A method and system for visualizing and locating partial discharge in a cable

Abstract

The present application relates to a method and system for visual positioning of partial discharge in cables, belonging to the technical field of cable inspection. The visual positioning method includes: setting a plurality of virtual detection points in a pre-constructed three-dimensional model of the cable to be inspected; determining the actual positions of the actual detection points according to the virtual positions of the virtual detection points; after installing the sensor assembly according to the actual positions, receiving a selection instruction for a specified virtual sensor assembly in the three-dimensional model; controlling the virtual state of the specified virtual sensor assembly to change from a fixed state to a movable state according to the selection instruction; after the specified virtual sensor assembly moves, obtaining the virtual moving distance of the specified virtual sensor assembly according to the position of the specified virtual sensor assembly after moving; and controlling the corresponding actual sensor assembly to move according to the virtual moving distance. The present application has the beneficial effects of shortening the duration of cable inspection and reducing the labor intensity of the staff.

Description

Technical Field

[0001] This application relates to the technical field of cable inspection, and in particular to a method and system for visual positioning of partial discharge in cables. Background Art

[0002] Cable partial discharge refers to the phenomenon that in a cable insulation system, the electric field strength in a local area reaches the breakdown field strength of the insulating medium, resulting in discharge in that area, but not penetrating the entire insulation. During daily cable inspections, workers usually determine whether a cable has or is about to have a fault by judging whether partial discharge occurs in the cable.

[0003] In related technologies, when workers inspect cables, they usually use professional tools, such as acoustic imagers, to inspect the cables to locate the fault points of the cables; however, since workers need to traverse the entire cable with professional tools, the detection time is long and the labor intensity of workers is high. Summary of the Invention

[0004] In order to shorten the duration of cable inspection and reduce the labor intensity of workers, this application provides a method and system for visual positioning of partial discharge in cables.

[0005] In a first aspect, this application provides a method for visual positioning of partial discharge in cables, adopting the following technical solutions:

[0006] A method for visual positioning of partial discharge in cables includes:

[0007] Set a plurality of virtual detection points in a pre-constructed three-dimensional model of the cable to be inspected;

[0008] Determine the actual position of the actual detection point according to the virtual position of the virtual detection point;

[0009] After installing the sensor assembly according to the actual position, receive the selection instruction of the specified virtual sensor assembly in the three-dimensional model;

[0010] According to the selection instruction, control the virtual state of the specified virtual sensor assembly to change from a fixed state to a movable state;

[0011] After the specified virtual sensor assembly moves, obtain the virtual moving distance of the specified virtual sensor assembly according to the position after the specified virtual sensor assembly moves;

[0012] Control the corresponding actual sensor assembly to move according to the virtual moving distance.

[0013] By adopting the above technical solution, virtual detection points with unique numbers are preset in the three-dimensional cable model, and specific identifiers are assigned to each detection position. By mapping the positions of the virtual detection points to the actual detection points, after the sensor components are actually installed, they can be accurately corresponding to the specific positions in the three-dimensional model. Determining the actual position according to the virtual position and installing the sensor components realizes the targeted detection of the key parts of the cable.

[0014] When the staff selects a certain 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 inspection plan planning. In the three-dimensional model environment, the operator can freely adjust the position of the virtual sensor component just like "moving a device" in the real scene. Obtain the virtual movement distance according to the position of the virtual sensor component after moving, and control the corresponding actual sensor component to move accordingly, realizing the accurate correspondence between the virtual and the real. 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 path and distance planned in the virtual. This real-time virtual-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 instructions of the virtual sensor component in a timely manner to ensure the continuity and accuracy of the detection work. For example, when dynamically detecting an operating cable, the virtual sensor position can be quickly adjusted in the virtual model according to the abnormal conditions detected in real time, and the actual sensor moves synchronously, obtaining more accurate detection data in a timely manner, which helps to detect and handle cable faults in a timely manner.

[0015] Since sensor components are arranged on the cable and the sensor components are synchronized with the virtual sensor components in the three-dimensional model; there is no need for manual on-site operation with professional tools, and as long as the virtual sensor components are operated in the three-dimensional model, the actions of the actual sensing components can be controlled to realize the monitoring of the cable, thereby shortening the duration of cable inspection and reducing the labor intensity of the staff.

[0016] Optionally, the steps after obtaining the virtual movement distance of the specified virtual sensor component include:

[0017] Obtain the virtual movement duration of the specified virtual sensor component;

[0018] Determine the acquisition intervals of speed and distance according to the virtual movement duration;

[0019] Collect the virtual movement speed and virtual passing distance corresponding to the specified virtual sensor component according to the acquisition intervals;

[0020] Construct a three-dimensional curve graph showing the changes in speed, time, and distance based on the virtual moving speed, the virtual traveled distance, and the acquisition interval;

[0021] Determine the actual section to be inspected based on the three-dimensional curve graph.

[0022] By adopting the above technical solution, by constructing a three-dimensional curve graph, the operator can clearly see the changing trend of speed over time and the cumulative situation of the moving distance within different time periods. For example, in the three-dimensional curve graph, it can be visually presented that the virtual sensor accelerates in some time periods, decelerates in some time periods, or stays briefly at a specific position. This kind of visual display helps to understand the moving process of the virtual sensor more deeply and provides an intuitive basis for subsequent decision-making. By analyzing the relationship between speed, time, and distance reflected in the three-dimensional curve graph, it can be judged which sections are the areas that the staff want the virtual sensor component to focus on covering or staying for a longer time, and these areas are often the key parts for monitoring the operating conditions of the cables. For example, if it is found in the three-dimensional curve graph that a specified virtual sensor component moves slowly and stays for a long time in a certain time period, it indicates that this area may be a high-incidence area of cable faults or a key detection area, and the corresponding actual section should be listed as the key inspection section.

[0023] Optionally, the visual positioning method further includes:

[0024] When the actual sensor component moves on the actual section to be inspected, control the actual sensor component to move at a speed lower than the normal moving speed;

[0025] After the actual sensor component leaves the actual section to be inspected, restore to the normal moving speed.

[0026] By adopting the above technical solutions, when the actual sensor assembly moves on the section to be inspected actually required, controlling it to move at a speed lower than the normal moving speed can enable the sensor to have more ample time to collect data. For example, when detecting the partial discharge of a cable, a slower moving speed can allow the sensor to capture weak and short-lived discharge signals more accurately. For temperature detection, it can record the minute changes in temperature at different positions more meticulously, avoiding missing key information due to too fast a speed, thereby improving the integrity and accuracy of the detection data. In a complex cable system, some fault characteristics may be relatively hidden. A slower moving speed helps the sensor assembly to conduct a more in-depth "scan" of potential fault areas. For instance, at the joints of cables, subtle damage to the insulation layer may only be manifested through partial discharge at a specific frequency or weak temperature anomalies; when the actual sensor assembly moves at a lower speed, it can detect these signals more comprehensively, improving the ability to identify various faults, and even incipient and imperceptible potential fault hazards are more likely to be discovered, providing strong support for taking maintenance measures in a timely manner. The actual sensor assembly operates at the normal moving speed on non-critical sections to be inspected actually required, and reduces the speed on critical sections to be inspected actually required, achieving a reasonable allocation of detection time, thereby avoiding the time waste caused by moving at a low speed throughout the entire cable line, ensuring that there is sufficient time for detailed detection in key areas where faults may exist, and maintaining efficient inspection in other relatively normal areas, improving the inspection efficiency as a whole while ensuring the comprehensiveness of detection.

[0027] Optionally, after installing the sensor assembly according to the actual position, it further includes:

[0028] Receiving the sensing data sent by each group of the sensor assemblies;

[0029] Respectively determining whether the sensing data of each group is abnormal;

[0030] If there are N groups of abnormalities, screening the abnormal actual positions of the abnormal sensor assemblies corresponding to the abnormal sensing data;

[0031] Performing an abnormality mark on the abnormal virtual positions corresponding to the abnormal actual positions.

[0032] By adopting the above technical solutions, after installing the sensor assembly, receiving the sensing data in real time can dynamically master the operating state of the cable. Judging the abnormality of each group of sensing data, and being able to make a quick response once an abnormality is found. Corresponding the abnormal actual positions to the abnormal virtual positions in the three-dimensional model and performing a mark realizes the visualization of the fault positions. By viewing the three-dimensional model, the staff can intuitively understand which parts of the cable in the actual space have abnormalities. Therefore, since there is no need for the staff to traverse the entire cable with professional tools for inspection, the inspection duration of the cable can be shortened, and the labor intensity of the staff can be reduced.

[0033] Optionally, the step of performing an anomaly marking on the virtual position corresponding to the actual anomaly position includes:

[0034] According to the anomaly sensing data, match the corresponding partial discharge phenomenon from a pre-established fault image database;

[0035] Associate the partial discharge phenomenon with the anomaly virtual position to generate an anomaly marking.

[0036] By adopting the above technical solution, by matching the partial discharge phenomenon corresponding to the anomaly sensing data from a pre-established fault image database, a more accurate basis for fault diagnosis can be provided. A large number of images and related data of partial discharge phenomena of different types and degrees are stored in this fault image database, covering various possible cable fault scenarios. For example, the partial discharge images generated by cables of different materials at different aging stages and in different operating environments are recorded in detail. When anomaly sensing data is detected, the system can quickly find the most matching partial discharge phenomenon in the database. In the 3D model of the cable, not only is the anomaly virtual position marked, but it is also associated with the specific partial discharge phenomenon. By viewing the 3D model, the staff can not only quickly locate the fault position but also intuitively understand the possible partial discharge phenomenon at this position. By accurately matching the partial discharge phenomenon and associating it with the anomaly virtual position, more targeted maintenance strategies can be formulated for different types of faults. Different partial discharge phenomena often reflect different cable fault causes and development stages. For example, the partial discharge caused by moisture is different from that caused by overheating due to overload, and the corresponding maintenance measures are also different. In addition, the correlation analysis of the anomaly virtual position and the partial discharge phenomenon helps to carry out predictive maintenance. As time goes by and data accumulates, the system can analyze the development trends of cable faults by analyzing multiple occurrences of similar partial discharge phenomena and their development processes. For example, if a certain minor partial discharge phenomenon occurs multiple times and then the cable gradually develops into a serious fault within a period of time, then when a similar minor discharge phenomenon is detected again, the system can issue an early warning in advance and recommend corresponding preventive maintenance measures, such as replacing some aging components in advance and increasing the monitoring frequency, etc.; 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.

[0037] Optionally, the steps after screening the actual anomaly positions of the anomaly sensor components corresponding to the anomaly sensing data further include:

[0038] Construct an image acquisition area with the actual anomaly position as the center and an initial radius of X cm;

[0039] Determine whether there is a camera in the image acquisition area;

[0040] If so, control the camera to collect the image information of the abnormal actual position;

[0041] If not, use Mcm as the expansion reference to increase the radius of the image acquisition area to update the image acquisition area for re - judgment; where, (X + nM) cm ≤ Z cm, n is the number of updates, and Z cm is the preset acquisition radius of the camera.

[0042] By adopting the above - mentioned technical solution, for example, in a complex cable trench, once the abnormal actual position of the abnormal sensor component is determined, in this way, the range that needs to be focused by the camera can be quickly circled, helping the operator to quickly focus on the periphery of the fault point, without blindly searching in a large - area region, greatly improving the accuracy and efficiency of fault location; and enabling the collected image to accurately reflect the actual situation of the fault point. When there is no camera in the image acquisition area, use Mcm as the expansion reference to increase the radius to update the image acquisition area and re - judge. This method can flexibly expand the acquisition range according to the actual situation. For example, in some large - scale 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 in increments of Mcm, the search range can be expanded until a camera that can be used to collect the image of the abnormal position is found. This adaptive adjustment mechanism ensures that there is a greater chance of obtaining the image information of the fault position in different cable installation environments.

[0043] Optionally, the visual positioning method further includes:

[0044] If a certain camera corresponds to multiple abnormal actual positions, determine whether all the multiple abnormal actual positions are on one side of the direction the camera is facing;

[0045] If not, control the camera to rotate at a set rotation interval.

[0046] By adopting the above technical solution, by determining whether the actual positions of multiple anomalies 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 actual positions of the anomalies as completely as possible. During cable inspection, it is possible that one camera is responsible for multiple anomaly points, and these anomaly points may be distributed in different directions. For example, in the cable layout of a substation, there may be multiple cable joints or weak insulation points (i.e., actual positions of anomalies). If they are distributed on different sides of the camera, it may not be possible to include all of them in the image acquisition range only by the initial orientation of the camera. Therefore, when there are multiple actual positions of anomalies, accurate judgment of the position distribution helps to more accurately locate the areas that need to be focused on. For each anomaly point, through precise 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 perspective problems. When it is found that the actual position of the anomaly is not on the side facing the camera, the camera is controlled to rotate at a set rotation interval, which can enable the camera to quickly adjust the angle, so as to obtain the required fault image information more quickly.

[0047] In a second aspect, the present application provides a cable partial discharge visualization positioning system, adopting the following technical solution:

[0048] A cable partial discharge visualization positioning system includes:

[0049] A detection point setting module, configured to set multiple virtual detection points in a pre-constructed three-dimensional model of the cable to be inspected;

[0050] A position mapping module, configured to determine the actual position of the actual detection point according to the virtual position of the virtual detection point;

[0051] An instruction receiving module, configured to receive a selected instruction for a specified virtual sensor component in the three-dimensional model after installing a sensor component according to the actual position;

[0052] A state conversion module, configured to control the virtual state of the specified virtual sensor component to change from a fixed state to a movable state according to the selected instruction;

[0053] A distance acquisition module, configured to acquire the virtual movement distance of the specified virtual sensor component according to the position of the specified virtual sensor component after movement after the specified virtual sensor component moves;

[0054] A control module, configured to control the corresponding actual sensor component to move according to the virtual movement distance.

[0055] By adopting the above technical solution, when a staff member selects a certain virtual sensor component, the virtual state of the virtual sensor component changes from fixed and immovable to movable. Thus, the staff member can drag the virtual sensor component to change its detection position, providing great flexibility for the inspection plan planning. In the 3D model environment, the operator can freely adjust the position of the virtual sensor component just like "moving a device" in the real scene. The virtual moving distance is obtained according to the position of the virtual sensor component after movement, and accordingly, the corresponding actual sensor component is controlled to move, realizing the precise correspondence between the virtual and the real. The system can accurately convert the movement parameters in the virtual world into actual operation instructions, ensuring that the actual sensor component moves according to the virtual planned path and distance. This real-time linkage between the virtual and the real enables the inspection plan planned in the virtual environment to be efficiently implemented in the actual scene. The actual sensor component can promptly respond to the movement instructions of the virtual sensor component, ensuring the continuity and accuracy of the inspection work. For example, when dynamically detecting an operating cable, the position of the virtual sensor can be quickly adjusted in the virtual model according to the real-time monitored abnormal conditions, and the actual sensor moves synchronously, obtaining more accurate detection data in a timely manner, which helps to promptly discover and handle cable faults.

[0056] By arranging sensor components on the cable and synchronizing the sensor components with the virtual sensor components in the 3D model, there is no need for manual on-site operation with professional tools. As long as the virtual sensor components are operated in the 3D model, the actions of the actual sensing components can be controlled, thus shortening the duration of cable inspection and reducing the labor intensity of the staff.

[0057] Optionally, the visualization positioning system further includes:

[0058] A duration acquisition module for acquiring the virtual movement duration of the specified virtual sensor component;

[0059] An acquisition interval determination module for determining the acquisition intervals of speed and distance according to the virtual movement duration;

[0060] A data acquisition module for acquiring the virtual movement speed and the virtual passed distance corresponding to the specified virtual sensor component according to the acquisition intervals;

[0061] A 3D curve graph construction module for constructing a 3D curve graph of the changes in speed, time, and distance according to the virtual movement speed, the virtual passed distance, and the acquisition intervals;

[0062] An inspection section determination module for determining the actual inspection sections to be inspected according to the 3D curve graph.

[0063] Optionally, the visualization positioning system further includes:

[0064] A data receiving module, configured to receive the sensing data sent by each group of the sensor components after the sensor components are installed according to the actual position;

[0065] A judgment module, configured to respectively judge whether the sensing data of each group is abnormal;

[0066] A position screening module, configured to screen the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data when there are N groups of abnormalities;

[0067] An abnormal marking module, configured to mark the abnormal virtual positions corresponding to the abnormal actual positions as abnormal.

[0068] In summary, the present application has at least the following beneficial effects:

[0069] 1. Set virtual detection points, install sensor components according to the virtual detection points, and then control the virtual state of the specified virtual sensor component to change from a fixed state to a movable state according to the selected instruction. The purpose is that when a staff member selects a certain virtual sensor component, the virtual state of the virtual sensor component changes from a fixed and immovable state to a movable state, so that the staff member can drag the movement of the virtual sensor component to change the detection position of the virtual sensor component, providing great flexibility for the inspection plan planning. In the three-dimensional model environment, the operator can freely adjust the position of the virtual sensor component just like "moving a device" in the real scene. Obtain the virtual movement distance according to the position of the virtual sensor component after moving, and control the corresponding actual sensor component to move accordingly, realizing the precise correspondence between the virtual and the real. The system can accurately convert the movement parameters in the virtual world into actual operation instructions to ensure that the actual sensor components move according to the virtual planned path and distance. This real-time virtual-real linkage enables the detection plan planned in the virtual environment to be efficiently implemented in the actual scene. The actual sensor components can respond to the movement instructions of the virtual sensor components in a timely manner to ensure the continuity and accuracy of the detection work. For example, when dynamically detecting an operating cable, the virtual sensor position can be quickly adjusted in the virtual model according to the real-time monitored abnormal situation, and the actual sensor moves synchronously, so as to obtain more accurate detection data in a timely manner, which helps to discover and handle cable faults in a timely manner. Since the sensor components are arranged on the cable and the sensor components are synchronized with the virtual sensor components in the three-dimensional model; there is no need for manual operation on-site with professional tools, and as long as the virtual sensor components are operated in the three-dimensional model, the actions of the actual sensing 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.

[0070] 2. The purpose of constructing a three-dimensional curve graph of the changes in speed, time, and distance based on the virtual moving speed, virtual traveled distance, and the collection interval is that the operator can clearly see the changing trend of speed over time and the cumulative situation of the moving distance within different time periods. For example, in the three-dimensional curve graph, it can be visually presented that the virtual sensor accelerates in some time periods, decelerates in some time periods, or stays briefly at a specific position. This kind of visual display helps to understand the moving process of the virtual sensor more deeply and provides an intuitive basis for subsequent decision-making. By analyzing the relationships among speed, time, and distance reflected in the three-dimensional curve graph, it can be determined which sections are the areas that the staff wants the virtual sensor component to focus on covering or staying for a longer time, and these areas are often the key parts for monitoring the operating conditions of the cable. For example, if it is found in the three-dimensional curve graph that a specified virtual sensor component moves slowly and stays for a long time in a certain time period, it indicates that this 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.

[0071] 3. The purpose of constructing the image acquisition area is to help the operator 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 enabling the acquired image to accurately reflect the actual situation of the fault point. Description of the Drawings

[0072] Figure 1 is the flowchart of an implementation manner of Embodiment 1 of the method of the present application;

[0073] Figure 2 is the flowchart of another implementation manner of Embodiment 1 of the method of the present application;

[0074] Figure 3 is the flowchart of the steps that can be executed after S230 and before S240 of the present application;

[0075] Figure 4 is the flowchart of the steps that can be executed after S150 of the present application;

[0076] Figure 5 is the structural block diagram of an implementation manner of Embodiment 1 of the system of the present application;

[0077] Figure 6 is the structural block diagram of another implementation manner of Embodiment 1 of the system of the present application.

[0078] Description of the reference numerals: 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 Embodiments

[0079] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the following will describe the technical solutions in the embodiments of the present invention in conjunction with the attached Figure 1 - attached Figure 6 , and clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0080] The first embodiment of this application discloses a method for visual positioning of partial discharge in cables. Referring to Figure 1 , as an implementation of this visual positioning method, this visual positioning method may include S110 - S170:

[0081] S110, set multiple virtual detection points in the three - dimensional model of the cable to be inspected pre - constructed;

[0082] S120, determine the actual positions of the actual detection points according to the virtual positions of the virtual detection points;

[0083] S130, after installing the sensor components according to the actual positions, receive the sensing data sent by each group of sensor components;

[0084] S140, respectively determine whether each group of sensing data is abnormal;

[0085] S150, if there are N groups of abnormalities, screen the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data;

[0086] S160, perform abnormal marking on the abnormal virtual positions corresponding to the abnormal actual positions;

[0087] S170, if there are no abnormalities, return to S140.

[0088] Specifically, a three-dimensional model of the cable can be constructed in model construction software based on data such as the geometric dimensions, structural data, and connection components of the cable to be inspected as needed; the three-dimensional model of the cable reflects the actual situation of the cable. After the three-dimensional model is constructed, virtual detection points can be set in the three-dimensional model according to the positions where the cable has had faults in the past. 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 positions of the virtual detection points, the corresponding actual positions are found in the actual cable, and then the sensor components are installed at the actual positions. The sensor components can include temperature sensors, current sensors, ultrasonic sensors, etc., which can be added according to actual needs. The sensing data detected by the sensor components in real time will be synchronously displayed in the three-dimensional model and associated with the corresponding virtual detection points; for example: virtual position - number - sensing data, and the sensing data floats at the corresponding virtual detection points.

[0089] After receiving the sensing data, each group of sensing data is judged, either by comparing with a threshold or with historical normal sensing data, to determine whether the sensing data corresponding to the actual position is abnormal. When there is an abnormality, the actual position corresponding to the abnormal sensing data is directly screened and marked as an abnormal actual position, and then an abnormality mark is made at the abnormal virtual position corresponding to the abnormal actual position.

[0090] The abnormality mark means that according to the abnormal sensing data, the corresponding partial discharge phenomenon is matched from a pre-established fault image database, and then the partial discharge phenomenon is associated with the abnormal virtual position. The fault image database stores a large number of images and related data of different types and degrees of partial discharge phenomena, covering various possible cable fault scenarios. For example, the partial discharge images generated by cables of different materials at different aging stages and different operating environments are all recorded in detail. Each partial discharge phenomenon corresponds to one or several groups of similar abnormal sensing data.

[0091] Refer to Figure 2 , as another implementation of the visualization positioning method, after installing the sensor components according to the actual positions, it can also include S210 - S240:

[0092] S210, receive a selection instruction for a specified virtual sensor component in the three-dimensional model;

[0093] S220, according to the selection instruction, control the virtual state of the virtual sensor component to change from a fixed state to a movable state;

[0094] S230, after the virtual sensor component moves, obtain the virtual moving distance of the virtual sensor component according to the position after the virtual sensor component moves;

[0095] S240. Control the movement of the corresponding actual sensor component according to the virtual movement distance.

[0096] Specifically, when a certain virtual sensor is clicked for more than a preset duration, it indicates that the virtual sensor is selected. Therefore, a selection instruction is sent, and the virtual state of the virtual sensor changes from a fixed state to a movable state, enabling the staff to drag the virtual sensor to move. For example, if the current position of the virtual sensor is point A, drag the virtual sensor to move to point B, and then obtain the virtual movement distance from point A to point B. Thus, control the movement of the actual sensor component according to this virtual movement distance. In addition, when the moved virtual sensor component reaches the set maximum movement distance or is no longer selected, it changes from a movable state to a fixed state.

[0097] Refer to Figure 3 Furthermore, after S230 and before S240, S231 - S235 can also be executed:

[0098] S231. Obtain the virtual movement duration of the virtual sensor component;

[0099] S232. Determine the acquisition intervals of speed and distance according to the virtual movement duration;

[0100] S233. Acquire the virtual movement speed and virtual passed distance corresponding to the virtual sensor component according to the acquisition intervals;

[0101] S234. Construct a three-dimensional curve graph of the changes in speed, time, and distance according to the virtual movement speed, virtual passed distance, and acquisition intervals;

[0102] S235. Determine the actual section to be inspected according to the three-dimensional curve graph.

[0103] Specifically, after moving from point A to point B, obtain the virtual movement duration, and then determine the acquisition intervals according to this virtual movement duration. For example, the acquisition interval is to acquire the current speed and passed distance of the virtual sensor component once per second; based on these data, a three-dimensional curve graph can be generated to represent the relationship between the corresponding speed change and time change with the change in distance from point A to point B. In addition, after the three-dimensional curve graph is generated, mark the curve during normal movement or the reference curve for the three-dimensional curve graph. By comparing the curve generated during movement with the reference curve, the section corresponding to the curve segment with a large deviation is the section to be inspected; a large deviation means 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 distances from point A to point C and from point C to point D are the same, but the speed from point A to point C is slower and the time is longer than that from point C to point D, indicating that the section from point A to point C is the section to be inspected; among them, point C and point D are both between point A and point B.

[0104] If the curve from point A to point B has a small deviation from the reference curve, it indicates that the section from point A to point B is a normal section, and only point B needs to be monitored intensively. If it is determined that the section from point A to point C needs to be inspected, it means that before intensively monitoring 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 moving speed, and the normal moving speed represents the set speed. When moving from point C to point D, it resumes moving at the normal moving speed.

[0105] Refer to Figure 4 , Further, after S150, S151 - S154 can also be executed:

[0106] S151, Construct an image acquisition area with the abnormal actual position as the center and an initial radius of X cm;

[0107] S152, Determine whether there is a camera in the image acquisition area;

[0108] S153, If so, control the camera to collect the image information of the abnormal actual position;

[0109] S154, If not, use Mcm as the extension benchmark to increase the radius of the image acquisition area to update the image acquisition area for re - judgment; where, (X + nM) cm ≤ Z cm, n is the number of updates, and Z cm is the pre - set acquisition radius of the camera.

[0110] Specifically, cameras are arranged at key positions of the cable to collect the image information at the key positions. Similarly, in the 3D model, camera models are added at the virtual key positions corresponding to the actual key positions. When the abnormal actual position is determined, use this abnormal actual position as the center and an initial radius of X cm as the radius to construct an image acquisition area, and determine 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, control the camera to collect the 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, so as to control the camera to collect the image information of the abnormal actual position and associate the image information with the abnormal mark.

[0111] If there is no camera in the image acquisition area constructed according to the initial radius, use Mcm as the extension benchmark to increase the radius of the image acquisition area to update the image acquisition area for re - judgment.

[0112] If the radius of the image acquisition area reaches the acquisition radius of the camera but no camera is still found, control the camera closest to the current abnormal actual position to move into the image acquisition area.

[0113] Further, if there are multiple abnormal actual positions within the image acquisition area of a certain camera, it can be determined whether all the multiple abnormal actual positions are on the side towards which the camera is oriented. If not, it indicates 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 the multiple abnormal actual positions.

[0114] It should be noted that the staff can select a virtual camera in the 3D model. The virtual camera changes from a fixed state to a movable state, so that the position of the virtual camera can be changed. After 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. After the moving distance of the virtual camera reaches the maximum set moving distance or it is no longer selected, it becomes a fixed state.

[0115] The implementation principle of this embodiment is as follows:

[0116] Receive the sensing data sent by each group of sensor components; respectively determine whether each group of the sensing data is abnormal; if there are N groups of abnormalities, screen the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data; according to the abnormal sensing data, match the corresponding partial discharge phenomenon from the fault image database; associate the partial discharge phenomenon with the abnormal virtual position to generate an abnormal mark, construct an image acquisition area with each abnormal actual position as the center and an initial radius of X cm; determine whether there is a camera within the image acquisition area; if not, use Mcm as the expansion benchmark to increase the radius of the image acquisition area to update the image acquisition area for re-judgment until there is a camera within the image acquisition area, and control the camera to collect the image information of the abnormal actual position, and then associate the image information with the abnormal mark of the corresponding abnormal virtual position.

[0117] Based on the above method embodiment, the second embodiment of the present application discloses a cable partial discharge visualization positioning system. Refer to Figure 5 , as an implementation manner of the visualization positioning system, the visualization positioning system may include:

[0118] A detection point setting module 101, configured to set a plurality of virtual detection points in a pre-constructed 3D model of a cable to be inspected;

[0119] A position mapping module 102, configured to determine the actual position of the actual detection point according to the virtual position of the virtual detection point;

[0120] A data receiving module 103, configured to receive the sensing data sent by each group of sensor components after installing the sensor components according to the actual positions;

[0121] A judgment module 104 for respectively judging whether each group of sensing data is abnormal;

[0122] A position screening module 105 for screening the abnormal actual positions of the abnormal sensor components corresponding to the abnormal sensing data when there are N groups of abnormalities;

[0123] An abnormality marking module 106 for marking abnormalities at the abnormal virtual positions corresponding to the abnormal actual positions.

[0124] Refer to Figure 6 , as another implementation manner of the visual positioning system, the visual positioning system may further include:

[0125] An instruction receiving module 107 for receiving a selection instruction of a specified virtual sensor component in the three-dimensional model after installing the sensor component according to the actual position;

[0126] 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 selection instruction;

[0127] A distance acquisition module 109 for acquiring the virtual movement distance of the virtual sensor component according to the position of the virtual sensor component after movement after the virtual sensor component moves;

[0128] A control module 110 for controlling the corresponding actual sensor component to move according to the virtual movement distance.

[0129] In addition, the visual positioning system may further include:

[0130] A duration acquisition module for acquiring the virtual movement duration of the virtual sensor component;

[0131] An acquisition interval determination module for determining the acquisition intervals of speed and distance according to the virtual movement duration;

[0132] A data acquisition module for acquiring the virtual movement speed and the virtual passed distance corresponding to the virtual sensor component according to the acquisition interval;

[0133] A three-dimensional curve graph construction module for constructing a three-dimensional curve graph of the changes in speed, time, and distance according to the virtual movement speed, the virtual passed distance, and the acquisition interval;

[0134] An inspection section determination module for determining the actually required inspection section according to the three-dimensional curve graph.

[0135] The modules of the cable partial discharge visual positioning system correspond one by one to the cable partial discharge visual positioning method, and will not be elaborated here.

[0136] The above are all preferred embodiments of the present application, which do not successively limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or alternative features with similar purposes. That is, unless specifically described, each feature is only an example in 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, controlling the movement of the corresponding actual sensor component; 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; Determining the road section that actually needs to be inspected based on the three-dimensional curve graph; 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.

2. 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.

3. A cable partial discharge visual positioning method according to claim 2, 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.

4. A cable partial discharge visual positioning method according to claim 2, 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.

5. A cable partial discharge visual positioning method according to claim 4, 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.

6. A cable partial discharge visual positioning system, characterized in that: Used to perform the cable partial discharge visual positioning method as claimed in any one of claims 1 to 5, the visual positioning system comprises: 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; A control module (110), used for controlling the movement of a corresponding actual sensor component according to the virtual movement distance; 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; The visual positioning system also includes: 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; An inspection section determination module, used to determine the section actually required for inspection according to the three-dimensional curve graph; The visual positioning system is also configured to: control the actual sensor component to move at a speed lower than a normal moving speed when the actual sensor component moves on the actual section that needs to be inspected; and restore the actual sensor component to the normal moving speed after the actual sensor component leaves the actual section that needs to be inspected.

7. A cable partial discharge visual positioning system according to claim 6, 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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