Power grid fault positioning method and system

Abstract

The invention provides a power grid fault positioning method and system, and relates to a power fault detection technology, the method can be combined with detection equipment, namely, robot equipment, to quickly find the specific position of a cable fault, and in the process, the advancing direction of the cable fault can be adjusted according to the change condition of an electric signal collected by the robot equipment; and the fault positioning accuracy is improved. And after the specific position is determined, the robot equipment can be controlled to execute operation in the operation area where the fault point is located, so that subsequent workers can quickly judge the fault type, an accurate basis is provided for maintenance, and the workers can conveniently disassemble the fault cable, replace damaged parts, perform insulation treatment and the like.

Description

Technical Field

[0001] The present invention relates to the technology of power failure detection, and particularly to a method and system for locating power grid faults. Background Art

[0002] In modern urban construction and industrial production, the power grid, as a key infrastructure for energy transmission, its stable operation is of crucial importance. Once a cable fails, it will have a serious impact on residents' lives, commercial operations, and industrial production.

[0003] Currently, when a cable fails, it usually relies on manual use of detection instruments to find the fault point. This method has low efficiency. The detection personnel need to hold the instrument for a long time on the ground for detection, and are easily interfered by environmental factors. At the same time, when carrying out excavation operations after determining the fault point, due to the lack of accurate positioning and guidance, it is easy to cause secondary damage to the cable.

[0004] Therefore, how to improve the accuracy and efficiency in cable fault detection has become an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides a method and system for locating power grid faults, which can improve the accuracy and efficiency in cable fault detection.

[0006] In the first aspect of the present invention, a method for locating power grid faults is provided, including:

[0007] Determine the traveling direction of the detection device according to the change trend of the electrical signal collected by the detection device, and adjust the detection range of the detection device in real time in combination with the traveling direction;

[0008] When the electrical signal is interrupted, determine the position point with the largest difference in acoustic magnetic signals collected by the detection device as the fault point;

[0009] Based on the fault point, delimit an operation area according to a preset value;

[0010] According to the temperature distribution in the real-time image data collected by the detection device for the operation area, determine the fault area and the non-fault area, plan the operation path for the non-fault area, and control the detection device to execute the operation.

[0011] Optionally, in a possible implementation manner of the first aspect, determining the traveling direction of the detection device according to the change trend of the electrical signal collected by the detection device, and adjusting the detection range of the detection device in real time in combination with the traveling direction includes:

[0012] Based on the electric signal intensity collected by the detection device within the detection range according to the traversal direction, obtain the change trend of the electric signal, and adjust the current traversal direction and detection range according to the change trend of the electric signal. The change trend of the electric signal includes monotonically increasing, monotonically decreasing, and non-monotonic change;

[0013] Based on the non-monotonic change, determine the angular direction corresponding to the maximum electric signal intensity as the traveling direction;

[0014] Taking the traveling direction as a reference, expand to both sides based on the set angle to obtain the next detection range.

[0015] Optionally, in a possible implementation manner of the first aspect, based on the electric signal intensity collected by the detection device within the detection range according to the traversal direction, obtain the change trend of the electric signal, and adjust the current traversal direction and detection range, including:

[0016] Control the detection device to collect the electric signal intensity within the detection range according to the traversal direction;

[0017] If the change trend of the electric signal is monotonically decreasing, start from the starting position of the current detection range, and re-collect the electric signal intensity in the direction opposite to the current traversal direction until the change trend of the electric signal is non-monotonic;

[0018] If the change trend of the electric signal is monotonically increasing, expand the current detection range, and continue to collect the electric signal intensity according to the traversal direction until the change trend of the electric signal is non-monotonic;

[0019] If the electric signal intensity first increases and then decreases, determine that it corresponds to a non-monotonic change.

[0020] Optionally, in a possible implementation manner of the first aspect, it further includes:

[0021] When the change trend of the electric signal is monotonically increasing and monotonically decreasing, obtain the range difference between the adjusted detection range and the detection range before adjustment;

[0022] Input the range difference into the offset calculation model, obtain the offset value output by the offset calculation model, and add the offset value to the set angle to obtain the updated set angle.

[0023] Optionally, in a possible implementation manner of the first aspect, based on the fault point, delimit the operation area according to the preset value, including:

[0024] Obtain the interruption point when the electric signal is interrupted, and connect the interruption point and the fault point to obtain the predicted extension direction;

[0025] Determine the predicted extension direction as the direction of the first rectangular side, and the direction perpendicular to it as the direction of the second rectangular side;

[0026] An operation area is delimited by sides generated based on preset values corresponding to the first rectangular side direction and the second rectangular side direction respectively, with the fault point as the center.

[0027] Optionally, in a possible implementation manner of the first aspect, a fault area and a non-fault area are determined according to the temperature distribution in the real-time image data collected by the detection device for the operation area, including:

[0028] Obtain the point with the highest temperature value and closest to the fault point in the real-time image data as the target point, and based on the target point, expand the offset angles on both sides of the predicted extension direction to obtain an identification range;

[0029] Taking the target point as a reference, successively obtain a temperature difference sequence corresponding to multiple adjacent points according to the temperature values of the adjacent points within the identification range;

[0030] According to the temperature difference sequence, obtain the area formed by adjacent points showing a decreasing trend as the fault area;

[0031] Generate an area line parallel to the predicted extension direction according to the extreme values of the fault area in the direction perpendicular to the predicted extension direction, and after moving the area line a safety distance to both sides of the fault area, determine the remaining area as the non-fault area.

[0032] Optionally, in a possible implementation manner of the first aspect, taking the target point as a reference, successively obtain a temperature difference sequence corresponding to multiple adjacent points according to the temperature values of the adjacent points within the identification range, including:

[0033] Determine the target point as the starting point and the point adjacent to the target point as the ending point, and obtain the difference between the temperature values of the starting point and the ending point;

[0034] Update the current ending point as the next starting point, determine the point adjacent to the next starting point as the next ending point, and obtain the difference between the temperature values of the next starting point and the next ending point until all points within the identification range are traversed;

[0035] Arrange the differences between multiple adjacent starting points and ending points according to the traversal order to obtain the temperature difference sequence.

[0036] Optionally, in a possible implementation manner of the first aspect, plan the operation path of the non-fault area and control the detection device to perform operations, including:

[0037] In the direction perpendicular to the predicted extension direction, generate multiple operation lines parallel to the predicted extension direction within the non-fault area according to the operation distance;

[0038] Determine the midline of adjacent operation lines as the guiding line. Starting from the outermost guiding line, alternately connect the same-side endpoints of adjacent guiding lines in sequence to obtain the operation path. Determine the unconnected endpoint of the outermost guiding line as the starting point and the unconnected endpoint of the innermost guiding line as the ending point;

[0039] Control the detection device to perform operations according to the operation path and the reference operation depth.

[0040] Optionally, in a possible implementation manner of the first aspect, controlling the detection device to perform operations according to the operation path and the reference operation depth includes:

[0041] Obtain the operation resistance of the detection device during the operation process. When the operation resistance is greater than the reference threshold, send an abnormal signal and re-determine the non-fault area;

[0042] Re-control the detection device to perform operations according to the operation path corresponding to the re-determined non-fault area.

[0043] In the second aspect of the present invention, a power grid fault location system is provided, including:

[0044] An acquisition module, configured to determine the traveling direction of the detection device according to the change trend of the electrical signal collected by the detection device, and adjust the detection range of the detection device in real time in combination with the traveling direction;

[0045] A positioning module, configured to determine the position point with the largest difference in the acoustic-magnetic signal collected by the detection device as the fault point when the electrical signal is interrupted;

[0046] A planning module, configured to delimit an operation area based on the fault point according to a preset value;

[0047] An operation module, configured to determine the fault area and the non-fault area according to the temperature distribution in the real-time image data collected by the detection device for the operation area, plan the operation path of the non-fault area, and control the detection device to perform operations.

[0048] The beneficial effects of the present invention are as follows:

[0049] 1. By the detection device in the present invention, the electrical signal intensity is collected in real time and its change trend is analyzed, so that the traversal direction and the detection range can be dynamically adjusted. When the electrical signal increases monotonically, expand the detection range to comprehensively search for the accurate position of the cable; when it decreases monotonically, change the traversal direction in time to avoid moving away from the cable. Determine the traveling direction based on the non-monotonic change and expand the next detection range with this direction as the reference, so that the detection device can quickly and accurately approach the cable, improving the accuracy and efficiency of fault location.

[0050] 2. After determining the fault point, the present invention obtains the predicted extension direction by connecting the electrical signal interruption point and the fault point, thereby determining the side direction of the rectangular operation area. With the fault point as the center, the operation area is delimited according to a preset value. This method ensures that the operation area can cover the area where the cable may have faults to the greatest extent, while avoiding damage to unnecessary surrounding areas due to an overly large area or being unable to meet the maintenance operation requirements due to an overly small area.

[0051] 3. The present invention uses a detection device to collect real-time image data of the operation area and determines the fault area and non-fault area by analyzing the temperature distribution. In the non-fault area, an operation line is generated according to the operation distance, and the operation path is planned with the midline of adjacent operation lines as the guiding line, enabling the robot to operate safely and comprehensively. At the same time, layer-by-layer excavation is carried out according to the reference operation depth to improve the operation accuracy, and the operation resistance is monitored in real time. When the resistance is abnormal, the non-fault area and the operation path are re-determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention;

[0053] Figure 2 is a schematic flowchart of a power grid fault location method provided by an embodiment of the present invention;

[0054] Figure 3 is a schematic structural diagram of a power grid fault location system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] See Figure 1 , which is a schematic diagram of an application scenario provided by an embodiment of the present invention. The present invention combines a detection device, namely a robot device, to quickly find the specific location when a cable fails. In this process, the advancing direction of the robot device can be adjusted in combination with the change of the electrical signal collected by the robot device to improve the accuracy of fault location. And after determining the specific location, the robot device can also be controlled to perform operations on the operation area where the fault point is located, which helps the subsequent staff quickly judge the fault type, provides a precise basis for maintenance, and facilitates the staff to perform operations such as disassembling the faulty cable, replacing damaged components, and performing insulation treatment.

[0057] See Figure 2, which is a schematic flowchart of a power grid fault location method provided by an embodiment of the present invention. Figure 2 The execution subject of the method shown can be a software and / or hardware device. The execution subject of this application can include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, the user equipment can include but is not limited to computers, smart phones, personal digital assistants (Personal Digital Assistant, abbreviated as: PDA) and the above-mentioned electronic devices, etc. The network equipment can include but is not limited to a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of computers or network servers based on cloud computing. Among them, cloud computing is a type of distributed computing, which is composed of a group of loosely coupled computers to form a super virtual computer. This embodiment does not make any restrictions on this.

[0058] It includes steps S101 to S104, specifically as follows:

[0059] S101, according to the change trend of the electrical signal collected by the detection device, determine the traveling direction of the detection device, and combine the traveling direction to adjust the detection range of the detection device in real time.

[0060] It can be understood that the propagation characteristics of the electrical signal in the cable determine that its intensity will change with the cable direction. By continuously monitoring the change trend of the electrical signal, the general direction of the cable can be inferred, guiding the traveling direction of the detection device and avoiding blind search. At the same time, adjusting the detection range in real time can ensure that the detection device effectively covers the potential cable area while avoiding unnecessary resource waste and improving the detection efficiency.

[0061] Among them, the detection device can be built-in devices for sensing physical quantities such as electrical signals and acoustic magnetic signals to detect the specific position when the cable fails. The change trend of the electrical signal is the change of the electrical signal intensity over time or space, including monotonically increasing, that is, the electrical signal intensity continuously increases, monotonically decreasing, that is, the electrical signal intensity continuously decreases, and non-monotonic change, that is, the electrical signal intensity increases and decreases. The traveling direction is the moving direction determined by the detection device according to the change trend of the electrical signal, such as forward, left, etc. The detection range is the spatial area where the detection device detects the electrical signal adjusted in real time in combination with the traveling direction.

[0062] When determining the traveling direction, the direction with the maximum electrical signal intensity can be used as the moving direction of the detection device. By adjusting the detection range according to the traveling direction, the detection device can find the direction with the maximum electrical signal intensity faster, that is, the direction closer to the cable, so that the detection device can detect within a certain range on both sides of this direction, improving the efficiency during fault detection, and also being able to more accurately track the location of the fault point and improving the accuracy of fault location.

[0063] Based on the above embodiments, the specific implementation manner of step S101 may be as follows:

[0064] Based on the electric signal intensity collected by the detection device within the detection range in the traversal direction, obtain the change trend of the electric signal, and adjust the current traversal direction and detection range according to the change trend of the electric signal. The change trend of the electric signal includes monotonically increasing, monotonically decreasing, and non-monotonic change.

[0065] The laying direction of the cable underground is not completely regular, and the electric signal intensity will show different change trends due to different relative positions with the cable. By continuously collecting the electric signal intensity and analyzing its change trend, the robot can understand its relative position relationship with the cable, and then adjust the traversal direction and detection range to approach the cable more efficiently and locate the fault point. Through this dynamic adjustment method, it is possible to adapt to complex cable layout situations and improve the accuracy and speed of fault detection.

[0066] Specifically, when adjusting the current traversal direction and detection range in combination with the change trend of the electric signal, the detection range can be increased when the change trend of the electric signal is monotonically increasing, so as to find the turning point of the change in the electric signal intensity, that is, the point with the maximum electric signal intensity. When the change trend of the electric signal is monotonically decreasing, change its traversal direction, because in this case, the current traversal direction of the robot may be away from the cable. Therefore, after changing the traversal direction, it is possible to avoid wasting time in the wrong direction and quickly lock the general area where the cable is located. Among them, the traversal direction is the detection direction of the robot.

[0067] In some embodiments, the specific implementation manner of the step "Based on the electric signal intensity collected by the detection device within the detection range in the traversal direction, obtain the change trend of the electric signal, and adjust the current traversal direction and detection range according to the change trend of the electric signal" may be as follows:

[0068] Control the detection device to collect the electric signal intensity within the detection range in the traversal direction;

[0069] If the change trend of the electric signal is monotonically decreasing, start from the starting position of the current detection range, and re-collect the electric signal intensity in the direction opposite to the current traversal direction until the change trend of the electric signal is non-monotonic; if the change trend of the electric signal is monotonically increasing, expand the current detection range and continue to collect the electric signal intensity based on the traversal direction until the change trend of the electric signal is non-monotonic; if the electric signal intensity first increases and then decreases, determine its corresponding non-monotonic change.

[0070] It can be understood that when the detection device detects that the electric signal strength is monotonically decreasing, it means that the robot is moving away from the cable in the current traversal direction. To find the cable, the detection direction needs to be changed. The electric signal strength is collected in reverse from the starting position of the current detection range because the starting position is more likely to be relatively close to the cable. When the electric signal strength changes from decreasing to non-monotonic change is captured through reverse detection, the general direction of the cable can be determined, improving the accuracy and efficiency of fault location. This avoids the robot from continuing to detect invalidly in the direction away from the cable, corrects the detection direction in a timely manner, and saves detection time.

[0071] When the electric signal strength shows a monotonically increasing trend, it means that the robot is approaching the cable in the current traversal direction. Expanding the current detection range can search for the accurate position of the cable more comprehensively. At the same time, continuing to collect the electric signal strength based on the original traversal direction can maintain the coherence of detection. Until the change trend of the electric signal becomes non-monotonic, which indicates that the robot has passed the point with the strongest electric signal strength and is close to the accurate position of the cable, providing more accurate information for determining the cable direction. By expanding the detection range, the cable position can be searched comprehensively, improving the accuracy of fault location and avoiding missing the accurate position of the cable due to premature stopping of detection.

[0072] The fact that the electric signal strength first increases and then decreases indicates that during the movement of the detection device, it first approaches the cable, causing the electric signal strength to increase, and then moves away from the cable, resulting in a decrease in the electric signal strength. By identifying this change pattern, it can be determined that the detection device has passed the point with the strongest electric signal strength, that is, the position close to the cable, providing key information for determining the cable direction and further fault location.

[0073] Based on the non-monotonic change, determine the angular direction corresponding to the maximum electric signal strength as the traveling direction.

[0074] When the electric signal shows non-monotonic change, it means that the robot is close to the cable and has passed the position with the strongest electric signal strength during its movement. At this position, the relative angular direction between the robot and the cable is the direction most likely to point to the cable direction. Determining this direction as the traveling direction can guide the robot to continue detecting along the cable direction and find the fault point more quickly.

[0075] For example, when the robot detects a non-monotonic change in the electric signal strength that first increases and then decreases, it can analyze a series of collected electric signal strength data. Through data processing algorithms, find the position of the robot when the electric signal strength reaches the maximum value and the orientation angle of the robot's sensor at this time. Suppose the angle between the orientation of the robot's sensor and the due east direction is 30° at this time, then this 30° direction is determined as the traveling direction. The robot will adjust its moving direction to move forward in this 30° direction.

[0076] Based on the set angle, expand to both sides with the traveling direction as the reference to obtain the next detection range.

[0077] After determining the traveling direction, in order to search for the specific position of the cable comprehensively and efficiently, the detection range can be expanded to both sides with this direction as the reference. On the one hand, there may be certain laying deviations of the cable or interference from the surrounding environment, resulting in slight changes in the propagation direction of the electrical signal. Expanding the detection range can ensure that the cable is not missed. On the other hand, a reasonable expansion angle can ensure the detection coverage range while avoiding an overly large detection range, which increases unnecessary detection time and computational complexity. Among them, the set angle is an angle value preset for expanding the detection range.

[0078] For example, after determining that the traveling direction is at an angle of 30° with the due east direction, the robot expands 15° to both sides based on this direction according to the preset angle value, such as 15°, to form a fan-shaped detection area with an included angle of 30° (15° on each side). At the same time, a detection radius can be set according to the current detection situation and the approximate distance to the cable. For example, the radius of the detection range is set to 15 meters. In this way, the robot obtains the next fan-shaped detection range with the traveling direction as the central axis, an included angle of 30°, and a radius of 15 meters. In this new detection range, the robot will continue to collect the electrical signal strength data to further confirm the accurate position of the cable.

[0079] In addition, based on the above embodiments, the following embodiments may also be included:

[0080] When the change trend of the electrical signal is monotonically increasing and monotonically decreasing, obtain the range difference between the adjusted detection range and the detection range before adjustment; input the range difference into the offset calculation model, obtain the offset value output by the offset calculation model, and add the offset value to the set angle to obtain the updated set angle.

[0081] It can be understood that when the change trend of the electrical signal is monotonically increasing or monotonically decreasing, it indicates that the current detection situation has not yet reached an ideal state with respect to the actual position of the cable, and the detection device needs to adjust the detection range to better capture the signal of the cable. The difference between the adjusted detection range and the detection range before adjustment can reflect the degree of change in the detection range. This difference is very important for more accurately adjusting the detection angle because different differences may mean different degrees of deviation of the cable, thus requiring corresponding adjustments to the detection angle. Among them, the range difference refers to the difference in size between the adjusted detection range and the detection range before adjustment.

[0082] The offset calculation model is a mathematical model established based on a large amount of actual detection data. It can calculate the corresponding offset value according to the change difference of the detection range. This offset value reflects the degree to which the detection angle needs to be adjusted to better capture the cable signal. Adding this offset value to the original set angle gives the updated set angle, enabling the detection device to search for the cable within a more accurate range during subsequent detection processes, thereby improving the detection accuracy and efficiency.

[0083] S102. When the electrical signal is interrupted, determine the position point with the largest difference in the acousto-magnetic signals collected by the detection device as the fault point.

[0084] When a cable fails, the electrical signal transmission is interrupted. At this time, phenomena such as electric arcs will occur at the fault point, triggering acousto-magnetic signals. Since the acousto-magnetic signals change with the distance from the fault point during propagation, the closer to the fault point, the stronger the acousto-magnetic signals and the greater the difference. Therefore, by detecting the difference in acousto-magnetic signals, the position of the fault point can be accurately located. Specifically, the position point with the largest difference in acousto-magnetic signals can be determined as the fault point. Among them, the difference in acousto-magnetic signals is the difference between the intensity of the acoustic signal and the intensity of the magnetic signal, and this difference will increase significantly near the fault point. The fault point is the specific location where the cable fails, such as a short circuit or an open circuit.

[0085] S103. Based on the fault point, delimit an operation area according to a preset value.

[0086] After the fault point is identified, to facilitate the subsequent maintenance operations, an operation area can be delimited according to a preset value. The preset value refers to a value preset according to factors such as safety standards and equipment operation requirements for determining the size of the operation area, such as length, width, etc. The operation area is a working area specifically delimited for the robot to excavate the area related to the cable fault, which can be rectangular or other regular shapes and is the basis for the subsequent maintenance work.

[0087] In some embodiments, the operation area can be delimited in combination with the preset value through the following steps:

[0088] Obtain the interruption point when the electrical signal is interrupted, connect the interruption point and the fault point to obtain the predicted extension direction; determine the predicted extension direction as the direction of the first rectangular side, and the direction perpendicular to it as the direction of the second rectangular side; with the fault point as the center, delimit the operation area according to the sides generated by the preset values corresponding to the first rectangular side direction and the second rectangular side direction respectively.

[0089] It is understandable that the electrical signal interruption point indicates that the cable loses normal electrical signal transmission at this point, while the fault point is the location where the cable actually fails. Connecting these two points can infer the general direction of the cable before and after the fault point. This is crucial for demarcating the operation area because it helps determine the main direction of the operation area, making maintenance work such as excavation more targeted, avoiding blind operation, and improving the maintenance efficiency. Among them, the predicted extension direction refers to the direction in which the cable may continue to extend inferred by connecting the electrical signal interruption point and the fault point.

[0090] Selecting the predicted extension direction as one side of the rectangle can maximize the coverage of the area where the cable may have faults. And the direction perpendicular to it as the direction of the second side of the rectangle, forming the other two sides of the rectangle, can ensure that the operation area not only includes the area related to the cable direction but also has enough operation space. Among them, the first rectangle side direction is the direction of one side of the rectangle determined according to the predicted extension direction, usually consistent with the possible extension direction of the cable, and is used to determine the length direction of the operation area along the cable direction. The second rectangle side direction is the direction perpendicular to the first rectangle side direction and is used to determine the width direction of the operation area perpendicular to the cable direction. The two together form the boundary direction of the rectangular operation area.

[0091] The fault point is the core position of the maintenance work. Demarcating the operation area with it as the center can ensure that the fault point is always within the operation area, facilitating a comprehensive inspection and repair of the faulty cable. Generating the four sides of the rectangle according to the preset values corresponding to the first rectangle side direction and the second rectangle side direction respectively can accurately determine the size of the operation area, avoiding the operation area being too large or too small. Being too large may cause damage to unnecessary surrounding areas, while being too small may not meet the space requirements for maintenance operations. Among them, the preset values can be the length value in the first rectangle side direction and the width value in the second rectangle side direction.

[0092] S104. Determine the fault area and the non-fault area according to the temperature distribution in the real-time image data collected by the detection device for the operation area, plan the operation path for the non-fault area, and control the detection device to perform the operation.

[0093] It is understandable that the cable fault point usually generates heat due to increased resistance, abnormal current, etc., resulting in an increase in temperature in the fault area. By analyzing the temperature distribution in the real-time image data of the excavation area, the fault area and the non-fault area can be accurately distinguished. Planning the operation path for the non-fault area can enable the robot to operate in a safe area, avoid causing secondary damage to the faulty cable, and improve the excavation operation efficiency at the same time.

[0094] Among them, the real-time image data refers to the image information collected by the robot in real time in the excavation area, including temperature distribution or other visual features, and is used to analyze the situation in the area. The temperature distribution refers to the temperature levels at different positions in the excavation area, including the temperature values of each point in the image. The fault area refers to the area where the cable is located. The non-fault area refers to the area where the robot can safely carry out excavation operations except for the fault area. The operation path refers to the route followed by the robot when moving and carrying out excavation operations in the non-fault area. Accurately dividing the fault area and the non-fault area can provide safe and efficient operation guidance for the robot excavation operation, ensure the smooth progress of the cable repair work, reduce the risk of cable damage during excavation, and improve the overall quality of the repair work.

[0095] In some embodiments, the fault area and the non-fault area in the operation area can be divided through the following steps:

[0096] Obtain the point with the highest temperature value that is closest to the fault point in the real-time image data as the target point, and based on the target point, expand the offset angle on both sides of the predicted extension direction to obtain the recognition range.

[0097] When a cable fails, heat will be generated at the fault point due to increased resistance, abnormal current, etc., resulting in an increase in the surrounding temperature. The point that is closest to the fault point and has the highest temperature is very likely to be the core of the fault. Setting it as the target point can provide a key reference. Expanding the offset angle on both sides of the predicted extension direction to obtain the recognition range can comprehensively cover the area that may be affected by the fault and where there is a cable. The recognition range is two fan-shaped areas on both sides of the predicted extension direction in opposite directions. Since the fault heat may spread in both the forward and reverse directions along the cable route, corresponding areas are determined on both opposite sides respectively, which can more comprehensively cover the area that may be affected by the fault and where there is a cable.

[0098] Among them, the offset angle is a preset angle value used to expand the range on both sides of the predicted extension direction in opposite directions, and is used to determine the size of each fan-shaped recognition range. The recognition range is two fan-shaped areas determined by expanding the offset angle on both sides in the forward and reverse directions based on the target point along the predicted extension direction. The points within these two fan-shaped areas will be used for heat difference analysis to determine the cable position, comprehensively covering the area that may be affected by the fault and where there is a cable.

[0099] Based on the target point, successively obtain the temperature difference sequences corresponding to multiple adjacent points according to the temperature values of the adjacent points within the recognition range.

[0100] Calculating the temperature difference between adjacent points within the recognition range can clearly show the change trend of heat in these two opposite fan-shaped areas. Since heat dissipates outward from the fault core point, the temperature usually gradually decreases. By analyzing the temperature difference sequence, areas with obvious temperature changes can be found, and these areas are very likely to contain cables. Starting from the target point and calculating sequentially ensures the coherence of the analysis, comprehensively reflects the heat distribution within the two opposite fan-shaped recognition ranges, and provides strong data support for accurately judging the cable position. Among them, the temperature difference sequence refers to the arrangement of a series of temperature differences calculated sequentially from the target point for adjacent points, reflecting the trend and amplitude of heat changes within the two opposite fan-shaped recognition ranges.

[0101] In some embodiments, the temperature difference sequence can be obtained through the following steps:

[0102] Determine the target point as the starting point and the point adjacent to the target point as the ending point, and obtain the difference in temperature values between the starting point and the ending point; update the current ending point as the next starting point, determine the point adjacent to the next starting point as the next ending point, and obtain the difference in temperature values between the next starting point and the ending point until all points within the recognition range are traversed; arrange the differences between multiple adjacent starting points and ending points according to the traversal order to obtain the temperature difference sequence.

[0103] It can be understood that the target point, as the point closest to the fault point and with the highest temperature, is the core starting position of heat distribution. Starting from it and calculating the temperature difference by comparing with adjacent points can intuitively reflect the initial situation of heat change outward from the fault core area. To comprehensively understand the heat distribution within the recognition range, it is necessary to continuously and systematically calculate the temperature difference between adjacent points. By continuously updating the starting point and the ending point, the entire recognition range can be traversed. Arranging the multiple calculated temperature differences according to the traversal order can present the continuous change trend of heat within the recognition range and obtain multiple temperature difference sequences.

[0104] For example, after determining that the temperature of the target point is 75°C, a point directly adjacent to the target point in terms of spatial position is identified, and its temperature is 70°C. Then, the temperature difference between the starting point and the ending point is 75°C - 70°C = 5°C. After calculating the temperature difference between the target point and the adjacent point, this adjacent point is updated as the next starting point. Then, through an image processing algorithm and spatial position judgment, another point adjacent to this new starting point is found, and assume its temperature is 65°C. Next, calculate the temperature difference between the new starting point and the new ending point, that is, 70°C - 65°C = 5°C. In this way, in the two opposite fan-shaped recognition ranges, the starting point and the ending point are updated in turn and the temperature difference is calculated until every point within the recognition range is traversed. After calculating the temperature differences of all adjacent points within the two opposite fan-shaped recognition ranges, a series of temperature differences are obtained, such as 5°C, 5°C, 3°C, 2°C, etc. Arrange these differences in the order of traversal to form a temperature difference sequence.

[0105] According to the temperature difference sequence, obtain the area formed by adjacent points showing a decreasing trend as the fault area.

[0106] It can be understood that near the fault point, heat dissipates from the fault core area outward, and the temperature shows a decreasing trend from high to low. Therefore, by screening out the adjacent points corresponding to the decreasing trend in the temperature difference sequence, the area affected by the fault and most likely to have cables can be determined, which clarifies the key prevention scope to avoid cables during subsequent operations. The decreasing trend is the change trend in which the latter temperature difference is less than the former temperature difference in the temperature difference sequence. That is, when the values in the temperature difference sequence are all greater than 0, it can be determined that it is a decreasing trend, and a fault area can be formed by multiple adjacent points.

[0107] According to the extreme values of the fault area in the direction perpendicular to the predicted extension direction, generate an area line parallel to the predicted extension direction, and after moving the area line a safe distance to both sides of the fault area, determine the remaining area as the non-fault area.

[0108] Determining the extreme values of the fault area in the direction perpendicular to the predicted extension direction can clarify the boundary range of the fault area in this perpendicular direction. Generating an area line parallel to the predicted extension direction can divide the area related to the fault area in a regular way. Moving a safe distance to both sides of the fault area is to ensure that during the operation, cables will not be accidentally touched due to approaching the fault area, and at the same time clearly define the safe workable area.

[0109] Among them, the extreme value of the fault area in the direction perpendicular to the predicted extension direction refers to the coordinate value of the boundary point of the fault area in the direction perpendicular to the predicted extension direction (such as the minimum and maximum values of the x coordinate or the minimum and maximum values of the y coordinate), which is used to determine the position of the generated area line. The area line refers to a line parallel to the predicted extension direction and generated according to the extreme values in the vertical direction of the fault area, which is used to divide the fault area and the non-fault area. The safety distance is a preset distance value. To avoid touching the cable during the operation, when determining the boundary of the non-fault area, the distance moved from the boundary of the fault area to both sides.

[0110] In some embodiments, the operation path of the non-fault area can be divided through the following steps, and the robot is controlled to perform the operation in combination with this operation path:

[0111] In the direction perpendicular to the predicted extension direction, multiple operation lines parallel to the predicted extension direction are generated in the non-fault area according to the operation distance; the midline of adjacent operation lines is determined as the guiding line. Starting from the outermost guiding line, the same-side endpoints of adjacent guiding lines are alternately connected in sequence to obtain the operation path, and the unconnected endpoint of the outermost guiding line is determined as the starting point, and the unconnected endpoint of the innermost guiding line is determined as the ending point; the detection device is controlled to perform the operation according to the operation path and the reference operation depth.

[0112] It can be understood that the predicted extension direction represents the general trend of the cable. Generating operation lines in the direction perpendicular to it is to enable the operation path of the robot to fully cover the non-fault area and maintain an appropriate angle with the cable trend. In this way, it is not only convenient for the robot to comprehensively inspect the non-fault area but also can avoid accidentally damaging the faulty cable. Determining the interval of the operation lines according to the operation distance can ensure that the detection coverage in the non-fault area is neither missed nor too dense, resulting in low efficiency. Generating the midline of adjacent operation lines as the guiding line is mainly to enable the robot to operate at the middle position between adjacent operation lines during the operation. This can avoid detection blind spots or operation errors that may occur when the robot is too close to the edge of the operation line, thereby improving the comprehensiveness of the operation. Starting from the outermost guiding line and alternately connecting the same-side endpoints in sequence, this connection method can form a reciprocating operation path, enabling the robot to comprehensively cover the non-fault area in an orderly manner while avoiding repeated operations and improving the operation efficiency. Defining the starting point and the ending point can provide clear starting and ending positions for the operation of the robot. Based on the planned operation path, the robot can perform operations in an orderly manner in the non-fault area according to the predetermined route, improving the operation efficiency.

[0113] Among them, the working distance refers to the distance range that the robot can cover when performing operations. The working line refers to the line used to define the operation range and path of the detection device in the non-fault area. The guiding line is the line determined by the midline of adjacent working lines, which provides precise guidance for the movement of the robot, enabling the robot to operate at the middle position between adjacent working lines, thereby improving the comprehensiveness and accuracy of the operation. The reference working depth refers to the depth preset for the robot to perform operations. The detection device can be equipped with various devices such as excavation tools and force feedback sensors.

[0114] When obtaining the operation path by alternately connecting the same-side endpoints of adjacent guiding lines, assume there are 7 guiding lines. Starting from the outermost guiding line, such as the northern one, first connect the east-endpoint of this guiding line with the east-endpoint of the adjacent guiding line, and then connect the west-endpoint of the next adjacent guiding line with the west-endpoint of the next adjacent guiding line, and so on for alternate connection, forming a zigzag operation path.

[0115] When the detection device performs operations, it can conduct excavation in layers according to the reference working depth. The reference working depth can correspond to the depth of each layer of excavation operation. For example, taking 0.2 meters as one layer, excavating in multiple layers until the cable fault area is successfully exposed, which can reduce the accumulation of errors, improve the flatness and verticality of excavation, more accurately expose the cable fault area, improve the operation precision and accuracy, and facilitate real-time monitoring and feedback.

[0116] In some embodiments, the detection device can be controlled to perform operations according to the operation path and the reference working depth through the following steps:

[0117] Obtain the operation resistance of the detection device during the operation process. When the operation resistance is greater than the reference threshold, send an abnormal signal and re-determine the non-fault area; according to the operation path corresponding to the re-determined non-fault area, re-control the detection device to perform operations.

[0118] During the excavation operation of the robot, the operation resistance can reflect its working state and the changes in the operation environment. Different geological conditions and whether it contacts underground obstacles such as cables and stones will cause changes in the operation resistance. Obtaining the operation resistance information in real time helps to timely discover potential problems, ensure the safe and smooth progress of the operation, and avoid accidental damage to cables or other underground facilities.

[0119] The reference threshold is a preset resistance standard value. When the operation resistance exceeds this threshold, it is very likely that the excavation tool of the robot has contacted a cable or other hard underground obstacles, and continuing the operation may damage the cable or cause equipment failure. At this time, sending an abnormal signal can timely notify the operator and trigger the subsequent processing process, re-determine the non-fault area to avoid dangerous situations and ensure the safe and reliable operation.

[0120] After re - determining the non - fault area, the original operation path may no longer be applicable. Planning the operation path according to the new non - fault area can ensure that the robot continues to operate in a safe area, while ensuring the comprehensiveness and efficiency of the operation. Re - controlling the robot to execute the operation is to transmit the new operation path information to the robot, so that it continues to complete operation tasks such as excavation according to the new plan until the operation purpose is achieved, that is, the cable fault area is successfully exposed.

[0121] See Figure 3 , which is a schematic structural diagram of a power grid fault location system provided by an embodiment of the present invention. The power grid fault location system includes:

[0122] An acquisition module, configured to determine the traveling direction of the detection device according to the change trend of the electrical signal collected by the detection device, and adjust the detection range of the detection device in real time in combination with the traveling direction;

[0123] A positioning module, configured to determine the position point with the largest difference in acoustic - magnetic signals collected by the detection device as the fault point when the electrical signal is interrupted;

[0124] A planning module, configured to delimit an operation area based on the fault point according to a preset value;

[0125] An operation module, configured to determine the fault area and the non - fault area according to the temperature distribution in the real - time image data collected by the detection device for the operation area, plan the operation path of the non - fault area, and control the detection device to execute the operation.

[0126] Figure 3 The device of the illustrated embodiment can be correspondingly used to execute Figure 1 the steps in the method embodiment shown. The implementation principle and technical effects are similar, and will not be elaborated here.

[0127] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power grid fault location method, characterized in that, Including: Determine the traveling direction of the detection device according to the changing trend of the electrical signal collected by the detection device, and adjust the detection range of the detection device in real time in combination with the traveling direction; When the electrical signal is interrupted, determine that the position point with the largest difference in the acousto-magnetic signal collected by the detection device is the fault point; Based on the fault point, delimit the operation area according to a preset value; According to the temperature distribution in the real-time image data collected by the detection device for the operation area, determine the fault area and the non-fault area, plan the operation path of the non-fault area, and control the detection device to perform the operation.

2. The method according to claim 1, wherein: Determine the traveling direction of the detection device according to the changing trend of the electrical signal collected by the detection device, and adjust the detection range of the detection device in real time in combination with the traveling direction, including: Obtain the changing trend of the electrical signal according to the electrical signal intensity collected by the detection device within the detection range based on the traversal direction, and adjust the current traversal direction and detection range according to the changing trend of the electrical signal. The changing trend of the electrical signal includes monotonically increasing, monotonically decreasing, and non-monotonic change; Based on the non-monotonic change, determine that the angular direction corresponding to the maximum electrical signal intensity is the traveling direction; Taking the traveling direction as a reference, expand to both sides based on a set angle to obtain the next detection range.

3. The method according to claim 2, wherein: Obtain the changing trend of the electrical signal according to the electrical signal intensity collected by the detection device within the detection range based on the traversal direction, and adjust the current traversal direction and detection range according to the changing trend of the electrical signal, including: Control the detection device to collect the electrical signal intensity within the detection range based on the traversal direction; If the changing trend of the electrical signal is monotonically decreasing, start from the starting position of the current detection range, and re-collect the electrical signal intensity in the direction opposite to the current traversal direction until the changing trend of the electrical signal is non-monotonic; If the changing trend of the electrical signal is monotonically increasing, expand the current detection range, and continue to collect the electrical signal intensity based on the traversal direction until the changing trend of the electrical signal is non-monotonic; If the electrical signal intensity first increases and then decreases, determine that it corresponds to a non-monotonic change.

4. The method according to claim 2, wherein It also includes: When the changing trend of the electrical signal is monotonically increasing and monotonically decreasing, obtain the range difference between the adjusted detection range and the detection range before adjustment; Input the range difference into the offset calculation model, obtain the offset value output by the offset calculation model, and add the offset value to the set angle to obtain the updated set angle.

5. The method according to claim 1, wherein: Based on the fault point, delimit the operation area according to a preset value, including: Obtain the interruption point when the electrical signal is interrupted, and connect the interruption point and the fault point to obtain the predicted extension direction; Determine that the predicted extension direction is the direction of the first rectangular side, and the direction perpendicular to it is the direction of the second rectangular side; Taking the fault point as the center, delimit the operation area with the sides generated according to the preset values corresponding to the first rectangular side direction and the second rectangular side direction respectively.

6. The method according to claim 1, wherein: Determine the fault area and non-fault area according to the temperature distribution in the real-time image data collected by the detection device for the operation area, including: Obtain the point with the highest temperature value and the closest distance to the fault point in the real-time image data as the target point. Based on the target point, expand the offset angle on both sides of the predicted extension direction to obtain the recognition range; Taking the target point as a reference, successively obtain the temperature difference sequences corresponding to multiple adjacent points according to the temperature values of adjacent points within the recognition range; According to the temperature difference sequence, obtain the area composed of adjacent points showing a decreasing trend as the fault area; According to the extreme values of the fault area in the direction perpendicular to the predicted extension direction, generate an area line parallel to the predicted extension direction, and after moving the area line a safe distance to both sides of the fault area, determine the remaining area as the non-fault area.

7. The method according to claim 6, wherein Taking the target point as a reference, successively obtain the temperature difference sequences corresponding to multiple adjacent points according to the temperature values of adjacent points within the recognition range, including: Determine the target point as the starting point and the point adjacent to the target point as the ending point, and obtain the difference between the temperature values of the starting point and the ending point; Update the current ending point as the next starting point, determine the point adjacent to the next starting point as the next ending point, and obtain the difference between the temperature values of the next starting point and the ending point until all points within the recognition range are traversed; Arrange the differences of multiple adjacent starting points and ending points according to the traversal order to obtain the temperature difference sequence.

8. The method according to claim 1, wherein Plan the operation path of the non-fault area and control the detection device to perform operations, including: In the direction perpendicular to the predicted extension direction, generate multiple operation lines parallel to the predicted extension direction within the non-fault area according to the operation distance; Determine the midline of adjacent operation lines as the guiding line. Starting from the outermost guiding line, alternately connect the same-side endpoints of adjacent guiding lines in sequence to obtain the operation path, and determine the unconnected endpoint of the outermost guiding line as the starting point and the unconnected endpoint of the innermost guiding line as the ending point; Control the detection device to perform operations according to the operation path and the reference operation depth.

9. The method according to claim 8, wherein Control the detection device to perform operations according to the operation path and the reference operation depth, including: Obtain the operation resistance of the detection device during the operation process. When the operation resistance is greater than the reference threshold, send an abnormal signal and re-determine the non-fault area; According to the operation path corresponding to the re-determined non-fault area, re-control the detection device to perform operations.

10. A power grid fault location system, characterized in that, Including: An acquisition module for determining the traveling direction of the detection device according to the change trend of the electrical signal collected by the detection device, and adjusting the detection range of the detection device in real time in combination with the traveling direction; A positioning module for determining the position point with the largest difference in the acoustic magnetic signal collected by the detection device as the fault point when the electrical signal is interrupted; A planning module for delimiting the operation area based on the fault point according to a preset value; An operation module, which is used to determine a fault area and a non-fault area according to the temperature distribution in the real-time image data collected by the detection device for an operation area, plan an operation path for the non-fault area, and control the detection device to perform an operation.

Images