A Partial Discharge Detection Method and System Based on Acoustic Signals and Thermal Imaging

Abstract

An embodiment of the present invention relates to the technical field of partial discharge detection, and discloses a partial discharge detection method based on acoustic signals and thermal imaging, which is characterized by including: analyzing and processing the noise-reduced and filtered sound information to determine the position information of the sound source in the current detection environment, and generating a corresponding sound source point map according to the position information of the sound source; superimposing the sound source point map on the maintenance image to obtain a partial discharge display image; acquiring an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and performing thermal image analysis and processing on the infrared thermal image to determine the corresponding abnormal temperature area; updating and displaying the maintenance image or the partial discharge display image according to the actual pixel point position. In the embodiment of the present invention, the partial discharge detection method based on acoustic signals and thermal imaging combines multiple information sources such as acoustic signals, visible light images, and infrared thermal images, and realizes the automatic identification and positioning of partial discharge points through technical means such as algorithm processing and image superposition.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power maintenance, and in particular to a partial discharge detection method and system based on acoustic signals and thermal imaging. Background Art

[0002] At present, the all-round progress and development of today's society cannot be separated from the stable and reliable power support provided by the complex power network. As the core channel for regional power transmission, the inspection of high-voltage overhead transmission lines plays a vital role in ensuring the safe operation of local power transmission and distribution networks. However, during the operation of power transmission and transformation equipment, a variety of equipment abnormalities will occur, among which partial discharge is particularly common and extremely harmful. Partial discharge is not only a key factor leading to the eventual insulation damage of high-voltage transmission equipment, but also an important sign of the gradual decline in insulation performance. Therefore, designing a solution that can perform efficient line detection has become a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0003] In response to the above defects, an embodiment of the present invention discloses a partial discharge detection method based on acoustic signals and thermal imaging, which can improve detection efficiency and detection accuracy.

[0004] The first aspect of the embodiment of the present invention discloses a partial discharge detection method based on acoustic signals and thermal imaging, comprising:

[0005] Acquire sound information in the current scene by means of a microphone array set in a first signal acquisition frequency band, and preprocess the sound information to obtain sound information after noise reduction filtering; the microphone array is composed of a plurality of sound sensors, the positions of the plurality of sound sensors are different, and the microphone array is used to receive sound information from all directions;

[0006] Analyze and process the sound information after noise reduction filtering to determine the location information of the sound source in the current detection environment, and generate a corresponding sound source point map based on the location information of the sound source;

[0007] Acquire the maintenance image of the current scene through the visible light camera, and superimpose the sound source point map and the maintenance image to obtain a partial discharge display image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone;

[0008] If the number of local discharge points detected in the partial discharge display image is greater than or equal to two, the next step is executed; if the number of local discharge points detected in the partial discharge display image is one, the superimposed partial discharge display image is displayed;

[0009] An infrared thermal image with the same viewing angle as the visible light camera is obtained through an infrared camera, and the infrared thermal image is analyzed and processed to determine a corresponding abnormal temperature region;

[0010] If the abnormal temperature region matches the set discharge mode, a set of spatial position information corresponding to the abnormal temperature region is obtained, the set of spatial position information is subjected to coordinate transformation to determine the actual pixel point positions of each abnormal temperature region in the maintenance image, and the maintenance image or the partial discharge display image is updated and displayed according to the actual pixel point positions.

[0011] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the microphone array includes 136 MIC spiral arrays for obtaining sound signals; analyzing and processing the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generating a corresponding sound source point map according to the position information of the sound source, including:

[0012] Analyzing and processing the sound information after noise reduction and filtering to determine the time information of the sound source reaching each sound sensor in the microphone array;

[0013] Calculating the time difference of the sound signal reaching each sound sensor in the microphone array;

[0014] Determining the position information of the sound source in the current detection environment according to the calculated time difference and the pre-set sound source calculation formula; the sound source calculation formula is: where θ is the direction angle of the sound source, δ is the distance between two microphones, c is the speed of sound, and Δt is the time difference between the sound source signal reaching the two microphones;

[0015] Generating a corresponding sound source point map according to the position information of the sound source.

[0016] As an optional implementation manner, in the first aspect of the embodiments of the present invention, after displaying the superimposed partial discharge display image if the number of partial discharge points in the partial discharge display image is detected to be 1, it further includes:

[0017] Performing feature analysis on the sound information after noise reduction and filtering to determine corresponding frequency feature information and amplitude feature information;

[0018] Performing state evaluation on the analyzed frequency feature information and amplitude feature information to determine the first state parameter of the corresponding partial discharge point;

[0019] After the set of spatial position information is subjected to coordinate transformation to determine the actual pixel point positions of each abnormal temperature region in the maintenance image, it further includes:

[0020] Preprocess the infrared thermal image to obtain processed infrared image data, acquire the pixel point parameters of each data point in the infrared image data, and determine the gray level difference and gradient difference between the corresponding data point and its adjacent data points based on the pixel point parameters of each data point;

[0021] Determine the corresponding mutation parameter according to the gray level difference and gradient difference between the corresponding data point and its adjacent data points based on the pixel point parameters of each data point, wherein the mutation parameter is determined by the gray level difference and gradient difference;

[0022] Determine the parameter difference information between each data point and other data points according to the mutation parameters of each data point in the obtained infrared image data, and determine the regional association information between each data point and other data points according to the parameter difference information;

[0023] Perform a clustering operation on the infrared image data according to the regional association information between each data point and other data points to determine the corresponding regional information; and extract features from the regional information to obtain regional feature information;

[0024] Output the regional feature information that meets the set requirements, and determine the second state parameter of the corresponding partial discharge point according to the regional feature information.

[0025] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the partial discharge detection method further includes:

[0026] Receive the data analysis area selected by the user, and perform statistics on the parameters in the data analysis area to determine the corresponding statistical parameter information, where the statistical parameter information includes the highest temperature information and the lowest temperature information, and the data analysis area is a rectangular analysis area;

[0027] The partial discharge detection method further includes:

[0028] Determine the defect level of the corresponding partial discharge point according to the first state parameter and / or the second state parameter, and output the corresponding defect level.

[0029] As an optional implementation manner, in the first aspect of the embodiments of the present invention, before acquiring the sound information of the current scene through the microphone array set in the first signal acquisition frequency band, it further includes:

[0030] Receive the voiceprint signals collected by the sound collection device of the unmanned aerial vehicle set in the second signal acquisition frequency band at each inspection point on the inspection route; the frequency band range of the second signal acquisition frequency band is greater than the frequency band range of the first signal acquisition frequency band;

[0031] Analyze and process the denoised and filtered voiceprint signal to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source position map according to the position information of the sound source;

[0032] Obtain the inspection and repair image of the current scene through a visible light camera, and superimpose the sound source position map and the inspection and repair image according to the mapping relationship between the image collected by the visible light camera and the sound point positions collected by the microphone to obtain an inspection and patrol display image;

[0033] Identify the inspection and patrol display image to determine whether there is a corresponding partial discharge inspection point in the inspection and patrol display image. If so, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection and repair information according to the current flight position information and the inspection and patrol display image;

[0034] Send the inspection and repair information to the background server, where the inspection and repair information includes inspection and repair position information and the inspection and patrol display image.

[0035] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the identifying the inspection and patrol display image to determine whether there is a corresponding partial discharge inspection point in the inspection and patrol display image. If so, obtaining the current flight position information of the unmanned aerial vehicle, and generating corresponding inspection and repair information according to the current flight position information and the inspection and patrol display image includes:

[0036] Identify the inspection and patrol display image to determine whether there is a corresponding partial discharge inspection point in the inspection and patrol display image;

[0037] Obtain the partial discharge feature information associated with the partial discharge inspection point, and match the partial discharge feature information with a pre-set partial discharge level. If the partial discharge feature information matches the first partial discharge level, no corresponding inspection and repair information is generated;

[0038] If the partial discharge feature information matches the second partial discharge level, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection and repair information according to the current flight position information and the inspection and patrol display image. The inspection and repair information further includes a general inspection level;

[0039] If the partial discharge feature information matches the third partial discharge level, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection and repair information according to the current flight position information and the inspection and patrol display image. The inspection and repair information further includes an emergency inspection level.

[0040] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the coordinate transformation of the spatial position information set to determine the actual pixel point positions of each abnormal temperature region in the inspection and repair image includes:

[0041] Determine the first pixel resolution corresponding to the image obtained by the infrared camera and determine the second pixel resolution corresponding to the image obtained by the visible light camera;

[0042] Perform coordinate transformation on the spatial position information set according to the coordinate transformation formula to determine the actual pixel positions of each abnormal temperature region in the inspection image, and the coordinate transformation formula is:

[0043] Y2 = Y1 * (H2 / H1), X2 = X1 * (W2 / W1);

[0044] Y2 is the Y-axis coordinate value in the visible light image coordinate, Y1 is the Y-axis coordinate value in the infrared thermal image coordinate, H1 is the vertical pixel value in the first pixel resolution, and H2 is the vertical pixel value in the second pixel resolution; X2 is the X-axis coordinate value in the visible light image coordinate, X1 is the X-axis coordinate value in the infrared thermal image coordinate, W1 is the horizontal pixel value in the first pixel resolution, and W2 is the horizontal pixel value in the second pixel resolution;

[0045] Or, performing the coordinate transformation on the spatial position information set to determine the actual pixel positions of each abnormal temperature region in the inspection image includes:

[0046] Perform coordinate transformation on the spatial position information set according to the infrared-visible light mapping relationship to determine the actual pixel positions of each abnormal temperature region in the inspection image.

[0047] A second aspect of the embodiments of the present invention discloses a partial discharge detection system based on acoustic signals and thermal imaging, including:

[0048] An acoustic fingerprint acquisition module: used to acquire the sound information in the current scene through a microphone array set in the first signal acquisition frequency band, and preprocess the sound information to obtain the sound information after noise reduction and filtering; the microphone array is composed of multiple sound sensors, and the positions of the multiple sound sensors are different, and the microphone array is used to receive the sound information from all directions;

[0049] A point position determination module: used to analyze and process the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point position map according to the position information of the sound source;

[0050] An image acquisition module: used to acquire the inspection image in the current scene through a visible light camera, and superimpose the sound source point position map and the inspection image according to the mapping relationship between the image acquired by the visible light camera and the sound point acquired by the microphone to obtain a partial discharge display image;

[0051] Judgment module: If the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, it proceeds to the next step. If the number of partial discharge points detected in the partial discharge display image is one, it displays the superimposed partial discharge display image.

[0052] Infrared image acquisition module: It is used to acquire an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and perform thermal image analysis and processing on the infrared thermal image to determine the corresponding abnormal temperature region.

[0053] Coordinate update module: If the abnormal temperature region matches the set discharge mode, it acquires the spatial position information set corresponding to the abnormal temperature region, performs coordinate transformation on the spatial position information set to determine the actual pixel positions of each abnormal temperature region in the inspection image, and updates and displays the inspection image or the partial discharge display image according to the actual pixel positions.

[0054] A third aspect of the embodiments of the present invention discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the partial discharge detection method based on acoustic signals and thermal imaging disclosed in the first aspect of the embodiments of the present invention.

[0055] A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the partial discharge detection method based on acoustic signals and thermal imaging disclosed in the first aspect of the embodiments of the present invention.

[0056] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0057] In the embodiments of the present invention, the partial discharge detection method based on acoustic signals and thermal imaging combines multiple information sources such as acoustic signals, visible light images, and infrared thermal images. Through technical means such as algorithm processing and image superposition, it realizes the automatic recognition and positioning of partial discharge points. This intelligent detection method not only improves the accuracy and efficiency of detection, but also reduces the dependence on manual intervention and enhances the intelligent level of the entire detection system. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1It is a schematic flow chart of the partial discharge detection method based on acoustic signals and thermal imaging disclosed in the embodiments of the present invention;

[0060] Figure 2 It is a schematic flow chart for determining the sound source position map disclosed in the embodiments of the present invention;

[0061] Figure 3 It is a schematic flow chart for determining infrared temperature anomalies disclosed in the embodiments of the present invention;

[0062] Figure 4 It is a schematic flow chart for maintenance using an unmanned aerial vehicle disclosed in the embodiments of the present invention;

[0063] Figure 5 It is a schematic structural diagram of a partial discharge detection system based on acoustic signals and thermal imaging provided by the embodiments of the present invention;

[0064] Figure 6 It is a schematic structural diagram of an electronic device provided by the embodiments of the present invention. Detailed implementation manners

[0065] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0066] It should be noted that the terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention are used to distinguish different objects, rather than to describe a specific order. The terms "include" and "have" in the embodiments of the present invention and any of their deformations are intended to cover non-exclusive inclusion. Exemplarily, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0067] During the operation of power transmission and transformation equipment, various equipment abnormal phenomena will occur. Among them, partial discharge is particularly common and extremely harmful. Partial discharge is not only a key factor leading to the ultimate insulation failure of high-voltage transmission equipment but also an important sign of the gradual decline of insulation performance. Based on this, the embodiments of the present invention disclose a partial discharge detection method, system, electronic device, and storage medium based on acoustic signals and thermal imaging. It combines multiple information sources such as acoustic signals, visible light images, and infrared thermal images, and through technical means such as algorithm processing and image superposition, realizes the automatic identification and positioning of partial discharge points. This intelligent detection method not only improves the accuracy and efficiency of detection but also reduces the dependence on manual intervention and enhances the intelligent level of the entire detection system.

[0068] Embodiment 1

[0069] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of the partial discharge detection method based on acoustic signals and thermal imaging disclosed in the embodiments of the present invention. Among them, the execution subject of the method described in the embodiments of the present invention is an execution subject composed of software or / and hardware. This execution subject can receive relevant information through wired or / and wireless means and can send certain instructions. Of course, it can also have certain processing functions and storage functions. This execution subject can control multiple devices, such as remote physical servers or cloud servers and related software, or it can also be a local host or server and related software that performs relevant operations on devices placed somewhere. In some scenarios, it can also control multiple storage devices, and the storage devices can be placed in the same place or different places as the devices. As Figure 1 shown, the partial discharge detection method based on acoustic signals and thermal imaging includes the following steps:

[0070] S101: Obtain the sound information in the current scene through a microphone array set in the first signal acquisition frequency band, and preprocess the sound information to obtain the sound information after noise reduction and filtering; the microphone array is composed of multiple sound sensors, and the positions of the multiple sound sensors are different. The microphone array is used to receive sound information from all directions;

[0071] S102: Analyze and process the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point map according to the position information of the sound source;

[0072] S103: Obtain the inspection image in the current scene through a visible light camera, and superimpose the sound source point map and the inspection image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain a partial discharge display image;

[0073] S104: If the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, then proceed to the next step. If the number of partial discharge points detected in the partial discharge display image is 1, then display the superimposed partial discharge display image.

[0074] S105: Obtain an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and perform thermal image analysis processing on the infrared thermal image to determine the corresponding abnormal temperature area.

[0075] S106: If the abnormal temperature area matches the set discharge mode, then obtain the spatial position information set corresponding to the abnormal temperature area, perform coordinate conversion on the spatial position information set to determine the actual pixel point positions of each abnormal temperature area in the maintenance image, and update and display the maintenance image or the partial discharge display image according to the actual pixel point positions.

[0076] In the embodiment of the present invention, the sound information is obtained through the microphone array in the first signal acquisition frequency band and subjected to noise reduction and filtering processing, which can effectively reduce the interference of environmental noise, improve the quality of the sound signal, and thus more accurately identify the sound signal related to partial discharge. The microphone array consists of multiple sound sensors with different positions and can receive sound information from all directions, which helps to accurately locate the sound source, that is, the position of the partial discharge point.

[0077] In the embodiment of the present invention, the processed sound information is converted into a sound source point map and superimposed with the maintenance image obtained by the visible light camera to obtain a partial discharge display image. This method converts the abstract acoustic signal into intuitive image information, which is convenient for the staff to quickly identify and understand the position and quantity of the partial discharge points.

[0078] When the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, further obtain the infrared thermal image through the infrared camera and perform thermal image analysis processing. This step-by-step detection method can ensure the detection accuracy while reducing unnecessary detection steps and improving the detection efficiency. Because in the specific implementation, if the number of partial discharge points is greater than or equal to two, there will be a situation where the use of the sound signal detection method will cause a certain deviation in the specific detection points. If there is a deviation, it will cause certain troubles to the subsequent maintenance personnel and cannot achieve the efficient positioning situation.

[0079] In the embodiments of the present invention, by matching the abnormal temperature region in the infrared thermal image with the set discharge mode, the existence and nature of the partial discharge point can be further confirmed. At the same time, obtaining the spatial position information of the abnormal temperature region and converting it into the actual pixel point position in the maintenance image helps the staff to more accurately locate the fault point and provides strong support for subsequent repair and replacement work.

[0080] More preferably, the microphone array includes 136 MIC spiral arrays for acquiring sound signals; due to the non-uniform distribution characteristics of the spiral array in the embodiments of the present invention, it can effectively avoid spatial aliasing, thereby reducing the spatial ambiguity problem, significantly reducing the side lobe height, and improving the accuracy of sound source localization. This is particularly important for partial discharge point detection because partial discharge points usually have weak and complex acoustic characteristics and require high-precision localization to accurately identify the sound source position. The main lobe width of the spiral array is relatively wide, which can better focus on the target sound source while suppressing background noise and interference. This is very beneficial for partial discharge point detection because partial discharge signals are often masked by complex background noise, and the spiral array can improve the detection reliability by enhancing the target signal and suppressing noise. The spiral array performs excellently in acoustic imaging, providing higher spatial resolution and clearer imaging effects. This helps to accurately locate partial discharge points in power equipment, thereby promptly discovering potential faults and hidden dangers. Compared with other array structures (such as rectangular arrays), the spiral array has fewer side lobes in the imaging diagram and smoother spectral peak imaging. This means that in partial discharge point detection, the spiral array can reduce misjudgment caused by side lobes and improve the detection accuracy. The design of the spiral array enables it to adapt to complex spatial environments, capture sound signals in multiple dimensions, and achieve focusing and enhancement of sounds in specific directions through beamforming technology. This is particularly important for the complex acoustic environment inside power equipment and can ensure accurate detection of partial discharge points under various conditions.

[0081] As Figure 2 shown, analyzing and processing the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generating a corresponding sound source position map according to the position information of the sound source includes:

[0082] S1021: Analyzing and processing the sound information after noise reduction and filtering to determine the time information of the sound source reaching each sound sensor in the microphone array;

[0083] S1022: Calculating the time difference of the sound signal reaching each sound sensor in the microphone array;

[0084] S1023: Determining the position information of the sound source in the current detection environment according to the calculated time difference and the pre-set sound source calculation formula; the sound source calculation formula is: Where, θ is the direction angle of the sound source, δ is the distance between the two microphones, c is the speed of sound, and Δt is the time difference between the arrival of the sound source signal at the two microphones;

[0085] S1024: Generate a corresponding sound source point map according to the position information of the sound source.

[0086] In the embodiment of the present invention during the partial discharge detection process, noise reduction and filtering processing are performed on the sound information, which can effectively remove environmental noise and other interference factors, making the sound signal received by the microphone array purer. By analyzing and processing the sound information after noise reduction and filtering, the time information of the sound source reaching each sound sensor in the microphone array can be determined more accurately, thereby calculating the time difference of the sound signal reaching each sensor. Using the preset sound source calculation formula and combining with the time difference, the position information of the sound source can be accurately determined, improving the accuracy of partial discharge detection.

[0087] In the embodiment of the present invention, this technology can process sound information in real time and calculate the position information of the sound source within a short time, thereby realizing real-time positioning of the partial discharge source. By generating a sound source point map, the position distribution of the partial discharge source can be visually displayed, providing a clear visual reference for the monitoring personnel. This helps the monitoring personnel to discover and handle potential partial discharge problems in a timely manner, avoiding equipment failures and safety accidents.

[0088] More preferably, after detecting that the number of partial discharge points in the partial discharge display image is 1 and displaying the superimposed partial discharge display image, it further includes:

[0089] Perform feature analysis on the sound information after noise reduction and filtering to determine the corresponding frequency feature information and amplitude feature information;

[0090] Perform state evaluation on the analyzed frequency feature information and amplitude feature information to determine the first state parameter of the corresponding partial discharge point;

[0091] As Figure 3 shown, after performing coordinate transformation on the spatial position information set to determine the actual pixel point positions of each abnormal temperature region in the inspection image, it further includes:

[0092] S1061: Preprocess the infrared thermal image to obtain processed infrared image data, obtain the pixel point parameters of each data point in the infrared image data, and determine the gray difference and gradient difference between the corresponding data point and the adjacent data point based on the pixel point parameters of each data point;

[0093] S1062: Determine the corresponding mutation parameter according to the gray difference and gradient difference between the corresponding data point and the adjacent data point based on the pixel point parameters of each data point, where the mutation parameter is determined by the gray difference and gradient difference;

[0094] S1063: Determine the parameter difference information between each data point and other data points according to the mutation parameters of each data point in the obtained infrared image data, and determine the regional association information between each data point and other data points according to the parameter difference information;

[0095] S1064: Perform a clustering operation on the infrared image data according to the regional association information between each data point and other data points to determine the corresponding regional information; and extract features from the regional information to obtain regional feature information;

[0096] S1065: Output the regional feature information that meets the set requirements, and determine the second state parameter of the corresponding partial discharge point according to the regional feature information.

[0097] In the embodiment of the present invention, feature analysis is performed on the sound information after noise reduction filtering, and frequency feature information and amplitude feature information are extracted, which can more deeply understand the physical properties of the partial discharge point, such as discharge intensity, discharge frequency, etc. By performing state evaluation to determine the first state parameter of the partial discharge point, a more accurate basis is provided for subsequent fault diagnosis and maintenance.

[0098] In the embodiment of the present invention, preprocessing is performed on the infrared thermal image, pixel point parameters of each data point are obtained, and gray difference and gradient difference are calculated, which helps to more finely capture the temperature change information in the infrared image. By determining the mutation parameters, abnormal hot spots or temperature mutation regions in the infrared image can be identified, and these regions are often closely related to the partial discharge point. Performing a clustering operation according to the mutation parameters of the data points can automatically group similar regions in the infrared image, improving the efficiency and accuracy of image processing. Extracting features from the clustered regions to obtain regional feature information helps to further analyze the thermal properties of the partial discharge point, such as temperature distribution, heat diffusion speed, etc. Combining the feature analysis results of the sound signal and the regional feature information of the infrared image can more comprehensively and accurately evaluate the state of the partial discharge point. By determining the first state parameter and the second state parameter, more reliable data support is provided for the fault warning, positioning, diagnosis, and maintenance of the partial discharge point.

[0099] For different partial discharge situations, the temperature image changes are also different. Based on the temperature change results of different partial discharges, identify which type of partial discharge it belongs to, and each partial discharge image will definitely correspond to a special partial discharge temperature distribution map; determine the particularity of its change with the center point of the partial discharge as the center of the circle, and the type of partial discharge can be further determined by combining environmental factors such as temperature and humidity; after determining the type, the degree of partial discharge can be further judged.

[0100] When determining the regional feature information, it can be determined in the following way. Taking the center point of the region as the starting point, draw extension lines from the center point to the eight neighborhood directions until the extension lines intersect with the edge of the region, and then stop to obtain eight neighborhood lines. Take the variance of the gray values of all data points passing through each neighborhood line as the gray variance of the neighborhood line. Take every two neighborhood lines that are centrosymmetric as a group to obtain four groups of neighborhood lines;

[0101] According to the difference in the gray variances of the two neighborhood lines in each group of neighborhood lines, determine the difference mean value of the gray variances corresponding to the four groups of neighborhood lines. Take the sum of the difference mean value and the mean value of the gray variances of the eight neighborhood lines as the regional feature information of the corresponding region, and statistically calculate the average temperature data of the region as the regional feature information. Characterize the temperature distribution state through this regional feature information, and assist in judging the partial discharge type through this feature. The partial discharge types include corona discharge, floating discharge, and surface discharge.

[0102] In addition to the above method, during partial discharge, since the surrounding temperature is not stable because partial discharge will cause the surrounding temperature not to be fixed, the corresponding positioning can be determined by detecting the temperature regions at the same site at different times and comparing the temperature images at different times, and a variety of algorithms are integrated to determine the partial discharge location.

[0103] More preferably, the partial discharge detection method further includes:

[0104] Receive the data analysis area selected by the user, and statistically calculate the parameters within the data analysis area to determine the corresponding statistical parameter information. The statistical parameter information includes the highest temperature information and the lowest temperature information, and the data analysis area is a rectangular analysis area;

[0105] In the embodiment of the present invention, by receiving the data analysis area selected by the user, this method allows the user to select a specific analysis range according to actual needs, rather than performing undifferentiated analysis on the entire image or data set. This improves the flexibility of data analysis and enables the user to more accurately focus on the area of interest.

[0106] Statistically calculate the parameters within the data analysis area to determine statistical parameter information such as the highest temperature and the lowest temperature, which helps the user more intuitively understand the temperature distribution within the area, and then judge the severity and possible influence range of the partial discharge point. Allowing the user to select the data analysis area and receive the statistical parameter information, as well as output the defect level, these functions enhance the interactivity between the user and the partial discharge detection system. The user can customize the analysis process according to his own judgment and needs and obtain the analysis results immediately, thereby improving the usability of the system and user satisfaction.

[0107] When implementing specifically, various forms of regional selection methods can also be combined. For example, the point selection method of lines can be adopted to perform corresponding regional state analysis.

[0108] The partial discharge detection method further includes:

[0109] Determine the defect level of the corresponding partial discharge point according to the first state parameter and / or the second state parameter, and output the corresponding defect level.

[0110] In the embodiment of the present invention, the defect level of the partial discharge point is determined according to the first state parameter (feature analysis based on sound signals) and / or the second state parameter (regional feature information based on infrared images). This approach combines the information of multiple data sources, improving the accuracy and reliability of defect level evaluation.

[0111] Outputting the corresponding defect level not only provides an intuitive evaluation result for users, but also helps users take corresponding maintenance measures according to the defect level, thereby ensuring the safe operation of the equipment. Through automated and intelligent data processing and analysis, this method reduces the links of manual intervention and judgment, improving the overall efficiency of partial discharge detection. Users only need to select the data analysis area and wait for the result output to quickly understand the operating state and potential problems of the equipment. The output defect level information provides a basis for users to make decisions. Users can judge whether immediate actions need to be taken according to the defect level, such as shutting down for maintenance, replacing components, etc., so as to avoid potential failures and safety accidents. In addition, this method also supports preventive maintenance. Through regular detection and analysis, users can timely discover and handle potential partial discharge problems, extending the service life of the equipment.

[0112] Such as Figure 4 shown, more preferably, before obtaining the sound information of the current scene through the microphone array set in the first signal acquisition frequency band, it further includes:

[0113] S100a: Receive the voiceprint signals collected by the sound collection device of the unmanned aerial vehicle set in the second signal acquisition frequency band at each inspection point on the inspection route; the frequency band range of the second signal acquisition frequency band is greater than the frequency band range of the first signal acquisition frequency band;

[0114] S100b: Analyze and process the voiceprint signals after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point map according to the position information of the sound source;

[0115] S100c: Obtain the inspection image of the current scene through the visible light camera, and superimpose the sound source point map and the inspection image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain the inspection display image;

[0116] S100d: Identify the inspection display image to determine whether there is a corresponding partial discharge maintenance point in the inspection display image, and if so, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding maintenance information according to the current flight position information and the inspection display image;

[0117] S100e: Send the maintenance information to a background server, wherein the maintenance information includes maintenance location information and inspection display images.

[0118] The embodiment of the present invention can collect voiceprint signals within a wider frequency band through the sound collection device set in the second signal collection frequency band on the unmanned aerial vehicle. This means that the system can capture more types of sound information, including partial discharge sound signals that may be outside the first signal collection frequency band but are still meaningful. When performing specific implementation, the second signal collection frequency band here can be set at 30kHz-45kHz, which can not only clearly reflect the location of partial discharge, but also effectively shield the noise and interference on the scene.

[0119] When designing the frequency band, the narrower the frequency band range, the higher the sensitivity. Therefore, when implementing it, you can first use the 30kHz-40kHz frequency band in conjunction with an unmanned aerial vehicle to conduct preliminary partial discharge inspections. After finding suspicious points, narrow the frequency band to 37.5kHz-40kHz for subsequent precise detection of ultrasonic intensity.

[0120] Before the formal partial discharge detection (i.e. before using the microphone array set in the first signal acquisition frequency band), the system can identify potential partial discharge points in the current detection environment in advance through the collection and analysis of voiceprint signals. This helps to provide more accurate target areas for subsequent detection work and improve detection efficiency. And the use of drones for pre-inspection can greatly improve the corresponding maintenance efficiency.

[0121] By using the mapping relationship between the inspection image acquired by the visible light camera and the sound points collected by the microphone, the sound source point map can be accurately superimposed on the inspection image to obtain the inspection display image. This association method not only provides a visual display of sound information, but also allows users to intuitively see the location of the sound source in the physical space.

[0122] The system can automatically identify whether there are partial discharge inspection points in the inspection display image, and generate corresponding inspection information based on the current flight position information of the unmanned aerial vehicle. This information includes inspection position information and inspection display images, which can provide detailed guidance and reference for subsequent maintenance work. By using the unmanned aerial vehicle for inspection, not only the labor intensity of manual inspection is reduced, but also the inspection efficiency and safety are improved. At the same time, the system can generate and send inspection information to the background server in real time, enabling managers to timely understand the operation status of the equipment and make corresponding decisions.

[0123] After sending the inspection information to the background server, managers can remotely access this information to monitor and analyze the operation status of the equipment in real time. This helps to timely detect and handle potential problems, reduce the risk of equipment failure, and ensure the stable operation of the power system.

[0124] More preferably, the method for identifying the inspection display image to determine whether there is a corresponding partial discharge inspection point therein, and if so, obtaining the current flight position information of the unmanned aerial vehicle, and generating corresponding inspection information based on the current flight position information and the inspection display image, includes:

[0125] Identifying the inspection display image to determine whether there is a corresponding partial discharge inspection point therein;

[0126] Obtaining partial discharge feature information associated with the partial discharge inspection point, and matching the partial discharge feature information with a pre-set partial discharge level. If the partial discharge feature information matches the first partial discharge level, no corresponding inspection information is generated;

[0127] If the partial discharge feature information matches the second partial discharge level, obtaining the current flight position information of the unmanned aerial vehicle, and generating corresponding inspection information based on the current flight position information and the inspection display image, where the inspection information further includes a general inspection level;

[0128] If the partial discharge feature information matches the third partial discharge level, obtaining the current flight position information of the unmanned aerial vehicle, and generating corresponding inspection information based on the current flight position information and the inspection display image, where the inspection information further includes an emergency inspection level.

[0129] The system according to the embodiment of the present invention first identifies whether there are partial discharge inspection points in the inspection display image, which is the basis for ensuring the pertinence of subsequent processing. Through accurate identification, unnecessary analysis of irrelevant areas can be avoided, and the detection efficiency can be improved. Then, the system obtains partial discharge feature information associated with the partial discharge inspection point and matches it with a pre-set partial discharge level. This hierarchical processing method helps the system to make different responses according to the severity of the partial discharge, and realizes the reasonable allocation of resources.

[0130] When the local discharge characteristic information matches the first local discharge level, the system does not generate maintenance information. This can avoid over - response caused by minor local discharges, reduce unnecessary maintenance work, and thus save human and material resources. For the local discharge maintenance points that match the second local discharge level, the system generates maintenance information including the general maintenance level. This helps maintenance personnel understand the severity of the local discharge and take corresponding maintenance measures to ensure the safe operation of the equipment. For the local discharge maintenance points that match the third local discharge level, the system generates maintenance information including the emergency maintenance level. This can quickly attract the attention of maintenance personnel, ensure that measures can be taken in a timely manner in case of emergency, and prevent the expansion of faults. By matching the local discharge characteristic information with the local discharge level and generating corresponding maintenance information according to the matching result, the system can provide more accurate and specific guidance for maintenance personnel. This helps improve the maintenance efficiency and reduce the risk of equipment failure caused by misjudgment or missed judgment.

[0131] The maintenance information generated by the system includes key information such as maintenance location information, inspection display images, and maintenance levels. These information can provide comprehensive decision - making support for management personnel. Management personnel can reasonably allocate maintenance resources according to the severity and urgency of the maintenance information to ensure the smooth progress of maintenance work.

[0132] More preferably, the coordinate transformation of the spatial position information set to determine the actual pixel positions of each abnormal temperature region in the inspection image includes:

[0133] Determine the first pixel resolution corresponding to the image obtained by the infrared camera and the second pixel resolution corresponding to the image obtained by the visible - light camera;

[0134] Perform coordinate transformation on the spatial position information set according to the coordinate transformation formula to determine the actual pixel positions of each abnormal temperature region in the inspection image. The coordinate transformation formula is:

[0135] Y2 = Y1*(H2 / H1), X2 = X1*(W2 / W1);

[0136] Y2 is the Y - axis coordinate value in the visible - light image coordinate, Y1 is the Y - axis coordinate value in the infrared thermal image coordinate, H1 is the vertical pixel value in the first pixel resolution, H2 is the vertical pixel value in the second pixel resolution; X2 is the X - axis coordinate value in the visible - light image coordinate, X1 is the X - axis coordinate value in the infrared thermal image coordinate, W1 is the horizontal pixel value in the first pixel resolution, and W2 is the horizontal pixel value in the second pixel resolution;

[0137] Or, the coordinate transformation of the spatial position information set to determine the actual pixel positions of each abnormal temperature region in the inspection image includes:

[0138] Perform coordinate conversion on the spatial position information set according to the infrared-visible light mapping relationship to determine the actual pixel positions of each abnormal temperature region in the inspection image.

[0139] In the embodiment of the present invention, by determining the pixel resolutions corresponding to the images respectively obtained by the infrared camera and the visible light camera, and using the coordinate conversion formula for conversion, the abnormal temperature regions in the infrared thermal image can be accurately mapped to the actual pixel positions in the visible light image. This pixel-level precise positioning helps the maintenance personnel accurately find the abnormal regions, improving the maintenance efficiency and accuracy.

[0140] The coordinate conversion formula takes into account the situation that the infrared camera and the visible light camera may have different pixel resolutions. This compatibility enables the system to be flexibly applied to different combinations of cameras with different resolutions without additional calibration or adjustment of the cameras. The application of the coordinate conversion formula simplifies the complexity of coordinate conversion. Through simple mathematical operations, the coordinate conversion between the infrared thermal image and the visible light image can be achieved, reducing the difficulty and cost of technical implementation.

[0141] In addition to the coordinate conversion formula based on pixel resolution, the embodiment of the present invention also provides a coordinate conversion method based on the infrared-visible light mapping relationship. This method may involve more complex algorithms or models, but can more accurately reflect the corresponding relationship between the infrared thermal image and the visible light image, especially in complex scenarios or non-linear mapping relationships.

[0142] By providing two coordinate conversion methods, the system can select the most suitable conversion method according to actual needs. This enhances the flexibility and adaptability of the system and can meet the application requirements under different scenarios and conditions. Through the automated coordinate conversion process, the system can quickly generate an inspection image containing the actual pixel positions of the abnormal temperature regions. This helps the maintenance personnel quickly locate the problem regions and improves the intelligence level and efficiency of the maintenance work.

[0143] The partial discharge detection method based on acoustic signals and thermal imaging in the embodiment of the present invention combines multiple information sources such as acoustic signals, visible light images, and infrared thermal images, and realizes the automatic identification and positioning of partial discharge points through technical means such as algorithm processing and image superposition. This intelligent detection method not only improves the accuracy and efficiency of detection, but also reduces the dependence on manual intervention and enhances the intelligence level of the entire detection system.

[0144] Embodiment 2

[0145] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of the partial discharge detection system based on acoustic signals and thermal imaging disclosed in the embodiment of the present invention. AsFigure 5 As shown in the figure, the partial discharge detection system based on acoustic signals and thermal imaging may include:

[0146] A voiceprint acquisition module 21: configured to acquire sound information in the current scene through a microphone array set in the first signal acquisition frequency band, and preprocess the sound information to obtain noise-reduced and filtered sound information; the microphone array is composed of multiple sound sensors, and the positions of the multiple sound sensors are different, and the microphone array is used to receive sound information from all directions;

[0147] A point position determination module 22: configured to analyze and process the noise-reduced and filtered sound information to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point position map according to the position information of the sound source;

[0148] An image acquisition module 23: configured to acquire an overhaul image in the current scene through a visible light camera, and superimpose the sound source point position map and the overhaul image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain a partial discharge display image;

[0149] A judgment module 24: configured to, if the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, perform the next step, and if the number of partial discharge points detected in the partial discharge display image is 1, display the superimposed partial discharge display image;

[0150] An infrared image acquisition module 25: configured to acquire an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and perform thermal image analysis processing on the infrared thermal image to determine a corresponding abnormal temperature region;

[0151] A coordinate update module 26: configured to, if the abnormal temperature region matches the set discharge mode, acquire a set of spatial position information corresponding to the abnormal temperature region, perform coordinate conversion on the set of spatial position information to determine the actual pixel point positions of each abnormal temperature region in the overhaul image, and update and display the overhaul image or the partial discharge display image according to the actual pixel point positions.

[0152] In the embodiment of the present invention, the partial discharge detection method based on acoustic signals and thermal imaging combines multiple information sources such as acoustic signals, visible light images, and infrared thermal images, and realizes the automatic identification and positioning of partial discharge points through technical means such as algorithm processing and image superposition. This intelligent detection method not only improves the accuracy and efficiency of detection, but also reduces the dependence on manual intervention and enhances the intelligent level of the entire detection system.

[0153] Embodiment III

[0154] Please refer toFigure 6 , Figure 6 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present invention. The electronic device can be a computer, a server, etc. Of course, in certain cases, it can also be an intelligent device such as a mobile phone, a tablet computer, and a monitoring terminal, as well as an image acquisition device with processing functions. As Figure 6 shown, the electronic device may include:

[0155] a memory 510 storing executable program code;

[0156] a processor 520 coupled to the memory 510;

[0157] wherein, the processor 520 calls the executable program code stored in the memory 510 and executes some or all of the steps in the partial discharge detection method based on acoustic signals and thermal imaging in the first embodiment.

[0158] An embodiment of the present invention discloses a computer-readable storage medium, which stores a computer program, wherein the computer program enables a computer to execute some or all of the steps in the partial discharge detection method based on acoustic signals and thermal imaging in the first embodiment.

[0159] An embodiment of the present invention also discloses a computer program product, wherein when the computer program product runs on a computer, it enables the computer to execute some or all of the steps in the partial discharge detection method based on acoustic signals and thermal imaging in the first embodiment.

[0160] An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, it enables the computer to execute some or all of the steps in the partial discharge detection method based on acoustic signals and thermal imaging in the first embodiment.

[0161] In various embodiments of the present invention, it should be understood that the magnitude of the sequence numbers of the various processes does not necessarily mean the inevitable sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0162] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0164] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc., specifically, the processor in the computer device) to execute some or all of the steps of the methods described in the various embodiments of the present invention.

[0165] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0166] Those of ordinary skill in the art can understand that some or all of the steps in the various methods of the embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium that can be used to carry or store data.

[0167] The above has introduced in detail the partial discharge detection method, system, electronic device and storage medium based on acoustic signals and thermal imaging disclosed in the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A partial discharge detection method based on acoustic signals and thermal imaging, characterized in that, Including: Obtain the sound information in the current scene through a microphone array set in the first signal acquisition frequency band, and preprocess the sound information to obtain the sound information after noise reduction and filtering; The microphone array is composed of multiple sound sensors, and the positions of the multiple sound sensors are different. The microphone array is used to receive sound information from all directions; Analyze and process the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point map according to the position information of the sound source; Obtain the inspection image in the current scene through a visible light camera, and superimpose the sound source point map and the inspection image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain a partial discharge display image; If the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, perform the next step. If the number of partial discharge points detected in the partial discharge display image is 1, display the superimposed partial discharge display image; Obtain an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and perform thermal image analysis processing on the infrared thermal image to determine the corresponding abnormal temperature area; If the abnormal temperature area matches the set discharge mode, obtain the set of spatial position information corresponding to the abnormal temperature area, perform coordinate transformation on the set of spatial position information to determine the actual pixel point positions of each abnormal temperature area in the inspection image, and update and display the inspection image or the partial discharge display image according to the actual pixel point positions; 2. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 1, wherein The microphone array includes 136 MIC spiral arrays to obtain sound signals; the analyzing and processing the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generating a corresponding sound source point map according to the position information of the sound source, includes: Analyze and process the sound information after noise reduction and filtering to determine the time information when the sound source reaches each sound sensor in the microphone array; Calculate the time difference when the sound signal reaches each sound sensor in the microphone array; Determine the position information of the sound source in the corresponding current detection environment according to the calculated time difference and the pre-set sound source calculation formula; the sound source calculation formula is: where θ is the direction angle of the sound source, δ is the distance between the two microphones, c is the speed of sound, and Δt is the time difference between the arrival of the sound source signal at the two microphones; Generate a corresponding sound source point map according to the position information of the sound source.

3. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 1, characterized in that After the step of if the number of partial discharge points detected in the partial discharge display image is 1, display the superimposed partial discharge display image, it further includes: Perform feature analysis on the sound information after noise reduction and filtering to determine the corresponding frequency feature information and amplitude feature information; Perform state evaluation on the analyzed frequency feature information and amplitude feature information to determine the first state parameter of the corresponding partial discharge point; After the step of performing coordinate transformation on the set of spatial position information to determine the actual pixel point positions of each abnormal temperature area in the inspection image, it further includes: Preprocess the infrared thermal image to obtain processed infrared image data, obtain the pixel point parameters of each data point in the infrared image data, and determine the gray difference and gradient difference between the corresponding data point and the adjacent data point based on the pixel point parameters of each data point; Determine the gray difference and gradient difference between the corresponding data point and its adjacent data points according to the pixel parameters of each data point to determine the corresponding mutation parameter, wherein the mutation parameter is determined by the gray difference and the gradient difference; Determine the parameter difference information between each data point and other data points according to the mutation parameters of each data point in the obtained infrared image data, and determine the regional association information between each data point and other data point regions according to the parameter difference information; Perform a clustering operation on the infrared image data according to the regional association information between each data point and other data points to determine the corresponding regional information; and extract features from the regional information to obtain regional feature information; Output the regional feature information that meets the set requirements, and determine the second state parameter of the corresponding partial discharge point according to the regional feature information.

4. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 3, characterized in that The partial discharge detection method further includes: Receive the data analysis area selected by the user, and perform statistics on the parameters within the data analysis area to determine the corresponding statistical parameter information, where the statistical parameter information includes the highest temperature information and the lowest temperature information, and the data analysis area is a rectangular analysis area; The partial discharge detection method further includes: Determine the defect level of the corresponding partial discharge point according to the first state parameter and / or the second state parameter, and output the corresponding defect level.

5. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 1, characterized in that Before obtaining the sound information of the current scene by the microphone array set in the first signal acquisition frequency band, it further includes: Receive the voiceprint signals collected by the sound collection device of the unmanned aerial vehicle set in the second signal acquisition frequency band at each inspection point on the inspection route; the frequency band range of the second signal acquisition frequency band is larger than the frequency band range of the first signal acquisition frequency band; Analyze and process the voiceprint signal after noise reduction filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point map according to the position information of the sound source; Obtain the inspection image of the current scene through the visible light camera, and superimpose the sound source point map and the inspection image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain the inspection display image; Identify the inspection display image to determine whether there is a corresponding partial discharge inspection point in the inspection display image. If so, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection information according to the current flight position information and the inspection display image; Send the inspection information to the background server, where the inspection information includes the inspection position information and the inspection display image.

6. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 5, characterized in that, The step of identifying the inspection display image to determine whether there is a corresponding partial discharge inspection point in the inspection display image. If so, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection information according to the current flight position information and the inspection display image includes: Identify the inspection display image to determine whether there is a corresponding partial discharge inspection point in the inspection display image; Obtain the partial discharge characteristic information associated with the partial discharge inspection point, and match the partial discharge characteristic information with the preset partial discharge levels. If the partial discharge characteristic information matches the first partial discharge level, no corresponding inspection information is generated; If the partial discharge characteristic information matches the second partial discharge level, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection information according to the current flight position information and the inspection display image. The inspection information also includes the general inspection level; If the partial discharge characteristic information matches the third partial discharge level, obtain the current flight position information of the unmanned aerial vehicle, and generate corresponding inspection information according to the current flight position information and the inspection display image. The inspection information also includes the emergency inspection level.

7. The partial discharge detection method based on acoustic signals and thermal imaging according to claim 1, characterized in that, The coordinate transformation of the spatial position information set to determine the actual pixel point positions of each abnormal temperature region in the inspection image includes: Determine the first pixel resolution corresponding to the image obtained by the infrared camera and the second pixel resolution corresponding to the image obtained by the visible light camera; Perform coordinate transformation on the spatial position information set according to the coordinate transformation formula to determine the actual pixel point positions of each abnormal temperature region in the inspection image. The coordinate transformation formula is: Y2 = Y1 * (H2 / H1), X2 = X1 * (W2 / W1); Y2 is the Y-axis coordinate value in the visible light image coordinate, Y1 is the Y-axis coordinate value in the infrared thermal image coordinate, H1 is the vertical pixel value in the first pixel resolution, and H2 is the vertical pixel value in the second pixel resolution; X2 is the X-axis coordinate value in the visible light image coordinate, X1 is the X-axis coordinate value in the infrared thermal image coordinate, W1 is the horizontal pixel value in the first pixel resolution, and W2 is the horizontal pixel value in the second pixel resolution; Or, the coordinate transformation of the spatial position information set to determine the actual pixel point positions of each abnormal temperature region in the inspection image includes: Perform coordinate transformation on the spatial position information set according to the infrared-visible light mapping relationship to determine the actual pixel point positions of each abnormal temperature region in the inspection image.

8. A partial discharge detection system based on acoustic signals and thermal imaging, characterized in that, Including: Sound fingerprint acquisition module: used to acquire the sound information in the current scene through the microphone array set in the first signal acquisition frequency band, and preprocess the sound information to obtain the sound information after noise reduction and filtering; The microphone array is composed of multiple sound sensors with different positions. The microphone array is used to receive the sound information from all directions; Point position determination module: used to analyze and process the sound information after noise reduction and filtering to determine the position information of the sound source in the current detection environment, and generate a corresponding sound source point position map according to the position information of the sound source; Image acquisition module: used to acquire the inspection image in the current scene through the visible light camera, and superimpose the sound source point position map and the inspection image according to the mapping relationship between the image collected by the visible light camera and the sound point collected by the microphone to obtain the partial discharge display image; Judgment module: If the number of partial discharge points detected in the partial discharge display image is greater than or equal to two, it proceeds to the next step. If the number of partial discharge points detected in the partial discharge display image is 1, it displays the superimposed partial discharge display image. Infrared image acquisition module: It is used to obtain an infrared thermal image with the same viewing angle as the visible light camera through an infrared camera, and perform thermal image analysis and processing on the infrared thermal image to determine the corresponding abnormal temperature area. Coordinate update module: If the abnormal temperature area matches the set discharge mode, it obtains the spatial position information set corresponding to the abnormal temperature area, performs coordinate conversion on the spatial position information set to determine the actual pixel point positions of each abnormal temperature area in the inspection image, and updates and displays the inspection image or the partial discharge display image according to the actual pixel point positions.

9. An electronic device, characterized in that, Comprising: A memory storing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the partial discharge detection method based on acoustic signals and thermal imaging according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program causes a computer to execute the partial discharge detection method based on acoustic signals and thermal imaging according to any one of claims 1 to 7.

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