Abnormal electromagnetic field sensing analysis method and system fusing behavior postures of inspection personnel

Abstract

The invention discloses an abnormal electromagnetic field sensing analysis method and system fusing behavior postures of inspection personnel, and the method comprises the following steps: determining a detected object, setting a monitoring position of the detected object, representing a three-dimensional space corresponding to the position as A (o, h), the monitoring positions are a plurality of monitoring position points in a trajectory formed by monitoring the measured object by handheld equipment of an inspector; three monitoring position points in the trajectory are selected, the space coordinates of the corresponding abnormal points are A-q (o-q, h-q), and then the space position distance between each monitoring position point and the abnormal point is represented; and obtaining the position coordinates of the abnormal point according to the spatial position distance between each monitoring position point and the abnormal point in combination with an interpolation calculation method. According to the invention, the trend change of the surrounding electromagnetic field can be effectively captured and analyzed in the daily inspection process, and the coordinates of the occurrence position of the abnormal electromagnetic field are restored by using various attitude changes and spatial position information in the inspection process.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic field perception and analysis, and in particular to an abnormal electromagnetic field perception and analysis method and system integrating the behavior and posture of patrol personnel. Background Art

[0002] The substation is a complex electromagnetic environment with both direct current and alternating current. In terms of voltage levels, low voltage ranges from 110V to 220V DC and 220V AC. On the primary high voltage side, there are high voltages ranging from 10kV to 500kV. Therefore, the operation and maintenance inspection personnel are exposed to electromagnetic fields during the inspection process. In some demonstration substations, inspection robots are used to complete partial discharge and other steps. However, due to the fixed inspection path, the height of the inspection detector cannot be adjusted, and the inspection angle is single, many partial discharges and insulation damage are caused by the inspection robots, but the problems cannot be discovered in time. During the inspection process, due to the random routes and many changes in posture, point cloud electromagnetic field monitoring can be formed, which helps to analyze electromagnetic field anomalies in time.

[0003] Abnormal electromagnetic field perception is currently divided into electric field perception, magnetic field perception and voiceprint perception. The most important detection method is to set a baseline threshold, and when the monitored object exceeds the threshold, an alarm is issued. However, due to the on-site environmental layout, ultrasonic and other monitoring are directional. Therefore, for the deployment of ultrasonic sensors, it is necessary to combine the layout of the monitored object for targeted collection direction modulation, but it still cannot meet the random occurrence of insulation degradation and insulation damage on site.

[0004] For electric and magnetic field signal monitoring, it is mostly done with fixed electromagnetic field sensors, or electromagnetic field sensors installed on patrol robots or track robots. Since electric and magnetic fields have attenuation and coupling effects on the transmission path, fixed-angle monitoring often cannot effectively perceive randomly occurring electromagnetic field anomalies. At the same time, due to the limitation of fixed thresholds, operation and maintenance inspections can only be discovered after the fault has actually occurred and caused an impact, and there is a lag in accident handling. Summary of the invention

[0005] Purpose of the invention: In order to solve the problems arising from the above-mentioned prior art, the present invention provides an abnormal electromagnetic field perception and analysis method and system that integrates the behavior and posture of patrol personnel.

[0006] Technical solution: According to the first aspect of the present invention, a method for abnormal electromagnetic field perception and analysis integrating the behavior and posture of patrol personnel is provided, and the method comprises the following steps:

[0007] Determine the object to be measured, and set the monitoring position of the object to be measured. The three-dimensional space corresponding to the position is represented by A(o,h), wherein o is the plane two-dimensional coordinate corresponding to the monitoring position, that is, according to the indoor positioning technology, the two-dimensional coordinate is represented by o(x,y), and h is the height corresponding to the monitoring position. The monitoring position is a plurality of monitoring position points in the trajectory line formed by the inspection personnel's handheld device monitoring the object to be measured;

[0008] Select three monitoring positions in the trajectory line, which are respectively recorded as: A1(o1, h1), A2(o2, h2) and A3(o3, h3), and h1=h2 or h3=h2 or h1=h3. The corresponding measurement values ​​at the three monitoring positions are recorded as Tar1, Tar2 and Tar3, and the corresponding abnormal point spatial coordinates are A_q(o_q, h_q), which further indicates the spatial position distance between each monitoring position point and the abnormal point.

[0009] The location coordinates of the abnormal point are obtained based on the spatial distance between each monitoring location point and the abnormal point combined with the interpolation calculation method.

[0010] Further, including:

[0011] The measured value Tar1 is expressed as:

[0012] Tar1=Obj / l1;(1)

[0013] Where, l1 is the distance from the monitoring position point A1 to the measured object, Obj is the data value of the measured physical quantity corresponding to the measured object, including the electric field strength and the magnetic field strength. Therefore, the measured value corresponding to the monitoring position point A1 is Tar1;

[0014] The measured value Tar2 is expressed as:

[0015] Tar2=Obj / l2;(2)

[0016] Where, l2 is the distance from the monitoring position point A2 to the measured object, Obj is the data value of the measured physical quantity corresponding to the measured object, including the electric field strength and the magnetic field strength. Therefore, the measured value corresponding to the monitoring position point A2 is Tar2;

[0017] The measured value Tar3 is expressed as:

[0018] Tar3=Obj / l3;(3)

[0019] Among them, l3 is the distance from the monitoring position point A3 to the object to be measured, Obj is the data value of the measured physical quantity corresponding to the object to be measured, including the electric field strength and the magnetic field strength. Therefore, the measurement value corresponding to the monitoring position point A3 is Tar3.

[0020] Further, it includes:

[0021] The spatial position distance between each monitoring position point and the abnormal point is expressed as:

[0022]

[0023] Among them, the planar two-dimensional coordinates of the monitoring position point A1 are expressed as o1(x1, y1), the planar two-dimensional coordinates of the monitoring position point A2 are expressed as o2(x2, y2), the planar two-dimensional coordinates of the monitoring position point A3 are expressed as o3(x3, y3), and the planar two-dimensional coordinates of the abnormal point are expressed as o_q(x_q, y_q); L1, L2, and L3 are the spatial position distances between the monitoring position point A1, the monitoring position point A2, and the monitoring position point A3 and the abnormal point respectively.

[0024] Further, it includes:

[0025] The position coordinates of the abnormal point obtained by combining the spatial position distance between each monitoring position point and the abnormal point with the interpolation calculation method specifically include:

[0026] Since only x is to be solved here, points with similar y values need to be selected, so that one variable can be considered less.

[0027] In this application, x is considered here, so interpolation is done in the x data. Since it is known from formulas (1)-(3) that the measurement is linearly related to the distance, and it is also known from formula (4) that the distance is in a straight-line relationship, the measurement value can be used to reflect the distance and calculate the position on this coordinate.

[0028] If y1≈y2 and Tar1>Tar2, then according to formulas (1)-(4), it is obtained that:

[0029] x_q = x1 + [(Tar1 - Tar2) / Tar2] * |(x1 - x2)|;

[0030] Otherwise, if Tar1<Tar2, then it is obtained that:

[0031] x_q = x1 + [(Tar2 - Tar1) / Tar1] * |(x1 - x2)|;

[0032] Otherwise, if y1≈y3 and Tar1>Tar3, then according to formulas (1)-(4), it is obtained that:

[0033] x_q = x1 + [(Tar1 - Tar3) / Tar3] * |(x1 - x3)|;

[0034] Otherwise, if Tar1<Tar3, then it is obtained that:

[0035] x_q = x1 + [(Tar3 - Tar1) / Tar1] * |(x1 - x3)|;

[0036] Otherwise, if y2 ≈ y3 and Tar2 > Tar3, then according to formulas (1)-(4), we get:

[0037] x_q = x2 + [(Tar2 - Tar3) / Tar3] * |(x2 * x3)|;

[0038] Otherwise, if Tar2 < Tar3, then we get:

[0039] x_q = x2 * [(Tar3 - Tar2) / Tar2] * |(x2 - x3)|;

[0040] Otherwise, reselect the monitoring position points.

[0041] Furthermore, it includes:

[0042] The position coordinates of the abnormal point obtained by combining the spatial position distance from each monitoring position point to the abnormal point with the interpolation calculation method further include:

[0043] Similarly, they are all variables, but when calculating, we can eliminate this variable through those that are similar in data. For example, if x is similar, we can compare y, and vice versa. If y is similar, we can analyze the changes brought by x.

[0044] If x1 ≈ x3 and Tar1 > Tar3, then the height of the abnormal point is expressed as:

[0045] h_q = h1 + [(Tar1 - Tar3) / Tar3] * |(h1 - h3)|;

[0046] Otherwise, if Tar1 < Tar3, then the height of the abnormal point is expressed as:

[0047] h_q = h1 + [(Tar3 - Tar1) / Tar1] * |(h1 - h3)|;

[0048] Otherwise, if x1 ≈ x2 and Tar1 > Tar2, then the height of the abnormal point is expressed as:

[0049] h_q = h1 + [(Tar1 - Tar2) / Tar2] * |(h1 - h2)|;

[0050] Otherwise, if Tar1 < Tar2, then the height of the abnormal point is expressed as:

[0051] h_q = h1 + [(Tar2 - Tar1) / Tar1] * |(h1 - h2)|;

[0052] Otherwise, if x2≈x3 and Tar2>Tar3, the height of the abnormal point is expressed as:

[0053] h_q = h2 + [(Tar2 - Tar3) / Tar3]*|(h2 - h3)|;

[0054] Otherwise, if Tar2<Tar3, the height of the abnormal point is expressed as:

[0055] h_q = h2 + [(Tar3 - Tar2) / Tar2]*|(h2 - h3)|;

[0056] Otherwise, reselect the monitoring position point.

[0057] On the other hand, the present invention also provides an electromagnetic field trend judgment method, specifically including:

[0058] According to multiple sets of historical data obtained by the abnormal electromagnetic field perception analysis method integrating the behavior postures of patrol personnel, each set of historical data includes the monitoring position point, the corresponding measurement value, and the spatial position of the abnormal point, and the multiple sets of historical data are obtained in different time dimensions;

[0059] Construct a trend state sequence according to the multiple sets of historical data, and judge the abnormal electromagnetic field trend within a certain range of positions according to the trend state sequence.

[0060] Furthermore, it includes:

[0061] The trend state sequence is expressed as:

[0062] |Tar(T1)∈A(o(T1),h(T1)), Tar(T2)∈A(o(T2),h(T2))…Tar(TN)∈A(o(TN),h(TN))| (5)

[0064] Wherein, Tar(T1) is the average value of the corresponding measurement values in the spatial dimension of a certain similar space at the time dimension T1, A(o(T1),h(T1)) is the spatial coordinate of the monitoring position point corresponding to the historical data at the time dimension T1, Tar(TN) is the average value of the corresponding measurement values in the spatial dimension of a certain similar space at the time dimension TN, A(o(TN),h(TN)) is the spatial coordinate of the monitoring position point corresponding to the historical data at the time dimension TN, and N is a positive integer.

[0065] Furthermore, it includes:

[0066] Wherein, Tar(TN) is specifically expressed as:

[0067]

[0068] Among them, r is the number of measurement points distributed in the time dimension TN, tn is the time corresponding to each measurement point in the time dimension TN, and Tar(tn) is the measurement value at the tnth time.

[0069] Further, including:

[0070] The trend state sequence is expressed as:

[0071] |Tar(T1)∈A(o(T1),h(T1))∈I(T1), Tar(T2)∈A(o(T2),h(T2))∈I(T2)…Tar(TN)∈A(o(TN),h(TN))∈I(TN)|; (7)

[0072] Wherein, Tar(T1) is the average value of the corresponding measurement value with time dimension T1 and space dimension being a similar space, A(o(T1),h(T1)0 is the spatial coordinate of the monitoring location point corresponding to the historical data with time dimension T1, I(T1) is the current mean value within a certain aggregation time window with time dimension T1, Tar(TN) is the average value of the corresponding measurement value with time dimension TN and space dimension being a similar space, A(o(TN),h(TN)) is the spatial coordinate of the monitoring location point corresponding to the historical data with time dimension TN, N is a positive integer, and I(TN) is the current mean value within a certain aggregation time window with time dimension TN.

[0073] In a third aspect, the present invention further provides an abnormal electromagnetic field perception and analysis system integrating the behavior and posture of patrol personnel, the system comprising:

[0074] A monitoring position determination module is used to determine the object to be measured and set the monitoring position of the object to be measured. The three-dimensional space corresponding to the position is represented by A(o,h), wherein o is the plane two-dimensional coordinate corresponding to the monitoring position, that is, according to the indoor positioning technology, the two-dimensional coordinate is represented by o(x,y), and h is the height corresponding to the monitoring position. The monitoring position is a plurality of monitoring position points in the trajectory line formed by the inspection personnel's handheld device monitoring the object to be measured;

[0075] The outlier point determination module first selects three monitoring points in the trajectory line, which are respectively recorded as: A1 (o1, h1), A2 (o2, h2) and A3 (o3, h3), and the corresponding measurement values ​​at the three monitoring points are recorded as Tar1, Tar2 and Tar3, respectively, and the corresponding outlier point spatial coordinates are A_q (o_q, h_q), thereby indicating the spatial position distance between each monitoring point and the outlier point;

[0076] Then, the position coordinates of the abnormal point are obtained according to the spatial distance between each monitoring position point and the abnormal point combined with the interpolation calculation method.

[0077] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0078] The abnormal electromagnetic field perception and analysis method proposed in this invention integrates the behavior and posture of patrol personnel. It mainly combines the travel route of the operating personnel, the patrol time and the data of the miniaturized monitoring device held by the operation and maintenance personnel to establish a three-dimensional space-time coordinate system, and makes inference analysis on the electromagnetic field data in space and time to form an electromagnetic field abnormal trend deduction and positioning mechanism.

[0079] Therefore, the present invention can effectively capture and analyze the trend changes of the surrounding electromagnetic field during daily inspections, and use the various posture changes and spatial position information during the inspection process to restore the coordinates of the location where the abnormal electromagnetic field occurs.

[0080] Based on the coordinates of the location where the abnormal electromagnetic field occurs, this patent constructs a state series for deducing trends, that is, in the process of trend deduction, it breaks through the trend changes in a single time dimension or space dimension, but forms historical data points after time and space aggregation mapping, and at the same time forms a state series that can be used to deduce trends based on the working condition data. This breaks through the problem of abnormal point positioning caused by prefabricated route inspections, and solves the problem that fixed-angle monitoring cannot effectively perceive randomly occurring electromagnetic field anomalies due to the attenuation and coupling effects of electric and magnetic fields on the transmission path. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 This is a flow chart of the abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel according to an embodiment of the present invention;

[0082] Figure 2 This is a schematic diagram of spatial position settlement according to an embodiment of the present invention;

[0083] Figure 3 This is a flow chart of the electromagnetic field trend determination method described in an embodiment of the present invention. DETAILED DESCRIPTION

[0084] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0085] Example 1

[0086] like Figure 1 As shown,

[0087] A first aspect of the present invention provides an abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel, the method comprising the following steps:

[0088] S1 determines the object to be measured and sets the monitoring position of the object to be measured. The three-dimensional space corresponding to the position is expressed as A(o,h), wherein o is the plane two-dimensional coordinate corresponding to the monitoring position, that is, according to the indoor positioning technology, the two-dimensional coordinate is expressed as o(x,y), and h is the height corresponding to the monitoring position. The monitoring position is a plurality of monitoring position points in the trajectory line formed by the inspection personnel's handheld device monitoring the object to be measured.

[0089] In this embodiment, the monitoring position point is obtained according to the monitoring trajectory line formed by the behavior posture of the patrol personnel. The so-called behavior posture of the patrol personnel refers to the difference in distance and height of the monitoring position generated as the personnel move, that is, the data collected by the monitoring equipment changes as the person moves.

[0090] In this step S1, a unified physical quantity analytical model is first required, specifically including:

[0091] Real-time monitoring of electric field and magnetic field strength signals, personnel indoor location information, and personnel height change information; because in a uniform electric field, the electric field strength is inversely proportional to the distance from the monitoring point, as shown in Formula 1:

[0092] E=U / d; (1)

[0093] Where E is the electric field, unit is (V / m), U is the voltage, which can represent the normal equipment surface voltage or the equipment surface voltage when the insulation is abnormal, unit is V, d is the distance, unit is m. The magnetic field strength is also inversely proportional to the distance from the monitoring point, as shown in Formula 2:

[0094] H=N×I / Le; (2)

[0095] Among them, H is the magnetic field intensity, the unit is A / m; N is the number of turns of the excitation coil; I is the excitation current (measured value), the unit is A; Le is the effective magnetic path length of the test sample, the unit is m. Therefore, this application uniformly expresses the measured physical quantity as Obj.

[0096] S2 selects three monitoring positions in the trajectory line, which are recorded as A1 (o1, h1), A2 (o2, h2) and A3 (o3, h3), and the corresponding measurement values ​​at the three monitoring positions are recorded as Tar1, Tar2 and Tar3, and the corresponding abnormal point spatial coordinates are A_q (o_q, h_q), which further indicates the spatial position distance between each monitoring position point and the abnormal point. If there is no abnormality, no positioning is performed and no analysis is required. The so-called abnormality in this embodiment is a point where the monitored physical quantity, such as the electric field or magnetic field, has an abnormal value. Generally, the fault occurs inside the cabinet and cannot be observed by the naked eye, but the electromagnetic field emitted outward can be sensed by the sensor.

[0097] In this embodiment, the purpose of selecting three monitoring position points is that the three coordinates can solve a spatial positioning point, and the two monitoring position points selected from the travel trajectory are highly consistent, the other monitoring position point is collected at a different height, and the real-time inspection time is recorded during the inspection process.

[0098] During the inspection process, it is most common to select two monitoring locations at the same height, because the equipment is fixed at a certain position on the person's body, and the person's height change will not change significantly. Therefore, it is feasible to obtain points with the same height.

[0099] Furthermore, in this embodiment,

[0100] The measured value Tar1 is expressed as:

[0101] Tar1=Obj / l1;(3) Wherein, l1 is the distance from the monitoring position point A1 to the measured object, Obj is the measured physical quantity corresponding to the measured object, including the electric field and magnetic field strength, and the measured value corresponding to the monitoring position point A1 is Tar1.

[0102] The measured value Tar2 is expressed as:

[0103] Tar2=Obj / l2;(4)

[0104] Among them, l2 is the distance from the monitoring position point A2 to the object to be measured, Obj is the measured physical quantity corresponding to the object to be measured, including the electric field and magnetic field strength, and the measurement value corresponding to the monitoring position point A2 is Tar2.

[0105] The measured value Tar3 is expressed as:

[0106] Tar3=Obj / l3;(5) Wherein, l3 is the distance from the monitoring position point A3 to the measured object, Obj is the measured physical quantity corresponding to the measured object, including the electric field and magnetic field strength, and the measured value corresponding to the monitoring position point A3 is Tar3.

[0107] S3 obtains the position coordinates of the abnormal point according to the spatial position distance between each monitoring position point and the abnormal point in combination with the interpolation calculation method.

[0108] Further, in this embodiment:

[0109] The spatial position distance between each monitoring position point and the abnormal point is expressed as:

[0110]

[0111] Among them, the planar two-dimensional coordinates of the monitoring position point A1 are expressed as o1(x1, y1), the planar two-dimensional coordinates of the monitoring position point A2 are expressed as o2(x2, y2), the planar two-dimensional coordinates of the monitoring position point A3 are expressed as o3(x3, y3), and the planar two-dimensional coordinates of the abnormal point are expressed as o-q(x_q, y_q); L1, L2, and L3 are the spatial position distances from the monitoring position point A1, the monitoring position point A2, and the monitoring position point A3 to the abnormal point respectively. Therefore, here L is the calculated value obtained, l represents the actual distance, and when the coordinates are simplified, L can represent the distance on the x-axis, but l represents the three-dimensional space distance.

[0112] Further, it includes:

[0113] The obtaining of the position coordinates of the abnormal point according to the spatial position distance between each monitoring position point and the abnormal point in combination with the interpolation calculation method specifically includes:

[0114] If y1≈y2 and Tar1>Tar2, then according to formulas (1) and (2), it is obtained that: x_q = x1 + [(Tar1 - Tar2) / Tar2]*|(x1 - x2)|;

[0115] Otherwise, Tar1<Tar2, then it is obtained that:

[0116] x_q = x1 + [(Tar2 - Tar1) / Tar1]*|(x1 - x2)|;

[0117] Otherwise, if y1≈y3 and Tar1>Tar3, then according to formulas (1)-(3), it is obtained that:

[0118] x_q = x1 + [(Tar1 - Tar3) / Tar3]*|(x1 - x3)|;

[0119] Otherwise, Tar1<Tar3, then it is obtained that:

[0120] x_q = x1 + [(Tar3 - Tar1) / Tar1]*|(x1 - x3)|;

[0121] Otherwise, if y2 ≈ y3 and Tar2 > Tar3, then according to formulas (1)-(3), we get:

[0122] x_q = x2 + [(Tar2 - Tar3) / Tar3] * |(x2 - x3)|;

[0123] Otherwise, if Tar2 < Tar3, then we get:

[0124] x_q = x2 + [(Tar3 - Tar2) / Tar2] * |(x2 - x3)|;

[0125] Otherwise, reselect the monitoring position point.

[0126] Furthermore, it includes:

[0127] The method of obtaining the position coordinates of the abnormal point by combining the spatial position distance between each monitoring position point and the abnormal point with the interpolation calculation method further includes:

[0128] If x1 ≈ x3 and Tar1 > Tar3, then the height of the abnormal point is expressed as:

[0129] h_q = h1 + [(Tar1 - Tar3) / Tar3] * |(h1 - h3)|;

[0130] Otherwise, if Tar1 < Tar3, then the height of the abnormal point is expressed as:

[0131] h_q = h1 + [(Tar3 - Tar1) / Tar1] * |(h1 - h3)|;

[0132] Otherwise, if x1 ≈ x2 and Tar1 > Tar2, then the height of the abnormal point is expressed as:

[0133] h_q = h1 + [(Tar1 - Tar2) / Tar2] * |(h1 - h2)|;

[0134] Otherwise, if Tar1 < Tar2, then the height of the abnormal point is expressed as:

[0135] h_q = h1 + [(Tar2 - Tar1) / Tar1] * |(h1 - h2)|;

[0136] Otherwise, if x2 ≈ x3 and Tar2 > Tar3, then the height of the abnormal point is expressed as:

[0137] h_q = h2 + [(Tar2 - Tar3) / Tar3] * |(h2 - h3)|;

[0138] Otherwise, if Tar2 < Tar3, then the height of the abnormal point is expressed as:

[0139] h_q=h2+[(Tar3-Tar2) / Tar2]*|(h2-h3)|;

[0140] Otherwise, reselect the monitoring location.

[0141] In this embodiment, the y coordinate is not calculated. In the actual process of the workstation, the y coordinate can be vaguely considered to be within a certain interval without locating the depth of the interval.

[0142] Example 2

[0143] like Figure 3 As shown, the present invention also provides an electromagnetic field trend judgment method, which specifically includes:

[0144] S4 The trend judgment method is to repeatedly execute the above-mentioned abnormal electromagnetic field perception analysis method integrating the behavior and posture of the patrol personnel, thereby obtaining multiple sets of historical data, that is, it is based on offline analysis, wherein each set of historical data includes a monitoring location point, a corresponding measurement value, and a spatial position of an abnormal point, and the multiple sets of historical data are obtained in different time dimensions;

[0145] A trend state sequence is constructed according to a plurality of groups of historical data, and an abnormal trend of the electromagnetic field within a certain range of positions is determined according to the trend state sequence.

[0146] Furthermore, in this embodiment, it includes:

[0147] The trend deduction proposed in this invention is to compare the Tar value in the historical data with A(o,h) after mapping, so it is a fusion deduction combining time, space, and equipment working status. On this basis, a spatiotemporal array is constructed, and Tn is used to represent the time dimension. Since the default assumption is that the same equipment is only inspected once a day, the unit is day.

[0148] Further, including:

[0149] The trend state sequence is expressed as:

[0150] |Tar(T1)∈A(o(T1),h(T1)), Tar(T2)∈A(o(T2),h(T2))…Tar(TN)∈A(o(TN),h(TN))| (7)

[0152] Among them, Tar(T1) is the average value of the corresponding measurement value in the time dimension T1 and the space dimension is a similar space, A9o(T1),h(T1)) is the spatial coordinate of the monitoring location point corresponding to the historical data in the time dimension T1, Tar(TN) is the average value of the corresponding measurement value in the time dimension TN and the space dimension is a similar space, A9o(TN),h(TN)) is the spatial coordinate of the monitoring location point corresponding to the historical data in the time dimension TN, and N is a positive integer.

[0153] Further, including:

[0154] Among them, Tar(TN) is specifically expressed as:

[0155]

[0156] Among them, r is the number of measurement points distributed in the time dimension TN, tn is the time corresponding to each measurement point in the time dimension TN, and Tar(tn) is the measurement value at the tnth time.

[0157] In this embodiment, in order to solve the problem of point selection and trend, when selecting points, the positioning offset caused by human body shaking on site cannot replicate the same measurement point twice. Therefore, for trend comparison, the present invention considers points within a certain range in space to be the same measurement point, which can be matched in space. With the aggregated position points in space, the trend changes in the positions within this range can be studied. For example, if a certain monitoring value is found to be increasing compared with the previous day, it needs to be paid attention to.

[0158] Example 3

[0159] On the basis of Example 2, this embodiment updates the trend state series based on the relationship between the electromagnetic field, the working voltage and the working current. Specifically:

[0160] The electromagnetic field is related to the working voltage and working current. Since the inspection objects of the substation include busbars, circuit breakers and other equipment, there is a possibility that changes in the electromagnetic field will cause changes. Therefore, for formula 7, it is necessary to further combine the equipment current, voltage and other working conditions. Since the voltage fluctuations of equipment at each voltage level are small, only the current working condition needs to be considered, and the updated formula (9) is obtained.

[0161] Further, including:

[0162] The trend state sequence is expressed as:

[0163] |Tar(T1)∈A(o(T1),h(T1))∈I(T1), Tar(T2)∈A(o(T2),h(T2))∈I(T2)…Tar(TN)∈A(o(TN),h(TN))∈I(TN)|; (10)

[0164] Among them, formula (10) is the measurement value coupled with the current data, which is used to correct the magnetic field changes caused by the increase of load current and eliminate the errors caused by the simple trend change criterion. Tar(T1) is the average value of the corresponding measurement value under the time dimension of T1 and the space dimension of a certain similar space, A(o(T1), h(T1)) is the spatial coordinates of the monitoring position point corresponding to the historical data under the time dimension of T1, I(T1) is the current mean value within the 20s aggregation time window, Tar(TN) is the time dimension of TN and the space dimension is the average value of the corresponding measurement value under the time dimension of TN, A(o(TN), h(TN)) is the spatial coordinates of the monitoring position point corresponding to the historical data under the time dimension of TN, N is a positive integer, and I(TN) is the current mean value within a certain aggregation time window under the time dimension of TN. The present invention defines the similar measurement space as within 0.1m, the measurement time is 20 seconds, that is, the average value of the measured values ​​within the 0.1m space range within 20 seconds is aggregated as the historical data of a certain spatial point on a certain day.

[0165] Therefore, the value in the state series of formula (10) does not need to exceed the alarm threshold, but if the trend is approaching the alarm threshold, it can trigger a decision to conduct further inspections. This is the key difference between the present application and the prior art alarms. The existing alarms are not taken seriously if they do not reach the alarm level, but if they reach the alarm level, there is already damage hazard. The present patent explores the damage development process in the trend, and therefore has a preventive effect.

[0166] The present invention can effectively capture and analyze the trend changes of the surrounding electromagnetic field during daily inspections, and use the various posture changes and spatial position information during the inspection process to restore the coordinates of the location where the abnormal electromagnetic field occurs. In order to illustrate the effectiveness of the present application, the following embodiments are provided, including:

[0167] See also Figure 2 , Figure 2 Three monitoring points are marked in the figure. In the actual process, they are three selected points on the trajectory of the personnel. Combined with the height information, there are three coordinate positions A1 (o1, h1), A2 (o2, h2), and A3 (o3, h3). For the convenience of analysis, two points with the same height can be selected when selecting the spatial position points. Figure 2In the example, the height of monitoring position 1 is consistent with that of monitoring position 2, that is, h1 = h2. This embodiment adopts the same parameter elimination method, which is reflected in the simplification of the public display under the same x and y coordinates. Here, h is mentioned. Since h is related to the height of the inspection personnel, the probability of it being unchanged is higher and it is easier to obtain in the collected data.

[0168] Assume that three locations have three measurement values, Tar1, Tar2, and Tar3. The patent also assumes that the three measurement values ​​correspond to the same abnormal point, and Obj remains unchanged, that is, during a short measurement process, the fault does not disappear and the external characteristic value remains basically unchanged. Assume that the spatial coordinates of the abnormal point are A_q(o_q,h_q). According to the spatial position distance L described in Formula 3, it can be expressed by Formula 1:

[0169]

[0170] Since x_q is between x1 and x2, according to Formula 2 and Formula 4, when y1 and y2 are very close, x_q can be calculated using the difference method, assuming Figure 2 Tar1>Tar2, the calculation is as shown in Formula 2:

[0171] X_q=X1+[(Tar1-Tar2) / Tar2]*|(X1-X2)|(2)

[0172] Based on the solution of X_q in formula 2, the height h can be further solved. When x1 and x3 are very close, Figure 2 The abnormal height points of the electromagnetic field are calculated at monitoring positions 1 and 3. Assuming Tar1>Tar3, the calculation is as expressed in Formula 3:

[0173] h_q=h1+[(Tar1-Tar3) / Tar3]*|(h1-h3)|(3)

[0174] This application does not solve the y coordinate. In the actual process of the workstation, the y coordinate can be vaguely considered to be within a certain interval without the need to locate the depth of the interval.

[0175] Due to the overdetermined equation, a solution can only be found by restricting the conditions: the essence is to settle the spatial position equation through measured data. Therefore, the condition is not changed here, but the data points that are conducive to settling the equation are selected. During the inspection process, the monitoring data is far greater than that required for the solution.

[0176] In summary, the abnormal electromagnetic field perception and analysis method proposed in the present invention integrates the behavior and posture of patrol personnel. It mainly combines the travel route of the operating personnel, the patrol time and the data of the miniaturized monitoring device held by the operation and maintenance personnel to establish a three-dimensional space-time coordinate system, which can perform reasoning and analysis on the electromagnetic field data in space and time, and form an electromagnetic field abnormal trend deduction and positioning mechanism.

[0177] Example 4

[0178] The present invention also provides an abnormal electromagnetic field perception and analysis system integrating the behavior and posture of patrol personnel, the system comprising:

[0179] A monitoring position determination module is used to determine the object to be measured and set the monitoring position of the object to be measured. The three-dimensional space corresponding to the position is represented by A(o,h), wherein o is the plane two-dimensional coordinate corresponding to the monitoring position, that is, according to the indoor positioning technology, the two-dimensional coordinate is represented by o(x,y), and h is the height corresponding to the monitoring position. The monitoring position is a plurality of monitoring position points in the trajectory line formed by the inspection personnel's handheld device monitoring the object to be measured;

[0180] The outlier point determination module first selects three monitoring points in the trajectory line, which are respectively recorded as: A1 (o1, h1), A2 (o2, h2) and A3 (o3, h3), and the corresponding measurement values ​​at the three monitoring points are recorded as Tar1, Tar2 and Tar3, respectively, and the corresponding outlier point spatial coordinates are A_q (o_q, h_q), thereby indicating the spatial position distance between each monitoring point and the outlier point;

[0181] Then, the position coordinates of the abnormal point are obtained according to the spatial distance between each monitoring position point and the abnormal point combined with the interpolation calculation method.

[0182] Other technical features of the abnormal electromagnetic field perception and analysis system integrating the behavior and posture of patrol personnel described in this embodiment are similar to the corresponding technical features of the abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel, and will not be repeated here.

[0183] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0184] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0185] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for abnormal electromagnetic field perception and analysis integrating patrol personnel's behavior and posture, characterized in that: The method includes the following steps: Determine the object to be measured and set the monitoring position of the object to be measured. The three-dimensional space corresponding to this position is represented as A(o, h), where o is the two-dimensional plane coordinate corresponding to the monitoring position, that is, according to indoor positioning technology, the two-dimensional coordinate is represented as o(x, y), and h is the height corresponding to the monitoring position. The monitoring position is multiple monitoring position points in the trajectory line formed by the patrol personnel holding the device to monitor the object to be measured; Select three monitoring position points on the trajectory line, denoted as: A1(o1, h1), A2(o2, h2) and A3(o3, h3) respectively. The measured values corresponding to the three monitoring position points are denoted as Tar1, Tar2 and Tar3 respectively, and the spatial coordinate of the corresponding abnormal point is A_q(o_q, h_q), and then represent the spatial position distance between each monitoring position point and the abnormal point; Obtain the position coordinates of the abnormal point according to the spatial position distance between each monitoring position point and the abnormal point in combination with the interpolation calculation method.

2. The abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel according to claim 1 is characterized in that: The measured value Tar1 is expressed as: Tar1 = Obj / l1; (1) Where, l1 is the distance from the monitoring position point A1 to the object to be measured, and Obj is the data value of the measured physical quantity corresponding to the object to be measured, including electric field strength and magnetic field strength. Therefore, the measured value corresponding to the monitoring position point A1 is Tar1; The measured value Tar2 is expressed as: Tar2 = Obj / l2; (2) Where, l2 is the distance from the monitoring position point A2 to the object to be measured, and Obj is the data value of the measured physical quantity corresponding to the object to be measured, including electric field strength and magnetic field strength. Therefore, the measured value corresponding to the monitoring position point A2 is Tar2; The measured value Tar3 is expressed as: Tar3 = Obj / l3; (3) Where, l3 is the distance from the monitoring position point A3 to the object to be measured, and Obj is the data value of the measured physical quantity corresponding to the object to be measured, including electric field strength and magnetic field strength. Therefore, the measured value corresponding to the monitoring position point A3 is Tar3.

3. The abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel according to claim 2 is characterized in that: The spatial position distance between each monitoring position point and the abnormal point is expressed as: Where, the two-dimensional plane coordinate of the monitoring position point A1 is expressed as o1(x1, y1), the two-dimensional plane coordinate of the monitoring position point A2 is expressed as o2(x2, y2), the two-dimensional plane coordinate of the monitoring position point A3 is expressed as o3(x3, y3), and the two-dimensional plane coordinate of the abnormal point is expressed as o_q(x_q, y_q); L1, L2, and L3 are the spatial position distances from the monitoring position point A1, the monitoring position point A2, and the monitoring position point A3 to the abnormal point respectively.

4. The abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel according to claim 3 is characterized in that: The obtaining of the position coordinates of the abnormal point according to the spatial position distance between each monitoring position point and the abnormal point in combination with the interpolation calculation method specifically includes: If y1 ≈ y2 and Tar1 > Tar2, then according to formulas (1)-(4), it is obtained that: x_q = x1 + [(Tar1 - Tar2) / Tar2] * |(x1 - x2)|; Otherwise, Tar1 < Tar2, then it is obtained that: x_q = x1 + [(Tar2 - Tar1) / Tar1] * |(x1 - x2)|; Otherwise, if y1≈y3 and Tar1>Tar3, then according to formulas (1)-(4), we get: x_q = x1 + [(Tar1 - Tar3) / Tar3]*|(x1 - x3)|; Otherwise, if Tar1<Tar3, then we get: x_q = x1 + [(Tar3 - Tar1) / Tar1]*|(x1 - x3)|; Otherwise, if y2≈y3 and Tar2>Tar3, then according to formulas (1)-(4), we get: x_q = x2 + [(Tar2 - Tar3) / Tar3]*|(x2 - x3)|; Otherwise, if Tar2<Tar3, then we get: x_q = x2 + [(Tar3 - Tar2) / Tar2]*|(x2 - x3)|; Otherwise, reselect the monitoring position points.

5. The abnormal electromagnetic field perception and analysis method integrating the behavior and posture of patrol personnel according to claim 4 is characterized in that: The method for obtaining the position coordinates of the abnormal point by combining the spatial position distance between each monitoring position point and the abnormal point with the interpolation calculation method further includes: If x1≈x3 and Tar1>Tar3, the height of the abnormal point is expressed as: h_q = h1 + [(Tar1 - Tar3) / Tar3]*|(h1 - h3)|; Otherwise, if Tar1<Tar3, the height of the abnormal point is expressed as: h_q = h1 + [(Tar3 - Tar1) / Tar1]*|(h1 - h3)|; Otherwise, if x1≈x2 and Tar1>Tar2, the height of the abnormal point is expressed as: h_q = h1 + [(Tar1 - Tar2) / Tar2]*|(h1 - h2)|; Otherwise, if Tar1<Tar2, the height of the abnormal point is expressed as: h_q = h1 + [(Tar2 - Tar1) / Tar1]*|(h1 - h2)|; Otherwise, if x2≈x3 and Tar2>Tar3, the height of the abnormal point is expressed as: h_q = h2 + [(Tar2 - Tar3) / Tar3]*|(h2 - h3)|; Otherwise, if Tar2<Tar3, the height of the abnormal point is expressed as: h_q = h2 + [(Tar3 - Tar2) / Tar2]*|(h2 - h3)|; Otherwise, reselect the monitoring position points.

6. A method for judging an electromagnetic field trend, characterized in that: Specifically, it includes: Multiple groups of historical data obtained by the abnormal electromagnetic field perception analysis method for fusing the behavior postures of patrol personnel according to any one of claims 1-5, each group of historical data includes a monitoring position point, a corresponding measurement value, and the spatial position of the abnormal point, and the multiple groups of historical data are obtained in different time dimensions; Construct a trend state sequence according to the multiple groups of historical data, and judge the abnormal trend of the electromagnetic field within a certain range of positions according to the trend state sequence.

7. The electromagnetic field trend determination method according to claim 6, characterized in that: The trend state sequence is expressed as: |Tar(T1)∈A(o(T1),h(T1)), Tar(T2)∈A(o(T2),h(T2))…Tar(TN)∈A(o(TN),h(TN))|(5) Wherein, Tar(T1) is the average value of the corresponding measurement value in the time dimension T1 and the space dimension is a similar space, A(o(T1), h(T1)) is the spatial coordinate of the monitoring location point corresponding to the historical data in the time dimension T1, Tar(TN) is the average value of the corresponding measurement value in the time dimension TN and the space dimension is a similar space, A(o(TN), h(TN)) is the spatial coordinate of the monitoring location point corresponding to the historical data in the time dimension TN, and N is a positive integer.

8. The electromagnetic field trend determination method according to claim 7, characterized in that: in, Tar(TN) is specifically expressed as: Among them, r is the number of measurement points distributed in the time dimension TN, tn is the time corresponding to each measurement point in the time dimension TN, and Tar(tn) is the measurement value at the tnth time.

9. The electromagnetic field trend determination method according to claim 6, characterized in that: The trend state sequence is expressed as: |Tar(T1)∈A(o(T1),h(T1))∈I(T1), Tar(T2)∈A(o(T2),h(T2))∈I(T2)…Tar(TN)∈A(o(TN),h(TN))∈I(TN)|; (7) Wherein, Tar(T1) is the average value of the corresponding measurement value with time dimension T1 and space dimension being a similar space, A(o(T1), h(T1)) is the spatial coordinate of the monitoring location point corresponding to the historical data with time dimension T1, I(T1) is the current mean value within a certain aggregation time window with time dimension T1, Tar(TN) is the average value of the corresponding measurement value with time dimension TN and space dimension being a similar space, A(o(TN), h(TN)) is the spatial coordinate of the monitoring location point corresponding to the historical data with time dimension TN, N is a positive integer, and I(TN) is the current mean value within a certain aggregation time window with time dimension TN.

10. An abnormal electromagnetic field perception and analysis system integrating patrol personnel's behavior and posture, characterized in that: The system includes: A monitoring position determination module is used to determine the object to be measured and set the monitoring position of the object to be measured. The three-dimensional space corresponding to the position is represented by A(o,h), wherein o is the plane two-dimensional coordinate corresponding to the monitoring position, that is, according to the indoor positioning technology, the two-dimensional coordinate is represented by o(x,y), and h is the height corresponding to the monitoring position. The monitoring position is a plurality of monitoring position points in the trajectory line formed by the inspection personnel's handheld device monitoring the object to be measured; The outlier point determination module first selects three monitoring points in the trajectory line, which are respectively recorded as: A1 (o1, h1), A2 (o2, h2) and A3 (o3, h3), and the corresponding measurement values ​​at the three monitoring points are recorded as Tar1, Tar2 and Tar3, respectively, and the corresponding outlier point spatial coordinates are A_q (o_q, h_q), thereby indicating the spatial position distance between each monitoring point and the outlier point; Then, the position coordinates of the abnormal point are obtained according to the spatial distance between each monitoring position point and the abnormal point combined with the interpolation calculation method.

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