Method and system for positioning abnormal sound source of high-voltage switchgear

Abstract

The invention belongs to the field of high-voltage switch equipment fault identification, and discloses a high-voltage switch equipment abnormal sound source positioning method and system, any position around a high-voltage switch equipment is used as an acquisition original point, a pitch angle and an azimuth angle are acquired by using a power pattern of an abnormal sound source, and the abnormal sound source is acquired by using translation and rotation of a sound valley transmission plate. And meanwhile, by combining a triangle principle, accurate calculation and positioning of the space coordinates of the abnormal sound source are realized. The initial direction positioning of the pitch angle and the azimuth angle greatly improves the subsequent positioning efficiency, the sound valley transmission plate can effectively avoid mutual interference between sound sources, the positioning robustness is ensured, and the positioning precision is improved; according to the method, the abnormal sound positioning precision is improved, the limitation of multi-angle collection in a traditional abnormal sound positioning mode is broken through, the difficulty and potential safety hazards of manual multi-angle collection in the high altitude or in the limited space are avoided, and the efficiency and comprehensiveness of troubleshooting of the high-voltage switchgear are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-voltage switchgear fault identification, and in particular relates to a method and system for locating an abnormal sound source of a high-voltage switchgear. Background Art

[0002] As an indispensable key component of substations, high-voltage switchgear plays a vital role. Its normal operating status is directly related to the stability and safety of the entire power system, providing a solid foundation and solid guarantee for the continuous and reliable transmission of electric energy.

[0003] In actual operation, high-voltage switchgear sometimes has irregular and unpredictable abnormal sound problems. These sounds often imply possible faults or hidden dangers inside the equipment. If they are not discovered and handled in time, they may pose a serious threat to the stable operation of the power system. In response to this challenge, on-site staff face many difficulties when conducting manual inspections. Not only is the inspection efficiency low, but it is also difficult to fully cover all potential problem points. At the same time, due to the high risk of high-voltage equipment itself, there are also high safety hazards in the manual inspection process. Usually, in the process of locating abnormal sounds of high-voltage switchgear, the fault personnel need to hold the sound source positioning device and collect sound sources from multiple angles around the high-voltage switchgear; however, since many cases need to be carried out at high altitudes, or due to limited space, it is impossible to collect sound sources from multiple angles around the high-voltage switchgear, resulting in low accuracy of the final abnormal sound positioning results; and thus, it is impossible to accurately locate equipment failures, which has a serious impact on the stable operation of the power system.

[0004] It can be seen that the existing abnormal noise positioning method cannot accurately locate the source of the abnormal noise due to the limitation of multi-angle collection. Summary of the invention

[0005] The present invention aims to provide a method and system for locating the abnormal sound source of a high-voltage switchgear, so as to solve the technical problem that the existing abnormal sound locating method cannot accurately locate the abnormal sound source due to the limitation of multi-angle sound source collection.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A method for locating an abnormal sound source of a high-voltage switchgear, comprising:

[0008] Take any position around the high-voltage switchgear as the collection origin to collect the abnormal sound source signal;

[0009] Obtaining a power direction diagram of the abnormal sound source based on the collected abnormal sound source signal;

[0010] Based on the power direction diagram of the abnormal sound source, the elevation angle and azimuth angle of the abnormal sound source relative to the acquisition origin are obtained;

[0011] Based on the pitch angle and azimuth angle of the acquisition origin, the sound valley transmission plate is placed to coincide with the acquisition origin, and the topological boundary line of the sound valley transmission plate is collinear with the line from the acquisition origin to the abnormal sound source;

[0012] Keeping the pitch angle and azimuth angle unchanged, translate the sound valley transmission plate by a preset distance along the straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotate the sound valley transmission plate after translation so that the topological boundary line and the line connecting the collection origin and the abnormal sound source after translation are collinear, and obtain the rotation angle;

[0013] Based on the triangle principle, combined with the rotation angle and preset distance, the spatial coordinates of the abnormal sound source are obtained and output.

[0014] Further,

[0015] Based on the collected abnormal noise source signal and combined with the DAS algorithm, the power direction diagram of the abnormal noise source is calculated.

[0016] Furthermore, based on the collected abnormal sound source signal, the specific steps of calculating the power direction diagram of the abnormal sound source in combination with the DAS algorithm are as follows:

[0017] Normalizing the collected time-domain sound source signal, wherein the time-domain sound source signal includes an abnormal sound source signal; and collecting the time-domain sound source signal using a microphone array;

[0018] The normalized time-domain sound source signal is sampled to obtain an observation matrix;

[0019] The covariance matrix of the observation signal matrix is ​​calculated based on the observation matrix;

[0020] Based on the covariance matrix and the selected weighted vector, the DAS algorithm is used to calculate the power pattern of the abnormal noise source.

[0021] Further,

[0022] The improved DAS algorithm is used to calculate the power pattern of the abnormal sound source. The specific steps are as follows:

[0023] A spherical coordinate system is established with the center of the microphone circular array as the collection origin, where the pitch angle θ∈[0,π / 2] of the sound source is the angle between the incident direction of the abnormal sound source and the z-axis, and the azimuth angle φ∈[0,2π] is the angle between the projection of the incident direction of the abnormal sound source on the array plane and the x-axis;

[0024] Based on the covariance matrix and weighted vector, the output power of the abnormal sound source is calculated. The specific formula is:

[0025] P=E[y(t) 2 ]=E[ω H x(t)x H (t)ω]=ω H E[x(t)x H (t)]ω=ω H R x ω

[0026] Where P is a function of θ and φ; x(t) is the observation matrix; R x =E[x(t)x H (t)] is the covariance matrix; ω = a(θ, φ) is the weight vector; y(t) = ω H x(t) is the output array;

[0027] The power direction diagram is formed according to the output power of the abnormal sound source, expressed as: P = ω H R x ω;

[0028] Use matrix functions to calculate the covariance matrix R x Do v -1 The power function is then used to restore the sound source distribution by raising the output result to the power of v. The power direction diagram of the improved abnormal sound source is: Determine the direction of the abnormal noise source;

[0029] Based on the direction of the abnormal sound source, within the range of θ∈[0,π / 2], φ∈[0,2π], the power directivity diagram is calculated and plotted with a preset step size, and θ and φ corresponding to the peak values ​​are used as the pitch angle and azimuth angle corresponding to the abnormal sound source.

[0030] Furthermore, the weighted vector is determined based on the calculated steering vector; the calculation process of the steering vector is as follows:

[0031] In the spherical coordinate system, the angle between the line connecting the nth array element and the center of the circle and the x-axis is γ n =2πn / N, where n=0 , 1,…,N-1, the position vector is The delay of the nth array element is:

[0032] If the acoustic signal at the acquisition origin is Then the acoustic signal received by array element n is

[0033] Then the steering vector is calculated as:

[0034]

[0035] Where a(θ,φ) is an N×1 matrix.

[0036] Furthermore, the specific steps of placing the sound valley transmission plate to coincide with the collection origin based on the pitch angle and azimuth angle of the collection origin, and making the topological boundary line of the sound valley transmission plate and the straight line from the collection origin to the abnormal sound source collinear are as follows:

[0037] Based on the obtained pitch angle and azimuth angle, the line OS0 between the coordinate O and the abnormal sound source S0 (x0, y0, z0) is obtained, and the projection of the abnormal sound source S0 on the horizontal plane where the acquisition origin O is located is S1 (x0, y0, 0);

[0038] A microphone is placed at the center of the square sound valley transmission board so that the position of the microphone coincides with the coordinate origin O. At the same time, by adjusting the pitch angle and azimuth angle, the topological boundary line of the sound valley transmission board is made collinear with the line connecting the collection origin to the abnormal sound source.

[0039] Furthermore, the specific steps of keeping the pitch angle and the azimuth angle unchanged, translating the sound valley transmission plate by a preset distance along a straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotating the sound valley transmission plate after the translation so that the topological boundary line and the line between the collection origin and the abnormal sound source after the translation are collinear are as follows:

[0040] A straight line l0 perpendicular to the topological boundary line is obtained through the center line O of the acoustic valley transmission plate;

[0041] Keep the sound valley transmission plate in the same position, move it along the straight line l0, and move the preset distance L, then the position of the center of the sound valley transmission plate is O1;

[0042] Rotate the sound valley transmission plate around the center position O1 along the plane where the sound valley transmission plate is located, measure the sound pressure values ​​received by the microphone inside the sound transmission plate at different rotation angles, and obtain a relationship diagram between the rotation angle and the sound pressure value;

[0043] Based on the relationship diagram between the rotation angle and the sound pressure value and the maximum sound pressure value, the rotation angle is obtained.

[0044] Furthermore, the specific steps of obtaining and outputting the spatial coordinates of the abnormal sound source based on the triangle principle, combined with the rotation angle and the preset distance are as follows:

[0045] Based on the triangle principle, combined with the rotation angle and the preset distance, the distance between the abnormal sound source and the collection origin is calculated. The specific formula is as follows:

[0046] The distance between the sound source S0 and O: OS0 = L / tanγ, z0 = OS0*sinθ, OS1 = OS0*cosθ;

[0047] Then y0=OS1*sinφ,x0=OS1*cosφ;where γ is the rotation angle;

[0048] Finally, the spatial coordinates S0 (x0, y0, z0) of the abnormal sound source are obtained.

[0049] Furthermore, the microphone adopts a uniform circular array or a spiral array.

[0050] A system for locating abnormal sound sources of high-voltage switchgear, comprising:

[0051] A signal acquisition unit, used to collect abnormal sound source signals by taking any position around the high-voltage switchgear as a collection origin;

[0052] A power calculation unit, used to obtain a power direction diagram of the abnormal sound source based on the collected abnormal sound source signal;

[0053] A direction positioning unit, used to obtain the elevation angle and azimuth angle of the abnormal sound source relative to the acquisition origin based on the power direction diagram of the abnormal sound source;

[0054] A first arrangement unit is used to place the sound valley transmission plate to coincide with the collection origin based on the pitch angle and azimuth angle of the collection origin, and to make the topological boundary line of the sound valley transmission plate and the line from the collection origin to the abnormal sound source collinear;

[0055] The second arrangement unit is used to keep the pitch angle and the azimuth angle unchanged, translate the sound valley transmission plate by a preset distance along a straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotate the sound valley transmission plate after the translation, so that the topological boundary line and the line between the collection origin and the abnormal sound source after the translation are collinear, and obtain the rotation angle;

[0056] The position output unit is used to obtain and output the spatial coordinates of the abnormal sound source based on the triangle principle, combined with the rotation angle and the preset distance.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] The present invention provides a method for locating the abnormal sound source of a high-voltage switchgear. The method uses any position around the high-voltage switchgear as the collection origin, uses the power direction diagram of the abnormal sound source to obtain the pitch angle and azimuth angle, and uses the translation and rotation of the sound valley transmission plate. At the same time, combined with the triangle principle, the accurate calculation and positioning of the spatial coordinates of the abnormal sound source are realized. The preliminary directional positioning of the pitch angle and azimuth angle greatly improves the efficiency of subsequent processing. The sound valley transmission plate can effectively avoid mutual interference between sound sources, ensure the robustness of the method, and improve the positioning accuracy. The use of this method not only improves the accuracy of abnormal sound positioning, but also breaks through the limitations of multi-angle collection in traditional abnormal sound positioning methods, avoids the difficulties and safety hazards of manual multi-angle collection in high altitude or confined space, effectively improves the efficiency and comprehensiveness of high-voltage switchgear fault detection, and provides a strong guarantee for the stable operation of the power system.

[0059] Preferably, in the present invention, the power direction diagram of the abnormal sound source is calculated in combination with the DAS algorithm. This method is simple to calculate and easy to implement, can accurately reflect the direction information of the abnormal sound source, provide a reliable basis for subsequent positioning, and greatly improve the positioning efficiency.

[0060] Preferably, in the present invention, an improved DAS algorithm is used to perform power function processing on the covariance matrix through a matrix function, thereby improving the restoration accuracy of the sound source distribution, thereby obtaining a more accurate power direction map of the abnormal sound source, and further improving the positioning accuracy.

[0061] Preferably, in the present invention, based on the triangle principle, combined with the rotation angle and the preset distance, the spatial coordinates of the abnormal sound source are calculated. This method is simple and intuitive to calculate and can accurately reflect the actual position of the abnormal sound source.

[0062] Preferably, in the present invention, it is proposed to use a uniform circular array or a spiral array as an arrangement of the microphone array. These arrangements can fully utilize space resources and improve the acquisition accuracy and positioning accuracy of the sound source signal.

[0063] The present invention also provides a high-voltage switchgear abnormal sound source positioning system. The system collects abnormal sound source signals at any position around the high-voltage switchgear through a signal collection unit, avoiding the tediousness and inconvenience of the traditional method of requiring a handheld device to surround the device for multi-angle collection, especially in high altitude or space-constrained conditions; the power calculation unit generates a power directional diagram based on the collected signal, providing key information for subsequent positioning; the direction positioning unit uses the power directional diagram to accurately obtain the pitch angle and azimuth of the abnormal sound source; through the coordinated work of the first arrangement unit and the second arrangement unit, the system can use the sound valley transmission plate to perform translation and rotation operations, combined with the triangle principle, and finally accurately calculate the spatial coordinates of the abnormal sound source. The use of this system not only significantly improves the positioning accuracy, but also greatly reduces the risk and cost of manual investigation, providing a strong guarantee for the stable operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 A schematic diagram of an acoustic valley topology transmission plate provided in an embodiment of the present invention;

[0065] Figure 2 A schematic diagram of a uniform linear array signal model provided by an embodiment of the present invention;

[0066] Figure 3 A power diagram provided by an embodiment of the present invention;

[0067] Figure 4 A diagram of the positioning process of the acoustic valley topology transmission board provided in an embodiment of the present invention;

[0068] Figure 5 A sound source location map provided by an embodiment of the present invention;

[0069] Figure 6 A power directional diagram using an improved DAS algorithm provided in an embodiment of the present invention;

[0070] Figure 7 A power directional diagram using a DAS algorithm provided in an embodiment of the present invention;

[0071] Figure 8 A power directional diagram using the MVDR algorithm provided in an embodiment of the present invention;

[0072] Fig. 9 A flow chart of a method for locating abnormal noise sources of high-voltage switchgear provided in an embodiment of the present invention;

[0073] Fig.10 A structural diagram of a system for locating abnormal noise sources of high-voltage switchgear provided in an embodiment of the present invention;

[0074] Fig.11A diagram of a specific implementation application scenario of the method for locating abnormal sound sources of high-voltage switchgear provided in an embodiment of the present invention;

[0075] Fig.12 A partial schematic diagram of the B direction provided by an embodiment of the present invention; wherein (a) is a plan view; (b) is a projection of the sound source on the xy plane; (c) is a projection of the sound source on the xz plane;

[0076] Fig.13 A schematic diagram of a sound source localization result provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0077] Example

[0078] As described in the background technology, due to the high risk of high-voltage equipment itself, there are still high safety hazards in the manual inspection process. Usually, in the process of locating abnormal sounds of high-voltage switchgear, the fault personnel need to hold the sound source positioning device and collect sound sources from multiple angles around the high-voltage switchgear; however, since many cases need to be carried out at high altitudes, or due to limited space, it is impossible to collect sound sources from multiple angles around the high-voltage switchgear, resulting in low accuracy of the final abnormal sound positioning result; and thus, the equipment failure cannot be accurately located, which has a serious impact on the stable operation of the power system.

[0079] In order to achieve the above-mentioned purpose, the present invention provides a method for locating the abnormal sound source of high-voltage switchgear. The method is not limited by multi-angle sound source collection, and can realize rapid and accurate positioning of the abnormal sound source; a digital method is used to quickly locate the sound source position, providing technical support for subsequent fault troubleshooting.

[0080] In order to further explain the technical solution of the present invention, the following terms are explained:

[0081] a. Acoustic valley topological insulator: a material that realizes topological phase transition by breaking spatial symmetries such as mirror symmetry of phononic crystal and opening the degenerate Dirac point.

[0082] b. Acoustic edge states: Sound waves can be transmitted on the boundary with opposite acoustic valley topological phase. The most obvious feature of boundary transport is that its bulk mode will not be excited and the energy can be well localized on its boundary.

[0083] c. Acoustic valley topological transmission plate: It is composed of two phononic crystals with opposite acoustic valley topological phases arranged periodically. When the sound wave is incident from the left end, it cannot be transmitted inside area A and area B, but can only be transmitted at the boundary between the two areas. The specific transmission structure is as follows: Figure 1 As shown, the topological boundary line is between area A and area B.

[0084] d. Microphone array: A structure in which microphones are arranged according to certain rules, in which a single microphone is called an array element.

[0085] e. Array aperture: The distance between the two farthest elements in the array.

[0086] f. Beamforming: By weighted summing the signals received by each array element, the array beam is directed to the same direction at the same time to achieve spatial directivity of the signal.

[0087] g. Narrowband signal: If the bandwidth of a signal is much smaller than its centre frequency, then the signal is called a narrowband signal.

[0088] h. Far / near field model: If the distance between the sound source and the microphone array is much greater than the wavelength of the signal, it is called a far field model. In the far field model, the sound wave is approximated as a plane wave, and only the phase difference between the received signals is considered while the amplitude difference is ignored. It is assumed that there is a simple time delay relationship between the signals. In the near field model, the sound wave is a spherical wave, and not only the phase difference between the received signals but also the amplitude difference between them needs to be considered.

[0089] i. Unitary matrix: If the matrix A n×n Satisfy A H A=AA H =E, the subscript H represents the conjugate transpose, then A is called a unitary matrix.

[0090] g.Hermitian matrix: If the matrix A n×n Satisfying A=A H , then A is called a Hermitian matrix, and all its eigenvalues ​​are real numbers. The Hermitian matrix can be decomposed into where Λ is a diagonal matrix and Λ=diag(λ1,λ2,…λ n ), λ i is the eigenvalue of A, E=[e1,e2,…,e n ] is a unitary matrix consisting of the eigenvectors of A.

[0091] k. Figure 2 As shown in the figure, the uniform linear array includes a single sound source, a narrowband signal, and a far-field model. Taking the uniform linear array as an example, other related terms such as steering vector, directivity pattern, directivity pattern gain, main / side lobe, and beam width are explained. Assume that the linear array contains a total of N array elements, the spacing between two adjacent array elements is d, and the angle between the incident sound wave and the array is θ.

[0092] Assume that the time domain signal of the sound source is Among them, A(t), f0, are the amplitude, center frequency and phase of the signal respectively, the noise signal is n(t) and the noise signals received by each array element are independent of each other. Taking the first array element as the reference array element, the received signal of each array element can be written as:

[0093] Right now

[0094] make a(θ) is called the steering vector, which is related to the geometric structure of the array and the propagation direction of the wave. The array output signal is: y(t) = ω H x(t)=s(t)ω H a(θ)+ω H n(t), where ω is the weight vector, and B(θ) = ω H a(θ) is called the radiation pattern. For any incoming wave direction θ0, to maximize the array gain in that direction, the weighted vector

[0095] but

[0096] Let G(θ)=|B(θ) 2 , called the power pattern, is usually normalized, that is, G u (θ)(dB)=10logG u (θ). Assuming the number of array elements N is 8 and the incoming wave direction θ0 is 90°, the power pattern can be drawn as Figure 3 shown.

[0097] Figure 3 The beam with the largest gain is called the main lobe, and the remaining small beams are called side lobes. The width of the main lobe that decreases by 3dB relative to the maximum gain is called the beam width. The narrower the beam width, the better the directivity of the array, that is, the stronger the array's ability to distinguish spatial signals; the smaller the side lobes, the stronger the array's anti-interference ability.

[0098] like Fig. 9 As shown, this embodiment provides a method for locating the abnormal sound source of a high-voltage switchgear, and the method includes:

[0099] Take any position around the high-voltage switchgear as the collection origin to collect the abnormal sound source signal;

[0100] Based on the collected abnormal sound source signal, the power direction diagram of the abnormal sound source is calculated in combination with the DAS algorithm;

[0101] Based on the power direction diagram of the abnormal sound source, the elevation angle and azimuth angle of the abnormal sound source relative to the acquisition origin are obtained;

[0102] Based on the pitch angle and azimuth angle of the acquisition origin, the sound valley transmission plate is placed to coincide with the acquisition origin, and the topological boundary line of the sound valley transmission plate is collinear with the line from the acquisition origin to the abnormal sound source;

[0103] Keeping the pitch angle and azimuth angle unchanged, translate the sound valley transmission plate by a preset distance along the straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotate the sound valley transmission plate after translation so that the topological boundary line and the line connecting the collection origin and the abnormal sound source after translation are collinear, and obtain the rotation angle;

[0104] Based on the triangle principle, combined with the rotation angle and preset distance, the spatial coordinates of the abnormal sound source are obtained and output.

[0105] In this embodiment, the specific steps of calculating the power direction diagram of the abnormal sound source based on the collected abnormal sound source signal and combining the DAS algorithm are as follows:

[0106] Normalizing the collected time-domain sound source signal, wherein the time-domain sound source signal includes an abnormal sound source signal; and collecting the time-domain sound source signal using a microphone array;

[0107] The normalized time-domain sound source signal is sampled to obtain an observation matrix;

[0108] The covariance matrix of the observation signal matrix is ​​calculated based on the observation matrix;

[0109] Based on the covariance matrix and the selected weighted vector, the DAS algorithm is used to calculate the power pattern of the abnormal noise source.

[0110] In this embodiment, the power direction diagram of the abnormal sound source is calculated using the improved DAS algorithm, and the specific steps are as follows:

[0111] A spherical coordinate system is established with the center of the microphone circular array as the collection origin, where the pitch angle θ∈[0,π / 2] of the sound source is the angle between the incident direction of the abnormal sound source and the z-axis, and the azimuth angle φ∈[0,2π] is the angle between the projection of the incident direction of the abnormal sound source on the array plane and the x-axis;

[0112] Based on the covariance matrix and weighted vector, the output power of the abnormal sound source is calculated. The specific formula is:

[0113] P=E[y(t) 2 ]=E[ω H x(t)x H (t)ω]=ω H E[x(t)x H (t)]ω=ω H R x ω

[0114] Where P is a function of θ and φ; x(t) is the observation matrix; R x =E[x(t)x H (t)] is the covariance matrix; ω = a(θ, φ) is the weight vector; y(t) = ω H x(t) is the output array;

[0115] The power direction diagram is formed according to the output power of the abnormal sound source, expressed as: P = ω H R x ω;

[0116] Use matrix functions to calculate the covariance matrix R x Make v -1 The power function is then used to restore the sound source distribution by raising the output result to the power of v. The power direction diagram of the improved abnormal sound source is: Determine the direction of the abnormal noise source;

[0117] Based on the direction of the abnormal sound source, within the range of θ∈[0,π / 2], φ∈[0,2π], the power directivity diagram is calculated and plotted with a preset step size, and θ and φ corresponding to the peak values ​​are used as the pitch angle and azimuth angle corresponding to the abnormal sound source.

[0118] In this embodiment, the weighted vector is determined based on the calculated steering vector; the calculation process of the steering vector is as follows:

[0119] In the spherical coordinate system, the angle between the line connecting the nth array element and the center of the circle and the x-axis is γ n =2πn / N, where n=0 , 1,…,N-1, the position vector is The delay of the nth array element is:

[0120] If the acoustic signal at the acquisition origin is Then the acoustic signal received by array element n is

[0121] Then the steering vector is calculated as:

[0122]

[0123] Where a(θ,φ) is an N×1 matrix.

[0124] In this embodiment, based on the pitch angle and azimuth angle of the acquisition origin, the specific steps of placing the sound valley transmission plate to coincide with the acquisition origin and making the topological boundary line of the sound valley transmission plate collinear with the straight line from the acquisition origin to the abnormal sound source are as follows:

[0125] Based on the obtained pitch angle and azimuth angle, the line OS0 between the coordinate O and the abnormal sound source S0 (x0, y0, z0) is obtained, and the projection of the abnormal sound source S0 on the horizontal plane where the acquisition origin O is located is S1 (x0, y0, 0);

[0126] A microphone is placed at the center of the square sound valley transmission board so that the position of the microphone coincides with the coordinate origin O. At the same time, by adjusting the pitch angle and azimuth angle, the topological boundary line of the sound valley transmission board is made collinear with the line connecting the collection origin to the abnormal sound source.

[0127] In this embodiment, the pitch angle and azimuth angle are kept unchanged, the sound valley transmission plate is translated by a preset distance along a straight line perpendicular to the topological boundary line of the sound valley transmission plate, and the sound valley transmission plate is rotated after translation, so that the topological boundary line and the line between the collection origin and the abnormal sound source after translation are collinear. The specific steps are as follows:

[0128] A straight line l0 perpendicular to the topological boundary line is obtained through the center line O of the acoustic valley transmission plate;

[0129] Keep the sound valley transmission plate in the same position, move it along the straight line l0, and move the preset distance L, then the position of the center of the sound valley transmission plate is O1;

[0130] Rotate the sound valley transmission plate around the center position O1 along the plane where the sound valley transmission plate is located, measure the sound pressure values ​​received by the microphone inside the sound transmission plate at different rotation angles, and obtain a relationship diagram between the rotation angle and the sound pressure value;

[0131] Based on the relationship diagram between the rotation angle and the sound pressure value and the maximum sound pressure value, the rotation angle is obtained.

[0132] In this embodiment, based on the triangle principle, combined with the rotation angle and the preset distance, the specific steps of obtaining and outputting the spatial coordinates of the abnormal sound source are as follows:

[0133] Based on the triangle principle, combined with the rotation angle and the preset distance, the distance between the abnormal sound source and the collection origin is calculated. The specific formula is as follows:

[0134] The distance between the sound source S0 and O: OS0 = L / tanγ, z0 = OS0*sinθ, OS1 = OS0*cosθ;

[0135] Then y0=OS1*sinφ,x0=OS1*cosφ;where γ is the rotation angle;

[0136] Finally, the spatial coordinates S0 (x0, y0, z0) of the abnormal sound source are obtained.

[0137] like Fig.10As shown, this embodiment also provides a system for locating abnormal sound source of high-voltage switchgear, including a signal acquisition unit, which is used to collect abnormal sound source signals by taking any position around the high-voltage switchgear as a collection origin;

[0138] A power calculation unit, used to obtain a power direction diagram of the abnormal sound source based on the collected abnormal sound source signal;

[0139] A direction positioning unit is used to obtain the pitch angle and azimuth angle of the abnormal sound source relative to the collection origin based on the power direction diagram of the abnormal sound source; a first layout unit is used to place the sound valley transmission board to coincide with the collection origin based on the pitch angle and azimuth angle of the collection origin, and make the topological boundary line of the sound valley transmission board and the line between the collection origin and the abnormal sound source collinear; a second layout unit is used to keep the pitch angle and azimuth angle unchanged, translate the sound valley transmission board by a preset distance along a straight line direction perpendicular to the topological boundary line of the sound valley transmission board, and rotate the sound valley transmission board after translation, so that the topological boundary line and the line between the collection origin and the abnormal sound source after translation are collinear, and obtain the rotation angle; a position output unit is used to obtain and output the spatial coordinates of the abnormal sound source based on the triangle principle, combined with the rotation angle and the preset distance.

[0140] In the present embodiment, it should be noted that the first arrangement unit and the second arrangement unit preferably adopt an intelligent robotic arm; the intelligent robotic arm clamps the sound valley transmission plate to achieve translation and rotation, thereby ensuring the accuracy of the measurement; of course, the first arrangement unit and the second arrangement unit can also be operated and controlled by an operator, ultimately ensuring that the functions of the first arrangement unit and the second arrangement unit can be realized.

[0141] The following is a further introduction to this embodiment in conjunction with the accompanying drawings:

[0142] The positioning method provided in this embodiment takes the high-voltage switchgear body as the research object, uses a microphone source array to collect sound signals, and performs sound source positioning based on the improved DAS algorithm to achieve accurate positioning of abnormal sounds existing in the operation of the high-voltage switchgear. This method improves the DAS algorithm to make the sound source positioning more efficient and accurate, and more anti-interference. By utilizing the sensitivity of the sound valley topology transmission plate to angles, the position of the sound source in the spatial coordinates can be effectively determined, reducing mutual interference between sound sources and the influence of near-field sound sources and far-field sound sources, and ultimately achieving accurate positioning of the abnormal sound source.

[0143] The specific steps are as follows:

[0144] Step 1: Arrange a circular array of microphones around the high-voltage switchgear to collect and pre-process the sound signals when the equipment is running.

[0145] Among them, step one specifically includes:

[0146] (1) Arrange the microphone array: Arrange the microphone array at fixed positions around the operating high-voltage switchgear within a safe range, such as Fig.11 As shown;

[0147] (2) Signal acquisition: Normalize the time-domain sound source signal collected by the microphone, that is, map the data into the range of 0-1;

[0148] (3) Sample the normalized signal, the number of sampling points is M, then the observation matrix x(t) is an N×M matrix;

[0149] (4) Calculate the covariance matrix of the observation signal matrix as R x =E[x(t)x H (t)],R x is an N×N matrix.

[0150] Step 2, obtaining a steering vector according to the microphone array structure, and then obtaining a weighted vector;

[0151] Among them, step two specifically includes:

[0152] (1) Obtain the steering vector:

[0153] ① Establish a spherical coordinate system with the center of the microphone array as the origin. The pitch angle θ∈[0,π / 2] of the sound source is the angle between the incident direction of the sound source and the z-axis, and the azimuth angle φ∈[0,2π] is the angle between the projection of the incident direction of the sound source on the array plane and the x-axis (counterclockwise). Fig.12 As shown in (a), (b) and (c) in the figure, the angle between the line connecting the nth array element and the center of the circle and the x-axis (counterclockwise) is γ n =2πn / N, n =0,1,…,N-1, its position vector is Sound waves from Direction propagation, is a unit vector;

[0154] ② Taking the origin as reference, the delay of the nth array element is: Assume that the acoustic signal at the origin is Then the acoustic signal received by array element n is Therefore, the steering vector that can be calculated is: a(θ,φ) is an N×1 matrix;

[0155] (2) To maximize the gain of the array in the direction of the sound source, the weighting vector ω = a(θ, φ) can be preset.

[0156] Step three, the output power is calculated according to the weighted vector and the covariance matrix, and the entire area is scanned according to the improved beamformer to determine the location of the target sound source.

[0157] Take N-element uniform microphone circular array and single sound source as an example:

[0158] In this embodiment, step three specifically includes:

[0159] (1) Calculate the output power. The array output is y(t) = ω H x(t), then the output power is

[0160] P=E[y(t) 2 ]=E[ω H x(t)x H (t)ω]=ω H E[x(t)x H (t)]ω=ω H R x ω, P is a function of θ and φ, so the conventional beamforming power pattern can be defined as P = ω H R x ω;

[0161] (2) Improve the conventional beamforming power pattern and use the matrix function to calculate the covariance matrix R x Make v -1 The power function is then used to restore the sound source distribution by raising the output result to the power of v. The improved power pattern is:

[0162] (3) Determine the direction of the sound source and calculate P with a certain step size within the range of θ∈[0,π / 2], φ∈[0,2π]. v And draw a power directivity diagram, and the θ and φ corresponding to the peak value are the pitch angle and azimuth angle corresponding to the sound source.

[0163] Step 4: Define the center coordinates of the circular microphone array as O(0,0,0). The azimuth angle φ and elevation angle θ of the sound source can be obtained through the improved DAS algorithm. The connecting line OS0 between the coordinate O and the sound source S0(x0,y0,z0) can be obtained. The projection of the sound source S0 on the horizontal plane where the origin O is located is S1(x0,y0,0).

[0164] Step 5: Select a square sound valley transmission board, place a microphone at the center of the square, make the position of the microphone coincide with the coordinate origin O, and change the layout of the sound valley transmission board so that the azimuth angle of the plane in which it is located is φ and the pitch angle is θ, and the topological boundary line of the sound valley transmission plate is ensured to be collinear with OS0. The specific layout is as follows Figure 4 Middle left picture.

[0165] Step six: A straight line l0 perpendicular to the topological boundary line can be obtained through the center line O of the acoustic valley transmission plate. Keeping the placement of the acoustic valley transmission plate unchanged, move along the straight line with a moving distance of L. At this time, the position of the center of the acoustic valley transmission plate is O1.

[0166] Step 7: Rotate the sound valley transmission plate around the center position O1 along the plane where the sound valley transmission plate is located, measure the sound pressure values ​​received by the microphone inside the sound transmission plate at different rotation angles, obtain the relationship diagram between the rotation angle and the sound pressure value, and extract the rotation angle γ when the sound pressure value is the largest. The specific rotation process is as follows: Figure 4 Middle right picture.

[0167] Step 8. Use the triangle principle to calculate the spatial position of the sound source. The distance between the sound source S0 and O is OS0 = L / tanγ, z0 = OS0*sinθ, OS1 = OS0*cosθ, so y0 = OS1*sinφ, x0 = OS1*cosφ. Finally, the spatial coordinates of the sound source S0 (x0, y0, z0) are obtained, that is, the position of the sound source on the high-voltage switchgear. The specific solution process is as follows: Figure 5 The final specific positioning result is shown as Fig.13 shown.

[0168] This method uses any position around the high-voltage switchgear as the collection origin, uses the power directional diagram of the abnormal sound source to obtain the pitch angle and azimuth angle, and uses the translation and rotation of the sound valley transmission plate. At the same time, combined with the triangle principle, it realizes the precise calculation and positioning of the spatial coordinates of the abnormal sound source. The preliminary directional positioning of the pitch angle and azimuth angle greatly improves the efficiency of subsequent processing. The sound valley transmission plate can effectively avoid mutual interference between sound sources, ensure the robustness of the method, and improve the positioning accuracy; it is verified by simulation: a 5-element uniform microphone circular array with a circular array radius of 0.1m is taken. The pitch angle of the sound source is 35°, the azimuth angle is 85°, the center frequency of the sound source is 2000Hz, and the power exponent is 10. The normalized power directional diagram is as follows: Figure 6 , Figure 7 and Figure 8 As shown; by comparison, it can be seen that when the same five microphones are used, the beam width in the power pattern obtained by the method used in the present invention is narrower, and almost all side lobes are eliminated. Therefore, the positioning method provided in this embodiment has the advantages of higher positioning accuracy and stronger anti-interference ability.

[0169] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention.

Claims

1. A method for locating abnormal sound source of high-voltage switchgear, characterized in that: include: Take any position around the high-voltage switchgear as the collection origin to collect the abnormal sound source signal; Obtaining a power direction diagram of the abnormal sound source based on the collected abnormal sound source signal; Based on the power direction diagram of the abnormal sound source, the elevation angle and azimuth angle of the abnormal sound source relative to the acquisition origin are obtained; Based on the pitch angle and azimuth angle of the acquisition origin, the sound valley transmission plate is placed to coincide with the acquisition origin, and the topological boundary line of the sound valley transmission plate is collinear with the line from the acquisition origin to the abnormal sound source; Keeping the pitch angle and azimuth angle unchanged, translate the sound valley transmission plate by a preset distance along the straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotate the sound valley transmission plate after translation so that the topological boundary line and the line connecting the collection origin and the abnormal sound source after translation are collinear, and obtain the rotation angle; Based on the triangle principle, combined with the rotation angle and preset distance, the spatial coordinates of the abnormal sound source are obtained and output.

2. The method for locating abnormal sound source of high-voltage switchgear according to claim 1, characterized in that: Based on the collected abnormal noise source signal and combined with the DAS algorithm, the power direction diagram of the abnormal noise source is calculated.

3. The method for locating abnormal sound source of high-voltage switchgear according to claim 2, characterized in that: Based on the collected abnormal sound source signal, the specific steps of calculating the power direction diagram of the abnormal sound source in combination with the DAS algorithm are as follows: Normalizing the collected time-domain sound source signal, wherein the time-domain sound source signal includes an abnormal sound source signal; and collecting the time-domain sound source signal using a microphone array; The normalized time-domain sound source signal is sampled to obtain an observation matrix; The covariance matrix of the observation signal matrix is ​​calculated based on the observation matrix; Based on the covariance matrix and the selected weighted vector, the DAS algorithm is used to calculate the power pattern of the abnormal noise source.

4. The method for locating abnormal sound source of high-voltage switchgear according to claim 3, characterized in that: The improved DAS algorithm is used to calculate the power pattern of the abnormal sound source. The specific steps are as follows: A spherical coordinate system is established with the center of the microphone circular array as the collection origin, where the pitch angle θ∈[0,π / 2] of the sound source is the angle between the incident direction of the abnormal sound source and the z-axis, and the azimuth angle φ∈[0,2π] is the angle between the projection of the incident direction of the abnormal sound source on the array plane and the x-axis; Based on the covariance matrix and weighted vector, the output power of the abnormal sound source is calculated. The specific formula is: P=E[y(t) 2 ]=E[ω H x(t)x H (t)ω]=ω H E[x(t)x H (t)]ω=ω H R x ω Among them, P is a function of θ and φ; x(t) is the observation matrix; R x =E[x(t)x H (t)] is the covariance matrix; ω = a(θ, φ) is the weight vector; y(t) = ω H x(t) is the output array; The power direction diagram is formed according to the output power of the abnormal sound source, expressed as: P = ω H R x ω; Use matrix functions to calculate the covariance matrix R x Do v -1 The power function is then used to restore the sound source distribution by raising the output result to the power of v. The power direction diagram of the improved abnormal sound source is: Determine the direction of the abnormal noise source; Based on the direction of the abnormal sound source, within the range of θ∈[0,π / 2], φ∈[0,2π], the power directivity diagram is calculated and plotted with a preset step size, and θ and φ corresponding to the peak values ​​are used as the pitch angle and azimuth angle corresponding to the abnormal sound source.

5. The method for locating abnormal sound source of high-voltage switchgear according to claim 4, characterized in that: The weighted vector is determined based on the calculated steering vector; the steering vector is calculated as follows: In the spherical coordinate system, the angle between the line connecting the nth array element and the center of the circle and the x-axis is γ n =2πn / N, where n=0 , 1,…,N-1, the position vector is The delay of the nth array element is: If the acoustic signal at the acquisition origin is Then the acoustic signal received by array element n is Then the steering vector is calculated as: Where a(θ,φ) is an N×1 matrix.

6. The method for locating abnormal sound source of high-voltage switchgear according to claim 1, characterized in that: The specific steps of placing the sound valley transmission plate to coincide with the collection origin based on the pitch angle and azimuth angle of the collection origin, and making the topological boundary line of the sound valley transmission plate and the straight line from the collection origin to the abnormal sound source collinear are as follows: Based on the obtained pitch angle and azimuth angle, the line OS0 between the coordinate O and the abnormal sound source S0 (x0, y0, z0) is obtained, and the projection of the abnormal sound source S0 on the horizontal plane where the acquisition origin O is located is S1 (x0, y0, 0); A microphone is placed at the center of the square sound valley transmission board so that the position of the microphone coincides with the coordinate origin O. At the same time, by adjusting the pitch angle and azimuth angle, the topological boundary line of the sound valley transmission board is made collinear with the line connecting the collection origin to the abnormal sound source.

7. The method for locating abnormal sound source of high-voltage switchgear according to claim 6, characterized in that: The specific steps of keeping the pitch angle and azimuth angle unchanged, translating the sound valley transmission plate by a preset distance along a straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotating the sound valley transmission plate after translation so that the topological boundary line and the line connecting the collection origin and the abnormal sound source after translation are collinear are as follows: A straight line l0 perpendicular to the topological boundary line is obtained through the center line O of the acoustic valley transmission plate; Keep the sound valley transmission plate in the same position, move it along the straight line l0, and move the preset distance L, then the position of the center of the sound valley transmission plate is O1; Rotate the sound valley transmission plate around the center position O1 along the plane where the sound valley transmission plate is located, measure the sound pressure values ​​received by the microphone inside the sound transmission plate at different rotation angles, and obtain a relationship diagram between the rotation angle and the sound pressure value; Based on the relationship diagram between the rotation angle and the sound pressure value and the maximum sound pressure value, the rotation angle is obtained.

8. The method for locating abnormal sound source of high-voltage switchgear according to claim 7, characterized in that: The specific steps of obtaining and outputting the spatial coordinates of the abnormal sound source based on the triangle principle, combined with the rotation angle and the preset distance are as follows: Based on the triangle principle, combined with the rotation angle and the preset distance, the distance between the abnormal sound source and the collection origin is calculated. The specific formula is as follows: The distance between the sound source S0 and O: OS0 = L / tanγ, z0 = OS0*sinθ, OS1 = OS0*cosθ; Then y0=OS1*sinφ,x0=OS1*cosφ;where γ is the rotation angle; Finally, the spatial coordinates S0 (x0, y0, z0) of the abnormal sound source are obtained.

9. The method for locating abnormal sound source of high-voltage switchgear according to claim 6, characterized in that: The microphone adopts a uniform circular array or a spiral array.

10. A system for locating abnormal sound sources of high-voltage switchgear, comprising: A signal acquisition unit, used to collect abnormal sound source signals by taking any position around the high-voltage switchgear as a collection origin; A power calculation unit, used to obtain a power direction diagram of the abnormal sound source based on the collected abnormal sound source signal; A direction positioning unit, used to obtain the elevation angle and azimuth angle of the abnormal sound source relative to the acquisition origin based on the power direction diagram of the abnormal sound source; A first arrangement unit is used to place the sound valley transmission plate to coincide with the collection origin based on the pitch angle and azimuth angle of the collection origin, and to make the topological boundary line of the sound valley transmission plate and the line from the collection origin to the abnormal sound source collinear; The second arrangement unit is used to keep the pitch angle and the azimuth angle unchanged, translate the sound valley transmission plate by a preset distance along a straight line direction perpendicular to the topological boundary line of the sound valley transmission plate, and rotate the sound valley transmission plate after the translation, so that the topological boundary line and the line between the collection origin and the abnormal sound source after the translation are collinear, and obtain the rotation angle; The position output unit is used to obtain and output the spatial coordinates of the abnormal sound source based on the triangle principle, combined with the rotation angle and the preset distance.

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