the site.

[0016] In one specific embodiment, the method includes the following steps:

[0017] S1. Obtain the thickness and material of the power switch equipment in the high-energy ray irradiation area, and calculate the required high-energy ray energy value based on the thickness and material; when the calculated energy value is greater than 10MeV, adjust the irradiation angle of the high-energy ray relative to the power switch equipment and recalculate the required high-energy ray energy value until the calculated energy value is less than or equal to 10MeV.

[0018] S2. High-energy rays with energies of 0.4–10 MeV are used to perform non-destructive testing on power switchgear. The above solution aims to address the following issues: In actual operation, for the same surface area on power switchgear, when high-energy rays act on that surface area from different directions, the thickness and material of the power switchgear correspond to different directions along the main beam. If only the ray energy value required for penetration is considered, different directions correspond to different energy values. Furthermore, power switchgear includes assembled power switchgear; therefore, when high-energy rays irradiate the power switchgear from different directions, the material thickness and material composition of the main beam may change. Thus, the required ray energy may vary significantly depending on the direction. Based on this, this solution provides a method to calculate the required high-energy ray energy value based on the thickness and material composition of the power switchgear in the current irradiation area. When the high-energy ray energy value exceeds the set energy range, the irradiation angle of the main beam is readjusted. By adjusting the irradiation angle, the high-energy ray energy set at the current angle meets the defect detection requirements. By adjusting the irradiation angle of high-energy rays relative to the power switchgear and recalculating the required high-energy ray energy value, the aim is to ensure the defect detection rate and the limit size of detectable defects by using a certain range of high-energy ray energy values.

[0019] In one specific embodiment, in step S2:

[0020] First, high-energy rays with energy values ​​greater than or equal to the calculated energy values ​​are used to perform non-destructive testing on the power switchgear, and imaging data is acquired through an imaging plate.

[0021] Then, the imaging quality is judged based on the imaging data. When it is determined that the penetrating power of the high-energy rays is less than the penetration requirement, the energy of the high-energy rays is gradually increased according to a set threshold until the penetrating power of the high-energy rays meets the penetration requirement. In specific implementation, when the calculated energy value is in the range of 0.4 to 10 MeV, high-energy rays with the calculated energy value are used to perform non-destructive testing on the power switchgear. When the calculated energy value is less than 0.4 MeV, high-energy rays with an energy value of 0.4 MeV are used to perform non-destructive testing on the power switchgear. Preferably, the calculated energy value is used as a calculation factor. In specific applications, the actual high-energy ray energy used is the product of the calculated energy value and the compensation factor, where the compensation factor is greater than 1. The characteristic of this method is that, under the condition of meeting the requirements, the ray energy value is judged using imaging data, and the ray energy is gradually increased according to a set threshold, so that the actual energy value of the ray used for defect detection is a small value, thereby ensuring the defect detection rate and the limit size of detectable defects. In practical applications, the detection results obtained by using high-energy rays to inspect ultra-high voltage power switchgear can be presented in the form of images or videos, depending on the type of imaging board. When the selected imaging board is a static imaging board, the detection result is an image; when the selected imaging board is a dynamic imaging board, the detection result is a video.

[0022] In one specific embodiment, in step S1, the thickness and material of the power switching equipment in the high-energy ray irradiation area are obtained in the following way:

[0023] S1-1. Obtain the detection area of ​​high-energy rays on the surface of the power switchgear and the irradiation direction of the high-energy rays;

[0024] S1-2. Based on the design documents of the power switchgear, calculate or obtain the thickness and material of the inspection area. In practical application, this solution uses the surface area of ​​the power switchgear as an indicator of the actual position of the high-energy rays on its surface, addressing the need for multi-area inspection due to the size and thickness of the power switchgear. Specifically, during automatic or semi-automatic defect inspection, the route of the inspection device and its related actions are planned. Based on this, and considering the straight-line propagation of high-energy rays within the power switchgear, the current irradiation direction of the high-energy rays allows the determination of the area through which the main beam of the rays passes on the power switchgear. After obtaining the relevant parameters from the power switchgear design documents, the thickness and material of the area through which the main beam of the rays passes can be calculated or obtained.

[0025] In one specific embodiment, the implementation method of step S1-1 is as follows:

[0026] The preferred method for establishing a three-dimensional model of the ultra-high voltage power switchgear is to obtain aerial photographs of the power switchgear through aerial photography and then establish a three-dimensional model of the power switchgear based on the aerial photographs.

[0027] By using the position coordinates and current attitude of the high-energy ray emitting device, and correlating these coordinates and attitude with a 3D model, the detection area of ​​the high-energy rays on the power switchgear can be obtained. The irradiation direction of the high-energy rays is also obtained from the current attitude of the high-energy ray emitting device. This solution aims to provide a technical approach that allows inspectors to remotely operate and perform defect detection on power switchgear, providing a clear view of the current inspection status. Specifically, when performing X-ray defect detection on power switchgear within a certain area, a 3D model of the power switchgear to be inspected within that area is first established using aerial photographs. Then, the relative position of the X-ray detection device and the 3D model is correlated using a spatial coordinate system. During inspection, the position of the high-energy rays on the surface of the power switchgear can be obtained based on the main beam direction, the relative position of the high-energy ray emitting device and the 3D model, and the main beam parameters. Furthermore, based on the irradiation direction, the area through which the main beam passes on the power switchgear can be obtained. The material characteristics of the passed area can then be used to calculate the required high-energy ray energy value. In practical applications, the three-dimensional model is used to plan the inspection route of the detection equipment and the parameters of each inspection point on the inspection route. The parameters include the position of the high-energy ray emitting device, the position of the imaging device, and the parameters of the high-energy ray emitting device. During the specific inspection process, the three-dimensional model is used to reflect the current inspection position. Based on the inspection results, when it is necessary to re-inspect certain areas for defects, the three-dimensional model is used to plan the position, orientation, and parameters of the detection equipment, and these areas are re-inspected manually or automatically.

[0028] In one specific embodiment, the implementation method of step S1-2 is as follows:

[0029] Obtain the dimensional parameters of each location of the power switchgear according to the power switchgear design documents;

[0030] Using the design drawings and dimensional parameters in the design file, combined with the three-dimensional model, a three-dimensional solid model of the power switchgear is created and a three-dimensional solid model is obtained.

[0031] Based on the irradiation range and direction of high-energy rays on the surface of a three-dimensional solid model, the thickness and material of the detection area can be obtained. For those skilled in the art, based on the three-dimensional model and the design documents of the power switchgear, for any given inspection, the coverage area of ​​the main beam on the power switchgear can be obtained using the position of the rays on the surface of the power switchgear, the angle of the main beam, and the coverage area. According to the design documents of the power switchgear, the required high-energy ray energy value can be calculated. This process can be done manually, and the calculation results can be input into the ray inspection system. To improve the automation level and efficiency of ray defect detection in power switchgear, the above technical solution of further constructing a three-dimensional solid model using a three-dimensional model is proposed. In practical application, the three-dimensional model can accurately reflect the layout of power switchgear within a certain area. Based on the design documents of the power switchgear and the construction ratio of the three-dimensional model, the three-dimensional model is solidified to complete the solid model modeling. Thus, based on the irradiation range and direction, after determining the detection area of ​​the power switchgear in the main beam of the ray, the thickness and material of the detection area can be directly provided from the three-dimensional solid model. As those skilled in the art would understand, a 3D model is merely a model containing surface elements, while a 3D solid model, in addition to the 3D model, also includes spatial structure, materials, and other elements inherent to the model object itself, such as dimensional parameters and material properties. More specifically, through the 3D model, model objects at different locations can be identified. Based on the power switchgear design documents, the spatial structure, materials, and other elements of the object can be obtained. By integrating these spatial structure, materials, and other elements into the 3D model, a 3D solid model can be obtained.

[0032] In one specific embodiment, aerial photographs are used when building the 3D model. These photographs are used for top and side modeling of the 3D model, and the data source for bottom modeling is the power switchgear design file. This solution provides a specific method for constructing a 3D model to address the problem that it is difficult to obtain image data of various locations of the power switchgear through aerial photography in the environment where the power switchgear is located. The relative position of the power switchgear, its external structure, and its relative position to other facilities such as buildings or equipment on site determine that drones cannot safely and comprehensively collect aerial photographs from all directions. Furthermore, constructing a 3D model from point cloud data using scanning methods is inefficient. Therefore, this solution provides a technical approach that combines aerial photographs with power switchgear design files for 3D modeling. In practical applications, it should be understood that aerial photographs can provide most of the image data used for 3D modeling, as well as the spatial arrangement and installation posture of power switchgear. However, the image data used for top and side modeling may not all be extracted from aerial photographs. For the missing parts in the 3D model after effectively utilizing aerial photographs, the missing parts can be supplemented using the design files of the power switchgear. For each power switchgear with missing model parts, the missing parts can be supplemented using the dimensional parameters in the design files, based on the scale of the 3D model and the posture of a single power switchgear in the 3D model.

[0033] In one specific embodiment, aerial photographs are used when building the three-dimensional model. When the power equipment or power switch is outdoors, satellite navigation is used to obtain aerial photographs of the power switch.

[0034] When the power switchgear is indoors, the aerial photographs are acquired by manually operating a drone to complete the flight path planning. The specific method is as follows:

[0035] Manually controlled drones fly indoors to obtain aerial photographic capture routes of power switchgear;

[0036] The aerial image acquisition route is loaded into the UAV's flight control unit, and an indoor base station is used to navigate the UAV and control the camera to acquire aerial images of the power switchgear. This solution provides a specific implementation method for acquiring aerial images: for outdoor power switchgear, the UAV's navigation module can directly complete satellite navigation under GNSS signals; for indoor equipment, the UAV is manually operated to obtain the aerial image acquisition route. After the aerial image acquisition route is loaded into the flight control unit, navigation is completed with the help of the indoor base station to acquire the required aerial images with high quality, ensuring the modeling accuracy of the power switchgear. In specific implementation, for outdoor aerial images, the UAV can also be manually operated to complete the route planning and then the planned route is loaded into the UAV's flight control unit. Unlike indoor power switchgear, satellite signals are used to navigate the UAV and control the camera to acquire aerial images of the power switchgear. With this solution, the flight process for acquiring aerial images is completed with the help of satellite or an indoor base station, which can solve the problem of unstable aerial image acquisition quality caused by manually operating the UAV for aerial image acquisition.

[0037] In one specific embodiment, before acquiring aerial photographs, location markers are set on the surface of the power switchgear, the aerial photograph images include the location markers, and the three-dimensional model includes the location markers;

[0038] When a defect is detected in the inspected area, the location of the defect on the power switchgear is indicated by the configuration or location markers of the power switchgear. This solution aims to address the following issues: Ultra-high voltage and extra-high voltage power switchgear includes long cylindrical equipment such as SF6 fully enclosed switchgear. Although the actual location of the current detection point or defect on the power switchgear can be calculated using the position of the detection equipment and the power switchgear in a spatial coordinate system, this requires a certain calculation process. When applied in the field, the actual position needs to be calculated. Furthermore, when displaying the current detection location using a 3D model, the limited screen size may not allow for a clear and intuitive representation of the current detection location on the power switchgear. Based on these specific applications, this solution provides a concrete method for setting location markers on the surface of the power switchgear and applying these location markers to a 3D model. In practical applications, location markers can be set as marker strips. When used on long, cylindrical power switchgear, the marker strips are affixed to the surface of the power switchgear circumferentially. The axial position of the affixed position and the circumferential position of each marker at different locations on the strip are recorded on the marker strip. Depending on the length of the power switchgear, one or more marker strips are arranged axially. When the number is greater than one, the marker strips are spaced apart. In practical applications, if a defect is detected at a certain location and defect confirmation is required, the specific location of that location is determined by the location markers in the 3D model. Then, the specific location of that location can be quickly obtained using the location markers on the power switchgear. Therefore, this solution, when using high-energy X-rays for remote defect detection on power switchgear, can intuitively reflect the current location of the inspected area; the location markers can be used to intuitively associate the location on the 3D model with the location on the equipment, allowing for rapid retrieval of the corresponding location on the power switchgear from the location on the 3D model.

[0039] In one specific embodiment, the three-dimensional model is used to divide the inspected area of ​​the power switchgear into multiple sub-regions, wherein the sub-regions satisfy the condition that high-energy rays can perform defect detection on a single sub-region in a single operation.

[0040] The position and / or orientation of the high-energy ray emitting device and the imaging device are adjusted manually or by computer control, and defects are detected in each sub-region in sequence.

[0041] Defect re-inspection is performed on sub-regions with defects. This solution aims to address the following issues: Given the large size and thick walls of ultra-high voltage (UHV) power switchgear, the area to be inspected is divided into multiple sub-regions, and these sub-regions are inspected sequentially to complete the defect detection. This process requires less high-energy radiation at each location within the inspected area, reducing the requirements for testing equipment, increasing the defect detection rate, facilitating on-site radiation protection, and reducing the generation of harmful gases in the environment. In implementation, a computer-controlled approach is preferred to automatically complete the defect detection of all sub-regions. Considering potential unforeseen circumstances during the inspection process, the system's operation is monitored remotely during automatic operation, and the high-energy radiation emitting device is remotely shut down if necessary. After the entire setup process is completed, for defect confirmation, the experience of the defect inspection personnel and the technical information provided by the on-site management personnel of the power switchgear are highly valuable for defect judgment. Therefore, in this process, the position of the high-energy radiation emitting device, the imaging device, the direction of the main beam, and other parameters are manually controlled to conduct a manual re-inspection of the areas of interest.

[0042] In one specific embodiment, a preferred implementation flow of the above method is as follows:

[0043] Confirm the electrical switchgear to be inspected on site;

[0044] A 3D model of the power switchgear to be inspected is constructed using the design documents of the power switchgear and aerial photographs obtained from aerial photography.

[0045] A three-dimensional solid model of the power switchgear is constructed using the 3D model and the power switchgear design documents.

[0046] On the three-dimensional solid model, the inspected area of ​​the power switchgear is divided to obtain multiple sub-regions;

[0047] Based on the three-dimensional solid model and the defect detection parameters of each sub-region, the high-energy ray energy required for defect detection in each sub-region is calculated. When the calculation result exceeds the set high-energy ray energy value, the action area of ​​the main ray beam on the power switch equipment is reconfirmed and the sub-region distribution is adjusted to meet the defect detection requirements.

[0048] Based on the calculated high-energy ray energy, select the lowest possible ray energy value for defect detection. Based on the determined sub-region distribution and the ray energy value used in each sub-region, complete the defect detection route and parameter planning.

[0049] The computer plans the detection route and parameters and uses high-energy rays with energy of 0.4 to 10 MeV to perform non-destructive testing on the power switchgear.

[0050] After the initial inspection is completed, the inspection equipment is manually operated to re-inspect the areas of interest for defects.

[0051] The present invention has the following beneficial effects:

[0052] The technical solutions provided above not only ensure the efficiency of defect detection in power switchgear but also effectively control the amount of harmful gases generated during the detection process, thus contributing to environmental safety. Furthermore, a technical solution is proposed that utilizes a relatively low radiation energy value to ensure the imaging quality of the imaging device, thereby guaranteeing defect detection capability or accuracy. Additionally, a technical solution is provided that, while meeting radiation penetration requirements, employs the above-mentioned radiation energy range to facilitate on-site radiation protection. Attached Figure Description

[0053] Figure 1 This is a flowchart of a specific embodiment of the method for detecting defects in ultra-high voltage power switchgear using high-energy rays as described in this scheme. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to the embodiments, but the present invention is not limited to the following embodiments:

[0055] Example 1:

[0056] like Figure 1 As shown, a method for detecting defects in ultra-high voltage power switchgear using high-energy rays is described. This method uses high-energy rays with energies of 0.4–10 MeV to perform non-destructive testing on the power switchgear.

[0057] As will be readily understood by those skilled in the art, in this solution, the ultra-high voltage power switchgear refers to ultra-high voltage power switchgear and extra-high voltage power switchgear. In this field, the high-energy rays commonly referred to include X-rays and gamma rays.

[0058] This paper proposes a method for non-destructive testing of power switchgear using high-energy rays with energies of 0.4–10 MeV, specifically for the application of high-energy rays in defect detection of ultra-high voltage power switchgear.

[0059] Specifically, this plan includes:

[0060] The setting of a lower limit of 0.4 MeV for the energy value of high-energy rays aims to address the following issues: Ultra-high voltage and extra-high voltage power switchgear generally has large size and thick construction. In actual testing, the energy of high-energy rays determines their penetration performance, and there is a direct proportional relationship between ray energy and penetration power. Ray energies below 0.4 MeV cannot effectively guarantee the penetration requirements. Therefore, a lower limit of 0.4 MeV is set to ensure the efficiency of defect detection in power switchgear. The high-energy rays referred to in this invention possess the dual characteristics of high energy and low dose. Taking maximum power as an example, when high-energy rays are used for detection at maximum power, the radiation dose rate at 1m in front is less than 8R / min, and the on-site radiation protection distance is less than or equal to 180m.

[0061] Meanwhile, the detection results obtained by using high-energy rays to inspect ultra-high voltage power switchgear in this solution can be presented in the form of images or videos, depending on the type of imaging board. When the selected imaging board is a static imaging board, the detection result is an image; when the selected imaging board is a dynamic imaging board, the detection result is a video.

[0062] The purpose of setting the energy value of high-energy rays in the range of 0.4 to 10 MeV is to address the following issues: When a high-energy ray emitting device is working, taking X-rays as an example, the interaction between the rays and air causes the air to be ionized, producing ozone gas and nitrogen oxide gas that are harmful to the environment. Especially for electrical switching equipment in indoor environments, since these environments are relatively closed, when these harmful gases exist in the environment for a long time and at a high concentration, they can cause personal injury if directly inhaled by personnel entering the environment. Therefore, this scheme is adopted. While meeting the requirements for ray penetration, by using the above-mentioned range of ray energy values, the amount of harmful gases generated during the detection process can be effectively controlled, which is conducive to ensuring environmental safety.

[0063] In addition, for defect detection performance, resolution or the critical size at which defects can be detected is an important indicator. This indicator is inversely proportional to the radiation energy. Therefore, the above scheme is adopted. On the basis of meeting the radiation penetration requirements, the above radiation energy range is used. The aim is to propose a technical solution that uses a smaller radiation energy value to ensure the imaging quality of the imaging device, thereby ensuring defect detection performance or defect detection accuracy.

[0064] In addition, the reduced radiation energy is proportional to the radiation value at the testing site. Therefore, the above scheme, while meeting the radiation penetration requirements, adopts the above radiation energy range, which facilitates on-site radiation protection.

[0065] Example 2:

[0066] This embodiment is a further refinement of Embodiment 1:

[0067] The method includes the following steps:

[0068] S1. Obtain the thickness and material of the power switch equipment in the high-energy ray irradiation area, and calculate the required high-energy ray energy value based on the thickness and material; when the calculated energy value is greater than 10MeV, adjust the irradiation angle of the high-energy ray relative to the power switch equipment and recalculate the required high-energy ray energy value until the calculated energy value is less than or equal to 10MeV.

[0069] S2. High-energy rays with energies of 0.4–10 MeV are used for non-destructive testing of power switchgear. The above solution addresses the following issues: In actual operation, for the same surface area on power switchgear, when high-energy rays act on that surface area from different directions, the thickness and material of the power switchgear correspond to different directions along the main beam. If only the energy value required for penetration is considered, different directions correspond to different energy values. Furthermore, power switchgear includes GIS equipment; therefore, when high-energy rays irradiate the power switchgear from different directions, the material thickness and material composition of the main beam may change. Thus, the required ray energy may vary significantly depending on the direction. Based on this, this solution provides a method to calculate the required high-energy ray value based on the thickness and material composition of the power switchgear in the current irradiation area. When the high-energy ray energy value exceeds the set energy range, the irradiation angle of the main beam is readjusted. By adjusting the irradiation angle, the high-energy ray energy set at the current angle meets the defect detection requirements. By adjusting the irradiation angle of high-energy rays relative to the power switchgear and recalculating the required high-energy ray energy value, the aim is to ensure the defect detection rate and the limit size of detectable defects by using a certain range of high-energy ray energy values.

[0070] Example 3:

[0071] This embodiment is a further refinement of embodiment 2:

[0072] In step S2:

[0073] First, high-energy rays with energy values ​​greater than or equal to the calculated energy values ​​are used to perform non-destructive testing on the power switchgear, and imaging data is acquired through an imaging plate.

[0074] Then, the imaging quality is judged based on the imaging data. When it is determined that the penetrating power of the high-energy rays is less than the penetration requirement, the energy of the high-energy rays is gradually increased according to a set threshold until the penetrating power of the high-energy rays meets the penetration requirement. In specific implementation, when the calculated energy value is in the range of 0.4 to 10 MeV, high-energy rays with the calculated energy value are used to perform non-destructive testing on the power switchgear. When the calculated energy value is less than 0.4 MeV, high-energy rays with an energy value of 0.4 MeV are used to perform non-destructive testing on the power switchgear. Preferably, the calculated energy value is used as a calculation factor. In specific applications, the actual high-energy ray energy used is the product of the calculated energy value and the compensation factor, where the compensation factor is greater than 1. The characteristic of this method is that, under the condition of meeting the requirements, the ray energy value is judged using imaging data, and the ray energy is gradually increased according to a set threshold, so that the actual energy value of the ray used for defect detection is a small value, thereby ensuring the defect detection rate and the limit size of detectable defects.

[0075] Example 4:

[0076] This embodiment is a further refinement of embodiment 2:

[0077] In step S1, the thickness and material of the power switchgear in the high-energy ray irradiation area are obtained in the following way:

[0078] S1-1. Obtain the detection area of ​​high-energy rays on the surface of the power switchgear and the irradiation direction of the high-energy rays;

[0079] S1-2. Based on the design documents of the power switchgear, calculate or obtain the thickness and material of the inspection area. In practical application, this solution uses the surface area of ​​the power switchgear as an indicator of the actual position of the high-energy rays on its surface, addressing the need for multi-area inspection due to the size and thickness of the power switchgear. Specifically, during automatic or semi-automatic defect inspection, the route of the inspection device and its related actions are planned. Based on this, and considering the straight-line propagation of high-energy rays within the power switchgear, the current irradiation direction of the high-energy rays allows the determination of the area through which the main beam of the rays passes on the power switchgear. After obtaining the relevant parameters from the power switchgear design documents, the thickness and material of the area through which the main beam of the rays passes can be calculated or obtained.

[0080] Example 5:

[0081] This embodiment is a further refinement of embodiment 4:

[0082] The implementation method of step S1-1 is as follows:

[0083] Establish a three-dimensional model of the ultra-high voltage power switchgear;

[0084] By using the position coordinates of the high-energy ray emitting device and its current orientation, and by associating the position coordinates and orientation with a three-dimensional model, the detection area of ​​the high-energy rays on the power switching equipment is obtained; and by using the current orientation of the high-energy ray emitting device, the irradiation direction of the high-energy rays is obtained.

[0085] This solution aims to provide a technical approach that enables inspectors to remotely operate and inspect power switchgear for defects, providing a clear view of the current inspection status. The specific modeling methods and equipment used in this solution are not limited here. 3D modeling methods include, but are not limited to, binocular stereo vision using paired vision sensors, laser triangulation using single or multiple lasers and vision sensors, structured light 3D imaging, Time-of-Flight (ToF) imaging, light field imaging, and holographic projection technology. Imaging data used includes, but is not limited to, drone aerial photographs and relevant data transmitted from various sensors.

[0086] This section uses aerial photographs as imaging data for illustration. Step S1-1 specifically involves the following steps: When X-ray defect detection is required for power switchgear within a certain area, a 3D model of the power switchgear to be inspected within that area is first established using aerial photographs. Then, the relative position of the X-ray detection equipment and the 3D model is associated using a spatial coordinate system. During detection, the position of the high-energy rays acting on the surface of the power switchgear can be obtained based on the main beam direction, the relative position of the high-energy ray emitting device and the 3D model, and the main beam parameters. Furthermore, based on the irradiation direction, the area through which the main beam passes on the power switchgear can be obtained. Based on the material characteristics of the area through which the rays pass, the required high-energy ray energy value can be calculated. In practical application, the inspection route of the detection equipment and the parameters of each inspection point on the inspection route are planned using the 3D model. These parameters include the position of the high-energy ray emitting device, the position of the imaging device, and the parameters of the high-energy ray emitting device. During the specific inspection process, the 3D model reflects the current inspection position. Based on the inspection results, when it is necessary to re-inspect certain areas for defects, the position, attitude, and parameters of the detection equipment are planned using the 3D model, and these areas are re-inspected manually or automatically.

[0087] Example 6:

[0088] This embodiment is a further refinement of embodiment 5:

[0089] The implementation method of step S1-2 is as follows:

[0090] Obtain actual aerial photographs of power switchgear using drones;

[0091] Obtain the dimensional parameters of each location of the power switchgear according to the power switchgear design documents;

[0092] Using the aerial photographs and the dimensional parameters, a 3D model of the power switchgear is created and a 3D model is obtained.

[0093] Based on the irradiation range and direction of high-energy rays on the surface of a three-dimensional solid model, the thickness and material of the detection area are calculated using the three-dimensional model. For those skilled in the art, based on the three-dimensional model and the design documents of the power switchgear, for any given inspection, the coverage area of ​​the main beam on the power switchgear can be obtained using the position of the rays on the surface of the power switchgear, the angle of the main beam, and the coverage area. According to the design documents of the power switchgear, the required high-energy ray energy value can be calculated. This process can be performed manually, and the calculation results can be input into the ray inspection system. To improve the automation level and efficiency of ray defect detection in power switchgear, the above technical solution of further constructing a three-dimensional solid model using a three-dimensional model is proposed. In practical application, the three-dimensional model can accurately reflect the layout of power switchgear within a certain area. Based on the design documents of the power switchgear and the construction ratio of the three-dimensional model, the three-dimensional model is solidified to complete the solid model modeling. Thus, based on the irradiation range and direction, after determining the detection area of ​​the power switchgear in the main beam of the ray, the thickness and material of the detection area can be directly provided from the three-dimensional solid model.

[0094] Example 7:

[0095] This embodiment is a further refinement of embodiment 5:

[0096] Aerial photographs are used when building the 3D model. These photographs are used for top and side modeling of the 3D model, while the data source for bottom modeling is the power switchgear design documents. This solution provides a specific method for constructing a 3D model to address the difficulty of obtaining image data of various locations of power switchgear through aerial photography in the environment where the power switchgear is located. The relative position of the power switchgear, its external structure, and its relative position to other facilities such as buildings or equipment on site determine that drones cannot safely and comprehensively collect aerial photographs from all directions. Furthermore, constructing a 3D model from point cloud data using scanning methods is inefficient. Therefore, this solution provides a technical approach that combines aerial photographs with power switchgear design documents for 3D modeling. In practical applications, it should be understood that aerial photographs can provide most of the image data used for 3D modeling, as well as the spatial arrangement and installation posture of power switchgear. However, the image data used for top and side modeling may not all be extracted from aerial photographs. For the missing parts in the 3D model after effectively utilizing aerial photographs, the missing parts can be supplemented using the design files of the power switchgear. For each power switchgear with missing model parts, the missing parts can be supplemented using the dimensional parameters in the design files, based on the scale of the 3D model and the posture of a single power switchgear in the 3D model.

[0097] Example 8:

[0098] This embodiment is a further refinement of embodiment 5:

[0099] When the power switchgear is located outdoors, satellite navigation is used to obtain aerial photographs of the power switchgear.

[0100] When the power switchgear is indoors, the aerial photography is acquired by manually operating a drone to complete the flight path planning. The specific method is as follows:

[0101] Manually controlled drones fly indoors to obtain aerial photographic capture routes of power switchgear;

[0102] The aerial image acquisition route is loaded into the UAV's flight control unit, and an indoor base station is used to navigate the UAV and control the camera to acquire aerial images of the power switchgear. This solution provides a specific implementation method for acquiring aerial images: for outdoor power switchgear, the UAV's navigation module can directly complete satellite navigation under GNSS signals; for indoor equipment, the UAV is manually operated to obtain the aerial image acquisition route. After the aerial image acquisition route is loaded into the flight control unit, navigation is completed with the help of the indoor base station to acquire the required aerial images with high quality, ensuring the modeling accuracy of the power switchgear. In specific implementation, for outdoor aerial images, the UAV can also be manually operated to complete the route planning and then the planned route is loaded into the UAV's flight control unit. Unlike indoor power switchgear, satellite signals are used to navigate the UAV and control the camera to acquire aerial images of the power switchgear. With this solution, the flight process for acquiring aerial images is completed with the help of satellite or an indoor base station, which can solve the problem of unstable aerial image acquisition quality caused by manually operating the UAV for aerial image acquisition.

[0103] Example 9:

[0104] This embodiment is a further refinement of embodiment 5:

[0105] Before acquiring aerial photographs, location markers are set on the surface of the power switchgear, and the location markers are included in the aerial photograph images and the three-dimensional model.

[0106] When a defect is detected in the inspected area, the location of the defect on the power switchgear is indicated by the configuration or location markers of the power switchgear. This solution aims to address the following issues: Ultra-high voltage and extra-high voltage power switchgear includes long cylindrical equipment such as SF6 fully enclosed switchgear. Although the actual location of the current detection point or defect on the power switchgear can be calculated using the position of the detection equipment and the power switchgear in a spatial coordinate system, this requires a certain calculation process. When applied in the field, the actual position needs to be calculated. Furthermore, when displaying the current detection location using a 3D model, the limited screen size may not allow for a clear and intuitive representation of the current detection location on the power switchgear. Based on these specific applications, this solution provides a concrete method for setting location markers on the surface of the power switchgear and applying these location markers to a 3D model. In practical applications, location markers can be set as marker strips. When used on long, cylindrical power switchgear, the marker strips are affixed to the surface of the power switchgear circumferentially. The axial position of the affixed position and the circumferential position of each marker at different locations on the strip are recorded on the marker strip. Depending on the length of the power switchgear, one or more marker strips are arranged axially. When the number is greater than one, the marker strips are spaced apart. In practical applications, if a defect is detected at a certain location and defect confirmation is required, the specific location of that location is determined by the location markers in the 3D model. Then, the specific location of that location can be quickly obtained using the location markers on the power switchgear. Therefore, this solution, when using high-energy X-rays for remote defect detection on power switchgear, can intuitively reflect the current location of the inspected area; the location markers can be used to intuitively associate the location on the 3D model with the location on the equipment, allowing for rapid retrieval of the corresponding location on the power switchgear from the location on the 3D model.

[0107] Example 10:

[0108] This embodiment is a further refinement of embodiment 5:

[0109] Using the aforementioned three-dimensional model, the inspected area of ​​the power switchgear is divided into multiple sub-regions, wherein each sub-region satisfies the condition that high-energy rays can perform defect detection on a single sub-region in a single operation.

[0110] The position and / or orientation of the high-energy ray emitting device and the imaging device are adjusted manually or by computer control, and defects are detected in each sub-region in sequence.

[0111] Defect re-inspection is performed on sub-regions with defects. This solution aims to address the following issues: Given the large size and thick walls of ultra-high voltage (UHV) power switchgear, the area to be inspected is divided into multiple sub-regions, and these sub-regions are inspected sequentially to complete the defect detection. This process requires less high-energy radiation at each location within the inspected area, reducing the requirements for testing equipment, increasing the defect detection rate, facilitating on-site radiation protection, and reducing the generation of harmful gases in the environment. In implementation, a computer-controlled approach is preferred to automatically complete the defect detection of all sub-regions. Considering potential unforeseen circumstances during the inspection process, the system's operation is monitored remotely during automatic operation, and the high-energy radiation emitting device is remotely shut down if necessary. After the entire setup process is completed, for defect confirmation, the experience of the defect inspection personnel and the technical information provided by the on-site management personnel of the power switchgear are highly valuable for defect judgment. Therefore, in this process, the position of the high-energy radiation emitting device, the imaging device, the direction of the main beam, and other parameters are manually controlled to conduct a manual re-inspection of the areas of interest.

[0112] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, other embodiments derived without departing from the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting defects in ultra-high voltage and extra-high voltage power switchgear using high-energy rays, characterized in that, This method uses high-energy rays with energies of 0.4~10MeV to perform non-destructive testing on power switchgear; The method includes the following steps: S1. Obtain the thickness and material of the power switch equipment in the high-energy ray irradiation area, and calculate the required high-energy ray energy value based on the thickness and material; when the calculated energy value is greater than 10MeV, adjust the irradiation angle of the high-energy ray relative to the power switch equipment and recalculate the required high-energy ray energy value until the calculated energy value is less than or equal to 10MeV. S2. High-energy rays with energy of 0.4~10MeV are used to perform non-destructive testing on power switchgear; In step S1, the thickness and material of the power switchgear in the high-energy ray irradiation area are obtained in the following way: S1-1. Obtain the detection area of ​​high-energy rays on the surface of the power switchgear and the irradiation direction of the high-energy rays; S1-2. Calculate or obtain the thickness and material of the detection area based on the design documents of the power switchgear. The implementation method of step S1-1 is as follows: Establish a three-dimensional model of the ultra-high voltage power switchgear; By using the position coordinates of the high-energy ray emitting device and its current orientation, and by associating the position coordinates and orientation with a three-dimensional model, the detection area of ​​the high-energy rays on the power switching equipment is obtained; and by using the current orientation of the high-energy ray emitting device, the irradiation direction of the high-energy rays is obtained. The implementation method of step S1-2 is as follows: Obtain the dimensional parameters of each location of the power switchgear according to the power switchgear design documents; By designing the drawings and dimensional parameters, and combining them with the three-dimensional model, a three-dimensional solid model of the power switchgear is created and a three-dimensional solid model is obtained. The thickness and material of the detection area are obtained based on the irradiation range and direction of the high-energy rays on the surface of the three-dimensional solid model.

2. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to claim 1, characterized in that, When the high-energy rays are output at maximum power, the radiation dose rate at 1m in front is less than 8R / min, and the on-site radiation protection distance is less than or equal to 180m.

3. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to claim 1, characterized in that, In step S2: First, high-energy rays with energy values ​​greater than or equal to the calculated energy values ​​are used to perform non-destructive testing on the power switchgear, and imaging data is acquired through an imaging plate. Then, the imaging quality is judged based on the imaging data. When it is determined that the penetrating power of the high-energy rays is less than the penetration requirement, the energy of the high-energy rays is gradually increased according to the set threshold until the penetrating power of the high-energy rays meets the penetration requirement.

4. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to claim 1, characterized in that, Aerial photographs were used when creating the three-dimensional model. The aerial photographs were used for top and side modeling of the three-dimensional model, and the data source for bottom modeling of the three-dimensional model was the power switchgear design documents.

5. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to claim 1, characterized in that, Aerial photographs were used when the three-dimensional model was built. When the power equipment and power switch equipment were outdoors, satellite navigation was used to obtain aerial photographs of the power switch equipment. When the power switchgear is indoors, the aerial photography is acquired by manually operating a drone to complete the flight path planning. The specific method is as follows: Manually controlled drones fly indoors to obtain aerial photographic capture routes of power switchgear; The aerial photography acquisition route is loaded into the flight control unit of the UAV, and the UAV is navigated and the camera is controlled by an indoor base station to acquire aerial photos of the power switch equipment.

6. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to claim 1, characterized in that, Before acquiring aerial photographs, location markers are set on the surface of the power switchgear, and the location markers are included in the aerial photograph images and the three-dimensional model. When a defect is detected in the inspected area, the location of the defect on the power switchgear is indicated by the configuration or location markings of the power switchgear.

7. The method for detecting defects in ultra-high voltage power switchgear using high-energy rays according to any one of claims 1 to 6, characterized in that, Using the aforementioned three-dimensional model, the inspected area of ​​the power switchgear is divided into multiple sub-regions, wherein each sub-region satisfies the condition that high-energy rays can perform defect detection on a single sub-region in a single operation. The position and / or orientation of the high-energy ray emitting device and the imaging device are adjusted manually or by computer control, and defects are detected in each sub-region in sequence. Perform defect re-inspection on defective sub-regions.

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