A device and method for detecting and locating the discharge source of electrical equipment in a substation

Abstract

The present invention discloses a device and method for detecting and locating the discharge source of electrical equipment in a substation, including an ultraviolet detection component, a signal processing module, a single-chip microcomputer module, and a data recording module. The method includes: S1: determining the inspection route and the position of the detection points of the trolley loaded with the detection system, and collecting the discharge signals; S2: establishing a direct-view detection link; S3: establishing a direct-view detection plane, and obtaining the perpendicular line of the discharge source position where any two direct-view detection planes intersect; S4: projecting all the perpendicular lines of the discharge source positions onto a horizontal plane to obtain a set composed of the coordinates of all the projection points; S5: eliminating the points with discrete distribution among the projection points; S6: taking the projection point at the central position as the position of the perpendicular line of the discharge source position. The ultraviolet detection component, signal processing module, single-chip microcomputer module, data recording module, and positioning algorithm of the present invention, together with the intelligent mobile trolley, realize the efficient inspection of the discharge source location of the equipment in the substation.

Description

Technical Field

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

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

[0003] Accurately locating the position of the discharge source and quickly solving the insulation problems of electrical equipment can ensure the safe operation of the substation. With the continuous increase in the density of high-voltage transmission networks, the power inspection tasks in substations are heavy. At present, traditional manual inspection methods are mainly used, and their disadvantages are low inspection efficiency and danger. Therefore, in view of the foregoing problems, it is necessary to propose a device and method for positioning and detecting the discharge source of electrical equipment in a substation that are safer and have higher inspection efficiency. Summary of the Invention

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

[0005] To achieve the above invention purposes, the technical solutions adopted by the present invention are as follows:

[0006] Provide a device for positioning and detecting the discharge source of electrical equipment in a substation, including an ultraviolet detection component, a signal processing module, a single-chip microcomputer module, and a data recording module; the ultraviolet detection component is used to collect discharge source positioning signals when an intelligent mobile trolley moves; the signal processing module is used to perform negative current to positive voltage conversion, voltage amplification, and filtering processing on the discharge source positioning signals detected by the ultraviolet detection component; the single-chip microcomputer module is used to control and process the detection by the ultraviolet detection component; the data recording module is used to record the data processed by the operation of the single-chip microcomputer module.

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

[0008] Further, a servo motor installation cavity and a servo motor wire routing hole are provided on the base; a steering wheel mounting plate is provided at the bottom of the lower mounting base, and a swing arm mating hole for mating with the servo motor swing arm is provided on the steering wheel mounting plate.

[0009] Further, a plurality of connecting plates are provided at the bottom of the upper mounting base and the top of the lower mounting base. The upper mounting base and the lower mounting base are fixedly connected through the connecting plates; a support wheel mounting plate for installing the rolling support wheels is provided at the bottom of the lower mounting base.

[0010] Further, it further includes a body. A plurality of device support bars are provided at the top of the body, and four wheel servo motor installation cavities are provided on the body; four installation posts are provided at the bottom of the base, and base embedding holes for mating with the installation posts are provided at the top of the body.

[0011] A detection method for a discharge source positioning detection device of electrical equipment in a substation includes the following steps:

[0012] S1: Determine the inspection route and the position of the detection points of the intelligent mobile trolley. The intelligent mobile trolley performs inspection operations according to the inspection route and collects the discharge signals corresponding to the positions of the detection points.

[0013] S2: Establish a direct vision detection link of the intelligent mobile trolley according to the position of the intelligent mobile trolley and the direct vision detection angle. The direct vision detection angle is the angle of rotation of the photomultiplier tube when the detected signal intensity is the maximum.

[0014] S3: Use the direct vision detection link to establish a direct vision detection plane perpendicular to the horizontal plane. Any two direct vision detection planes intersect to generate a vertical line of the discharge source position perpendicular to the horizontal plane, and the discharge source is located on the vertical line of the discharge source position.

[0015] S4: Obtain the vertical lines of the discharge source positions generated by the intersection of all the direct vision detection planes, project all the vertical lines of the discharge source positions onto the horizontal plane, and obtain a set composed of the coordinates of all the projection points.

[0016] S5: Eliminate the points with discrete distribution in the projection point set, and store the coordinates of the remaining projection points in a new projection point coordinate set.

[0017] S6: Import the obtained new set as the data source into the density-based mean shift algorithm for operation and processing, and output the projection point at the central position among all projection points as the central point. The coordinates corresponding to this central point are the positions of the perpendicular lines of the discharge source position.

[0018] Furthermore, the positioning method of the discharge source position information in step S3 is as follows:

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

[0020] Set n detection points, then 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, and the detection angle is the included angle between the direct-view detection link corresponding to each detection point and the trolley line-tracking direction; 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 is arbitrary;

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

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

[0025]

[0026] Among them, j and k represent any two intersecting direct-view detection planes, X i is the expression of the i-th straight line in the x-axis generated by any two intersecting direct-view detection planes, Y i is the expression of the i-th straight line in the y-axis generated by any two intersecting direct-view detection planes, Z i is the expression of the i-th straight line in the z-axis generated by any two intersecting direct-view detection planes; 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; x j represents the expression of the detection point in the x-axis within the direct-view detection plane j, y j represents the expression of the detection point in the y-axis within the direct-view detection plane j, x k is the x-axis coordinate of the detection point within the direct-view detection plane k, yk is the coordinate of the detection point in the y-axis within the direct vision detection plane k.

[0027] Furthermore, the set of projection point coordinates T in step S4 i has the following formula:

[0028]

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

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

[0031] S51: Calculate the sum of distances D between the m'-th projection point in the set of projection point coordinates and the remaining m - 1 projection points m′ ;

[0032]

[0033] where, X′ m′ is the x-axis coordinate of the m'-th projection point, Y′ m′ is 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 sum of distances D corresponding to the projection point m' m′ is greater than the average value of the sum of distances corresponding to the other points, it means that the m' point has a large error and deviates from this set of projection point coordinates. After removing these deviated projection point coordinates, a new set of projection point coordinates T i ′ is obtained; the specific formula for removing the projection point coordinates is:

[0035]

[0036] Furthermore, the process of the density-based mean shift algorithm in step S6 is as follows:

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

[0038] S62: Randomly select from the new set of projection point coordinates T iSelect a point from ′ as the initial clustering center point, and determine a circular window centered on the initial clustering center point with a radius r. Define the M data included in this circular window as a dense set L i′ :

[0039] L i′ =(X′ i′ , Y′ i′ ), (i′ = M)

[0040] S63: Calculate the mean point of the data included in the dense set L i and move the initial clustering center point to this mean point. The formula for calculating the mean point is as follows:

[0041]

[0042] where is the coordinate of the mean point;

[0043] S64: After the circular window moves, determine whether the data and density it contains change; if they change, repeat step S63; if they no longer change, 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 this set of projection point coordinates and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the perpendicular line where the power source is located; if the window density is less than the minimum threshold minpoimts, return to step S62; where, when the distance between the centers of the two obtained circular windows is less than , merge the two circular windows into one circular window to filter out the overlapping area.

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

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

[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 the preliminary data source calculation in the early stage and the density-based MeanShift algorithm in the later stage; the preliminary data source calculation in the early stage preliminarily processes the detection data to obtain the data source required by the MeanShift algorithm; the later MeanShift algorithm performs the final positioning calculation; the positioning algorithm performs arithmetic processing on the data detected by the ultraviolet detection component, with fast speed and high positioning accuracy.

[0048] The ultraviolet detection component, signal processing module, single-chip microcomputer module, data recording module and positioning algorithm of the present invention, combined with an intelligent mobile trolley, realize efficient and safe inspection of the power source location of equipment in a substation.

[0049] The data recording module of the present invention records the data of discharge detection instead of transmitting it in real time, which can prevent data loss caused by poor signal and facilitate subsequent operation and 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 It is a bottom view of the darkroom in the present invention;

[0052] Figure 3 It is a bottom view of the base in the present invention;

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

[0054] Figure 5 It is a schematic diagram of the power source location principle in the present invention;

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

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

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

[0058] The descriptions of the main component symbols in the figure are as follows:

[0059] 1. Upper mounting base; 2. Filter mounting window; 3. Connecting plate; 4. Lower mounting base; 5. Support wheel mounting plate; 6. Servo wire hole; 7. Servo mounting cavity; 8. Base; 9. Device support bar; 10. Base embedding hole; 11. Wheel servo mounting cavity; 12. Servo disc mounting plate; Detailed Embodiments

[0060] The following describes the detailed embodiments of the present invention to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the detailed embodiments. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions created using the concept of the present invention are within the scope of protection.

[0061] As Figure 1 、 2 and shown in Figure 3, the power source positioning detection device for electrical equipment in a substation is used in cooperation with an intelligent mobile trolley. The intelligent mobile trolley can be an AGV trolley, etc., which has a positioning function and can be a trolley that realizes the function of route inspection. The power source positioning detection device for equipment in the substation includes an ultraviolet detection component, a signal processing module, a single-chip microcomputer module, and a data recording module. The ultraviolet detection component is used to collect the power source positioning signal when the intelligent mobile trolley moves. The signal processing module is used to perform negative current to positive voltage conversion, voltage amplification, and filtering processing on the power source positioning signal detected by the ultraviolet detection component. The single-chip microcomputer module is used to control and process the detection of the ultraviolet detection component. The main control chip of the single-chip microcomputer module is preferably an embedded development board of STM32F405RGT6. The data recording module is used to record the data processed by the single-chip microcomputer module through operation. The data recording module is preferably a MicroSD card module. Compared with directly using an existing intelligent mobile trolley, a body can also be set. A plurality of device support bars 13 are provided on the top of the body. Four wheel steering gear installation cavities 11 are provided on the body. A circular steering gear is installed in the wheel steering gear installation cavity 11 to act as a wheel. The inspection movement is realized by controlling the circular steering gear. The circuit is connected to the single-chip microcomputer module through the top of the trolley. A plurality of installation columns are provided at the bottom of the base 8. A base embedding hole 10 matching the installation columns is provided on the top of the body. The base 8 is fixed on the top of the body through a plurality of installation columns. Other device wires are wound around the device support bars 13, which can reduce the occupied space.

[0062] The ultraviolet detection component includes an upper mounting base 1, a lower mounting base 4, and a base 8. The upper mounting base 1 and the lower mounting base 4 are connected to form a sealed darkroom. A filter mounting window 2 is provided on the upper mounting base 1, and a solar-blind filter is mounted on the filter mounting window 2. The solar-blind filter is fixed on a circular window 2 opposite to the incident window of the photomultiplier tube to prevent other interfering light from entering the photomultiplier tube. The central transmission wavelength of the solar-blind filter is 254 nm. A photomultiplier tube is provided inside the upper mounting base 1. The photomultiplier tube 1 is preferably a Hamamatsu R7154 photomultiplier tube. The lower mounting base 4 is provided with a photomultiplier tube power socket, and the photomultiplier tube power socket is preferably a CC238 power socket. A servo motor is provided on the base 8, and the servo motor is preferably an SG90 servo motor. The servo motor drives the upper mounting base 1 and the lower mounting base 4 to rotate together. A plurality of rolling support wheels are provided at the bottom of the lower mounting base 4, and the rolling support wheels support on the base 8. The rolling support wheels support the ultraviolet detection component and assist the servo motor to rotate. A servo motor mounting cavity 7 and a servo motor wire routing hole 6 are provided on the base 8. The servo motor is mounted in the servo motor mounting cavity 7, and the matching servo motor wire routing hole 6 facilitates the wire routing of the servo motor. A servo disk mounting plate 12 is provided at the bottom of the lower mounting base 4, and a swing arm mating hole for mating with the servo motor swing arm is provided on the servo disk mounting plate 12. A plurality of connecting plates 3 are provided at the bottom of the upper mounting base 1 and the top of the lower mounting base 4. The upper mounting base 1 and the lower mounting base 4 are fixedly connected through the connecting plates 3, and can be connected by screws, bolts, or ties. A support wheel mounting plate 5 for mounting the rolling support wheels is provided at the bottom of the lower mounting base 4, which facilitates the installation of the rolling support wheels.

[0063] The method principle for detecting the discharge power source location of equipment in a substation is as Figure 4 shown: The inspection route of the intelligent mobile trolley is represented by a long solid line arrow, the discharge power source is represented by a purple solid circle, the photomultiplier tube detection link is represented by a dotted line, the detection plane is represented by a dotted box, and the detection end is represented by a black solid circle; the swing angle θ of the photomultiplier tube is 90°, and the included angle between the swing direction and the inspection direction of the intelligent mobile trolley is the detection angle Set the detection points of the intelligent mobile trolley in advance, so that the intelligent mobile trolley conducts inspections in a certain direction. The discharge ultraviolet detection system is carried on the intelligent mobile trolley. The photomultiplier tube rotates from 45° to 135° with the servo motor to detect the ultraviolet light generated by the discharge. When there is a discharge, the photomultiplier tube outputs a negative current signal. The current signal is subjected to current-voltage conversion, voltage amplification, and filtering 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 period. When the signal intensity detected is the largest, the angle (i.e., the direct viewing detection angle), the position information R i of the trolley and the signal amplitude U i are stored in the data recording module;

[0064] On-vehicle inspection power source location detection method, import the data in the data recording module into a computer for positioning operation. The early data source calculation is based on Figure 5 the shown positioning principle, Figure 6 and the shown positioning process. The steps are as follows:

[0065] A detection method for a power source location detection device for electrical equipment in a substation specifically includes the following steps:

[0066] S1: Determine the inspection route and the position of the detection points of the intelligent mobile trolley. The intelligent mobile trolley performs inspection operations according to the inspection route and collects the discharge signals corresponding to the positions of the detection points;

[0067] S2: Establish a direct vision detection link of the intelligent mobile trolley according to the position of the intelligent mobile trolley and the direct vision detection angle. The direct vision detection angle is the angle at which the photomultiplier tube rotates when the detected signal intensity is the largest; Figure 4 Among them, when the detection end is far enough from the discharge point, the discharge point is outside the three-dimensional space where the swing angle range θ of the photomultiplier tube is located. Therefore, the signal amplitude is larger when it is closer to the edge of the swing angle. Eventually, the direct vision 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 as much as possible, this type of edge data is eliminated;

[0068] S3: Use the direct vision detection link to establish a direct vision detection plane perpendicular to the horizontal plane. The intersection of any two direct vision detection planes generates a vertical line of the power source position perpendicular to the horizontal plane. The power source is located on the vertical line of the power source position; The specific positioning steps of the power source position information are as follows: Figure 5 Among them, the direct vision detection link of the photomultiplier tube is S i , the direct vision detection plane is P i , the detection point coordinates R i (x i , y i , 0) have been set in advance, and the power source coordinates T(X, Y, Z) are unknown. Establish a direct vision detection link S i from the trolley position information and the direct vision detection angle, and establish a plane perpendicular to the horizontal plane by the direct vision detection link, which is called the direct vision detection plane P i ,

[0069] S31: Obtain the direct vision detection plane data corresponding to a number of acquisition points:

[0070] Set n detection points, then n direct vision detection links and n direct vision detection planes are generated; Specifically, the plane equations corresponding to the n direct vision detection planes are:

[0071]

[0072] Among them, (X, Y) is the plane expression of the direct vision detection plane, is the detection angle, and the detection angle is the included angle between the direct vision detection link corresponding to each detection point and the trolley line following direction; 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 is arbitrary;

[0073] S32: Obtain all the perpendicular line data of the power source positions obtained by the intersection of any two direct vision detection planes:

[0074] The intersection of n direct vision detection planes can generate perpendicular lines of the power source positions. The calculation formula for the perpendicular line of the power source position obtained by the intersection of any two direct vision detection planes is:

[0075]

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

[0077] S4: For a straight line perpendicular to the horizontal plane, its expression can be represented by (x = a, y = b, z = z), and the projection point on the xy plane can be represented 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. Obtain all the perpendicular lines of the power source positions generated by the intersection of the direct vision detection planes, project all the perpendicular lines of the power source positions onto the plane, and obtain the set composed of the coordinates of all the projection points; specifically, the projection point coordinate set T i The formula is as follows:

[0078]

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

[0080] S5: Eliminate the points with discrete distribution 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 sum of distances D between the m'-th projection point in the projection point coordinate set and the remaining m - 1 projection points m′ ;

[0082]

[0083] where, X′ m′ is the x-axis coordinate of the m'-th projection point, Y′ m′ is 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 sum of distances D corresponding to the projection point m' m′ is greater than the average value of the sum of distances corresponding to the other points, the m' point has a large error and deviates from this projection point coordinate set. After eliminating the coordinates of these deviated projection points, a new set of projection point coordinates T i ′ is obtained; The specific formula for eliminating projection point coordinates is:

[0085]

[0086] S6: Import the obtained new set as a data source into the density-based mean shift algorithm for operation and processing, and output the projection point at the central position among all projection points as the central point. The coordinates T(X, Y, 0) corresponding to this central point are the positions of the perpendicular lines of the power source position. After successful positioning, store the power source position information in the computer for convenient subsequent maintenance; Specifically, the process of the density-based mean shift algorithm is as follows:

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

[0088] S62: Randomly select a point from the new set of projection point coordinates T i ′ as the initial clustering center point, determine a circular window with the initial clustering center point as the center and radius r, and define the M data included in this circular window as a dense set L i′ :

[0089] L i′ = (X′ i′ , Y′ i′ ), (i′ = M)

[0090] S63: Calculate the mean point of the data contained in the dense set L, and move the initial clustering center point to this mean point. The formula for calculating the mean point is as follows: i where the data contained is moved to this mean point, and the formula for calculating the mean point is as follows:

[0091]

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

[0093] S64: After the circular window moves, determine whether the data and density it contains change; if they change, repeat step S63; if they no longer change, 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 this set of projection point coordinates and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the perpendicular line where the power source is located; if the window density is less than the minimum threshold minpoimts, return to step S62; where, when the distance between the centers of the two obtained circular windows is less than , merge the two circular windows into one circular window to filter out the overlapping area. Calculate the position of the straight line where the power source is located, and then perform up and down detection on the device at this position. The place with the strongest signal is the position of the power source.

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

[0096] The above are the preferred examples of the embodiments of the present invention, and are not intended to limit the implementation manners of the present invention. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solutions and inventive concepts of the present invention, makes equivalent substitutions or changes, and should be within the protection scope of the present invention.

Claims

1. A method for detecting the discharge source location of an electrical equipment discharge source location detection device in a substation, characterized in that, An electrical equipment discharge source positioning and detection device for use in a substation in cooperation with an intelligent mobile trolley, the positioning and detection device comprising an ultraviolet detection component, a signal processing module, a single-chip microcomputer module, and a data recording module; The ultraviolet detection component is used to collect discharge source positioning signals when the intelligent mobile trolley moves; The signal processing module is used to perform negative current to positive voltage conversion, voltage amplification, and filtering processing on the discharge source positioning signals detected by the ultraviolet detection component; The single-chip microcomputer module is used to control and process data detected by the ultraviolet detection component; The data recording module is used to record the data processed by the single-chip microcomputer module through operation; Specifically, it includes the following steps: S1: Determine the inspection route and detection point positions of the intelligent mobile trolley. The intelligent mobile trolley performs inspection operations according to the inspection route and collects discharge signals corresponding to the detection point positions; S2: Establish a direct vision detection link of the intelligent mobile trolley based on the position of the intelligent mobile trolley and the direct vision detection angle. The direct vision detection angle is the angle at which the photomultiplier tube rotates when the detected signal intensity is the maximum; S3: Use the direct vision detection link to establish a direct vision detection plane perpendicular to the horizontal plane. Any two direct vision detection planes intersect to generate a discharge source position perpendicular line perpendicular to the horizontal plane, and the discharge source is located on the discharge source position perpendicular line; The positioning method for the discharge source position information in step S3 is as follows: S31: Obtain the direct vision detection plane data corresponding to a number of detection points: Set detection points, then generate direct detection links, direct detection planes; specifically, the plane equations corresponding to the direct detection planes are: Among them, is the plane expression of the direct vision detection plane, is the detection angle, and the detection angle is the included angle between the direct vision detection link corresponding to each detection point and the trolley line following direction; is the -axis coordinate of the th detection point; is the -axis coordinate of the th detection point; is an arbitrary value; S32: Obtain all the discharge source position perpendicular line data obtained by the intersection of any two direct vision detection planes: The intersection of vertical lines of the position of the power source can be generated. The calculation formula for the vertical line of the position of the power source obtained by the intersection of any two direct vision detection planes is as follows: Among them, , represent any two intersecting direct vision detection planes, is the expression of the -th straight line generated by any two intersecting direct vision detection planes on the axis, is the expression of the -th straight line generated by any two intersecting direct vision detection planes on the axis, is the expression of the -th straight line generated by any two intersecting direct vision detection planes on the axis; is an arbitrary value; is the detection angle of the direct vision detection plane , is the detection angle of the direct vision detection plane ; represents the expression of the detection point in the direct vision detection plane on the axis, represents the expression of the detection point in the direct vision detection plane on the axis, is the coordinate of the detection point in the direct vision detection plane on the axis, is the coordinate of the detection point in the direct vision detection plane on the axis; S4: Obtain all the discharge source position perpendicular lines generated by the intersection of the direct vision detection planes, project all the discharge source position perpendicular lines onto the horizontal plane, and obtain a set composed of the coordinates of all the projection points; S5: Eliminate the points with discrete distribution in the projection point set, and store the coordinates of the remaining projection points in a new projection point coordinate set; S6: Import the obtained new set as a data source into the density-based mean shift algorithm for operation and processing, and output the projection point at the central position among all the projection points as the central point. The coordinates corresponding to this central point are the positions of the discharge source position perpendicular lines.

2. The power source positioning detection method according to claim 1, wherein The ultraviolet detection component includes an upper mounting base (1), a lower mounting base (4), and a base (8). The upper mounting base (1) and the lower mounting base (4) are connected to form a sealed darkroom. A filter mounting window (2) is provided on the upper mounting base (1). A solar blind filter is mounted on the filter mounting window (2). A photomultiplier tube is provided inside the upper mounting base (1). A photomultiplier tube power socket is provided on the lower mounting base (4). A servo motor is provided on the base (8). The servo motor drives the upper mounting base (1) and the lower mounting base (4) to rotate together. A number of rolling support wheels are provided at the bottom of the lower mounting base (4), and the rolling support wheels support on the base (8).

3. The power source location detection method according to claim 2, wherein A servo motor mounting cavity (7) and a servo motor wire hole (6) are provided on the base (8); a servo disk mounting plate (12) is provided at the bottom of the lower mounting base (4), and a swing arm mating hole for mating with the servo motor swing arm is provided on the servo disk mounting plate (12).

4. The power source positioning detection method 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 through the connecting plates (3); a support wheel mounting plate (5) for mounting a rolling support wheel is provided at the bottom of the lower mounting seat (4).

5. The method for detecting the positioning of a discharge source according to claim 2, characterized in that, It further includes a body, a plurality of device support bars (9) are provided at the top of the body, and there are four wheel steering gear mounting cavities (11) provided on the body; there are four mounting columns provided at the bottom of the base (8), and base embedding holes (10) matching the mounting columns are provided at the top of the body.

6. The power source positioning detection method according to claim 1, characterized in that The set of projection point coordinates described in step S4 has the following formula: Among them, is the axis coordinate after the projection of the th straight line, is the axis coordinate after the projection of the th straight line, is the axis coordinate after the projection of the th straight line; is always 0; is the number of projection points.

7. The method for detecting the location of a discharge source according to claim 6, characterized in that, The specific method for removing the scattered points with a large distribution distance among the projection points described in step S5 is as follows: S51: Calculate the sum of the distances between the th projection point in the set of projection point coordinates and the remaining projection points ; Among them, is the axial coordinate of the th projection point, the axial coordinate of the th projection point, is the axial coordinates of the remaining projection points, is the axial coordinates of the remaining projection points; S52: When the projection point corresponding distance sum is greater than the average value of the distance sums corresponding to the remaining points, then the error of the point is relatively large and deviates from this set of projection point coordinates. After removing these deviated projection point coordinates, a new set of projection point coordinates is obtained; the specific formula for removing projection point coordinates is: 。 8. The power source positioning detection method according to claim 6, characterized in that The specific steps of the mean shift algorithm process based on density described in step S6 are as follows: S61: Input a new set of projected point coordinates ; S62: Randomly select a point from the new set of projection point coordinates as the initial clustering center point. With the initial clustering center point as the center and a radius determine a circular window, and define the data points contained in this circular window as a dense set : S63: Calculate the intensive set For the mean point of the included data, move the initial clustering center point to this mean point. The formula for calculating the mean point is as follows: Among them, is the mean point coordinate; S64: After the circular window moves, determine whether the data and density it contains change; if they change, repeat step S63; if they no longer change, 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 ; If the window density is greater than the minimum threshold , then retain this set of projected point coordinates and calculate its center point. The coordinates corresponding to the center point are the position coordinates of the perpendicular line where the power source is located; if the window density is less than the minimum threshold , then return to step S62; among them, when the distance between the centers of the two circular windows obtained is less than , merge the two circular windows into one of the circular windows to filter out the overlapping areas.

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