Detection method for abnormal accident discharge point of transformer substation through cooperation of sound and electromagnetic waves and three-dimensional positioning

Abstract

The invention discloses a detection method for positioning an abnormal accident discharge point of a transformer substation through cooperation of sound and electromagnetic waves and three-dimensional positioning. Firstly, a minimum detection unit of a three-dimensional structure is provided, and compared with a two-dimensional detection mechanism, the number of equipment is increased by part of detection units; calculating the distance between the detection point and the fault source by combining a relation function between the propagation speed of the sound in the air and the temperature; the arrangement relation between the detection device and the transformer substation has no special requirement, and a three-dimensional calculation model is established; a three-dimensional positioning error range is given by combining a time error and a temperature error of the detection method. According to the method, the three-dimensional detection unit model, the three-dimensional positioning model and the error model are provided, and the fault positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to a detection method for abnormal accident discharge points in a substation by collaborative three-dimensional positioning of sound and electromagnetic waves, belonging to the technical field of power grids. Background Technique

[0002] Currently, the power system is becoming increasingly complex, the power grid structure is becoming increasingly complex, and the substation mechanism is becoming increasingly complex. When in-station accidents occur in outdoor substations, it is particularly difficult to find the fault points, which greatly affects the accident handling speed and reduces the reliability of power grid operation. Currently, for the positioning of accident abnormal occurrence points, methods such as referring to substation camera video data and manually conducting in-station inspections are adopted. It takes a long time to find the discharge video recording the fault time point, and the video can only give a general fault area with low accuracy, providing limited guidance for substation accident search, and is even less able to guide the inspection of unmanned aerial vehicles and robots in the substation. Summary of the Invention

[0003] The purpose of the present invention is to provide a detection method for abnormal accident discharge points in a substation by collaborative three-dimensional positioning of sound and electromagnetic waves, to solve the problems described in the background technique, and to achieve rapid and accurate positioning of the fault discharge point when in-station accidents trip.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A detection method for abnormal accident discharge points in a substation by collaborative three-dimensional positioning of sound and electromagnetic waves, comprising:

[0006] 1) Setting the structure of the detection unit:

[0007] The detection unit is composed of 6 sound detection devices and 1 electromagnetic wave detection device. Among them, the sound detection devices are M1, M2, M3, M4, M5, and M6 respectively, and the electromagnetic wave detection device is C. Taking the C point of the electromagnetic wave detection device as the origin, a three-dimensional space coordinate system is established. Among them, M1, C, and M2 are arranged in the X-axis direction, M3, C, and M4 are arranged in the Y-axis direction, M5, C, and M6 are arranged in the Z-axis direction, and the distances between M1, M2, M3, M4, M5, M6 and C are all d;

[0008] 2) The relationship between the propagation speed of sound in air and temperature:

[0009]

[0010] Among them, v is the propagation speed of sound in air, with the unit of m / s; v 15 is the propagation speed of sound in air at 15 degrees Celsius, v 15 = 340 m / s; T is the atmospheric temperature, with the unit of °C; T 15 = 15 °C;

[0011] 3) Calculate the distance between the accident abnormal point and the monitoring unit:

[0012]

[0013] Among them, d1 is the calculated distance between the sound detection device M1 and the accident abnormal point; d2 is the calculated distance between the sound detection device M2 and the accident abnormal point; d3 is the calculated distance between the sound detection device M3 and the accident abnormal point; d4 is the calculated distance between the sound detection device M4 and the accident abnormal point; d5 is the calculated distance between the sound detection device M5 and the accident abnormal point; d6 is the calculated distance between the sound detection device M6 and the accident abnormal point; t1 is the time when the sound detection device M1 receives the abnormal sound; t2 is the time when the sound detection device M2 receives the abnormal sound; t3 is the time when the sound detection device M3 receives the abnormal sound; t4 is the time when the sound detection device M4 receives the abnormal sound, t5 is the time when the sound detection device M5 receives the abnormal sound, t6 is the time when the sound detection device M6 receives the abnormal sound; t0 is the time when the electromagnetic wave detection device C receives the abnormal electromagnetic wave; v is the propagation speed of sound in the air;

[0014] 4) Establish a three-dimensional space coordinate system:

[0015] (1) The three-dimensional coordinates of the electromagnetic wave detection device C are (0, 0, 0);

[0016] (2) The three-dimensional coordinates of the sound detection device M1 are (-d, 0, 0);

[0017] (3) The three-dimensional coordinates of the sound detection device M2 are (d, 0, 0);

[0018] (4) The three-dimensional coordinates of the sound detection device M3 are (0, -d, 0);

[0019] (5) The three-dimensional coordinates of the sound detection device M4 are (0, d, 0);

[0020] (6) The three-dimensional coordinates of the sound detection device M5 are (0, 0, -d);

[0021] (7) The three-dimensional coordinates of the sound detection device M6 are (0, 0, d);

[0022] 5) Calculation of the coordinates of the accident abnormal point:

[0023]

[0024] Among them, x is the X-axis coordinate of the accident abnormal point, y is the Y-axis coordinate of the accident abnormal point, and z is the Z-axis coordinate of the accident abnormal point;

[0025] 6) Calculation of the error range:

[0026]

[0027] Among them, e x is the error in the X-axis direction, and e y is the error in the Y-axis direction, and e z is the error in the Z-axis direction. e is the error between the positioning result and the actual position, and e t is the time sampling accuracy, and e T is the temperature sampling accuracy. x is the abscissa of the accident abnormal point, y is the ordinate of the accident abnormal point, and z is the vertical coordinate of the accident abnormal point.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. Provide an intelligent calculation method and give the three-dimensional positioning and accuracy range of the fault point.

[0030] 2. Provide the post-fault inspection range for high-definition cameras, unmanned aerial vehicles, and inspection robots in the substation.

[0031] 3. The detection accuracy is higher than that of two-dimensional detection devices, and there are no special requirements for the relative position of the detection device and the substation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the structural diagram of the detection unit;

[0033] Figure 2 is the schematic diagram of three-dimensional space coordinates. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] As Figure 1 is the structural diagram of the detection unit, and as Figure 2 is the schematic diagram of three-dimensional space coordinates.

[0036] An embodiment of the detection method for the sound and electromagnetic wave collaborative three-dimensional positioning of the abnormal accident discharge point in the substation according to the present invention is as follows:

[0037] The time sampling accuracy e t = 6.94×10 -5 s, the temperature sampling accuracy e T = 2°C. The distances between M1 and C, M2 and C, M3 and C, M4 and C, M5 and C, and M6 and C are all 1 m. The environmental temperature T = 21.2°C, and the coordinates of the simulated fault point are P(-45.9, 27.8, 3.3).

[0038] Due to the temperature sampling accuracy error of 2°C, the current sound wave velocity is calculated as:

[0039]

[0040] The time when each detection device receives abnormal sound and abnormal electromagnetic wave is as follows: the time t0 when the electromagnetic wave detection device C receives abnormal electromagnetic wave is 0 s, the time t1 when the sound detection device M1 receives abnormal sound is 0.1503 s, the time t2 when the sound detection device M2 receives abnormal sound is 0.1552 s, the time t3 when the sound detection device M3 receives abnormal sound is 0.1543 s, the time t4 when the sound detection device M4 receives abnormal sound is 0.1512 s, the time t5 when the sound detection device M5 receives abnormal sound is 0.1529 s, and the time t6 when the sound detection device M6 receives abnormal sound is 0.1526 s.

[0041] The calculated distance between the accident abnormal point and the monitoring unit is:

[0042]

[0043] The calculated coordinates of the accident abnormal point are:

[0044]

[0045] The calculation error is:

[0046]

[0047] The fault point P(-45.9, 27.8, 3.3) is within the range of 2.2556 m from the fault calculation point (-46.821, 28.7260, 3.0294).

[0048] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A detection method for abnormal accident discharge points in a substation by synergistically using sound and electromagnetic waves for three-dimensional positioning, characterized in that, Including: 1) Set up the detection unit structure: The detection unit consists of 6 sound detection devices and 1 electromagnetic wave detection device. Among them, the sound detection devices are M1, M2, M3, M4, M5, and M6 respectively, and the electromagnetic wave detection device is C. Taking point C of the electromagnetic wave detection device as the origin, a three-dimensional space coordinate system is established. Among them, M1, C, and M2 are arranged in the X-axis direction, M3, C, and M4 are arranged in the Y-axis direction, M5, C, and M6 are arranged in the Z-axis direction, and the distances between M1, M2, M3, M4, M5, M6 and C are all d. 2) The relationship between the speed of sound propagation in air and temperature: where v is the speed of sound propagation in air, with the unit of m / s; v 15 is the speed of sound propagation in air at 15 degrees Celsius, v 15 = 340 m / s; T is the atmospheric temperature, with the unit of °C; T 15 = 15 °C; 3) Calculate the distance between the accident abnormal point and the monitoring unit: Among them, d1 is the calculated distance between the sound detection device M1 and the accident abnormal point; d2 is the calculated distance between the sound detection device M2 and the accident abnormal point; d3 is the calculated distance between the sound detection device M3 and the accident abnormal point; d4 is the calculated distance between the sound detection device M4 and the accident abnormal point; d5 is the calculated distance between the sound detection device M5 and the accident abnormal point; d6 is the calculated distance between the sound detection device M6 and the accident abnormal point; t1 is the time when the sound detection device M1 receives the abnormal sound; t2 is the time when the sound detection device M2 receives the abnormal sound; t3 is the time when the sound detection device M3 receives the abnormal sound; t4 is the time when the sound detection device M4 receives the abnormal sound, t5 is the time when the sound detection device M5 receives the abnormal sound, t6 is the time when the sound detection device M6 receives the abnormal sound; t0 is the time when the electromagnetic wave detection device C receives the abnormal electromagnetic wave; v is the speed of sound propagation in air. 4) Establish a three-dimensional space coordinate system: (1) The three-dimensional coordinates of the electromagnetic wave detection device C are (0, 0, 0); (2) The three-dimensional coordinates of the sound detection device M1 are (-d, 0, 0); (3) The three-dimensional coordinates of the sound detection device M2 are (d, 0, 0); (4) The three-dimensional coordinates of the sound detection device M3 are (0, -d, 0); (5) The three-dimensional coordinates of the sound detection device M4 are (0, d, 0); (6) The three-dimensional coordinates of the sound detection device M5 are (0, 0, -d); (7) The three-dimensional coordinates of the sound detection device M6 are (0, 0, d); 5) Calculation of the coordinates of the accident abnormal point: Among them, x is the X-axis coordinate of the accident abnormal point, y is the Y-axis coordinate of the accident abnormal point, and z is the Z-axis coordinate of the accident abnormal point.

2. The method for detecting the discharge point of abnormal accidents in a substation by collaborative three-dimensional positioning of sound and electromagnetic waves according to claim 1, characterized in that Calculation method for the detection error range of the abnormal accident discharge point: Among them, e x is the error in the X-axis direction, e y is the error in the Y-axis direction, e z is the error in the Z-axis direction, e is the error between the positioning result and the actual position, e t is the time sampling accuracy, e T is the temperature sampling accuracy, x is the abscissa of the accident abnormal point, y is the ordinate of the accident abnormal point, and z is the vertical coordinate of the accident abnormal point.

Images