Device and method for positioning and detecting discharge source of electrical equipment in transformer substation

Abstract

The invention discloses a positioning detection device and method for a discharge source of electrical equipment in a transformer substation. The positioning detection device comprises an ultraviolet detection assembly, a signal processing module, a single-chip microcomputer module and a data recording module. The method comprises the following steps: S1, determining an inspection route and a detection point position of a trolley of a loading detection system, and collecting a discharge signal; s2, determining a direct-view detection link; s3, determining direct-view detection planes, and obtaining a discharge source position vertical line where any two direct-view detection planes intersect; s4, projecting vertical lines of all discharge source positions on a horizontal plane to obtain a set formed by coordinates of all projection points; s5, points which are distributed discretely in the projection points are removed; and S6, taking the projection point at the central position as the position of the vertical line of the discharge source position. The ultraviolet detection assembly, the signal processing module, the single-chip microcomputer module, the data recording module and the positioning algorithm are matched with the intelligent mobile trolley, and efficient routing inspection of positioning of the equipment discharge source in the transformer substation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of discharge ultraviolet detection, and in particular to a discharge source location detection device and method for electrical equipment in a transformer substation. Background Art

[0002] In today's society, electric energy is the main energy source required for human activities. As a key power facility in the power system, the substation is an important bridge connecting power plants and users. Through its equipment and functions, it ensures the efficient and safe transmission and use of electric energy. However, affected by factors such as the external environment and internal aging, some electrical equipment in the substation will have insulation defects, and corona discharge will occur at these defects, accompanied by the occurrence of ultraviolet light. If these defects are not handled in time, it will not only cause power loss, but also cause radio interference and noise, affect residents' lives, and even seriously threaten the safe operation of power lines.

[0003] Accurately locating the location of the discharge source and solving the insulation problem of electrical equipment as soon as possible can ensure the safe operation of the substation. The density of high-voltage transmission networks continues to increase, and the power inspection tasks in substations are arduous. At present, the traditional manual inspection method is mainly used, which has the disadvantages of low inspection efficiency and danger. Therefore, in view of the above problems, it is necessary to propose a safer and more efficient discharge source positioning detection device and method for electrical equipment in substations. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a device and method for detecting the discharge source location of electrical equipment in a substation.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] Provided is a discharge source location detection device for electrical equipment in a substation, comprising an ultraviolet detection component, a signal processing module, a single-chip computer module and a data recording module; the ultraviolet detection component is used to collect discharge source location signals when an intelligent mobile vehicle moves; the signal processing module is used to convert negative current into positive voltage, amplify the voltage, and filter the discharge source location signals detected by the ultraviolet detection component; the single-chip computer module is used to control the detection of the ultraviolet detection component and perform data processing; the data recording module is used to record data after operation and processing by the single-chip computer module.

[0007] Furthermore, the ultraviolet detection component includes an upper mounting seat, a lower mounting seat and a base. The upper mounting seat is connected to the lower mounting seat to form a sealed darkroom. The upper mounting seat is provided with a filter installation window, and a day-blind filter is installed on the filter installation window. A photomultiplier tube is arranged in the upper mounting seat, and a photomultiplier tube power socket is arranged in the lower mounting seat. A servo is arranged on the base, and the servo drives the upper mounting seat and the lower mounting seat to rotate together. A plurality of rolling support wheels are arranged at the bottom of the lower mounting seat, and the rolling support wheels are supported on the base.

[0008] Furthermore, a steering gear installation cavity and a steering gear wiring hole are provided on the base; a steering wheel installation plate is provided at the bottom of the lower installation seat, and a swing arm matching hole for matching with the steering gear swing arm is provided on the steering wheel installation plate.

[0009] Furthermore, a plurality of connecting plates are provided at the bottom of the upper mounting seat and the top of the lower mounting seat, and the upper mounting seat and the lower mounting seat are fixedly connected through the connecting plates; a support wheel mounting plate for mounting a rolling support wheel is provided at the bottom of the lower mounting seat

[0010] Furthermore, it also includes a body, a plurality of device support bars are arranged on the top of the body, four wheel servo installation cavities are arranged on the body; four installation columns are arranged at the bottom of the base, and a base embedding hole matching with the installation columns is arranged on the top of the body.

[0011] The detection method for the discharge source location detection device of the electrical equipment in the substation comprises the following steps:

[0012] S1: Determine the inspection route and detection point location of the intelligent mobile car. The intelligent mobile car performs inspection operations according to the inspection route and collects discharge signals corresponding to the detection point location.

[0013] S2: Establish a direct-view detection link of the intelligent mobile car according to the position of the intelligent mobile car and the direct-view detection angle. The direct-view detection angle is the angle at which the photomultiplier tube rotates when the signal strength obtained by detection is the maximum.

[0014] S3: A direct-view detection plane perpendicular to the horizontal plane is established by using the direct-view detection link. Any two direct-view detection planes intersect to generate a vertical line of the discharge source position perpendicular to the horizontal plane. The discharge source is located on the vertical line of the discharge source position.

[0015] S4: Obtain the discharge source position vertical lines generated by the intersection of all direct-view detection planes, project all the discharge source position vertical lines on the horizontal plane, and obtain a set of coordinates of all projection points;

[0016] S5: Remove the discrete points in the projection point set, and store the coordinates of the remaining projection points into a new set of projection point coordinates;

[0017] S6: The obtained new set is imported as a data source into the density-based mean shift algorithm for calculation and processing, and the projection point at the center of all projection points is output as the center point. The coordinates corresponding to the center point are the position of the vertical line of the discharge source position.

[0018] Furthermore, the method for locating the discharge source location information in step S3 is:

[0019] S31: Obtaining direct-view detection plane data corresponding to a number of detection points:

[0020] If n detection points are set, n direct-view detection links and n direct-view detection planes are generated. Specifically, the plane equations corresponding to the n direct-view detection planes are:

[0021]

[0022] Among them, (X,Y) is the plane expression of the direct-view detection plane, is the detection angle, which is the angle between the direct-view detection link corresponding to each detection point and the patrol direction of the vehicle; x n is the x-axis coordinate of the nth detection point; y n is the y-axis coordinate of the nth detection point; Z n for any;

[0023] S32: Obtain all vertical line data of discharge source positions obtained by the intersection of any two direct-view detection planes:

[0024] The intersection of n direct-view detection planes can produce The calculation formula for the vertical line of the discharge source position obtained by the intersection of any two direct-view detection planes is:

[0025]

[0026] Where j and k represent any two intersecting direct-view detection planes, and X i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the x-axis, Y i is the expression of the ith straight line generated by any two intersecting direct-view detection planes on the y-axis, Z i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the z-axis; Z is an arbitrary value; is the detection angle of the direct-view detection plane j, is the detection angle of the direct-view detection plane k; j The expression representing the detection point on the x-axis in the direct-view detection plane j, y j The expression representing the detection point on the y-axis in the direct-view detection plane j, x k is the coordinate of the detection point on the x-axis in the direct-view detection plane k, and yk is the coordinate of the detection point on the y-axis in the direct-view detection plane k.

[0027] Furthermore, the projection point coordinate set T in step S4 i The formula is as follows:

[0028]

[0029] Among them, X i ′ is the x-axis coordinate after the projection of the i-th line, Y i ′ is the y-axis coordinate after the projection of the i-th line, Z i ′ is the z-axis coordinate of the i-th line after projection; Z i ′ is always 0; m is the number of projection points;

[0030] Furthermore, the specific method of removing scattered points in the projection points in step S5 is:

[0031] S51: Calculate the distance between the m′th projection point and the remaining m-1 projection points in the projection point coordinate set and D m′ ;

[0032]

[0033] Among them, X′ m′ is the x-axis coordinate of the m′th projection point, Y′ m′ The y-axis coordinate of the m′th projection point, X′ j is the x-axis coordinate of the remaining m-1 projection points, Y′ j is the y-axis coordinate of the remaining m-1 projection points.

[0034] S52: When the distance corresponding to the projection point m′ and D m′ If it is greater than the average of the distances and corresponding distances of the remaining points, then the error of point m′ deviates greatly from the set of projection point coordinates. After removing the deviated projection point coordinates, we get a new set of projection point coordinates T. i ′; The specific projection point coordinate elimination formula is:

[0035]

[0036] Furthermore, the density-based mean shift algorithm process of step S6 includes the following specific steps:

[0037] S61: Input a new set of projection point coordinates T′ i ;

[0038] S62: Randomly select a new set T of projected point coordinates i′, a point is selected as the initial cluster center point, a circular window is determined with the initial cluster center point as the center and a radius r, and the M data contained in the circular window is defined as a dense set L i′ :

[0039] L i′ =(X′ i′ , Y′ i′ ), (i′=M)

[0040] S63: Compute the dense set L i The mean point of the data contained, move the initial cluster center point to this mean point, the mean point calculation formula is as follows:

[0041]

[0042] in, is the coordinate of the mean point;

[0043] S64: After the circular window moves, determine whether the data and density it contains have changed; if changed, repeat step S63; if no longer changed, proceed to the next step;

[0044] S65: When the window density no longer changes, determine whether the window density is greater than the set minimum threshold minpoimts; if the window density is greater than the minimum threshold minpoimts, retain the projection point coordinate set and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the vertical line where the discharge source is located; if the window density is less than the minimum threshold minpoimts, return to step S62; wherein, when the distance between the centers of the two circular windows is less than When , the two circular windows are merged into one of the circular windows to filter out the repeated areas.

[0045] The beneficial effects of the present invention are:

[0046] The ultraviolet detection component of the vehicle of the present invention detects, processes and records the ultraviolet light generated by the discharge source; the ultraviolet detection component uses a photomultiplier tube with a darkroom and a solar-blind filter to detect the ultraviolet light generated by the discharge, and has high accuracy and strong anti-interference ability; the steering gear is used to control the rotation of the ultraviolet detection component, and the detection angle is highly accurate.

[0047] The positioning algorithm of the present invention is used to read, analyze, calculate and store the detection data of the vehicle-mounted discharge ultraviolet detection system; the positioning algorithm includes an early data source solution and a later density-based MeanShift (mean shift) algorithm; the early data source solution performs preliminary processing on the detection data to obtain the data source required by the MeanShift algorithm; the later MeanShift algorithm performs the final positioning solution; the positioning algorithm performs calculation processing on the data detected by the ultraviolet detection component, with high speed and high positioning accuracy.

[0048] The ultraviolet detection component, signal processing module, single chip computer module, data recording module and positioning algorithm of the present invention, in combination with the intelligent mobile vehicle, can realize efficient and safe inspection of the location of the discharge source of equipment in the substation.

[0049] The present invention uses a data recording module to record the data of the discharge detection instead of transmitting it back in real time, which can prevent data loss due to poor signals and facilitate subsequent calculation processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0051] Figure 2 A bottom view of the darkroom in the present invention;

[0052] Figure 3 A bottom view of the base in the present invention;

[0053] Figure 4 It is a schematic diagram of the inspection of the vehicle-mounted discharge ultraviolet detection system of the present invention;

[0054] Figure 5 This is a schematic diagram of the discharge source positioning principle in the present invention;

[0055] Figure 6 It is a flow chart of the positioning method in the present invention;

[0056] Figure 7 is a flow chart of the density-based MeanShift algorithm in the present invention;

[0057] Figure 8 It is the overall circuit diagram of the discharge source location detection device of the present invention;

[0058] The main components in the figure are described as follows:

[0059] 1. Upper mounting seat; 2. Filter mounting window; 3. Connecting plate; 4. Lower mounting seat; 5. Support wheel mounting plate; 6. Servo wiring hole; 7. Servo mounting cavity; 8. Base; 9. Device support bar; 10. Base embedding hole; 11. Wheel servo mounting cavity; 12. Steering wheel mounting plate; DETAILED DESCRIPTION

[0060] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0061] like Figure 1 , 2 As shown in Figure 3, the discharge source location detection device for electrical equipment in the substation is used in conjunction with an intelligent mobile car. The intelligent mobile car can be an AGV car, etc., which has a positioning function and a car that realizes the route inspection function. The discharge source location detection device for equipment in the substation includes an ultraviolet detection component, a signal processing module, a single-chip computer module, and a data recording module. The ultraviolet detection component is used to collect the discharge source location signal when the intelligent mobile car moves. The signal processing module is used to convert the discharge source location signal detected by the ultraviolet detection component from negative current to positive voltage, amplify the voltage, and filter. The single-chip computer module is used to control and process the data of the ultraviolet detection component detection, and the main control chip of the single-chip computer module is preferably an embedded development board of STM32F405RGT6. The data recording module is used to record the data after the single-chip computer module calculates and processes it, and the data recording module is preferably a MicroSD card module. Compared with directly using the existing intelligent mobile car, a machine body can also be set, and a plurality of device support bars 13 are set on the top of the machine body, and four wheel steering gear installation cavities 11 are set on the machine body. The wheel steering gear installation cavity 11 is equipped with a circular steering wheel steering gear as a wheel, and the inspection movement is realized by controlling the circular steering wheel steering gear. The line is connected to the single-chip computer module through the top of the car. A plurality of mounting columns are set at the bottom of the base 8, and a base embedding hole 10 matched with the mounting column is set on the top of the machine body. The base 8 is fixed to the top of the machine body through a plurality of mounting columns, and other device lines are wound on the device support bar 13, which can reduce the occupied space.

[0062] The ultraviolet detection assembly includes an upper mounting seat 1, a lower mounting seat 4 and a base 8. The upper mounting seat 1 is connected to the lower mounting seat 4 to form a sealed darkroom. The upper mounting seat 1 is provided with a filter installation window 2. The filter installation window 2 is provided with a day-blind filter. The day-blind filter is fixed on a circular window 2 opposite to the incident window of the photomultiplier tube to prevent other interference light from entering the photomultiplier tube. The central transmission wavelength of the day-blind filter is 254nm. A photomultiplier tube is arranged in the upper mounting seat 1. The photomultiplier tube 1 is preferably a Hamamatsu R7154 photomultiplier tube. The lower mounting seat 4 is provided with a photomultiplier tube power socket. The photomultiplier tube power socket is preferably a CC238 power socket. A steering gear is arranged on the base 8. The steering gear is preferably an SG90 steering gear. The steering gear drives the upper mounting seat 1 and the lower mounting seat 4 to rotate together. A plurality of rolling support wheels are arranged at the bottom of the lower mounting seat 4. The rolling support wheels are supported on the base 8. The rolling support wheels support the ultraviolet detection assembly and assist the steering gear in rotating. The base 8 is provided with a steering gear installation cavity 7 and a steering gear wiring hole 6. The steering gear is installed in the steering gear installation cavity 7, and the matching steering gear wiring hole 6 facilitates the wiring of the steering gear. A steering wheel mounting plate 12 is provided at the bottom of the lower mounting seat 4, and a swing arm matching hole matching with the steering gear swing arm is provided on the steering wheel mounting plate 12. A plurality of connecting plates 3 are provided at the bottom of the upper mounting seat 1 and the top of the lower mounting seat 4. The upper mounting seat 1 and the lower mounting seat 4 are fixedly connected through the connecting plates 3, and can be connected by screws or bolts or cable ties. A support wheel mounting plate 5 for mounting a rolling support wheel is provided at the bottom of the lower mounting seat 4 to facilitate the installation of the rolling support wheel.

[0063] The principle of the method for locating the source of discharge of equipment in the substation is as follows Figure 4 As shown: the inspection route of the intelligent mobile car is represented by a long solid arrow, the discharge source is represented by a purple solid circle, the photomultiplier tube detection link is represented by a dotted horizontal line, the detection plane is represented by a dotted frame, and the detection end is represented by a black solid circle; the swing angle θ of the photomultiplier tube is 90°, and the angle between the swing direction and the patrol direction of the intelligent mobile car is the detection angle Set the detection points of the intelligent mobile car in advance, so that the intelligent mobile car can patrol in a certain direction. The discharge ultraviolet detection system is mounted on the intelligent mobile car. The photomultiplier tube rotates from 45° to 135° with the servo to detect the ultraviolet light generated by the discharge. When there is discharge, the photomultiplier tube outputs a negative current signal. The current signal is converted into current and voltage, amplified and filtered by the signal processing module, and then enters the single-chip microcomputer module for sampling and calculation; multiple groups of signals are detected in one swing cycle. When the detected signal strength is the largest, the current photomultiplier tube is rotated at an angle of (i.e. direct detection angle), the position information of the car R i Sum signal amplitude U i Stored in the data recording module;

[0064] The discharge source location detection method of vehicle inspection imports the data in the data recording module into the computer to perform positioning calculations using algorithms. The early data source solution is based on Figure 5 The positioning principle shown, Figure 6 The positioning process shown is as follows:

[0065] The detection method for the discharge source location detection device of the electrical equipment in the substation specifically comprises the following steps:

[0066] S1: Determine the inspection route and detection point location of the intelligent mobile car. The intelligent mobile car performs inspection operations according to the inspection route and collects discharge signals corresponding to the detection point location.

[0067] S2: Establish a direct-view detection link of the intelligent mobile car according to the position of the intelligent mobile car and the direct-view detection angle. The direct-view detection angle is the angle at which the photomultiplier tube rotates when the signal strength obtained by detection is the maximum. Figure 4 In the figure, when the detection end is far enough from the discharge point, the discharge point is outside the three-dimensional space where the photomultiplier tube swing angle range θ is located. Therefore, the signal amplitude is larger when it is closer to the edge of the swing angle, and the final direct-view detection angle may be at the rightmost or leftmost end of the swing angle, that is, or At this time, the detection data is unreliable. In order to minimize the positioning error, this type of edge data is eliminated;

[0068] S3: Use the direct-view detection link to establish a direct-view detection plane perpendicular to the horizontal plane. Any two direct-view detection planes intersect to generate a vertical line of the discharge source position perpendicular to the horizontal plane. The discharge source is located on the vertical line of the discharge source position. The specific steps for locating the discharge source position information are as follows: Figure 5 In the photomultiplier tube direct detection link, S i , the direct-view detection surface is P i , detection point coordinates R i (x i ,y i , 0) has been set in advance, the source coordinates T (X, Y, Z) are unknown, and a direct-view detection link S is established by the vehicle position information and the direct-view detection angle i , a plane perpendicular to the horizontal plane is established by the direct-view detection link, called the direct-view detection plane P i ,

[0069] S31: Obtaining direct-view detection plane data corresponding to a number of acquisition points:

[0070] If n detection points are set, n direct-view detection links and n direct-view detection planes are generated. Specifically, the plane equations corresponding to the n direct-view detection planes are:

[0071]

[0072] Among them, (X,Y) is the plane expression of the direct-view detection plane, is the detection angle, which is the angle between the direct-view detection link corresponding to each detection point and the patrol direction of the vehicle; x n is the x-axis coordinate of the nth detection point; y n is the y-axis coordinate of the nth detection point; Z n for any;

[0073] S32: Obtain all vertical line data of discharge source positions obtained by the intersection of any two direct-view detection planes:

[0074] The intersection of n direct-view detection planes can produce The calculation formula for the vertical line of the discharge source position obtained by the intersection of any two direct-view detection planes is:

[0075]

[0076] Where j and k represent any two intersecting direct-view detection planes, and X i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the x-axis, Y i is the expression of the ith straight line generated by any two intersecting direct-view detection planes on the y-axis, Z i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the z-axis; Z is an arbitrary value; is the detection angle of the direct-view detection plane j, is the detection angle of the direct-view detection plane k; j The expression representing the detection point on the x-axis in the direct-view detection plane j, y j The expression representing the detection point on the y-axis in the direct-view detection plane j, x k is the coordinate of the detection point on the x-axis in the direct-view detection plane k, and y k is the coordinate of the detection point on the y-axis in the direct-view detection plane k;

[0077] S4: The expression of a straight line perpendicular to the horizontal plane can be expressed by (x=a, y=b, z=z), and the projection point on the xy plane can be expressed by (x=a, y=b, z=0). Therefore, finding the expression of the straight line is equivalent to finding the coordinates of the projection point. The vertical lines of the discharge source positions generated by the intersection of all direct-view detection planes are obtained. All the vertical lines of the discharge source positions are projected on the plane to obtain a set of coordinates of all projection points. The specific projection point coordinate set T i The formula is as follows:

[0078]

[0079] Among them, X′i is the x-axis coordinate of the projection of the ith line, Y′ i is the y-axis coordinate of the projection of the i-th line, Z′ i is the z-axis coordinate of the i-th line after projection; Z′ i Always 0; m is the number of projection points.

[0080] S5: Remove the discrete points in the projection point set, and store the coordinates of the remaining projection points into a new set of projection point coordinates;

[0081] S51: Calculate the distance between the m′th projection point and the remaining m-1 projection points in the projection point coordinate set and D m′ ;

[0082]

[0083] Among them, X′ m′ is the x-axis coordinate of the m′th projection point, Y′ m′ The y-axis coordinate of the m′th projection point, X′ j is the x-axis coordinate of the remaining m-1 projection points, Y′ j is the y-axis coordinate of the remaining m-1 projection points;

[0084] S52: When the distance corresponding to the projection point m′ and D m′ If it is greater than the average of the distances and corresponding distances of the remaining points, then the error of point m′ deviates greatly from the set of projection point coordinates. After removing the deviated projection point coordinates, we get a new set of projection point coordinates T. i ′; The specific projection point coordinate elimination formula is:

[0085]

[0086] S6: The obtained new set is imported as a data source into the density-based mean shift algorithm for calculation and processing, and the projection point at the center of all projection points is output as the center point. The coordinate T (X, Y, 0) corresponding to the center point is the position of the vertical line of the discharge source position. After successful positioning, the discharge source position information is stored in the computer for subsequent maintenance. Specifically, the density-based mean shift algorithm process has the following specific steps:

[0087] S61: Input the new set T of projection point coordinates i ′;

[0088] S62: Randomly select a new set T of projected point coordinates i ′, a point is selected as the initial cluster center point, a circular window is determined with the initial cluster center point as the center and a radius r, and the M data contained in the circular window is defined as a dense set L i′ :

[0089] L i′ =(X′ i′ , Y′ i′ ), (i′=M)

[0090] S63: Compute the dense set L i The mean point of the data contained, move the initial cluster center point to this mean point, the mean point calculation formula is as follows:

[0091]

[0092] in, is the coordinate of the mean point;

[0093] S64: After the circular window moves, determine whether the data and density it contains have changed; if changed, repeat step S63; if no longer changed, proceed to the next step;

[0094] S65: When the window density no longer changes, determine whether the window density is greater than the set minimum threshold minpoimts; if the window density is greater than the minimum threshold minpoimts, retain the projection point coordinate set and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the vertical line where the discharge source is located; if the window density is less than the minimum threshold minpoimts, return to step S62; wherein, when the distance between the centers of the two circular windows is less than When the two circular windows are combined into one circular window, the repeated area is filtered out. The position of the straight line where the discharge source is located is solved, and then the device at this position is detected up and down. The place with the strongest signal is the location of the discharge source.

[0095] like Figure 8 As shown in the figure, it is the overall circuit diagram of the positioning detection device, which mainly includes a power module and a signal processing module. The power supply uses a model aircraft lithium battery to supply 14-16V voltage, which is used to power the operational amplifier chip AD8066 and the CC238 power socket. In addition, it provides a 0-5V control voltage for CC238, and can output a negative high voltage of 0-1250V to power the photomultiplier tube. The negative current signal output by the photomultiplier tube is converted into current and voltage by the operational amplifier chip AD8066, and then output after voltage amplification and filtering.

[0096] The above is a preferred example of the present invention, and is not intended to limit the implementation of the present invention. Any person skilled in the art who is familiar with the technical field can make equivalent replacements or changes according to the technical solution and inventive concept of the present invention within the technical scope disclosed by the present invention, and all of these should be within the protection scope of the present invention.

Claims

1. A device for locating and detecting the discharge source of electrical equipment in a substation, used in conjunction with an intelligent mobile vehicle, characterized in that: It includes ultraviolet detection components, signal processing modules, single chip microcomputer modules and data recording modules; The ultraviolet detection component is used to collect the discharge source positioning signal when the intelligent mobile car moves; The signal processing module is used to convert the discharge source location signal detected by the ultraviolet detection component from negative current to positive voltage, amplify the voltage, and filter it; The single chip microcomputer module is used to control and process data of the ultraviolet detection component detection; The data recording module is used to record the data processed by the single chip microcomputer module.

2. The device for locating and detecting the discharge source of electrical equipment in a substation according to claim 1, characterized in that: The ultraviolet detection assembly comprises an upper mounting seat (1), a lower mounting seat (4) and a base (8); the upper mounting seat (1) is connected to the lower mounting seat (4) to form a sealed darkroom; the upper mounting seat (1) is provided with a filter installation window (2); a day-blind filter is installed on the filter installation window (2); a photomultiplier tube is arranged in the upper mounting seat (1); the lower mounting seat (4) is provided with a photomultiplier tube power socket; a steering gear is arranged on the base (8); the steering gear drives the upper mounting seat (1) and the lower mounting seat (4) to rotate together; a plurality of rolling support wheels are arranged at the bottom of the lower mounting seat (4); the rolling support wheels are supported on the base (8).

3. The device for locating and detecting the discharge source of electrical equipment in a substation according to claim 2, characterized in that: The base (8) is provided with a steering gear installation cavity (7) and a steering gear wiring hole (6); the bottom of the lower mounting seat (4) is provided with a steering wheel installation plate (12), and the steering wheel installation plate (12) is provided with a swing arm matching hole for matching with the steering gear swing arm.

4. The device for locating and detecting the discharge source of electrical equipment in a substation according to claim 2, characterized in that: A plurality of connecting plates (3) are provided at the bottom of the upper mounting seat (1) and the top of the lower mounting seat (4), and the upper mounting seat (1) and the lower mounting seat (4) are fixedly connected via the connecting plates (3); a supporting wheel mounting plate (5) for mounting a rolling supporting wheel is provided at the bottom of the lower mounting seat (4).

5. The device for locating and detecting the discharge source of electrical equipment in a substation according to claim 2, characterized in that: It also includes an organism, the top of which is provided with a plurality of device support bars (9), and the body is provided with four wheel servo mounting cavities (11); the bottom of the base (8) is provided with four mounting columns, and the top of the body is provided with a base embedding hole (10) that cooperates with the mounting columns.

6. A method for locating and detecting a discharge source of electrical equipment in a substation using the device for locating a discharge source of electrical equipment in any one of claims 1 to 5, characterized in that: The steps include: S1: Determine the inspection route and detection point location of the intelligent mobile car. The intelligent mobile car performs inspection operations according to the inspection route and collects discharge signals corresponding to the detection point location. S2: Establish a direct-view detection link of the intelligent mobile car according to the position of the intelligent mobile car and the direct-view detection angle. The direct-view detection angle is the angle at which the photomultiplier tube rotates when the signal strength obtained by detection is the maximum. S3: A direct-view detection plane perpendicular to the horizontal plane is established by using the direct-view detection link. Any two direct-view detection planes intersect to generate a vertical line of the discharge source position perpendicular to the horizontal plane. The discharge source is located on the vertical line of the discharge source position. S4: Obtain the discharge source position vertical lines generated by the intersection of all direct-view detection planes, project all the discharge source position vertical lines on the horizontal plane, and obtain a set of coordinates of all projection points; S5: Remove the discrete points in the projection point set, and store the coordinates of the remaining projection points into a new set of projection point coordinates; S6: The obtained new set is imported as a data source into the density-based mean shift algorithm for calculation and processing, and the projection point at the center of all projection points is output as the center point. The coordinates corresponding to the center point are the position of the vertical line of the discharge source position.

7. The method for locating and detecting the discharge source of electrical equipment in a substation according to claim 4, characterized in that: The method for locating the discharge source location information in step S3 is: S31: Obtaining direct-view detection plane data corresponding to a number of detection points: If n detection points are set, n direct-view detection links and n direct-view detection planes are generated. Specifically, the plane equations corresponding to the n direct-view detection planes are: Among them, (X,Y) is the plane expression of the direct-view detection plane, is the detection angle, which is the angle between the direct-view detection link corresponding to each detection point and the patrol direction of the vehicle; x n is the x-axis coordinate of the nth detection point; y n is the y-axis coordinate of the nth detection point; Z n for any; S32: Obtain all vertical line data of discharge source positions obtained by the intersection of any two direct-view detection planes: The intersection of n direct-view detection planes can produce The calculation formula for the vertical line of the discharge source position obtained by the intersection of any two direct-view detection planes is: Where j and k represent any two intersecting direct-view detection planes, and X i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the x-axis, Y i is the expression of the ith straight line generated by any two intersecting direct-view detection planes on the y-axis, Z i is the expression of the i-th straight line generated by any two intersecting direct-view detection planes on the z-axis; Z is an arbitrary value; is the detection angle of the direct-view detection plane j, is the detection angle of the direct-view detection plane k; j The expression representing the detection point on the x-axis in the direct-view detection plane j, y j The expression representing the detection point on the y-axis in the direct-view detection plane j, x k is the coordinate of the detection point on the x-axis in the direct-view detection plane k, and y k is the coordinate of the detection point on the y-axis in the direct-view detection plane k.

8. The method for locating and detecting the discharge source of electrical equipment in a substation according to claim 4, characterized in that: The projection point coordinate set T described in step S4 i The formula is as follows: Among them, X i ′ is the x-axis coordinate after the projection of the i-th line, Y i ′ is the y-axis coordinate after the projection of the i-th line, Z i ′ is the z-axis coordinate of the i-th line after projection; Z i ′ is always 0; m is the number of projection points.

9. The method for locating and detecting the discharge source of electrical equipment in a substation according to claim 4, characterized in that: The specific method of removing the scattered points in the projection points described in step S5 is: S51: Calculate the distance between the m′th projection point and the remaining m-1 projection points in the projection point coordinate set and D m′ ; Among them, X′ m′ is the x-axis coordinate of the m′th projection point, Y′ m′ The y-axis coordinate of the m′th projection point, X′ j is the x-axis coordinate of the remaining m-1 projection points, Y′ j is the y-axis coordinate of the remaining m-1 projection points; S52: When the distance corresponding to the projection point m′ and D m′ If it is greater than the average of the distances and corresponding distances of the remaining points, then the error of point m′ deviates greatly from the set of projection point coordinates. After removing the deviated projection point coordinates, we get a new set of projection point coordinates T. i ′; The specific projection point coordinate elimination formula is:

10. The method for locating and detecting the discharge source of electrical equipment in a substation according to claim 4, characterized in that: The density-based mean shift algorithm process described in step S6 includes the following specific steps: S61: Input the new set T of projection point coordinates i ′; S62: Randomly select a new set T of projected point coordinates i ′, a point is selected as the initial cluster center point, a circular window is determined with the initial cluster center point as the center and a radius r, and the M data contained in the circular window is defined as a dense set L i′ : L i′ =(X′ i′ ,Y′ i′ ),(i′=M) S63: Compute the dense set L i The mean point of the data contained, move the initial cluster center point to this mean point, the mean point calculation formula is as follows: in, is the coordinate of the mean point; S64: After the circular window moves, determine whether the data and density it contains have changed; if changed, repeat step S63; if no longer changed, proceed to the next step; S65: When the window density no longer changes, determine whether the window density is greater than the set minimum threshold minpoimts; if the window density is greater than the minimum threshold minpoimts, retain the projection point coordinate set and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the vertical line where the discharge source is located; if the window density is less than the minimum threshold minpoimts, return to step S62; wherein, when the distance between the centers of the two circular windows is less than When , the two circular windows are merged into one of the circular windows to filter out the repeated areas.

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