Visual positioning method and system for partial discharge of cable

Abstract

The invention relates to a visual positioning method and system for partial discharge of a cable, and belongs to the technical field of cable inspection, and the visual positioning method comprises the steps: setting a plurality of virtual detection points in a pre-constructed three-dimensional model of a to-be-inspected cable; determining the actual position of the actual detection point according to the virtual position of the virtual detection point; after the sensor assembly is installed according to the actual position, a selection instruction of a specified virtual sensor assembly in the three-dimensional model is received; according to the selected instruction, controlling the virtual state of the specified virtual sensor assembly to be converted into a movable state from a fixed state; after the specified virtual sensor assembly moves, acquiring a virtual movement distance of the specified virtual sensor assembly according to the position of the specified virtual sensor assembly after the specified virtual sensor assembly moves; and controlling the corresponding actual sensor assembly to move according to the virtual moving distance. The cable inspection device has the beneficial effects that the cable inspection time is shortened, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of cable inspection, and in particular to a method and system for visually locating cable partial discharge. Background Art

[0002] Cable partial discharge refers to the phenomenon that the electric field strength in a local area of ​​the cable insulation system reaches the breakdown field strength of the insulating medium, causing discharge in the area, but has not yet penetrated the entire insulation. In daily cable inspections, staff usually determine whether the cable has or is about to fail by judging whether partial discharge has occurred in the cable.

[0003] In the related art, when workers inspect cables, they usually use professional tools, such as acoustic imagers, to inspect the cables and locate the faulty parts of the cables. However, since workers need to traverse the entire cable with professional tools, the inspection time is long and the labor intensity of the workers is high. Summary of the invention

[0004] In order to shorten the time of cable inspection and reduce the labor intensity of staff, the present application provides a cable partial discharge visualization positioning method and system.

[0005] In a first aspect, the present application provides a method for visually locating partial discharge of a cable, which adopts the following technical solution: A cable partial discharge visual positioning method, comprising: Set multiple virtual inspection points in the pre-built 3D model of the cable that needs to be inspected; Determining the actual position of the actual detection point according to the virtual position of the virtual detection point; After installing the sensor assembly according to the actual position, receiving a selection instruction for specifying a virtual sensor assembly in the three-dimensional model; According to the selected instruction, controlling the virtual state of the designated virtual sensor component to change from a fixed state to a movable state; After the designated virtual sensor component moves, obtaining a virtual moving distance of the designated virtual sensor component according to the position of the designated virtual sensor component after the movement; According to the virtual moving distance, the corresponding actual sensor component is controlled to move.

[0006] By adopting the above technical solution, virtual detection points with unique numbers are set in advance in the three-dimensional model of the cable, and each detection position is given a specific identifier. By mapping the virtual detection point position to the actual detection point position, after the sensor component is actually installed, it can accurately correspond to the specific position in the three-dimensional model. According to the virtual position, the actual position is determined and the sensor component is installed, realizing targeted detection of key parts of the cable.

[0007] When the staff selects a virtual sensor component, the virtual state of the virtual sensor component changes from fixed and immovable to movable, so that the staff can drag the movement of the virtual sensor component to change the detection position of the virtual sensor component, which provides great flexibility for the planning of inspection plans. In the three-dimensional model environment, the operator can freely adjust the position of the virtual sensor component just like "moving the device" in the real scene. The virtual moving distance is obtained according to the position of the virtual sensor component after movement, and the movement of the corresponding actual sensor component is controlled accordingly, realizing the precise correspondence between virtual and reality. The system can accurately convert the movement parameters in the virtual world into actual operation instructions to ensure that the actual sensor component moves according to the virtual planned path and distance. This real-time virtual and real linkage enables the detection plan planned in the virtual environment to be efficiently implemented in the actual scene. The actual sensor component can respond to the movement instruction of the virtual sensor component in a timely manner to ensure the continuity and accuracy of the detection work. For example, when dynamically detecting the running cable, the virtual sensor position can be quickly adjusted in the virtual model according to the abnormal situation monitored in real time, and the actual sensor moves synchronously accordingly, so as to obtain more accurate detection data in time, which is helpful to timely discover and deal with cable faults.

[0008] By arranging sensor components on the cables and synchronizing the sensor components with the virtual sensor components in the three-dimensional model, there is no need for manual operation on site with the help of professional tools. Only by operating the virtual sensor components in the three-dimensional model can the actions of the actual sensor components be controlled to monitor the cables, thereby shortening the cable inspection time and reducing the labor intensity of the staff.

[0009] Optionally, the steps after obtaining the virtual moving distance of the specified virtual sensor component include: Obtaining a virtual movement duration of the specified virtual sensor component; Determine a speed and distance collection interval according to the virtual moving duration; According to the collection interval, collecting the virtual moving speed and virtual passing distance corresponding to the designated virtual sensor component; Constructing a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, the virtual travel distance and the collection interval; According to the three-dimensional curve graph, the road section actually requiring inspection is determined.

[0010] By adopting the above technical solution and constructing a three-dimensional curve graph, the operator can clearly see the trend of speed change over time and the accumulation of moving distance in different time periods. For example, the three-dimensional curve graph can intuitively show that the virtual sensor accelerates in certain time periods, decelerates in certain time periods, or stays briefly at a specific location. This visual display helps to understand the movement process of the virtual sensor more deeply and provide an intuitive basis for subsequent decision-making. By analyzing the speed, time and distance relationship reflected in the three-dimensional curve graph, it can be determined which sections of the road are the areas where the staff wants the virtual sensor component to focus on coverage or stay for a long time. These areas are often the key parts of cable operation status monitoring. For example, if it is found in the three-dimensional curve graph that the specified virtual sensor component moves slowly and stays for a long time in a certain time period, it means that the area may be a high-incidence area of ​​cable faults or a key detection area, and the corresponding actual section should be listed as a key inspection section.

[0011] Optionally, the visual positioning method further includes: When the actual sensor component moves on the road section that actually needs to be inspected, controlling the actual sensor component to move at a speed lower than a normal moving speed; After the actual sensor component leaves the road section that actually needs to be inspected, the normal moving speed is restored.

[0012] By adopting the above technical solution, when the actual sensor assembly moves in the actual inspection section, it is controlled to move at a speed lower than the normal moving speed, so that the sensor has more time to collect data. For example, when detecting partial discharge of the cable, the slower moving speed allows the sensor to capture weak and short-term discharge signals more accurately. For temperature detection, it can record the slight changes in temperature at different locations more carefully to avoid missing key information due to excessive speed, thereby improving the integrity and accuracy of the detection data. In complex cable systems, some fault characteristics may be more hidden, and the slower moving speed helps the sensor assembly to "scan" the potential fault area more deeply. For example, at the joint of the cable, the slight damage to the insulation layer may only be reflected by partial discharge of a specific frequency or weak temperature anomaly; the actual sensor assembly moves at a lower speed, which can detect these signals more comprehensively and improve the ability to identify various types of faults. Even the initial and difficult-to-detect fault hazards are easier to be discovered, providing strong support for timely maintenance measures. The actual sensor components run at normal moving speed in non-critical inspection sections, and reduce speed in critical inspection sections, thereby achieving a reasonable allocation of detection time, thereby avoiding time waste caused by moving at a low speed on the entire cable line, ensuring that there is enough time for detailed inspection in key areas where faults may exist, and maintaining efficient inspection in other relatively normal areas, thus improving the inspection efficiency as a whole and ensuring the comprehensiveness of the detection.

[0013] Optionally, after installing the sensor assembly according to the actual position, the method further includes: Receiving sensing data sent by each group of sensor components; Determining whether each group of sensor data is abnormal; If there are N groups of anomalies, the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data are screened; The abnormal virtual position corresponding to the abnormal actual position is marked as abnormal.

[0014] By adopting the above technical solution, the sensor data is received in real time after the sensor assembly is installed, and the operation status of the cable can be dynamically grasped. An abnormality judgment is made for each set of sensor data, and once an abnormality is found, a quick response can be made. The actual position of the abnormality is corresponded to the abnormal virtual position in the three-dimensional model and marked, so as to realize the visualization of the fault location. By viewing the three-dimensional model, the staff can intuitively understand which parts of the cable in the actual space have abnormalities. Therefore, since the staff does not need to use professional tools to traverse the entire cable for inspection, the duration of the cable inspection can be shortened and the labor intensity of the staff can be reduced.

[0015] Optionally, the step of marking an abnormality on a virtual position corresponding to the abnormal actual position includes: According to the abnormal sensing data, matching the corresponding partial discharge phenomenon from a pre-established fault image database; The partial discharge phenomenon is associated with the abnormal virtual position to generate an abnormality mark.

[0016] By adopting the above technical solution, by matching the partial discharge phenomenon corresponding to the abnormal sensor data from the pre-established fault image database, a more accurate basis can be provided for fault diagnosis. The fault image database stores a large number of images and related data of partial discharge phenomena of different types and degrees, covering various possible cable fault scenarios. For example, the partial discharge images generated by cables of different materials at different aging stages and under different operating environments are recorded in detail. When abnormal sensor data is detected, the system can quickly find the partial discharge phenomenon that best matches it in the database. In the three-dimensional model of the cable, the abnormal virtual position is not only marked, but also associated with the specific partial discharge phenomenon. By viewing the three-dimensional model, the staff can not only quickly locate the fault location, but also intuitively understand the partial discharge phenomenon that may occur at the location, so as to accurately match the partial discharge phenomenon and associate it with the abnormal virtual position, and formulate more targeted maintenance strategies for different types of faults. Different partial discharge phenomena often reflect different causes and development stages of cable faults. For example, the partial discharge caused by moisture is different from the partial discharge phenomenon caused by overload heating, and the corresponding maintenance measures are also different. In addition, the correlation analysis between the abnormal virtual position and the partial discharge phenomenon is also helpful for predictive maintenance. As time goes by and data accumulates, the system can predict the development trend of cable faults by analyzing similar partial discharge phenomena that have occurred multiple times and their development process. For example, if a certain minor partial discharge phenomenon occurs multiple times and the cable gradually develops into a serious fault over a period of time, then when a similar minor discharge phenomenon is detected again, the system can issue an early warning and recommend taking corresponding preventive maintenance measures, such as replacing some aging parts in advance and increasing the monitoring frequency, thereby reducing the probability of faults, reducing power outages and economic losses caused by cable faults, and improving the reliability and stability of the power system.

[0017] Optionally, the step after screening the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensing data further includes: Taking the actual position of the anomaly as the center of the circle, an image acquisition area is constructed with an initial radius of Xcm; Determine whether there is a camera in the image acquisition area; If yes, controlling the camera to collect image information of the actual location of the abnormality; If not, Mcm is used as the expansion benchmark to increase the radius of the image acquisition area to update the image acquisition area for re-judgment; wherein, (X+nM)cm≤Zcm, n is the number of updates, and Zcm is the preset acquisition radius of the camera.

[0018] By adopting the above technical solution, for example, in a complex cable trench, once the abnormal actual position of the abnormal sensor component is determined, the range that needs to be focused on by the camera can be quickly delineated in this way, helping the operator to quickly focus on the periphery of the fault point without blindly searching in a large area, greatly improving the accuracy and efficiency of fault location; and making the collected image accurately reflect the actual situation of the fault point. When there is no camera in the image acquisition area, the image acquisition area is updated and re-judged with the radius increased based on Mcm as the expansion benchmark. This method can flexibly expand the acquisition range according to the actual situation. For example, in some large cable laying sites, the camera layout may be relatively sparse, and there is no camera in the initial image acquisition area, but by gradually expanding the radius with Mcm as an increment, the search range can be expanded until a camera that can be used to collect images of the abnormal position is found. This adaptive adjustment mechanism ensures that there is a greater chance of obtaining image information of the fault location in different cable installation environments.

[0019] Optionally, the visual positioning method further includes: If a certain camera corresponds to multiple abnormal actual positions, determining whether the multiple abnormal actual positions are all on the side that the camera is facing; If not, the camera is controlled to rotate at a set rotation interval.

[0020] By adopting the above technical solution, by judging whether multiple abnormal actual positions are all on the side facing the camera, it can be ensured that the image acquisition range of the camera can cover all the corresponding abnormal actual positions as completely as possible. In cable inspection, it may happen that one camera is responsible for multiple abnormal points, and these abnormal points may be distributed in different directions. For example, in the cable layout of a substation, there may be multiple cable joints or insulation weak points (i.e., abnormal actual positions). If they are distributed on different sides of the camera, the initial orientation of the camera alone may not be able to include all of them in the image acquisition range. Therefore, when there are multiple abnormal actual positions, accurate position distribution judgment helps to more accurately locate the areas that need to be focused on. For each abnormal point, through accurate orientation judgment, it can be clearly known whether the camera can effectively observe these positions, avoiding the inability to obtain key fault information due to viewing angle problems. When it is found that the abnormal actual position is not on the side facing the camera, the camera rotation is controlled at a set rotation interval, so that the camera can quickly adjust the angle, thereby obtaining the required fault image information more quickly.

[0021] In the second aspect, the present application provides a cable partial discharge visual positioning system, which adopts the following technical solutions: A cable partial discharge visual positioning system, comprising: A detection point setting module is used to set multiple virtual detection points in a pre-built three-dimensional model of the cable that needs to be inspected; A position mapping module, used to determine the actual position of the actual detection point according to the virtual position of the virtual detection point; an instruction receiving module, for receiving a selection instruction of a specified virtual sensor component in the three-dimensional model after the sensor component is installed according to the actual position; a state conversion module, configured to control the virtual state of the designated virtual sensor component to change from a fixed state to a movable state according to the selected instruction; A distance acquisition module, used for acquiring a virtual moving distance of the designated virtual sensor component according to a position of the designated virtual sensor component after the designated virtual sensor component moves; The control module is used to control the movement of the corresponding actual sensor component according to the virtual movement distance.

[0022] By adopting the above technical solution, when the staff selects a virtual sensor component, the virtual state of the virtual sensor component changes from fixed and immovable to movable, so that the staff can drag the movement of the virtual sensor component to change the detection position of the virtual sensor component, which provides great flexibility for the planning of inspection plans. In the three-dimensional model environment, the operator can freely adjust the position of the virtual sensor component just like "moving the device" in the real scene. The virtual moving distance is obtained according to the position of the virtual sensor component after movement, and the movement of the corresponding actual sensor component is controlled accordingly, realizing the precise correspondence between virtual and reality. The system can accurately convert the movement parameters in the virtual world into actual operation instructions to ensure that the actual sensor component moves according to the virtual planned path and distance. This real-time virtual and real linkage enables the detection plan planned in the virtual environment to be efficiently implemented in the actual scene. The actual sensor component can respond to the movement instruction of the virtual sensor component in a timely manner to ensure the continuity and accuracy of the detection work. For example, when dynamically detecting the running cable, the virtual sensor position can be quickly adjusted in the virtual model according to the abnormal situation monitored in real time, and the actual sensor moves synchronously accordingly, so as to obtain more accurate detection data in time, which is helpful to timely discover and deal with cable faults.

[0023] By arranging sensor components on the cables and synchronizing the sensor components with the virtual sensor components in the three-dimensional model, there is no need for manual operation on site with the help of professional tools. The actions of the actual sensor components can be controlled by operating the virtual sensor components in the three-dimensional model, thereby shortening the cable inspection time and reducing the labor intensity of the staff.

[0024] Optionally, the visual positioning system further includes: A duration acquisition module, used to acquire the virtual movement duration of the specified virtual sensor component; A collection interval determination module, used to determine the collection interval of speed and distance according to the virtual movement duration; A data collection module, used for collecting the virtual moving speed and virtual passing distance corresponding to the specified virtual sensor component according to the collection interval; A three-dimensional curve graph construction module, used to construct a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, the virtual passing distance and the collection interval; The inspection section determination module is used to determine the section that actually needs to be inspected based on the three-dimensional curve graph.

[0025] Optionally, the visual positioning system further includes: A data receiving module, used for receiving sensing data sent by each group of the sensor components after the sensor components are installed according to the actual position; A judgment module, used to judge whether each group of sensor data is abnormal; A position screening module, used for screening the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensing data when there are N groups of abnormalities; The abnormal marking module is used to mark the abnormal virtual position corresponding to the abnormal actual position as abnormal.

[0026] In summary, the present application has at least the following beneficial effects: 1. Set virtual detection points, install sensor components according to virtual detection points, and then control the virtual state of the specified virtual sensor components from fixed state to movable state according to the selected instructions. The purpose is that when the staff selects a virtual sensor component, the virtual state of the virtual sensor component changes from fixed and immovable to movable, so that the staff can drag the movement of the virtual sensor component to change the detection position of the virtual sensor component, which provides great flexibility for inspection plan planning. In the three-dimensional model environment, the operator can freely adjust the position of the virtual sensor component like "moving equipment" in the real scene. The virtual moving distance is obtained according to the position of the virtual sensor component after movement, and the corresponding actual sensor component is controlled to move accordingly, realizing the precise correspondence between virtual and reality. The system can accurately convert the movement parameters in the virtual world into actual operation instructions to ensure that the actual sensor component moves according to the virtual planned path and distance. This real-time virtual and real linkage enables the detection plan planned in the virtual environment to be efficiently implemented in the actual scene. The actual sensor component can respond to the movement instruction of the virtual sensor component in a timely manner to ensure the continuity and accuracy of the detection work. For example, when dynamically testing a running cable, the virtual sensor position can be quickly adjusted in the virtual model according to the abnormal situation monitored in real time, and the actual sensor moves synchronously to obtain more accurate detection data in time, which helps to find and deal with cable faults in time. By arranging sensor components on the cable and synchronizing the sensor components with the virtual sensor components in the three-dimensional model, there is no need for manual operation on site with the help of professional tools. As long as the virtual sensor components are operated in the three-dimensional model, the action of the actual sensor components can be controlled to realize the monitoring of the cable, thereby shortening the cable inspection time and reducing the labor intensity of the staff.

[0027] 2. The purpose of constructing a three-dimensional curve graph of speed, time and distance changes based on the virtual moving speed, virtual travel distance and the acquisition interval is to enable operators to clearly see the trend of speed changes over time and the accumulation of moving distances in different time periods. For example, the three-dimensional curve graph can intuitively show that the virtual sensor accelerates in certain time periods, decelerates in certain time periods, or stays briefly at a specific location. This visual display helps to understand the movement process of the virtual sensor more deeply and provide an intuitive basis for subsequent decision-making. By analyzing the speed, time and distance relationship reflected in the three-dimensional curve graph, it can be determined which sections are areas where the staff wants the virtual sensor component to focus on coverage or stay for a long time. These areas are often the key parts of cable operation status monitoring. For example, if it is found in the three-dimensional curve graph that the specified virtual sensor component moves slowly and stays for a long time in a certain time period, it means that the area may be a high-incidence area of ​​cable faults or a key detection area, and the corresponding actual section should be listed as a key inspection section.

[0028] 3. The purpose of constructing the image acquisition area is to help operators quickly focus on the periphery of the fault point without having to search blindly in a large area, which greatly improves the accuracy and efficiency of fault location; and enables the acquired images to accurately reflect the actual situation of the fault point. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flowchart of an implementation method of Example 1 of the present application; Figure 2 It is a flowchart of another implementation method of the method embodiment of the present application; Figure 3 It is a flowchart of the steps that can be executed after S230 and before S240 of the present application; Figure 4 It is a flowchart of the steps that can be executed after S150 of this application; Figure 5 It is a structural block diagram of an implementation method of the first embodiment of the system of the present application; Figure 6 It is a structural block diagram of another implementation method of the system embodiment of the present application.

[0030] Explanation of the accompanying drawings: 101, detection point setting module; 102, position mapping module; 103, data receiving module; 104, judgment module; 105, position screening module; 106, abnormal marking module; 107, instruction receiving module; 108, state conversion module; 109, distance acquisition module; 110, control module. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the appended drawings of the embodiments of the present invention. Figure 1 -Attached Figure 6 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. 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.

[0032] The first embodiment of the present application discloses a method for visually locating partial discharge of a cable. Figure 1 As an implementation of the visualization positioning method, the visualization positioning method may include S110-S170: S110, setting a plurality of virtual inspection points in a pre-built three-dimensional model of the cable that needs to be inspected; S120, determining the actual position of the actual detection point according to the virtual position of the virtual detection point; S130, after installing the sensor components according to the actual position, receiving the sensor data sent by each group of sensor components; S140, determining whether each set of sensor data is abnormal; S150, if there are N groups of abnormalities, screening the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data; S160, marking an abnormal virtual position corresponding to the abnormal actual position as abnormal; S170: If there is no abnormality, return to S140.

[0033] Specifically, a three-dimensional model of the cable can be constructed in the model building software according to the geometric size data, structural data, and connection parts of the cable to be inspected; the three-dimensional model of the cable reflects the actual situation of the cable. After the three-dimensional model is built, the location where the cable has historically failed can be inspected as needed, virtual detection points can be set in the three-dimensional model, and then a sensor component model is added to each virtual detection point, and a unique number is associated with each sensor component. According to the virtual position of the virtual detection point, the corresponding actual position is found in the actual cable, and then the sensor component is installed at the actual position. The sensor component can include temperature sensors, current sensors, ultrasonic sensors, etc., which can be added according to actual needs. The sensor data detected by the sensor component in real time will be synchronously displayed in the three-dimensional model and associated with the corresponding virtual detection point; for example: virtual position-number-sensing data, the sensor data is suspended at the corresponding virtual detection point.

[0034] After receiving the sensor data, each set of sensor data is judged and compared with the historical normal sensor data to determine whether the sensor data corresponding to the actual position is abnormal. When there is an abnormality, the actual position corresponding to the abnormal sensor data is directly screened and marked as an abnormal actual position, and then an abnormal mark is made at the abnormal virtual position corresponding to the abnormal actual position.

[0035] Abnormal marking means matching the corresponding partial discharge phenomenon from the pre-established fault image database according to the abnormal sensor data, and then associating the partial discharge phenomenon with the abnormal virtual position. The fault image database stores a large number of images and related data of partial discharge phenomena of different types and degrees, covering various possible cable fault scenarios. For example, the partial discharge images generated by cables of different materials at different aging stages and under different operating environments are recorded in detail. Each partial discharge phenomenon corresponds to one or several groups of similar abnormal sensor data.

[0036] Reference Figure 2 As another implementation of the visual positioning method, after the sensor assembly is installed according to the actual position, S210-S240 may also be included: S210, receiving a selection instruction for specifying a virtual sensor component in a three-dimensional model; S220, controlling the virtual state of the virtual sensor component to change from a fixed state to a movable state according to the selected instruction; S230, after the virtual sensor component moves, obtaining a virtual moving distance of the virtual sensor component according to the position of the virtual sensor component after the movement; S240, controlling the movement of the corresponding actual sensor component according to the virtual moving distance.

[0037] Specifically, when a virtual sensor is clicked for more than a preset time, it indicates that the virtual sensor is selected, so a selection instruction is sent, and the virtual state of the virtual sensor is changed from a fixed state to a movable state, so that the staff can drag the virtual sensor to move. For example, the current position of the virtual sensor is point A, and the virtual sensor is dragged to point B, and then the virtual moving distance from point A to point B is obtained, so that the movement of the actual sensor component is controlled according to the virtual moving distance. In addition, when the moving virtual sensor component reaches the set maximum moving distance or is no longer selected, it is changed from a movable state to a fixed state.

[0038] Reference Figure 3 , further, after S230 and before S240, S231-S235 may also be executed: S231, obtaining a virtual moving duration of a virtual sensor component; S232, determining a speed and distance collection interval according to the virtual moving duration; S233, collecting the virtual moving speed and virtual passing distance corresponding to the virtual sensor component according to the collection interval; S234, constructing a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, the virtual passing distance and the collection interval; S235, determining the road section actually requiring inspection according to the three-dimensional curve graph.

[0039] Specifically, after moving from point A to point B, the virtual moving duration is obtained, and then the collection interval is determined according to the virtual moving duration, for example, the collection interval is to collect the current speed and the distance traveled of the virtual sensor component once per second; based on these data, a three-dimensional curve graph can be generated to characterize the relationship between the speed change and the time change corresponding to the change in distance from point A to point B. In addition, after the three-dimensional curve graph is generated, the curve or reference curve during normal movement is marked on the three-dimensional curve graph. By comparing the curve generated during movement with the reference curve, the road section corresponding to the curve section with a large deviation is the road section that needs to be inspected; the large deviation indicates that at the same position, the difference between the actual curve and the reference curve is greater than the set difference threshold. For example, the distance from point A to point C is the same as that from point C to point D, but the speed is slower than that from point C to point D, and the time is longer, which means that point A to point C is the road section that needs to be inspected; among them, point C and point D are both between point A and point B.

[0040] If the curve from point A to point B does not deviate much from the reference curve, it means that point A to point B is a normal section and only point B needs to be monitored. If point A to point C is determined to be a section that needs to be inspected, it means that before focusing on point B, the section from point A to point C needs to be dynamically inspected. Therefore, when the actual sensor component moves on the section from point A to point C, it needs to move at a speed lower than the normal speed. The normal speed represents the set speed. When moving between point C and point D, the normal speed is restored.

[0041] Reference Figure 4 , further, after S150, S151-S154 may also be executed: S151, constructing an image acquisition area with an initial radius of Xcm, taking the actual position of the anomaly as the center of the circle; S152, determining whether there is a camera in the image acquisition area; S153, if yes, control the camera to collect image information of the actual position of the abnormality; S154, if not, then use Mcm as the expansion benchmark, increase the radius of the image acquisition area to update the image acquisition area for re-judgment; wherein, (X+nM)cm≤Zcm, n is the number of updates, and Zcm is the preset camera acquisition radius.

[0042] Specifically, a camera is arranged at a key position of the cable to collect image information at the key position. Similarly, in the three-dimensional model, a camera model is added at a virtual key position corresponding to the actual key position. After the abnormal actual position is determined, the abnormal actual position is used as the center of the circle and the initial radius Xcm is used as the radius to construct an image acquisition area, and it is determined whether there is a camera in the image acquisition area. If so, it can be further determined whether the camera is facing the abnormal actual position. If the camera is facing the abnormal actual position, the camera is controlled to collect image information of the abnormal actual position; if the camera is not facing the abnormal actual position, the camera can be controlled to rotate to face the abnormal actual position, thereby controlling the camera to collect image information of the abnormal actual position, and the image information is associated with the abnormal mark.

[0043] If there is no camera in the image acquisition area constructed according to the initial radius, Mcm is used as the expansion benchmark to increase the radius of the image acquisition area to update the image acquisition area and re-judge.

[0044] If the radius of the image acquisition area reaches the camera acquisition radius, but the camera is still not found, the camera closest to the actual position of the current anomaly is controlled to move into the image acquisition area.

[0045] Furthermore, if there are multiple abnormal actual positions within the image acquisition area where a camera is located, it can be determined whether the multiple abnormal actual positions are all on the side that the camera is facing. If not, it means that the multiple abnormal actual positions are scattered. Therefore, the camera is controlled to rotate at a set rotation interval to enable intermittent image acquisition of multiple abnormal actual positions.

[0046] It should be noted that the staff can select the virtual camera in the 3D model, and the virtual camera changes from a fixed state to a movable state, thereby changing the position of the virtual camera. When the position of the virtual camera changes, the actual camera is controlled to change its position according to the moving distance of the virtual camera, thereby changing the monitoring position of the camera. The moving distance of the virtual camera becomes fixed after reaching the maximum set moving distance or is no longer selected.

[0047] The implementation principle of this embodiment is: Receive the sensor data sent by each group of sensor components; determine whether each group of sensor data is abnormal; if there are N groups of abnormalities, filter the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensor data; match the corresponding local discharge phenomenon from the fault image database according to the abnormal sensor data; associate the local discharge phenomenon with the abnormal virtual position to generate an abnormal mark, take each abnormal actual position as the center of the circle, and construct an image acquisition area with an initial radius of Xcm; determine whether there is a camera in the image acquisition area; if not, use Mcm as an expansion reference, increase the radius of the image acquisition area, and update the image acquisition area for re-judgment until there is a camera in the image acquisition area, and control the camera to collect image information of the abnormal actual position, and then associate the image information with the abnormal mark of the corresponding abnormal virtual position.

[0048] Based on the above method embodiment, the second embodiment of the present application discloses a cable partial discharge visualization positioning system. Figure 5 As an implementation of the visual positioning system, the visual positioning system may include: The detection point setting module 101 is used to set a plurality of virtual detection points in a pre-built three-dimensional model of the cable that needs to be inspected; A position mapping module 102, for determining the actual position of the actual detection point according to the virtual position of the virtual detection point; The data receiving module 103 is used to receive the sensing data sent by each group of sensor components after the sensor components are installed according to the actual position; A judgment module 104 is used to judge whether each set of sensor data is abnormal; The position screening module 105 is used to screen the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensing data when there are N groups of abnormalities; The abnormal marking module 106 is used to mark the abnormal virtual position corresponding to the abnormal actual position as abnormal.

[0049] Reference Figure 6 As another embodiment of the visual positioning system, the visual positioning system may further include: The instruction receiving module 107 is used to receive a selection instruction of a specified virtual sensor component in the three-dimensional model after the sensor component is installed according to the actual position; A state conversion module 108, for controlling the virtual state of the virtual sensor component to change from a fixed state to a movable state according to the selected instruction; The distance acquisition module 109 is used to acquire the virtual moving distance of the virtual sensor component according to the position of the virtual sensor component after the virtual sensor component moves; The control module 110 is used to control the movement of the corresponding actual sensor component according to the virtual movement distance.

[0050] In addition, the visual positioning system may also include: A duration acquisition module, used to acquire the virtual movement duration of the virtual sensor component; A collection interval determination module is used to determine the collection interval of speed and distance according to the virtual movement duration; A data collection module, used for collecting virtual moving speed and virtual passing distance corresponding to the virtual sensor component according to a collection interval; A three-dimensional curve graph construction module is used to construct a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, virtual passing distance and collection interval; The inspection section determination module is used to determine the actual inspection section based on the three-dimensional curve graph.

[0051] The modules of the cable partial discharge visual locating system correspond one to one with the cable partial discharge visual locating method, which will not be elaborated here.

[0052] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application in sequence. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for visually locating partial discharge of a cable, characterized in that: include: Set multiple virtual inspection points in the pre-built 3D model of the cable that needs to be inspected; Determining the actual position of the actual detection point according to the virtual position of the virtual detection point; After installing the sensor assembly according to the actual position, receiving a selection instruction for specifying a virtual sensor assembly in the three-dimensional model; According to the selected instruction, controlling the virtual state of the designated virtual sensor component to change from a fixed state to a movable state; After the designated virtual sensor component moves, obtaining a virtual moving distance of the designated virtual sensor component according to the position of the designated virtual sensor component after the movement; According to the virtual moving distance, the corresponding actual sensor component is controlled to move.

2. A cable partial discharge visual positioning method according to claim 1, characterized in that: The steps after obtaining the virtual moving distance of the specified virtual sensor component include: Obtaining a virtual movement duration of the specified virtual sensor component; Determine a speed and distance collection interval according to the virtual moving duration; According to the collection interval, collecting the virtual moving speed and virtual passing distance corresponding to the designated virtual sensor component; Constructing a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, the virtual travel distance and the collection interval; According to the three-dimensional curve graph, the road section actually requiring inspection is determined.

3. A cable partial discharge visual positioning method according to claim 2, characterized in that: The visual positioning method also includes: When the actual sensor component moves on the road section that actually needs to be inspected, controlling the actual sensor component to move at a speed lower than a normal moving speed; After the actual sensor component leaves the road section that actually needs to be inspected, the normal moving speed is restored.

4. A cable partial discharge visual positioning method according to claim 1, characterized in that: After installing the sensor assembly according to the actual position, the method further comprises: Receiving sensing data sent by each group of sensor components; Determining whether each group of sensor data is abnormal; If there are N groups of anomalies, the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data are screened; The abnormal virtual position corresponding to the abnormal actual position is marked as abnormal.

5. A cable partial discharge visual positioning method according to claim 4, characterized in that: The step of marking the virtual position corresponding to the abnormal actual position as abnormal comprises: According to the abnormal sensing data, matching the corresponding partial discharge phenomenon from a pre-established fault image database; The partial discharge phenomenon is associated with the abnormal virtual position to generate an abnormality mark.

6. A cable partial discharge visual positioning method according to claim 4, characterized in that: The step after screening the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensing data also includes: Taking the actual position of the anomaly as the center of the circle, an image acquisition area is constructed with an initial radius of Xcm; Determine whether there is a camera in the image acquisition area; If yes, controlling the camera to collect image information of the actual location of the abnormality; If not, Mcm is used as the expansion benchmark to increase the radius of the image acquisition area to update the image acquisition area for re-judgment; wherein, (X+nM)cm≤Zcm, n is the number of updates, and Zcm is the preset acquisition radius of the camera.

7. A cable partial discharge visual positioning method according to claim 6, characterized in that: The visual positioning method also includes: If a certain camera corresponds to multiple abnormal actual positions, determining whether the multiple abnormal actual positions are all on the side that the camera is facing; If not, the camera is controlled to rotate at a set rotation interval.

8. A cable partial discharge visual positioning system, characterized in that: Applicable to the cable partial discharge visual positioning method according to any one of claims 1 to 7, the visual positioning system comprising: A detection point setting module (101) is used to set a plurality of virtual detection points in a pre-built three-dimensional model of a cable that needs to be inspected; A position mapping module (102), used to determine the actual position of the actual detection point according to the virtual position of the virtual detection point; An instruction receiving module (107) is used to receive a selection instruction of a specified virtual sensor component in the three-dimensional model after the sensor component is installed according to the actual position; A state conversion module (108), configured to control the virtual state of the designated virtual sensor component to change from a fixed state to a movable state according to the selected instruction; A distance acquisition module (109) is used to acquire a virtual movement distance of the designated virtual sensor component according to the position of the designated virtual sensor component after the designated virtual sensor component moves; The control module (110) is used to control the movement of the corresponding actual sensor component according to the virtual movement distance.

9. A cable partial discharge visual positioning system according to claim 8, characterized in that: The visual positioning system also includes: A duration acquisition module, used to acquire the virtual movement duration of the specified virtual sensor component; A collection interval determination module, used to determine the collection interval of speed and distance according to the virtual movement duration; A data collection module, used for collecting the virtual moving speed and virtual passing distance corresponding to the specified virtual sensor component according to the collection interval; A three-dimensional curve graph construction module, used to construct a three-dimensional curve graph of speed, time and distance changes according to the virtual moving speed, the virtual passing distance and the collection interval; The inspection section determination module is used to determine the section that actually needs to be inspected based on the three-dimensional curve graph.

10. A cable partial discharge visual positioning system according to claim 8, characterized in that: The visual positioning system also includes: A data receiving module (103) is used to receive sensing data sent by each group of sensor components after the sensor components are installed according to the actual position; A judgment module (104), used to judge whether each group of sensor data is abnormal; A position screening module (105) is used to screen the abnormal actual position of the abnormal sensor component corresponding to the abnormal sensing data when N groups of abnormalities exist; The abnormal marking module (106) is used to mark the abnormal virtual position corresponding to the abnormal actual position as abnormal.

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