Arc path three-dimensional reconstruction method based on acoustic-optical combined technology and related device

Abstract

The invention relates to the technical field of fault detection of high-voltage electrical equipment, in particular to an arc path three-dimensional reconstruction method based on an acoustic-optical combined technology and a related device, and the device comprises an optical sensor array and an ultrasonic sensor array; the ultrasonic sensor array is arranged between the electrodes and comprises a plurality of acoustic sensors which are circumferentially distributed along the radial direction of the electrodes; the optical sensor array is arranged on the outer side of the ultrasonic sensor array and comprises a plurality of APDs distributed in a grid array mode. The three-dimensional coordinate sequence of the arc path can be obtained by detecting the sound wave signal and the optical signal when the arc is generated and fusing the collected signals after primary processing, so that the three-dimensional reconstruction of the arc path is realized, and the optimal estimation of the state of the arc path is further realized. The problems that an existing arc detection technology cannot achieve arc development path space information and is poor in detection accuracy are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage electrical equipment fault detection, and specifically provides a three-dimensional reconstruction method for an arc path based on acoustic-optical joint technology and related devices, aiming to accurately monitor the dynamic development trajectory of an arc in a high-voltage environment and provide reliable guarantee for the safe operation of high-voltage electrical equipment. Background Art

[0002] In a high-voltage electrical system, an arc fault is extremely destructive, and its generation is accompanied by a huge energy release. If the development path cannot be detected and located in a timely and accurate manner, it is easy to cause equipment damage, fires, and even large-scale power outages. Arc detection technology is a technology used to detect and identify arc faults in an electrical system. Its basic principle is to monitor physical quantities such as current, voltage waveforms, light, and sound in the electrical system to identify the characteristics of arc faults; when an arc fault occurs in the electrical system, abnormal phenomena such as high-frequency current, voltage waveform distortion, arc light, and arc sound will occur. Arc detection technology uses these abnormal phenomena as detection bases and realizes the detection and identification of arc faults through corresponding sensors and signal processing algorithms. Existing arc detection technologies include detection methods based on high-frequency current components, detection methods based on voltage waveform distortion, detection methods based on arc light and arc sound, and detection methods based on machine learning and artificial intelligence. Among them, the detection method based on arc light and arc sound uses optoelectronic sensors and acoustic sensors to detect the arc light and arc sound generated by the arc respectively, and identifies the arc fault by comprehensively judging the characteristics of the arc light and arc sound. It has the characteristics of intuitiveness, non-contact, high sensitivity, and accurate positioning, and is widely used in the field of high-voltage electrical equipment fault detection.

[0003] However, traditional optoelectronic sensors can only judge whether an arc exists and cannot obtain the spatial information of the arc development path. Moreover, there are errors in data synchronization in existing multi-sensor fusion methods, resulting in a decrease in path reconstruction accuracy. Therefore, there is an urgent need for an arc detection technology that can accurately monitor the dynamic development trajectory of an arc in a high-voltage environment to meet the current detection requirements of high-voltage electricity. Summary of the Invention

[0004] Aiming at the problems in the existing technology that the existing arc detection technology cannot realize the spatial information of the arc development path and has poor detection accuracy, the present invention provides a three-dimensional reconstruction method for an arc path based on acoustic-optical joint technology and related devices.

[0005] To achieve the above object, the present invention adopts the following technical solutions: The present invention provides a three-dimensional reconstruction device for an arc path based on acoustic-optical joint technology, including an optical sensor array, an ultrasonic sensor array, and an electrode; The ultrasonic sensor array is arranged between the electrodes. The ultrasonic sensor array includes a plurality of acoustic sensors, and the acoustic sensors are circumferentially distributed along the radial direction of the electrodes. The optical sensor array is arranged outside the ultrasonic sensor array and includes a plurality of avalanche photodiodes distributed in a grid array.

[0006] Optionally, the acoustic sensor is a piezoelectric ceramic acoustic sensor, and the distance between adjacent acoustic sensors is 1.5 - 2.5 cm.

[0007] Optionally, the distance between the avalanche photodiodes is 0.8 - 1.2 cm, and the size of the optical sensor array is 1.5 - 2 times the electrode spacing.

[0008] Optionally, the acoustic sensor is provided with a clock synchronization circuit, and the time synchronization accuracy between the acoustic sensors is less than or equal to 1 ns.

[0009] A three-dimensional reconstruction method of the arc path for an arc path three-dimensional reconstruction device based on the above acoustic-optical joint technology includes: Obtain a sound wave signal, process the sound wave signal, and obtain the sound source position coordinates; Obtain an optical signal, process the optical signal, and obtain the optical signal characteristic parameters; According to the sound source position coordinates and the optical signal characteristic parameters, obtain the three-dimensional coordinate sequence of the arc path to complete the three-dimensional reconstruction of the arc path.

[0010] Optionally, the method of obtaining the sound wave signal, processing the sound wave signal, and obtaining the sound source position coordinates is as follows: Obtain a sound wave signal; Filter and amplify the sound wave signal; According to the amplified sound wave signal, the method of calculating the sound source position coordinates (x, y, z) is: Set a certain acoustic sensor as a reference sensor, and the coordinates are (x 0 , y 0 , z 0 ); Obtain the time differences of the sound source from the reference sensor to three acoustic sensors (21), then the sound source position coordinates (x, y, z) are:

[0011] Wherein, is the sound wave propagation speed; 、 and are the corresponding time differences of the sound wave reaching the three acoustic sensors (21) respectively; 、 and are respectively the azimuth angles of three corresponding acoustic sensors; 、 and are respectively the elevation angles of three corresponding acoustic sensors.

[0012] Optionally, the method for obtaining the optical signal and processing the optical signal to obtain the optical signal characteristic parameters is as follows: Obtain the optical signal; Perform correction processing on the optical signal, and extract the optical signal characteristic parameters from the corrected optical signal by means of wavelet transform; Among them, the method for correcting the optical signal is:

[0013] The formula for wavelet transform is:

[0014] Among them, is the intensity of the corrected optical signal, is the intensity of the original optical signal, 、 、...、 are polynomial coefficients, is the polynomial order; is the wavelet transform coefficient of the th layer, is the wavelet basis function of the th layer; k determines the position of the wavelet basis function on the time axis.

[0015] Optionally, the method for obtaining the three-dimensional coordinate sequence of the arc path and completing the three-dimensional reconstruction of the arc path according to the sound source position coordinates and the optical signal characteristic parameters is as follows: Adopt the Kalman filtering algorithm to fuse the sound source position coordinates and the optical signal characteristic parameters to obtain the three-dimensional coordinate sequence of the arc path.

[0016] The present invention also provides a three-dimensional arc path reconstruction system based on the acoustic-optical joint technology, including: Sound source position coordinate acquisition module: used to acquire the acoustic wave signal and process the acoustic wave signal to obtain the sound source position coordinates; Optical signal characteristic parameter extraction module: used to acquire the optical signal and process the optical signal to obtain the optical signal characteristic parameters; Three-dimensional coordinate sequence acquisition module of the arc path: used to obtain the three-dimensional coordinate sequence of the arc path according to the sound source position coordinates and the optical signal characteristic parameters, and complete the three-dimensional reconstruction of the arc path.

[0017] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0018] Compared with the prior art, the present invention has the following beneficial effects: A three-dimensional reconstruction device for an arc path based on an acoustic-optical joint technology according to the present invention includes an optical sensor array and an ultrasonic sensor array; the ultrasonic sensor array is arranged between electrodes, the ultrasonic sensor array includes a plurality of acoustic sensors, and the acoustic sensors are circumferentially distributed along the radial direction of the electrodes; the optical sensor array is arranged outside the ultrasonic sensor array and includes a plurality of avalanche photodiodes (APDs) distributed in a grid array. When in use, based on the distribution and structure of the acoustic sensor array and the optical sensor array, by combining the acoustic sensor array and the optical sensor array, the acoustic signal and the optical signal generated when the arc occurs are detected, and after the collected signals are preliminarily processed, they are fused to obtain the three-dimensional coordinate sequence of the arc path, realizing the three-dimensional reconstruction of the arc path. Among them, the cooperation of the acoustic sensor array and the optical sensor array, the acoustic sensor array makes up for the deficiency of the optical sensor array under the interference of ambient light, and the optical sensor array provides high spatio-temporal resolution. The two cooperate to improve the anti-interference ability and data integrity of the system. By fusing the data of the two, the three-dimensional coordinate sequence of the arc path can be calculated, and the state of the arc path can be optimally estimated, which can effectively improve the estimation accuracy of the arc position and path.

[0019] The acoustic sensor is a piezoelectric ceramic acoustic sensor, and the distance between the acoustic sensors is 1.5-2.5 cm. Piezoelectric ceramics have high sensitivity and wide-band response characteristics. By the cooperative work of multiple piezoelectric ceramic acoustic sensors and using the time difference of sound wave propagation and the layout of the piezoelectric ceramic acoustic sensors, the three-dimensional space coordinates of the arc sound source can be accurately calculated, providing key position information for reconstructing the arc path.

[0020] The distance between the avalanche photodiodes is 0.8-1.2 cm, and the size of the optical sensor array is 1.5-2 times the electrode spacing. Avalanche photodiodes have high gain and fast response characteristics. Through multi-point sampling of avalanche photodiodes and combining with a three-dimensional geometric positioning algorithm, the sub-millimeter spatial resolution of the arc path can be achieved. The response signal of each APD corresponds to the position of the arc photons in space. The dense grid layout constructs the discrete point cloud of the arc three-dimensional trajectory through multi-point signal superposition and interpolation algorithms, and then dynamically optimizes the path continuity through Kalman filtering to realize the detection of the more accurate dynamic development trajectory of the arc.

[0021] A clock synchronization circuit is provided between the acoustic sensors, and the time synchronization accuracy between the acoustic sensors is less than or equal to 1 ns. The high synchronization accuracy can ensure the time consistency of multi-sensor data and improve the accuracy of path reconstruction.

[0022] The present invention also provides an arc path three-dimensional reconstruction method for the arc path three-dimensional reconstruction device based on the above-mentioned acoustic-optical joint technology. This method obtains acoustic signals and optical signals, and after processing the acoustic signals and optical signals, fuses the sound source position coordinates and the optical signal characteristic parameters to obtain the three-dimensional coordinate sequence of the arc path, thereby completing the three-dimensional reconstruction of the arc path. By fusing the sound source position coordinates and the optical signal characteristic parameters, the deficiencies of a single modality can be compensated for, and accurate three-dimensional reconstruction of the arc path can be achieved, overcoming the problem that traditional optoelectronic sensors cannot obtain the spatial information of the arc development path.

[0023] The method of obtaining the acoustic signal and processing the acoustic signal to obtain the sound source position coordinates is to obtain the acoustic signal; then perform filtering and amplification processing on the acoustic signal, and use the time difference between the arrival of the acoustic wave at the reference sensor and other acoustic sensors to correspond to the distance difference between the sound source and the reference sensor and other acoustic sensors. According to geometric knowledge, the sound source is located on a hyperboloid with the reference sensor and the sensor as the foci. By obtaining three time differences from three pairs of sensors, the intersection of the three hyperboloids is the three-dimensional coordinates of the sound source, thus realizing the accurate calculation of the sound source position coordinates and providing guarantee for the subsequent three-dimensional reconstruction of the arc path.

[0024] The method of obtaining the optical signal and processing the optical signal to obtain the optical signal characteristic parameters is to perform calibration processing on the optical signal, and use wavelet transform to extract the optical signal characteristic parameters of the calibrated optical signal. By changing the position of the wavelet function on the time axis, the optical signal characteristic parameters at different time points are extracted. Among them, the wavelet function can simplify the complex optical signal into a small number of characteristic parameters, thereby reducing the data processing volume and highlighting the important information in the optical signal.

[0025] The Kalman filter algorithm is used to fuse the sound source position coordinates and the optical signal characteristic parameters to obtain the three-dimensional coordinate sequence of the arc path. The Kalman filter algorithm can provide high-precision, strong real-time performance and good robustness path estimation in the arc path three-dimensional reconstruction device. It is an ideal choice for dealing with the state estimation problem of dynamic systems. Through the Kalman filter algorithm, the sound source position coordinates and the optical signal characteristic parameters can be fused, and their complementarity can be fully utilized to effectively filter out noise and interference, thereby improving the positioning accuracy of the arc path.

[0026] The present invention also provides a three-dimensional reconstruction system for arc paths based on acoustic-optical joint technology. Through the highly integrated sound source position coordinate acquisition module, optical signal feature parameter extraction module, and three-dimensional coordinate sequence acquisition module for arc paths, the three-dimensional reconstruction process of arc paths is realized. Among them, the sound source position coordinate acquisition module is responsible for acquiring acoustic wave signals and processing the acoustic wave signals, laying a foundation for subsequent fusion; the optical signal feature parameter extraction module is responsible for extracting features from optical signals, and the three-dimensional coordinate sequence acquisition module for arc paths is responsible for fusing the aforementioned sound source position coordinates and optical signal feature parameters to obtain the three-dimensional coordinates of arc paths, providing a reliable basis for the analysis of the arc development path in subsequent arc detection, and being of great significance for accurately identifying arc faults in electrical systems.

[0027] A computer-readable storage medium stores a computer program, characterized in that when the computer program is executed by a processor, it realizes the steps of the above method. This storage medium has good portability and strong versatility, and is suitable for fast and accurate arc detection and analysis of high-voltage electricity. Brief Description of the Drawings

[0028] Figure 1 It is a schematic structural diagram of a three-dimensional reconstruction device for arc paths based on acoustic-optical joint technology of the present invention.

[0029] Figure 2 It is a flowchart of a three-dimensional reconstruction method for arc paths based on acoustic-optical joint technology of the present invention.

[0030] Figure 3 It is an analysis process diagram of a three-dimensional reconstruction method for arc paths based on acoustic-optical joint technology of the present invention.

[0031] Figure 4 It is a structural diagram of a three-dimensional reconstruction system for arc paths based on acoustic-optical joint technology of the present invention.

[0032] Among them, 1 - optical sensor array, 2 - ultrasonic sensor array, 3 - electrode, 11 - avalanche photodiode, 21 - acoustic sensor. Detailed Embodiments

[0033] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 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.

[0034] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising 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.

[0035] The present invention will be further described in detail below with reference to specific embodiments, which are explanations rather than limitations of the present invention.

[0036] See Figure 1 , the present invention discloses a three-dimensional reconstruction device for arc path based on acoustic-optical joint technology, including an optical sensor array 1 and an ultrasonic sensor array 2; wherein, the ultrasonic sensor array 2 provides position information in the continuous time dimension, while the optical sensor array 1 provides high-spatial-resolution images, and the fusion of the two can make up for the deficiencies of a single modality; The ultrasonic sensor array 2 is arranged between the electrodes 3. The ultrasonic sensor array 2 includes a plurality of acoustic sensors 21. The acoustic sensors 21 are in a circular array and are circumferentially distributed along the radial direction of the electrode 3; the acoustic sensors 21 are piezoelectric ceramic acoustic sensors, and the distance between the acoustic sensors 21 is 1.5 - 2.5 cm. Among them, the piezoelectric ceramic material has high sensitivity and wide-band response characteristics and can effectively detect the acoustic wave signals generated during the arc; preferably, the number of the acoustic sensors 21 is 8 - 16, and the radius of the circular distribution is 10 cm ± 5%; the piezoelectric ceramic material of the acoustic sensors 21 is PZT-5H or PZT-4, and the frequency response range is 10 - 100 kHz; The optical sensor array 1 is arranged outside the ultrasonic sensor array 2 and includes a plurality of avalanche photodiodes 11 distributed in a grid array; the distance between the avalanche photodiodes 11 is 0.8 - 1.2 cm. The size of the optical sensor array 1 is 1.5 - 2 times larger than the distance between the electrodes 3. The APD has high gain and fast response characteristics and can work stably under weak optical signal conditions and accurately sense arc photon events; preferably, the number of the APDs is 16 - 32, and they are distributed in a rectangular grid with a grid spacing of 1 cm ± 0.2 cm; the gain range of the APD is 100 - 1000, and the response time is less than 1 μs; The acoustic sensor 21 is provided with a clock synchronization circuit, and the time synchronization accuracy between the acoustic sensors 21 is less than or equal to 1 ns; the avalanche photodiode 11 is provided with a clock synchronization circuit, and the time synchronization accuracy between the avalanche photodiodes 11 is less than or equal to 1 ns, ensuring the time consistency of multi-sensor data and improving the accuracy of path reconstruction. The clock synchronization circuit adopts GPS synchronization or optical fiber synchronization technology, and the synchronization error is less than 500 ps; See Figure 2 and Figure 3 , the present invention provides an arc path three-dimensional reconstruction method for an arc path three-dimensional reconstruction device based on the above-mentioned sound-optical joint technology, including: S1: Obtain a sound wave signal, and process the sound wave signal to obtain the sound source position coordinates, specifically: S1.1: Obtain a sound wave signal; S1.2: Filter and amplify the sound wave signal to eliminate the influence of environmental noise, and focus on the sound wave signal generated by the arc. The filter uses a band-pass filter, and the passband range of the band-pass filter is 10 - 100 kHz, and the amplification factor is 10 - 50 times.

[0037] S1.3: According to the amplified sound wave signal, calculate the sound source position coordinates (x, y, z). According to the time difference of the sound wave reaching each sensor, use geometric relations to calculate the sound source position. The propagation speed of sound in the air is 340 m / s. By measuring the time difference Δt of the sound wave reaching different sensors, combined with the spatial position of the sensors, calculate the sound source position. The geometric relation calculation of sound source positioning uses a three-dimensional space geometric model. Considering the spatial position of the sensors and the sound wave propagation speed, use the time difference Δt to calculate the sound source position coordinates (x, y, z). The positioning accuracy reaches 1 mm. The positioning principle is that the time difference of the sound wave reaching the reference acoustic sensor and other acoustic sensors corresponds to the distance difference between the sound source and the reference sensor and other acoustic sensors. From geometric knowledge, the sound source is located on a hyperboloid with the reference sensor and other acoustic sensors as foci. Then, three time differences are obtained through three pairs of sensors, and the intersection of the three hyperboloids is the three-dimensional coordinates of the sound source, specifically: Set a certain acoustic sensor 21 as the reference sensor, and the coordinates are (x 0 , y 0 , z 0 ); Obtain the time difference of the sound source from the reference sensor to three acoustic sensors 21, then the sound source position coordinates (x, y, z) are:

[0038] Among them, is the sound wave propagation speed; 、 and are the time differences of the corresponding sound waves arriving at the three acoustic sensors 21 respectively; 、 and are the azimuth angles of the corresponding three acoustic sensors 21 respectively; 、 and are the elevation angles of the corresponding three acoustic sensors 21 respectively; S2: Obtain the optical signal, process the optical signal, and obtain the optical signal characteristic parameters. Specifically: S2.1: Obtain the optical signal; S2.2: Perform correction processing on the optical signal, and extract the optical signal characteristic parameters from the corrected optical signal by using wavelet transform; perform correction processing on the collected optical signal to eliminate the non-linear response of the optical sensor and environmental light interference. The correction algorithm adopts the polynomial fitting method, and the fitting polynomial order is 3-5; Among them, the method for correcting the optical signal is:

[0039] Extract characteristic parameters such as the peak value, rise time, and fall time of the optical signal for the three-dimensional reconstruction of the arc path. The extraction accuracy of the characteristic parameters reaches 0.1 μs. The optical signal characteristic extraction algorithm adopts the wavelet transform method. The wavelet basis function is selected from the Daubechies series, and the decomposition level is 3-5. The formula for wavelet transform is:

[0040] Among them, is the intensity of the corrected optical signal, is the intensity of the original optical signal, 、 、...、 are the polynomial coefficients, is the polynomial order; is the layer wavelet transform coefficient, is the layer wavelet basis function; Determines the position of the wavelet function on the time axis. By changing the value, the wavelet function can be translated to different positions of the signal, so as to extract the characteristics of the signal at different time points.

[0041] S3: According to the sound source position coordinates and the optical signal characteristic parameters, obtain the three-dimensional coordinate sequence of the arc path and complete the three-dimensional reconstruction of the arc path. Specifically: Using the Kalman filter algorithm, the sound source position coordinates and the optical signal characteristic parameters are fused to obtain a three-dimensional coordinate sequence of the arc path. That is, by establishing an acoustic-optical signal joint solution model, the acoustic signal positioning result, i.e., the initial position coordinates (x, y, z) of the arc, and the optical signal characteristic parameters including the peak value, rise time, fall time, etc. of the optical signal are fused. The Kalman filter algorithm is used to fuse and process the acoustic-optical signals to obtain a three-dimensional coordinate sequence of the arc path. Among them, the calculation process of the Kalman filter algorithm includes initialization, prediction, and update steps. The initial state vector X 0 (including information such as the initial position, velocity, and acceleration of the arc path), the initial state covariance matrix P 0 , the system state transition matrix F, the control input matrix B, the measurement matrix H, the process noise covariance matrix Q, and the measurement noise covariance matrix R. Among them, the initial state covariance matrix P 0 is determined according to the accuracy of the sensor and the noise level of the signal. Generally, it takes a diagonal matrix, and the diagonal element values are between 0.1 and 1. The system state transition matrix F is determined according to the dynamic model of the arc path, the control input matrix B is determined according to the system control input, the measurement matrix H is determined according to the measurement model of the sensor, and the process noise covariance matrix Q and the measurement noise covariance matrix R are determined according to the system model and the sensor characteristics.

[0042] The calculation process of the Kalman filter algorithm is as follows: Initialization: Set the initial state vector X 0 and the initial state covariance matrix P 0 ; Prediction: According to the system state transition matrix F and the control input matrix B, predict the current state vector X k and the state covariance matrix P k , and the prediction formula is:

[0043] where U k is the control input vector, and Q is the process noise covariance matrix.

[0044] Update: According to the measurement matrix H and the measurement noise covariance matrix R, Z k is the measurement vector, including the acoustic signal positioning result and the optical signal characteristic parameters, which is used to calculate the Kalman gain K k and update the state vector X k and the state covariance matrix P k . The update formula is:

[0045] where R is the measurement noise covariance matrix, and X kis the updated state vector, containing the required three-dimensional coordinate sequence of the arc path and the optical feature signal, P k is the state covariance matrix.

[0046] Subsequent processes also include data storage and transmission. Data storage is used to store the collected acoustic signals, optical signals, and processed data, while data transmission is used to transmit the data to the monitoring center or the host computer for further analysis and processing.

[0047] Taking a three-dimensional reconstruction device for an arc path as an example, tests are carried out to assist in explaining the beneficial effects of the present device and method: In the three-dimensional reconstruction device for the arc path, electrode 3 is a tungsten-copper alloy rod-shaped electrode, with a diameter of 8 mm between electrodes 3 and a spacing of 50 mm between electrodes 3; the ultrasonic sensor array 2 is a circular array, circumferentially distributed relative to electrode 3, with an array radius of 10 cm, and the spacing between each acoustic sensor 21 and the adjacent acoustic sensor 21 is 2 cm; the optical sensor array 1 consists of 32 APDs to form a rectangular grid array, with a grid spacing of 1 cm, and the size of the optical sensor array 1 is 8 cm × 8 cm; Arc parameters: The arc is generated by means of power frequency AC breakdown, with a peak current of 5 kA and an arc burning time of 8 ms.

[0048] First, the ultrasonic sensor array 2 collects acoustic signals. Then, through filtering and amplification processing of the acoustic signals collected by the ultrasonic sensor array 2, with a filtering passband range of 10 kHz - 100 kHz and an amplification factor of 20 times, the sound source position coordinates are obtained according to formula (1); the optical sensor array 1 collects optical signals, and the optical signals collected by the optical sensor array 1 are corrected by using a fourth-order polynomial fitting according to formula (2) to eliminate the non-linear response of the optical sensor and the ambient light interference; feature extraction is performed on the corrected optical signals to extract feature parameters such as the peak value, rise time, and fall time of the optical signals for the three-dimensional reconstruction of the arc path; the Kalman filtering algorithm is used to fuse the sound source position coordinates and the extracted optical signal feature parameters to obtain the three-dimensional coordinate sequence of the arc path; After testing, the time resolution of this device can reach 0.1 μs, and it can accurately capture the microsecond-level dynamic development process of the arc.

[0049] Spatial positioning accuracy: The axial positioning accuracy is 1.2 mm (RMS), and the radial positioning accuracy is 0.8 mm (RMS), which can accurately restore the position and shape of the arc in three-dimensional space.

[0050] Typical arc path reconstruction results: The path length photographed by the CCD high-speed camera is 48.7 mm, the measured value is 49.3 mm, and the error is only +1.2%, and the radial detection error is less than 5%.

[0051] Test of the 3D Reconstruction Method for the Arc Path Signal-to-Noise Ratio Improvement: Through the noise suppression algorithm in the feature enhancement design, the signal-to-noise ratio of the original signal is increased from 6 dB to 22 dB.

[0052] Computing Time Consumption: On the Xeon E5-2680v4 processor, the processing time for a single arcing event is less than 20 ms, with real-time processing capabilities.

[0053] It can be seen that the arc path 3D reconstruction device and method of the present application can accurately restore the position and shape of the arc in three-dimensional space, with high accuracy and efficiency.

[0054] See Figure 4 , the present invention provides a 3D arc path reconstruction system based on the acoustic-optical joint technology, including: Sound Source Position Coordinate Acquisition Module: Used to acquire acoustic signals, process the acoustic signals, and obtain the sound source position coordinates; Optical Signal Feature Parameter Extraction Module: Used to acquire optical signals, process the optical signals, and obtain the optical signal feature parameters; 3D Coordinate Sequence Acquisition Module for the Arc Path: Used to obtain the 3D coordinate sequence of the arc path according to the sound source position coordinates and the optical signal feature parameters, and complete the 3D reconstruction of the arc path. Through the highly integrated Sound Source Position Coordinate Acquisition Module, Optical Signal Feature Parameter Extraction Module, and 3D Coordinate Sequence Acquisition Module for the Arc Path, the system realizes the 3D reconstruction process of the arc path, provides a reliable basis for the analysis of the arc development path in subsequent arc detection, and is of great significance for accurately identifying arc faults in electrical systems.

[0055] The present invention provides a terminal device including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0056] The computer program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to complete the present invention.

[0057] The terminal device can be a computing device such as a desktop computer, a notebook, a handheld computer, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory.

[0058] The processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0059] The memory can be used to store the computer program and / or module. By running or executing the computer program and / or module stored in the memory, and by invoking the data stored in the memory, the processor implements various functions of the terminal device.

[0060] If the modules / units integrated in the terminal device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0061] In summary, the present invention provides a three-dimensional reconstruction method and related device for an arc path based on an acoustic-optical joint technology. By combining an acoustic sensor array 2 and an optical sensor array 1, the acoustic wave signal and the optical signal generated during the arc generation are detected. After the collected signals are preliminarily processed, the three-dimensional coordinate sequence of the arc path can be obtained through fusion, thereby realizing the three-dimensional reconstruction of the arc path. The acoustic sensor array makes up for the deficiencies of the optical sensor array 1 under the interference of ambient light, and the optical sensor array 1 provides high spatio-temporal resolution. The two cooperate to improve the anti-interference ability and data integrity of the system, realize the optimal estimation of the state of the arc path, and can effectively improve the estimation accuracy of the arc position and path.

[0062] The above are only the preferred embodiments of the present invention, and are not used to limit the technical solutions of the present invention. Those skilled in the art should understand that, without departing from the spirit and principle of the present invention, several simple modifications and substitutions can be made to the technical solutions, and these modifications and substitutions also fall within the protection scope covered by the claims.

Claims

1. A three-dimensional reconstruction device for arc path based on acoustic-optical combined technology, characterized in that: It comprises an optical sensor array (1), an ultrasonic sensor array (2) and electrodes (3); The ultrasonic sensor array (2) is arranged between the electrodes (3), the ultrasonic sensor array (2) comprises a plurality of acoustic sensors (21), and the acoustic sensors (21) are circumferentially distributed along the radial direction of the electrodes (3); The optical sensor array (1) is arranged outside the ultrasonic sensor array (2), and comprises a plurality of avalanche photodiodes (11) distributed in a grid array.

2. The arc path three-dimensional reconstruction device based on the acoustic-optical combined technology according to claim 1 is characterized in that: The acoustic sensor (21) is a piezoelectric ceramic acoustic sensor, and the distance between adjacent acoustic sensors (21) is 1.5 to 2.5 cm.

3. The arc path three-dimensional reconstruction device based on the acoustic-optical combined technology according to claim 1 is characterized in that: The spacing between adjacent avalanche photodiodes (11) is 0.8 to 1.2 cm, and the array size of the optical sensor array (1) is 1.5 to 2 times the spacing between electrodes (3).

4. The arc path three-dimensional reconstruction device based on the acoustic-optical combined technology according to claim 1, characterized in that: The acoustic sensors (21) are provided with a clock synchronization circuit, and the time synchronization accuracy between the acoustic sensors (21) is less than or equal to 1 ns.

5. A method for three-dimensional reconstruction of an arc path based on the arc path three-dimensional reconstruction device based on the acoustic-optical combined technology according to any one of claims 1 to 4, characterized in that: include: Acquire sound wave signals, process the sound wave signals, and obtain the coordinates of the sound source position; Acquire an optical signal, and process the optical signal to obtain characteristic parameters of the optical signal; According to the coordinates of the sound source position and the characteristic parameters of the light signal, the three-dimensional coordinate sequence of the arc path is obtained to complete the three-dimensional reconstruction of the arc path.

6. The arc path three-dimensional reconstruction method based on the acoustic-optical combined technology according to claim 5 is characterized in that: The method of obtaining the sound wave signal, processing the sound wave signal, and obtaining the coordinates of the sound source position is: Acquiring sound wave signals; Filter and amplify the sound wave signal; According to the sound wave signal after filtering and amplification, the coordinates of the sound source position (x, y, z,) are calculated as follows: Set an acoustic sensor (21) as a reference sensor with coordinates (x0, y0, z0); The time difference of the sound source from the reference sensor to the three acoustic sensors (21) is obtained, and the coordinates (x, y, z) of the sound source position are: in, is the speed of sound wave propagation; 、 and are the time differences of the corresponding sound waves arriving at the three acoustic sensors (21); 、 and are the azimuth angles of the corresponding three acoustic sensors (21); , and are the elevation angles of the corresponding three acoustic sensors (21).

7. The arc path three-dimensional reconstruction method according to claim 5, characterized in that: The method of acquiring the optical signal, processing the optical signal, and acquiring the characteristic parameters of the optical signal is: Acquiring an optical signal; Correcting the optical signal, and extracting optical signal characteristic parameters from the corrected optical signal by wavelet transform; The method for correcting the optical signal is as follows: The formula for wavelet transform is: in, is the corrected optical signal intensity, is the original optical signal intensity, , ,..., are the polynomial coefficients, is the polynomial order; For the Layer wavelet transform coefficients, For the Layer wavelet basis function; k determines the position of the wavelet basis function on the time axis.

8. The arc path three-dimensional reconstruction method according to claim 5, characterized in that: The method of obtaining the three-dimensional coordinate sequence of the arc path according to the coordinates of the sound source position and the characteristic parameters of the light signal to complete the three-dimensional reconstruction of the arc path is: The Kalman filter algorithm is used to fuse the coordinates of the sound source position with the characteristic parameters of the light signal to obtain the three-dimensional coordinate sequence of the arc path.

9. A three-dimensional reconstruction system of arc path based on acoustic-optical combined technology, characterized in that: include: Sound source position coordinate acquisition module: used to acquire sound wave signals, process the sound wave signals, and acquire the sound source position coordinates; Optical signal characteristic parameter extraction module: used to obtain the optical signal, process the optical signal, and obtain the optical signal characteristic parameters; The module for acquiring the three-dimensional coordinate sequence of the arc path is used to acquire the three-dimensional coordinate sequence of the arc path according to the coordinates of the sound source position and the characteristic parameters of the light signal, and complete the three-dimensional reconstruction of the arc path.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 8 are implemented.

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