Line Partial Discharge Detection and Location System and Method Based on Multi-Terminal Data Fusion

Abstract

The present invention discloses a line partial discharge detection and positioning system and method based on multi-terminal data fusion, which relates to the field of line partial discharge detection and positioning, and includes: a mobile device that can move at a constant speed on a cable and is used to integrate a detection device with the function of detecting partial discharge; establishing a mobile space rectangular coordinate system to determine the moving distance of the mobile device and the information of the line partial discharge position; preliminarily determining the position of the line partial discharge according to the ultrasonic ranging principle; controlling a high-definition camera to obtain the full view information of the cable around the positioning point according to the preliminary line partial discharge positioning; establishing a ground data processing platform to receive and process the line partial discharge data detected by the mobile device. The advantages of the present invention are as follows: By loading a partial discharge detection device on a movable device, the partial discharge of a long-distance line is detected, effectively improving the accuracy of partial discharge detection and positioning and adapting to complex external environments.

Description

Technical Field

[0001] The present invention relates to the field of line partial discharge detection and location, and specifically to a line partial discharge detection and location system and method based on multi-terminal data fusion. Background Art

[0002] Partial discharge will damage the service life of the line insulation material. Due to the corrosion of partial discharge, it will accelerate the insulation aging and deterioration. Through partial discharge detection, these potential problems can be discovered and processed in time, preventing the occurrence of malignant faults, avoiding large-area power outages and economic losses. For the near-point detection areas such as high-voltage switchgear, transformers, GIS, and overhead lines, existing technologies such as ultrasonic detection, UHF detection, acoustic imagers, and double-end detection can effectively solve the problem of line partial discharge detection and location. However, for the long-distance line partial discharge detection and location, due to the complex external environment, during long-distance transmission, the signal may attenuate and distort, resulting in inaccurate partial discharge location information detected by existing partial discharge detection technologies, and it is difficult to solve the problem of long-distance line partial discharge detection and location. Therefore, it is very necessary to overcome the problem of long-distance line partial discharge detection and location and improve the accuracy of line partial discharge detection and location.

[0003] Existing long-distance line partial discharge detection and location technologies mainly focus on using ultrasonic waves to determine the location information of partial discharge through signal reflection and refraction inside the line, or through double-end detection methods, by detecting the information difference of the moving distance signal of partial discharge pulses to determine the location information of line partial discharge. However, when these technologies are used for long-distance detection, due to external environmental interference or the materials of the line itself, the signal attenuates and distorts, making the detected line partial discharge detection and location information inaccurate. Especially the farther the distance, the greater this impact, resulting in difficulties in line partial discharge detection and location, and the work of solving line partial discharge problems becomes time-consuming and laborious. Summary of the Invention

[0004] To solve the above technical problems, a line partial discharge detection and location system and method based on multi-terminal data fusion are provided. This technical solution solves the problem that when these technologies are used for long-distance detection, due to external environmental interference or the materials of the line itself, the signal attenuates and distorts, making the detected line partial discharge detection and location information inaccurate. Especially the farther the distance, the greater this impact, resulting in difficulties in line partial discharge detection and location, and the work of solving line partial discharge problems becomes time-consuming and laborious.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for detecting and locating partial discharge in a line based on multi-terminal data fusion, characterized by comprising:

[0007] Set a mobile device that can move at a constant speed on the line, which is used to integrate a detection device with the function of detecting partial discharge;

[0008] Use the Beidou positioning module to establish a mobile space rectangular coordinate system for determining the moving distance of the mobile device and the information of the partial discharge position on the line;

[0009] According to the ultrasonic ranging principle, preliminarily determine the position of the partial discharge on the line;

[0010] According to the preliminary partial discharge positioning on the line, control the high-definition camera to obtain the overall view information of the line around the positioning point;

[0011] Establish a ground data processing platform for receiving and processing the partial discharge data of the line detected by the mobile device.

[0012] Preferably, the device that can move at a constant speed on the line and is used to integrate a detection device with the function of detecting partial discharge specifically includes:

[0013] Set a mobile device that can move at a constant speed on the line, which is used to integrate a controllable high-definition camera, an ultrasonic sensor, a Beidou positioning module, and the hardware devices that support the normal operation of these detection devices.

[0014] Preferably, the use of the Beidou positioning module to establish a mobile space rectangular coordinate system for determining the moving distance of the mobile device and the information of the partial discharge position on the line specifically includes:

[0015] According to the geocentric rectangular coordinate conversion formula, convert the longitude, latitude and altitude received by the Beidou positioning module into a geocentric rectangular coordinate system;

[0016] According to the station-centered coordinate conversion formula, convert the obtained geocentric rectangular coordinate system into a station-centered coordinate system, where the station-centered coordinate system is the required mobile space rectangular coordinate system;

[0017] According to the position coordinate information of accurate positioning, update the initial station-centered position information of the Beidou positioning module to determine the coordinate of the starting position of the mobile device;

[0018] According to the moving speed and moving time of the mobile device, calculate the moving distance of the mobile device, and determine the specific position of the partial discharge on the line according to the moving distance in combination with the mobile space rectangular coordinate system;

[0019] Based on big data, obtain the confidence interval of the difference between D1 and D2 and set a threshold;

[0020] Determine whether the difference between D1 and D2 exceeds the threshold of the trust interval. If so, it indicates a positioning error or a problem with the operation of the mobile device during the detection process. If not, it indicates that the mobile device is operating normally;

[0021] The geocentric rectangular coordinate conversion formula is as follows:

[0022]

[0023] In the formula: (X, Y, Z) are the position coordinates of the geocentric rectangular coordinate system, N is the curvature radius of the ellipsoid, e is the ellipsoid eccentricity, H is the altitude measured by GPS, L is the longitude, and B is the latitude;

[0024] The station-centered coordinate system conversion formula is as follows:

[0025]

[0026] In the formula, (a, b, c) are the position coordinates of the Beidou positioning module in the station-centered coordinate system, and (X0, Y0, Z0) are the coordinates of the observation point in the geocentric rectangular coordinate system;

[0027] The expression for calculating the moving distance of the mobile device is as follows:

[0028]

[0029] In the formula, D1 is the moving distance calculated based on the moving speed of the mobile device, D2 is the moving distance calculated based on the moving space rectangular coordinate system, v is the moving speed of the mobile device, t is the moving time of the mobile device, and (a0, b0, c0) are the initial position information in the station-centered coordinate system.

[0030] Preferably, the method for preliminarily determining the position of the partial discharge on the line according to the ultrasonic ranging principle specifically includes:

[0031] Set multiple ultrasonic sensors at different positions of the mobile device, and obtain the accurate position information of the ultrasonic sensors in real time according to the moving space rectangular coordinate system;

[0032] Calculate the distance from the ultrasonic sensor to the partial discharge position according to the ultrasonic ranging principle;

[0033] Taking the distance as the radius, draw circles based on the detection distances of multiple ultrasonic sensors, and calculate the intersection information of multiple circles;

[0034] Judge the position of the partial discharge on the line according to the intersection information. If there is only one intersection point, then this intersection point is the position coordinate of the partial discharge on the line,

[0035] When multiple intersections occur, calculate the coordinates at each intersection, and screen out the area with dense intersections based on the coordinate information. Then this area is the regional interval of line partial discharge;

[0036] Based on the preliminary result of ultrasonic sensor positioning, mark the partial discharge point or area in the moving space rectangular coordinate system;

[0037] The ultrasonic ranging expression is as follows:

[0038]

[0039] In the formula, v c is the propagation speed of ultrasonic waves in the air, which is a fixed value, and t c is the time interval between two detections of ultrasonic waves at the original position, (a i , b i , c i ) is the coordinate of the i-th ultrasonic sensor in the moving space rectangular coordinate system, and (a1, b1, c1) is the coordinate of the line partial discharge in the moving space rectangular coordinate system.

[0040] Preferably, the establishment of the ground data processing platform for receiving and processing the line partial discharge data detected by the mobile device specifically includes:

[0041] Transmit the overall line information of the partial discharge area through a wireless device, and store the overall line information of the partial discharge area through an internal memory card;

[0042] Establish a ground data processing platform for receiving the information of line partial discharge detected by the mobile device, and display the movement information of the mobile device and the information of line partial discharge through a visualization chart;

[0043] Use the ground data processing platform to load the map information of the line partial discharge detection area, and through the inverse solution method of the station-centered coordinate system, inverse the coordinates of the line partial discharge position marked in the station-centered coordinate system into the coordinates in the Beidou coordinate system, and mark the point information on the map for later navigation and positioning;

[0044] Based on the overall line information captured by the high-definition camera, judge whether there are obvious insulation material damages and abnormal phenomena on the line. If so, the line needs to be replaced and repaired in time. If not, select an appropriate time to repair the line.

[0045] Furthermore, a line partial discharge detection and positioning system based on multi-terminal data fusion is proposed, which is used to implement the line partial discharge detection and positioning method based on multi-terminal data fusion as described above, including:

[0046] Data acquisition module, which is used to set a movable device that can move at a constant speed on the line and integrate a detection device with the function of detecting partial discharge;

[0047] Partial discharge positioning module, which is used to establish a moving space rectangular coordinate system by using the Beidou positioning module to determine the moving distance of the mobile device and the information of the partial discharge position on the line; According to the ultrasonic ranging principle, preliminarily determine the position of the partial discharge on the line; According to the preliminary partial discharge positioning of the line, control the high-definition camera to obtain the overall view information of the line around the positioning point;

[0048] Ground processing module, which is used to establish a ground data processing platform to receive and process the partial discharge data of the line detected by the mobile device.

[0049] Preferably, the partial discharge positioning module specifically includes:

[0050] Coordinate system modeling unit, which is used to establish a moving space rectangular coordinate system by using the Beidou positioning module to determine the moving distance of the mobile device and the information of the partial discharge position on the line;

[0051] Ultrasonic positioning unit, which is used to preliminarily determine the position of the partial discharge on the line according to the ultrasonic ranging principle;

[0052] Picture grabbing unit, which is used to control the high-definition camera to obtain the overall view information of the line around the positioning point according to the preliminary partial discharge positioning of the line.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] By loading a partial discharge detection device on a movable device, detect the partial discharge of a long-distance line. Establish a moving space rectangular coordinate system through coordinate transformation. According to the moving data of the mobile device and the moving space coordinate position, determine the position information of the partial discharge on the line, and determine the moving distance according to the moving speed and space position information of the device. By comparing the moving distance, reflect the accuracy of the mobile device or positioning information. Secondly, through the ultrasonic sensor, conduct a close-range detection of the line, so as to achieve precise positioning of the partial discharge detection of the line. Finally, through the ground data processing platform, analyze the received data and perform inverse coordinate calculation, and take corresponding solutions according to the analysis of the data. This solution effectively improves the accuracy of the partial discharge detection and positioning of the line and the ability to adapt to complex external environments. Description of the Drawings

[0055] Figure 1 It is a flow chart of a method for detecting and positioning partial discharge of a line based on multi-terminal data fusion of the present invention;

[0056] Figure 2 This is the information flow chart of the present invention that uses a Beidou positioning module to establish a mobile space rectangular coordinate system for determining the moving distance of a mobile device and the location of partial discharge on the line.

[0057] Figure 3 This is the flow chart of the present invention for preliminarily determining the location of partial discharge on the line according to the ultrasonic ranging principle. Detailed implementation manners

[0058] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0059] Referring to Figure 1 As shown, a method for detecting and locating partial discharge on a line based on multi-terminal data fusion includes:

[0060] Set a mobile device that can move at a constant speed on the line, which is used to integrate a detection device with the function of detecting partial discharge.

[0061] Use a Beidou positioning module to establish a mobile space rectangular coordinate system for determining the moving distance of the mobile device and the information of the location of partial discharge on the line.

[0062] According to the ultrasonic ranging principle, preliminarily determine the location of partial discharge on the line.

[0063] According to the preliminary location of partial discharge on the line, control a high-definition camera to obtain the overall line information around the location point.

[0064] Establish a ground data processing platform for receiving and processing the partial discharge data of the line detected by the mobile device.

[0065] It can be explained that in this solution, a partial discharge detection device is loaded on a mobile device to detect partial discharge on a long-distance line. A mobile space rectangular coordinate system is established through coordinate transformation. According to the moving data of the mobile device and the spatial coordinate position, the location information of partial discharge on the line is determined, and the moving distance is determined according to the moving speed and spatial position information of the device. By comparing the moving distance, the accuracy of the mobile device or positioning information is reflected. Secondly, through an ultrasonic sensor, the line is detected at a short distance, so as to achieve precise positioning of partial discharge detection on the line. Finally, the ground data processing platform analyzes the received data and performs inverse coordinate calculation, and takes corresponding solutions according to the analysis of the data.

[0066] Referring to Figure 2As shown, the use of the Beidou positioning module to establish a mobile space rectangular coordinate system for determining the moving distance of the mobile device and the information of the partial discharge position of the line specifically includes:

[0067] According to the geocentric rectangular coordinate conversion formula, convert the longitude, latitude and altitude received by the Beidou positioning module into the geocentric rectangular coordinate system;

[0068] According to the station-centered coordinate system conversion formula, convert the obtained geocentric rectangular coordinate system into the station-centered coordinate system, where the station-centered coordinate system is the required mobile space rectangular coordinate system;

[0069] According to the position coordinate information of precise positioning, update the initial station-centered position information of the Beidou positioning module to determine the coordinates of the starting position of the mobile device;

[0070] According to the moving speed and moving time of the mobile device, calculate the moving distance of the mobile device, and determine the specific position of the line partial discharge according to the moving distance combined with the mobile space rectangular coordinate system;

[0071] Based on big data, obtain the confidence interval of the difference between D1 and D2, and set a threshold;

[0072] Judge whether the difference between D1 and D2 exceeds the threshold of the confidence interval. If so, it means that there is a positioning error or a problem with the operation of the mobile device during the detection. If not, it means that the mobile device is operating normally;

[0073] The geocentric rectangular coordinate conversion formula is:

[0074]

[0075] In the formula: (X, Y, Z) are the position coordinates of the geocentric rectangular coordinate system, N is the curvature radius of the ellipsoid, e is the eccentricity of the ellipsoid, H is the altitude measured by GPS, L is the longitude, and B is the latitude;

[0076] The station-centered coordinate system conversion formula is:

[0077]

[0078] In the formula, (a, b, c) are the position coordinates of the Beidou positioning module in the station-centered coordinate system, and (X0, Y0, Z0) are the coordinates of the observation point in the geocentric rectangular coordinate system;

[0079] The expression for calculating the moving distance of the mobile device is:

[0080]

[0081] Wherein, D1 is the moving distance calculated according to the moving speed of the mobile device, D2 is the moving distance calculated according to the rectangular coordinate system of the moving space, v is the moving speed of the mobile device, t is the moving time of the mobile device, and (a0, b0, c0) is the initial position information in the station-centered coordinate system.

[0082] It can be explained that when determining the positioning information of the mobile device, starting points are set at different points for moving detection operations, and the original coordinate information located according to the Beidou coordinate system is difficult to apply, which is not conducive to refreshing the starting position information of the mobile device. Therefore, it is necessary to convert the Beidou coordinate system into the station-centered coordinate system through coordinate transformation. By updating the station-centered coordinate system at the starting point, the distance can be solved according to the spatial distance formula. According to the actual detection and positioning situation, the coordinate data of the positioning information is recorded, and the position of the line partial discharge marking area in the Beidou coordinate system can be obtained through the inverse solution of the ground platform, so as to achieve precise positioning of the line partial discharge. Secondly, the moving distance can be determined according to the moving speed and spatial position information of the device, and the abnormality of the mobile device or positioning information can be reflected by comparing the moving distances.

[0083] Refer to Figure 3 As shown, the specific steps for preliminarily determining the position of line partial discharge according to the ultrasonic ranging principle are as follows:

[0084] Set multiple ultrasonic sensors at different positions of the mobile device, and obtain the accurate position information of the ultrasonic sensors in real time according to the rectangular coordinate system of the moving space;

[0085] Calculate the distance from the ultrasonic sensor to the partial discharge position according to the ultrasonic ranging principle;

[0086] Taking this distance as the radius, draw circles based on the detection distances of multiple ultrasonic sensors, and calculate the intersection information of multiple circles;

[0087] Judge the position of the line partial discharge according to the intersection information. If there is only one intersection, then this intersection is the position coordinate of the line partial discharge.

[0088] If there are multiple intersections, calculate the coordinates at each intersection, and screen out the area with dense intersections according to the coordinate information. Then this area is the regional interval of the line partial discharge;

[0089] Mark the partial discharge point or partial discharge area in the rectangular coordinate system of the moving space according to the preliminary result of ultrasonic sensor positioning;

[0090] The ultrasonic ranging expression is:

[0091]

[0092] Wherein, vc is the propagation speed of ultrasonic waves in air, which is a fixed value, t c is the time interval between two detections of ultrasonic waves at the original position, (a i , b i , c i ) are the coordinates of the moving space rectangular coordinate system of the i-th ultrasonic sensor, and (a1, b1, c1) are the coordinates of the moving space rectangular coordinate system of the partial discharge of the line.

[0093] It can be explained that according to the principle of ultrasonic ranging, theoretically, the specific position information of the partial discharge of the line can be calculated by three ultrasonic sensors. However, due to the influence of external environmental factors during the propagation of ultrasonic waves in the air, attenuation and noise interference phenomena occur during the reception of ultrasonic signals, resulting in unstable time for receiving ultrasonic waves twice at the same position, resulting in jitter errors in the distance between the ultrasonic sensor and the partial discharge position, which easily leads to no solution in the ranging algorithm of the three ultrasonic sensors. Therefore, adding one or more ultrasonic sensors can effectively increase the fault tolerance of positioning. Secondly, according to the calculation of the intersection coordinates, the areas with dense intersections can be screened out, so as to determine the regional interval of the partial discharge of the line, effectively reducing the complexity of subsequent line inspections and the waste of resources.

[0094] Furthermore, based on the same inventive concept as the above-mentioned method for detecting and locating partial discharge of lines based on multi-terminal data fusion, this solution also proposes a system for detecting and locating partial discharge of lines based on multi-terminal data fusion, including:

[0095] A data acquisition module, which is used to set a movable device that can move at a constant speed on the line and integrate a detection device with the function of detecting partial discharge;

[0096] A partial discharge positioning module, which is used to use the Beidou positioning module to establish a moving space rectangular coordinate system for determining the moving distance of the movable device and the information of the partial discharge position of the line; according to the principle of ultrasonic ranging, initially determine the position of the partial discharge of the line; according to the initial partial discharge positioning of the line, control the high-definition camera to obtain the overall view information of the line around the positioning point;

[0097] A ground processing module, which is used to establish a ground data processing platform for receiving and processing the partial discharge data of the line detected by the movable device;

[0098] The partial discharge positioning module specifically includes:

[0099] A coordinate system modeling unit, which is used to use the Beidou positioning module to establish a moving space rectangular coordinate system for determining the moving distance of the movable device and the information of the partial discharge position of the line;

[0100] An ultrasonic positioning unit, which is used to preliminarily determine the position of partial discharge on the line according to the principle of ultrasonic ranging;

[0101] An image capture unit, which is used to control a high-definition camera to obtain the overall information of the line around the positioning point according to the preliminary positioning of partial discharge on the line.

[0102] In summary, the advantages of the present invention are as follows: By loading partial discharge detection equipment on a movable device, detecting partial discharge on a long-distance line, establishing a movable space rectangular coordinate system through coordinate transformation, determining the position information of partial discharge on the line according to the movement data and the spatial coordinate position of the movable device, and determining the moving distance according to the moving speed and spatial position information of the device, and reflecting the accuracy of the movable device or positioning information by comparing the moving distances. Secondly, through ultrasonic sensors, the line is detected at a short distance, so as to realize the precise positioning of partial discharge detection on the line. Finally, through the ground data processing platform, the received data is analyzed and the coordinate system is inversely calculated, and corresponding solutions are taken according to the analysis of the data. This solution effectively improves the accuracy of partial discharge detection and positioning on the line and the ability to adapt to complex external environments.

[0103] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting and locating partial discharge in a line based on multi-terminal data fusion, characterized in that, Including: A mobile device that can move at a constant speed is set on the line for integrating a detection device with the function of detecting partial discharge; The Beidou coordinate information of the mobile device is obtained by using the Beidou positioning module. Through coordinate conversion, the Beidou coordinate system is converted into the local-level coordinate system, and two moving distances of the mobile device are obtained, so as to determine the specific location of the partial discharge on the line and the abnormal conditions of the mobile device. Among them, the local-level coordinate system is the moving space rectangular coordinate system; According to the ultrasonic ranging principle, the location of the partial discharge on the line is initially determined; According to the preliminary positioning of the partial discharge on the line, a high-definition camera is controlled to obtain the overall line information around the positioning point; A ground data processing platform is established for receiving and processing the partial discharge data of the line detected by the mobile device; The determination of the specific location of the partial discharge on the line and the abnormal conditions of the mobile device through the two moving distances specifically includes: According to the moving speed and moving time of the mobile device, the moving distance of the mobile device is calculated, and the specific location of the partial discharge on the line is determined according to the moving distance in combination with the moving space rectangular coordinate system; Based on big data, the confidence interval of the difference between D1 and D2 is obtained, and a threshold is set; It is judged whether the difference between D1 and D2 exceeds the threshold of the confidence interval. If so, it means that there is a positioning error or a problem with the operation of the mobile device during the detection. If not, it means that the mobile device is operating normally; The expression for calculating the moving distance of the mobile device is: In the formula, D1 is the moving distance calculated according to the moving speed of the mobile device, D2 is the moving distance calculated according to the moving space rectangular coordinate system, v is the moving speed of the mobile device, t is the moving time of the mobile device, (a0, b0, c0) is the initial position information in the local-level coordinate system, and (a, b, c) is the position coordinate of the Beidou positioning module in the local-level coordinate system.

2. The line partial discharge detection and location method based on multi-terminal data fusion according to claim 1, characterized in that The setting of a mobile device that can move at a constant speed on the line for integrating a detection device with the function of detecting partial discharge specifically includes: A mobile device that can move at a constant speed is set on the line for integrating a controllable high-definition camera, an ultrasonic sensor, a Beidou positioning module, and the hardware devices that support the normal operation of these detection equipments.

3. A method for detecting and locating partial discharge of a line based on multi-terminal data fusion according to claim 2, characterized in that, The obtaining of the space coordinate information of the mobile device by using the Beidou positioning module specifically includes: According to the geocentric rectangular coordinate conversion formula, the longitude, latitude and altitude received by the Beidou positioning module are converted into the geocentric rectangular coordinate system; According to the local-level coordinate system conversion formula, the obtained geocentric rectangular coordinate system is converted into the local-level coordinate system. Among them, the local-level coordinate system is the required moving space rectangular coordinate system; According to the position coordinate information of the precise positioning, the initial local-level position information of the Beidou positioning module is updated, and the coordinate of the starting position of the mobile device is determined; The geocentric rectangular coordinate conversion formula is: In the formula: (X, Y, Z) is the position coordinate of the geocentric rectangular coordinate system, N is the curvature radius of the ellipsoid, e is the eccentricity of the ellipsoid, H is the altitude measured by GPS, L is the longitude, and B is the latitude; The local-level coordinate system conversion formula is: Where (a, b, c) are the position coordinates of the Beidou positioning module in the local-centered coordinate system, and (X0, Y0, Z0) are the coordinates of the observation point in the geocentric rectangular coordinate system.

4. A method for detecting and locating partial discharge of a line based on multi-terminal data fusion according to claim 3, characterized in that, The preliminary determination of the position of the partial discharge on the line according to the ultrasonic ranging principle specifically includes: Setting multiple ultrasonic sensors at different positions of the mobile device, and obtaining the accurate position information of the ultrasonic sensors in real time according to the mobile space rectangular coordinate system; Calculating the distance from the ultrasonic sensor to the partial discharge position according to the ultrasonic ranging principle; Taking the distance as the radius to draw circles based on the detection distances of multiple ultrasonic sensors, and calculating the intersection information of multiple circles; Judging the position of the partial discharge on the line according to the intersection information. If there is only one intersection, then this intersection is the position coordinate of the partial discharge on the line. If there are multiple intersections, calculate the coordinates at each intersection, and screen out the area with dense intersections according to the coordinate information. Then this area is the regional interval of the partial discharge on the line; Mark the partial discharge point or partial discharge area in the mobile space rectangular coordinate system according to the preliminary result of ultrasonic sensor positioning; The ultrasonic ranging expression is: where v c is the propagation speed of ultrasonic waves in air, which is a fixed value, and t c is the time interval between two detections of ultrasonic waves at the original position, (a i , b i , c i ) are the coordinates of the moving space rectangular coordinate system of the i-th ultrasonic sensor, and (a1, b1, c1) are the coordinates of the moving space rectangular coordinate system of the partial discharge of the line.

5. A method for detecting and locating partial discharge of a line based on multi-terminal data fusion according to claim 4, characterized in that, The establishment of the ground data processing platform for receiving and processing the line partial discharge data detected by the mobile device specifically includes: Transmitting the overall line information of the partial discharge area through a wireless device, and storing the overall line information of the partial discharge area through an internal memory card; Establishing a ground data processing platform for receiving the information of the partial discharge on the line detected by the mobile device, and displaying the movement information of the mobile device and the information of the partial discharge on the line through a visual chart; Using the ground data processing platform, loading the map information of the partial discharge detection area on the line, and by means of inverse solution in the local-centered coordinate system, inversely solving the position coordinates of the partial discharge on the line marked in the local-centered coordinate system into coordinates in the Beidou coordinate system, and marking the point information on the map for later navigation and positioning; Judging whether there are obvious damages to the insulating material and abnormal phenomena on the line according to the overall line information captured by the high-definition camera. If so, the line needs to be replaced and repaired in time. If not, select an appropriate time to repair the line.

6. A line partial discharge detection and location system based on multi-terminal data fusion is used to implement the line partial discharge detection and location method based on multi-terminal data fusion according to any one of claims 1-5, and is characterized in that, Including: A data acquisition module, which is used to set a mobile device that can move at a constant speed on the line and integrate a detection device with the function of detecting partial discharge; A partial discharge positioning module, which is used to use the Beidou positioning module to establish a mobile space rectangular coordinate system for determining the movement distance of the mobile device and the information of the partial discharge position on the line; preliminarily determining the position of the partial discharge on the line according to the ultrasonic ranging principle; controlling the high-definition camera to obtain the overall line information around the positioning point according to the preliminary partial discharge positioning on the line; A ground processing module, which is used to establish a ground data processing platform for receiving and processing the line partial discharge data detected by the mobile device.

7. A line partial discharge detection and positioning system based on multi-terminal data fusion according to claim 6, characterized in that, The partial discharge positioning module specifically includes: Coordinate system modeling unit, which is used to establish a moving space rectangular coordinate system by using a Beidou positioning module to determine the moving distance of the mobile device and the information of the partial discharge position of the line; Ultrasonic positioning unit, which is used to preliminarily determine the position of the partial discharge of the line according to the ultrasonic ranging principle; Image capture unit, which is used to control a high-definition camera to obtain the overall line information around the positioning point according to the preliminary partial discharge positioning of the line.

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