Substation bushing flight detection device

Abstract

The invention discloses a transformer substation bushing flight detection device, and belongs to the technical field of transformer substation inspection, the transformer substation bushing flight detection device comprises an unmanned aerial vehicle, a pod, an ultrasonic partial discharge detection unit, an infrared thermal imager and a remote terminal, the pod and the infrared thermal imager are arranged at the lower part of the unmanned aerial vehicle, the ultrasonic partial discharge detection unit is arranged in the pod, and the infrared thermal imager is arranged in the pod. The ultrasonic partial discharge detection unit and the infrared thermal imager are both in signal connection with a flight control system of the unmanned aerial vehicle, and the flight control system is in wireless signal interconnection with the remote terminal. Visible light of the infrared thermal imager, thermal imaging detection and ultrasonic partial discharge detection are fused with the unmanned aerial vehicle flight control system, the problems that operation is difficult and detection is inaccurate during manual inspection are solved, comprehensive and accurate fault positioning of the transformer substation is achieved, and safe operation of power equipment is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of discharge positioning, in particular to a substation bushing flight detection device. Background Art

[0002] The substation is responsible for the task of converting and redistributing electric energy. It is an indispensable and important link in the power system. Whether the equipment in the substation can operate safely is directly related to whether the entire power grid can operate normally, and it plays a vital role in the safe operation of the power grid. The scale, capacity and voltage level of substations are getting higher and higher, which also puts forward higher requirements for the safe and stable operation of substations. Timely inspection of the operation of electrical equipment in the station has become an important guarantee for the safe and reliable operation of substations. Various faults may occur in electrical equipment during operation, among which heating is the most common type of fault. The equipment itself will generate heat due to current, voltage or electromagnetic effects. If there are defects and hidden dangers, such as poor contact, magnetic circuit failure, insulation degradation, etc., it will cause local temperature rise, which will affect the quality, performance, and service life of the conductor material at the least, and cause fire and other power accidents at the worst. Therefore, it is of great significance to detect the heating phenomenon in the operation of substation equipment and timely discover the hidden dangers of equipment overheating.

[0003] At present, the partial discharge inspection of substation professional bushings mainly relies on the inspection along the line with handheld partial discharge equipment. The traditional method uses manual handheld infrared thermometers to detect the temperature of substation equipment, which is labor-intensive and has low work efficiency. Later, inspection robots equipped with infrared thermal imagers, infrared thermometers and other sensors appeared to replace manual inspections. Although the inspection efficiency has been improved to a certain extent, since the robots are ground inspections, they are restricted by factors such as inspection viewing angle and height, and there are visual blind spots in their inspection range. In particular, for 220KV and 500KV substations, all-round inspection of major monitoring equipment cannot be achieved. Summary of the invention

[0004] In view of this, the present invention aims at the deficiencies of the prior art and provides a substation bushing flight detection device.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a substation bushing flight detection device, including an unmanned aerial vehicle, a pod, an ultrasonic partial discharge detection unit, an infrared thermal imager and a remote terminal, the pod and the infrared thermal imager are arranged at the lower part of the unmanned aerial vehicle, the ultrasonic partial discharge detection unit is arranged in the pod, the ultrasonic partial discharge detection unit and the infrared thermal imager are both connected to the flight control system signal of the unmanned aerial vehicle, and the flight control system is interconnected with the remote terminal by wireless signals.

[0006] Furthermore, the pod includes a cabin body and a shock absorbing module, the shock absorbing module is arranged on the top of the cabin body, a mounting plate is arranged under the UAV, and the shock absorbing module is connected to the bottom of the mounting plate.

[0007] Furthermore, the number of the shock-absorbing modules is four, which are respectively arranged at the four corners of the cabin body. The shock-absorbing module includes a U-shaped connector, a vertical rod and a spring. The upper end of the U-shaped connector is fixedly connected to the mounting plate, and a through hole is arranged at the lower end. A guide sleeve is arranged in the through hole. The upper end of the vertical rod passes through the guide sleeve, and a limit plate is arranged at the end. The spring is sleeved on the upper part of the vertical rod, and the spring is limited between the limit plate and the guide sleeve. The lower end of the vertical rod is fixedly connected to the cabin body.

[0008] Furthermore, the ultrasonic partial discharge detection unit includes an ultrasonic sensor, an amplification and denoising module, a Kalman filter module, a mean filter module, an analog-to-digital conversion module and a wireless image transmission module which are sequentially connected in signal. The ultrasonic sensor amplifies, filters and analog-to-digital converts the collected discharge sound wave signal, and transmits it to the flight control system of the UAV through the wireless image transmission module.

[0009] Furthermore, the flight control system processes the data collected by the ultrasonic partial discharge detection unit, marks the information of the partial discharge fault point and takes photos, and the photos taken contain the longitude and latitude information of the fault point.

[0010] Furthermore, obstacle avoiders are arranged on the front, rear, left, right and bottom of the UAV, and the five obstacle avoiders are all connected to the flight control system signal. When the UAV detects an obstacle, it hovers and informs the ground operator in which direction the obstacle appears. The operator controls the UAV to select a suitable path to avoid the obstacle.

[0011] Furthermore, the UAV adopts ground differential positioning coordinates for flight. First, the position of the ground RTK transmitter is accurately located through RTK Beidou and GPS dual-mode positioning, and then the UAV positioning adopts dual-antenna, dual-positioning receiver mode and RTK ground transmitter to calculate the angle to locate the UAV.

[0012] Furthermore, the infrared thermal imager collects infrared thermal image information of the equipment in the station and transmits it to the remote terminal through the flight control system.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The substation bushing flight detection device of the present invention integrates with the UAV flight control system through visible light and thermal imaging detection of infrared thermal imagers and ultrasonic partial discharge detection. Through high-sensitivity partial discharge sensors, it can accurately detect the specific discharge position and discharge intensity of the substation bushing, and timely discover the internal discharge of high-voltage bushings and other high-end products. At the same time, the thermal imaging temperature measurement module can simply, safely, intuitively and accurately find and judge the overheating fault of the equipment, solving the problems of inconvenient operation, time-consuming and labor-intensive, and poor accuracy of traditional manual inspections. In addition, the present invention realizes comprehensive judgment and positioning of test results on the same platform through the mutual verification of visible light, thermal imaging, and discharge spectrum test results, and realizes comprehensive and accurate fault positioning to ensure the safety of power equipment.

[0015] 2. The substation bushing flight detection device of the present invention adopts a non-contact detection method to realize the rapid inspection of partial discharge and heating defects of open high-voltage equipment. The device is adaptable to complex interference environments, and adopts a variety of anti-interference means to suppress various external interferences and improve the signal-to-noise ratio. Through the high-sensitivity partial discharge sensor, it can accurately detect the specific discharge position and discharge intensity of the high-voltage equipment, and timely discover the internal discharge of high-voltage bushing products. At the same time, the thermal imaging temperature measurement module can simply, safely, intuitively and accurately find and judge the overheating fault of the equipment. The fault signal receiving and analysis terminal obtains partial discharge data by wireless WIFI, quickly and accurately judges the location and shape of the partial discharge fault point, and combines video imaging technology to take pictures of the defect point for evidence collection.

[0016] 3. In the substation casing flight detection device of the present invention, the ultrasonic partial discharge detection unit is arranged in the pod, and the pod body is connected to the mounting plate at the bottom of the drone through four shock-absorbing modules, which can reduce the influence of the drone vibration on the ultrasonic partial discharge detection unit and improve the detection accuracy; in addition, the drone adopts ground differential positioning coordinates for flight, rather than the GPS satellite positioning method adopted by ordinary drones for positioning, and the RTK ground differential locator has higher accuracy, ensuring the safety of the drone during substation inspections; in addition, after the data collected by the ultrasonic partial discharge detection unit is processed by the drone flight control system, the information of the partial discharge fault point is marked and photos are taken, and the photos taken contain the latitude and longitude information of the fault point, so that the fault point can be traced back to facilitate maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0018] Figure 2 yes Figure 1 A magnified view of the part A in the middle;

[0019] Figure 3 is a circuit connection block diagram in Embodiment 1 of the present invention;

[0020] Figure 4 is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0021] In the figure, 1-UAV, 2-infrared thermal imager, 3-remote terminal, 4-cabin, 5-mounting plate, 6-U-shaped connector, 7-vertical rod, 8-spring, 9-guide sleeve, 10-limiting plate, 11-ultrasonic sensor, 12-amplification and denoising module, 13-Kalman filter module, 14-mean filter module, 15-analog-to-digital conversion module, 16-wireless image transmission module, 17-obstacle avoider, 18-UAV remote control, 19-power equipment, 20-fixed disk, 21-rotating disk, 22-stepping motor. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0023] Example 1

[0024] like Figures 1 to 3 As shown, a substation bushing flight detection device includes an unmanned aerial vehicle 1, a pod, an ultrasonic partial discharge detection unit, an infrared thermal imager 2 and a remote terminal 3. The pod and the infrared thermal imager 2 are arranged at the lower part of the unmanned aerial vehicle 1, and the ultrasonic partial discharge detection unit is arranged in the pod. The ultrasonic partial discharge detection unit and the infrared thermal imager 2 are both connected to the flight control system signal of the unmanned aerial vehicle, and the flight control system is interconnected with the remote terminal 3 by wireless signals.

[0025] The pod includes a cabin body 4 and a shock absorbing module, the shock absorbing module is arranged on the top of the cabin body 4, a mounting plate 5 is arranged under the drone 1, and the shock absorbing module is connected to the bottom of the mounting plate 5; the number of the shock absorbing modules is four, which are respectively arranged at the four corners of the cabin body 4, and the shock absorbing module includes a U-shaped connector 6, a vertical rod 7 and a spring 8, the upper end of the U-shaped connector 6 is fixedly connected to the mounting plate 5, and a through hole is arranged at the lower end, and a guide sleeve 9 is arranged in the through hole, the upper end of the vertical rod 7 passes through the guide sleeve 9, and a limit plate 10 is arranged at the end, the spring 8 is sleeved on the upper part of the vertical rod 7, and the spring 8 is limited between the limit plate 10 and the guide sleeve 9, and the lower end of the vertical rod 7 is fixedly connected to the cabin body 4.

[0026] The ultrasonic partial discharge detection unit includes an ultrasonic sensor 11, an amplification and denoising module 12, a Kalman filter module 13, a mean filter module 14, an analog-to-digital conversion module 15 and a wireless image transmission module 16, which are sequentially connected in signal. The ultrasonic sensor 11 amplifies, filters, and performs analog-to-digital conversion on the collected discharge sound wave signal of the power equipment 19, and transmits it to the flight control system of the drone 1 through the wireless image transmission module 16.

[0027] The flight control system processes the data collected by the ultrasonic partial discharge detection unit, marks the information of the partial discharge fault point and takes photos, and the photos taken contain the longitude and latitude information of the fault point.

[0028] Obstacle avoiders 17 are arranged on the front, rear, left, right and bottom of the drone 1. The five obstacle avoiders 17 are all connected to the flight control system signal. When the drone 1 detects an obstacle, it hovers and informs the ground operator in which direction the obstacle appears. The operator operates the drone remote control 18 to select a suitable path to avoid the obstacle.

[0029] The UAV 1 uses ground differential positioning coordinates for flight. First, the RTK Beidou and GPS dual-mode positioning is used to accurately locate the position of the ground RTK transmitter. Then, the UAV positioning uses a dual-antenna, dual-positioning receiver mode and the RTK ground transmitter to calculate the angle to locate the UAV.

[0030] The infrared thermal imager 2 collects infrared thermal image information of the equipment in the station and transmits it to the remote terminal through the flight control system.

[0031] The discharge positioning method of the substation bushing flight detection device of the present invention comprises the following steps:

[0032] (1) Before the UAV takes off, it first uses RTK Beidou and GPS dual-mode positioning to accurately locate the position of the ground RTK transmitter. Then the UAV positioning uses the dual-antenna, dual-positioning receiver mode and the RTK ground transmitter to calculate the angle to locate the UAV;

[0033] (2) After the UAV uses the ground station to perform intelligent route planning and flight, it can take pictures and monitor partial discharge faults of many bushings in the substation under the control of the UAV remote controller;

[0034] (3) The thermal imaging information collected by the infrared thermal imager and the partial discharge information collected by the ultrasonic partial discharge detection unit are transmitted to the UAV flight control system for processing. After the UAV flight control system determines that there is a heating fault or a discharge fault, it sends the fault information to the remote terminal (mobile phone or tablet computer);

[0035] (4) When the UAV flight control system detects fault information, it marks the information of the fault point and takes photos (using the UAV's built-in camera). The photos taken contain the latitude and longitude information of the fault point, which can be used to trace the fault point.

[0036] In the embodiment of the present invention, since the ultrasonic partial discharge detection equipment will cause serious interference when it is directly hung on the drone, an interface adapted to the mainstream drone platform is designed to eliminate the noise interference of the drone. In addition, the drone pod uses a high-sensitivity ultrasonic partial discharge sensor probe and uses multiple filter solutions to improve the sensitivity of the detection equipment to discharge, thereby eliminating the influence of the noise of the drone rotor on the sensitivity of the sensor to the greatest extent. In addition, multiple shock-absorbing modules are arranged on the cabin of the pod to further reduce the influence of the drone on the ultrasonic partial discharge detection unit and improve the detection and positioning accuracy.

[0037] Example 2

[0038] like Figure 4 As shown, the substation bushing flight detection device of the embodiment of the present invention is further improved on the basis of embodiment 1:

[0039] The top of the infrared thermal imager is connected to the mounting plate through a horizontal rotation module. The horizontal rotation module includes a fixed disk 20, a rotating disk 21 and a stepper motor 22. The fixed disk 20 is fixedly connected to the bottom surface of the mounting plate. The rotating disk 21 is rotatably connected to the fixed disk 20. The rotating disk 21 has gear teeth on its circumference, which mesh with the gears of the output shaft of the stepper motor 22 to achieve transmission.

[0040] The positioning method of the embodiment of the present invention is further improved on the basis of embodiment 1:

[0041] After the ultrasonic sensor detects the device's discharge sound waves, the flight control system finds the device's discharge location based on the ultrasonic return direction and distance, and transmits it to the remote terminal;

[0042] After the ultrasonic sensor detects partial discharge, the flight control system controls the infrared imager to rotate to the discharge position through the horizontal rotation module for secondary confirmation.

[0043] In the embodiment of the present invention, since the equipment is usually accompanied by heat when partial discharge occurs, when the ultrasonic partial discharge detection unit detects a partial discharge fault, a secondary confirmation is performed through an infrared thermal imager, thereby improving the accuracy of partial discharge detection and positioning.

[0044] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A substation bushing flight detection device, characterized in that: It includes an unmanned aerial vehicle, a pod, an ultrasonic partial discharge detection unit, an infrared thermal imager and a remote terminal. The pod and the infrared thermal imager are arranged at the lower part of the unmanned aerial vehicle, the ultrasonic partial discharge detection unit is arranged in the pod, the ultrasonic partial discharge detection unit and the infrared thermal imager are both connected to the flight control system signal of the unmanned aerial vehicle, and the flight control system is interconnected with the remote terminal by wireless signals.

2. The substation bushing flight detection device according to claim 1, characterized in that: The pod includes a pod body and a shock absorbing module. The shock absorbing module is arranged on the top of the pod body. A mounting plate is arranged under the drone. The shock absorbing module is connected to the bottom of the mounting plate.

3. The substation bushing flight detection device according to claim 2 is characterized in that: There are four shock-absorbing modules, which are respectively arranged at the four corners of the cabin body. The shock-absorbing modules include a U-shaped connector, a vertical rod and a spring. The upper end of the U-shaped connector is fixedly connected to the mounting plate, and a through hole is arranged at the lower end. A guide sleeve is arranged in the through hole. The upper end of the vertical rod passes through the guide sleeve, and a limit plate is arranged at the end. The spring is sleeved on the upper part of the vertical rod, and the spring is limited between the limit plate and the guide sleeve. The lower end of the vertical rod is fixedly connected to the cabin body.

4. The substation bushing flight detection device according to claim 3 is characterized in that: The ultrasonic partial discharge detection unit includes an ultrasonic sensor, an amplification and denoising module, a Kalman filter module, a mean filter module, an analog-to-digital conversion module and a wireless image transmission module which are sequentially connected in signal. The ultrasonic sensor amplifies, filters and performs analog-to-digital conversion on the collected discharge sound wave signal, and transmits it to the flight control system of the UAV through the wireless image transmission module.

5. The substation bushing flight detection device according to claim 4, characterized in that: The flight control system processes the data collected by the ultrasonic partial discharge detection unit, marks the information of the partial discharge fault point and takes photos, and the photos taken contain the longitude and latitude information of the fault point.

6. The substation bushing flight detection device according to claim 1, characterized in that: Obstacle avoiders are arranged on the front, rear, left, right and bottom of the UAV, and the five obstacle avoiders are all connected with the flight control system signal. When the UAV detects an obstacle, it hovers and informs the ground operator in which direction the obstacle appears. The operator controls the UAV to select a suitable path to avoid the obstacle.

7. The substation bushing flight detection device according to claim 1, characterized in that: The UAV adopts ground differential positioning coordinates for flight. First, the position of the ground RTK transmitter is accurately located through RTK Beidou and GPS dual-mode positioning. Then the UAV positioning adopts dual antenna, dual positioning receiver mode and RTK ground transmitter to calculate the angle to locate the UAV.

8. The substation bushing flight detection device according to claim 1, characterized in that: The infrared thermal imager collects infrared thermal image information of the equipment in the station and transmits it to the remote terminal through the flight control system.

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