A substation GIS pipeline defect detection system and detection method

Abstract

The application provides a substation GIS pipeline defect detection system and method, the system comprises a UAV platform, a mounting rack, an ultrasonic detection module and a controller; the mounting rack is connected to the UAV platform, and the mounting rack has an accommodation space between two ends to accommodate part of the GIS pipe to be measured; the mounting rack is movably arranged to rotate around the center of the target circle relative to the UAV platform; two ultrasonic detection modules are arranged at the two ends of the mounting rack, and the two ultrasonic detection modules can approach or move away from each other in the first direction relative to the mounting rack to movably abut against the outer wall of the GIS pipe to be measured, and are used to obtain the ultrasonic signal of the target sound source in the GIS pipe to be measured; the controller is signal-connected with the ultrasonic detection module to calculate the propagation time difference of the two ultrasonic detection modules relative to the target sound source and the distance of the target sound source relative to the radial section of the GIS pipe where the ultrasonic detection module is located according to the ultrasonic signals obtained by the two ultrasonic detection modules.

Description

Technical Field

[0001] This application relates to the field of power facility inspection technology, and in particular to a substation GIS pipeline defect detection system and detection method. Background Technology

[0002] Gas-insulated switchgear (GIS) is a crucial component in substations for transmitting and distributing electrical energy, and its reliable operation is essential for the stability of the substation's power supply. However, long-term operational experience shows that insulation faults in GIS pipelines occur frequently, seriously threatening the safe operation of substations. These faults may be caused by partial discharge leading to insulation failures, or by mechanical defects (such as weld cracks, metal fatigue, and seal leaks), making fault location extremely important.

[0003] Currently, multiple ultrasonic sensors are often distributed on the surface of the equipment to collect signals and are used in conjunction with a monitoring system for three-dimensional modeling and calculation.

[0004] However, the above methods require a large number of sensors, are complex to install and difficult to wire, and the position adjustment steps are extremely cumbersome when dealing with different devices, resulting in low overall detection efficiency. Summary of the Invention

[0005] This application provides a substation GIS pipeline defect detection system and method to solve the technical problems of complex installation and difficult wiring, extremely cumbersome adjustment steps for different equipment locations, and low overall detection efficiency in the process of using multiple sensors in conjunction with the detection system to perform three-dimensional modeling and calculation to locate defects.

[0006] To address the aforementioned technical problems, this application provides the following technical solutions:

[0007] The first aspect of this application provides a substation GIS pipeline defect detection system, which includes:

[0008] Unmanned aerial vehicle (UAV) platform;

[0009] The mounting bracket is attached to the UAV platform. The mounting bracket has a receiving space between its two ends to accommodate a portion of the GIS pipe to be tested along its radial direction. The mounting bracket is movably configured to rotate relative to the UAV platform about the center of a target circle. The target circle is a circle with the two ends of the mounting bracket as its radial directions.

[0010] An ultrasonic detection module is provided, with two ultrasonic detection modules respectively disposed at two ends of the mounting frame. The two ultrasonic detection modules can move closer to or further away from each other relative to the mounting frame in a first direction to flexibly contact the outer wall of the GIS pipe under test, for acquiring the ultrasonic signal of the target sound source inside the GIS pipe under test; the first direction is the radial direction of the target circle where the two ultrasonic detection modules are located.

[0011] A controller, which is signal-connected to the ultrasonic detection modules, calculates the propagation time difference between the two ultrasonic detection modules relative to the target sound source based on the ultrasonic signals acquired by the two ultrasonic detection modules, and calculates the distance between the target sound source and the radial section of the GIS pipe where the ultrasonic detection modules are located based on the propagation time difference.

[0012] A second aspect of this application provides a method for detecting defects in GIS pipelines in substations, comprising the following steps:

[0013] The drone platform carrying two ultrasonic detection modules took off, hovered at the location of the GIS pipe to be tested, and remained stationary.

[0014] The distance between the two ultrasonic detection modules is adjusted in a first direction so that both ultrasonic detection modules abut against the outer wall of the GIS pipe to be tested; the first direction is the radial direction of the GIS pipe to be tested where the two ultrasonic detection modules are located.

[0015] Acquire the ultrasonic signal of the target sound source inside the GIS pipe under test;

[0016] The propagation time difference between the two ultrasonic detection modules relative to the target sound source is calculated based on the ultrasonic signal of the target sound source inside the GIS pipe to be tested.

[0017] The distance between the target sound source and the radial cross section of the GIS pipe where the two ultrasonic detection modules are located is calculated based on the propagation time difference.

[0018] Based on the above, the substation GIS pipeline defect detection system provided in this embodiment uses a drone platform to carry two ultrasonic detection modules. It calculates the distance between the target sound source and the radial section of the GIS pipeline where the ultrasonic detection modules are located by using the propagation time difference between the two ultrasonic detection modules and the target sound source. The automation of the drone replaces the manual positioning and detection process, which greatly improves the detection efficiency. At the same time, the rotatable setting of the mounting bracket enables the synchronous rotation of the two ultrasonic detection modules while keeping their relative positions unchanged, thereby improving the accuracy of the detection results through multiple detections and calculations. Attached Figure Description

[0019] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein:

[0020] Figure 1 A schematic diagram of the substation GIS pipeline inspection system provided in this embodiment is shown.

[0021] Figure 2 A schematic diagram illustrating the detection status of the substation GIS pipeline detection system provided in this embodiment is shown.

[0022] Figure 3 The diagram illustrates the structure of the underside of the UAV platform in the substation GIS pipeline inspection system provided in this embodiment.

[0023] Figure 4 A schematic diagram of the mounting frame in the substation GIS pipeline inspection system provided in this embodiment is shown.

[0024] Figure 5 The diagram schematically illustrates the structure of the first frame in the substation GIS pipeline inspection system provided in this embodiment;

[0025] Figure 6 This schematic diagram illustrates a portion of the structure beneath the UAV platform in the substation GIS pipeline inspection system provided in this embodiment.

[0026] Figure 7 The diagram schematically illustrates the structure of the second frame in the substation GIS pipeline inspection system provided in this embodiment;

[0027] Figure 8 The schematic diagram illustrates the structure of the ultrasonic detection module in the substation GIS pipeline inspection system provided in this embodiment;

[0028] Figure 9 The structural block diagram of the substation GIS pipeline inspection system provided in this embodiment is shown schematically.

[0029] Figure 10 A schematic diagram illustrating the calculation of the target sound source relative to its position in the substation GIS pipeline detection system provided in this embodiment is shown.

[0030] Figure 11 A schematic diagram illustrating the process of the substation GIS pipeline inspection method provided in this embodiment is shown.

[0031] Figure 12This schematically illustrates another process diagram of the substation GIS pipeline inspection method provided in this embodiment;

[0032] Explanation of reference numerals in the attached drawings: 1. UAV platform; 11. UAV body; 12. Rotor structure; 13. Leg; 2. Mounting frame; 21. First frame; 211. T-frame; 212. Partition; 213. Limiting component; 214. Second limiting component; 215. Bearing plate; 22. Second frame; 22. Guide hole; 221. Opening; 23. Tooth; 24. Ultrasonic detection module; 3. Mounting seat; 31. Ultrasonic detection sensor; 32. Second drive unit; 33. Rack; 34. First limiting part; 35. Second limiting part; 36. Buffer assembly; 37. Buffer seat; 371. Buffer rod; 372. Elastic component; 373. Limiting structure; 374. Guide rod; 38. Controller; 4. GIS pipe; 5. Drive unit; 6. Transmission assembly; 7. First gear; 71. Second gear; 72. Third gear; 73. First direction a; Second direction b; Third direction c. Detailed Implementation

[0033] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0034] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0035] GIS pipelines are core equipment in high-voltage power transmission and transformation systems. GIS pipelines contain power cables and are filled with insulating gas. Partial discharge is the main precursor to insulation aging and breakdown in GIS pipelines, while mechanical structural defects (such as weld cracks, metal fatigue, and seal leakage) may lead to serious accidents such as leakage of insulating gas inside the pipeline, such as sulfur hexafluoride (SF6) gas, or equipment explosion. Therefore, locating the fault point is very important.

[0036] Correspondingly, partial discharge is a high-frequency transient pulse signal that generates sound waves in the surrounding air. Due to the high field strength inside GIS pipelines, the alternating current in the internal cables will generate discharge at the location of mechanical defects, and the discharge will generate sound waves in the surrounding air. Therefore, both partial discharge and mechanical defects will generate sound waves, so ultrasonic detection can be used to detect the location of the sound source generated by partial discharge or mechanical defects.

[0037] However, the current detection and positioning of GIS conduits can be achieved by manually fixing multiple ultrasonic sensors on the pipes, and using 3D modeling and coordinate calculation to determine the sound source. This requires frequent disassembly and reassembly of ultrasonic sensors at different detection locations on the GIS conduits. Repeated disassembly and reassembly can easily reduce positioning accuracy and affect the accuracy of detection results. Furthermore, the repeated disassembly and reassembly process is cumbersome and time-consuming, increases labor intensity, and reduces detection efficiency.

[0038] Based on this, this application provides a substation GIS pipeline defect detection system and method. Two ultrasonic detection modules are mounted on a drone platform. The distance between the target sound source and the radial section of the GIS pipeline where the ultrasonic detection modules are located is calculated using the propagation time difference between the two ultrasonic detection modules and the target sound source, thereby determining the position of the target sound source in the axial direction of the pipeline. The automation of the drone replaces the manual positioning and detection process, greatly improving detection efficiency. Simultaneously, the rotatable mounting bracket allows for synchronous rotation of the two ultrasonic detection modules while maintaining their relative positions, enabling multiple detections and calculations, thus improving the accuracy of the detection results.

[0039] Therefore, based on the above, the overall approach of this application is as follows:

[0040] Example 1

[0041] Reference Appendix Figure 1 Appendix Figure 2 and appendix Figure 9 The substation GIS pipeline defect detection system provided in this embodiment includes a drone platform 1, a mounting bracket 2, ultrasonic detection modules 3, and a controller 4. The mounting bracket 2 is connected to the drone platform 1, and has a receiving space between its two ends to accommodate a portion of the GIS pipeline 5 to be tested along its radial direction. The mounting bracket 2 is movably configured to rotate relative to the drone platform 1 around the center of a target circle. The target circle is a circle with the two ends of the mounting bracket 2 as its radial direction. Two ultrasonic detection modules 3 are respectively disposed at the two ends of the mounting bracket 2, and the two ultrasonic detection modules 3 can rotate relative to the target circle. The mounting brackets 2 move closer to or further apart from each other in a first direction a, so as to movably abut against the outer wall of the GIS pipe 5 under test, for acquiring the ultrasonic signal of the target sound source inside the GIS pipe 5 under test; the first direction a is the radial direction of the target circle where the two ultrasonic detection modules 3 are located; the controller 4 is signal-connected to the ultrasonic detection module 3, so as to calculate the propagation time difference between the two ultrasonic detection modules 3 and the target sound source based on the ultrasonic signals acquired by the two ultrasonic detection modules 3, and calculate the distance of the target sound source relative to the radial section of the GIS pipe 5 where the ultrasonic detection module 3 is located based on the propagation time difference.

[0042] Understandably, to address the technical problems of complex installation, difficult wiring, and extremely cumbersome steps when adjusting the positions of different devices in the existing technology for 3D modeling and defect location calculation using multiple sensors in conjunction with the detection system, resulting in low overall detection efficiency, the substation GIS pipeline defect detection system provided in this embodiment uses a UAV platform 1 to carry two ultrasonic detection modules 3 to automatically detect and locate the target sound source of the GIS pipe 5 under test. The distance between the target sound source and the two ultrasonic detection modules 3 is calculated based on the propagation time difference, thereby determining the axial position of the GIS pipe 5 corresponding to the target sound source. This eliminates the need for multiple manual point monitoring, making it highly efficient and fast. Furthermore, the rotatable mounting bracket 2 allows the two ultrasonic detection modules 3 to rotate synchronously while maintaining their relative positions, enabling multiple synchronous detections without the need for manual repositioning and positioning, greatly improving detection accuracy and reducing the workload of operators.

[0043] The UAV platform 1 is a device centered around a UAV, integrating internal systems such as flight control, data transmission, and ground control. In this embodiment, the UAV platform 1 may include a UAV body 11, on which a rotor structure 12 may be provided. This rotor structure 12 may be, but is not limited to, a fixed-wing, multi-rotor, or hybrid-wing type to achieve flight maneuvers, hovering maneuvers, etc. The number of rotor structures 12 can be adjusted according to actual needs and is not limited here. A support leg 13 may also be provided on the side of the UAV body 11 away from the rotor structure 12. This support leg 13 is a rigid structure and may be, but is not limited to, made of stainless steel, and may be, but is not limited to, tubular, rod-shaped, or plate-shaped. It can provide support for the UAV body 11, allowing it to be stably supported on the ground or any working surface. The number of support legs 13 can be adjusted according to actual needs, as long as they are spaced apart and evenly distributed around the UAV body 11 to provide uniform support force. The UAV platform 1 in this embodiment can be equipped with a power system and a navigation and positioning system to achieve precise flight control. It can also be equipped with high-definition cameras, infrared thermal imagers, LiDAR, multispectral cameras, etc., for positioning, target location, etc. These configurations are easily understood and implemented by those skilled in the art, and will not be elaborated upon here. Furthermore, it is readily understood that the UAV platform 1 in this embodiment can interact with a ground control terminal to achieve remote flight control; correspondingly, the controller 4 in this embodiment can be integrated into the UAV platform 1 or located within the ground control terminal. In this embodiment, the ground terminal can be used as the origin of the coordinate system, and the coordinates of the target detection area of ​​the GIS tube 5 to be tested can be used as the flight endpoint to control the UAV platform 1, so that it can fly along the predetermined flight trajectory and hover above the target detection area of ​​the GIS tube 5 to be tested. Furthermore, a corresponding mark can be set at the target detection position of the GIS tube 5 to be tested. It can be, but is not limited to, graphic marks or text marks, such as red triangles, yellow triangles, etc. The camera on the UAV platform 1 can recognize the mark and control the UAV platform 1 to align with the mark and fall downward along the second direction b so that the mounting frame 2 can accommodate part of the GIS tube 5 to be tested. Specifically, the descent height after the GIS tube 5 to be tested is preset according to the diameter of the GIS tube 5 to be tested and the initial hovering height of the UAV platform 1. For example, when the diameter of the GIS tube 5 to be tested is 80cm and the initial hovering height of the UAV platform 1 to the target detection area is 200cm, the descent height of the UAV platform 1 can be preset to 40cm so that the mounting frame 2 can accommodate part of the GIS tube 5 to be tested.

[0044] The mounting bracket 2 is a rigid structure, which can be, but is not limited to, a steel structure. It provides a mounting position for the ultrasonic detection module 3 relative to the UAV platform 1 and can carry two ultrasonic detection modules 3 to rotate synchronously, maintaining their relative positions. In this embodiment, the mounting bracket 2 can extend along the second direction b in a direction away from the UAV platform 1, so as not to affect the rotation of the rotor structure 12 and to allow the UAV platform 1 to adapt to the GIS pipe 5 without changing its flight state. It is easy to understand that the second direction b can be a direction perpendicular to the horizontal plane, and the mounting bracket 2 can be adapted to a horizontally extending GIS pipe 5. The mounting bracket 2 can be welded to the UAV platform 1 or detachably connected to the UAV platform 1 by means of screws, snap-fits, etc., to improve the convenience of maintenance and replacement. The mounting frame 2 can be a semi-circular frame or a U-shaped frame, providing mounting positions for two ultrasonic detection modules 3 at both ends. It is easy to understand that the mounting frame 2 can adapt to accommodate the GIS pipe 5 with the target circle whose radial direction is at both ends as the maximum accommodating range. That is, the distance between the two ends of the mounting frame 2 can be the maximum measurable specification of the GIS pipe 5 to be tested. In this embodiment, the mounting frame 2 can be configured to rotate relative to the UAV platform 1 around a third direction c, thereby driving the two ultrasonic detection modules 3 to rotate synchronously around the GIS pipe 5, and the relative position between the two ultrasonic detection modules 3 does not change. Therefore, when performing multiple circumferential tests at the same axial position of the corresponding GIS pipe 5, the detection position of the ultrasonic detection module 3 can be adjusted simply by rotating the mounting frame 2. Since the relative position between the two ultrasonic detection modules 3 does not change, there is no need to reposition them, thus ensuring detection accuracy. The rotatable form of the mounting bracket 2 can be achieved by setting a transmission structure between the UAV platform 1 and the mounting bracket 2, which can be, but is not limited to, a gear and rack engagement. It is easy to understand that the third direction c can be a direction parallel to the horizontal plane and parallel to the axial direction of the GIS pipe 5 during actual operation. Correspondingly, in this embodiment, the first direction a can be a direction parallel to the horizontal plane and perpendicular to the axial direction of the GIS pipe 5 during actual testing. Furthermore, in this embodiment, the correspondence between the camera on the UAV platform 1 and the marker can be used as a signal to determine whether the mounting bracket 2 can achieve a proper fit through the direct descent of the UAV platform 1. For example, the camera on the UAV platform 1 can be positioned so that the mounting bracket 2 faces from one end to the other. When the marker is placed on the side of the GIS pipe 5, it can be set that the mounting bracket 2 can achieve a proper fit through the direct descent of the UAV platform 1 only when the camera can directly capture the marker, without interfering with the axial wall of the GIS pipe 5 under test.

[0045] The ultrasonic detection module 3 is a passive detection device capable of receiving existing ultrasonic signals from the environment. It may include a passive ultrasonic sensor. The received ultrasonic signal causes mechanical deformation on the piezoelectric crystal. According to the inverse piezoelectric effect, this mechanical deformation generates a voltage signal at the two poles of the crystal, thereby converting the ultrasonic vibration into an electrical signal. It is easy to understand that the received ultrasonic signal may be generated by partial discharge or mechanical defects. In this embodiment, the following description will use the target sound source instead. Accordingly, in this embodiment, the two ultrasonic detection modules 3 are configured to be movably mounted at the ends of the mounting frame 2, so that they can move closer or further away from each other relative to the mounting frame 2 in the first direction a. That is, the movement of the ultrasonic detection module 3 in the first direction a can put the passive ultrasonic sensor into a detection state or a non-detection state. It is easy to understand that the detection state means that the passive ultrasonic sensor is in contact with the outer wall of the GIS pipe 5 under test, and the non-detection state means that the passive ultrasonic sensor is not in contact with the outer wall of the GIS pipe 5 under test. In this embodiment, a protective layer can also be wrapped around the passive ultrasonic sensor. This layer can be, but is not limited to, a flexible material, such as a thin film layer or a silicone layer, to improve wear resistance and impact resistance, and to prevent the ultrasonic detection module 3 from rigidly contacting the outer wall of the GIS pipe 5 during the process of contacting the GIS pipe 5, which could damage or shorten the service life of the ultrasonic detection module 3.

[0046] The controller 4 is a controller structure capable of data transmission, reception, analysis, processing, comparison, and PLC program editing. The controller 4 is connected to the ultrasonic detection module 3 via either a wired or wireless connection. For example, when the controller 4 is integrated with the UAV platform 1, it can be wired to the ultrasonic detection module 3; when it is located on a ground control terminal, it can be wirelessly connected. The controller 4 can calculate the propagation time difference between the target sound source and the two ultrasonic detection modules 3 using a cross-correlation method, and then calculate the distance of the target sound source relative to the radial cross-section of the GIS pipe 5 where the ultrasonic detection modules 3 are located based on this propagation time difference. It is understood that calculating the propagation time difference between the target sound source and the two ultrasonic detection modules 3 using the cross-correlation method is easily understood and implemented by those skilled in the art, and will not be elaborated further here. It should be noted that, due to the large size of the GIS pipe 5, especially its axial dimension, in this embodiment, the relative position of the target sound source in the axial direction of the GIS pipe 5 with respect to the ultrasonic detection module 3 can be determined by calculating the distance between the target sound source and the radial section of the GIS pipe 5 where the ultrasonic detection module 3 is located. This determines that the target sound source is located on a specific section of the GIS pipe 5. Subsequent manual entry into that location within the pipe is sufficient for detailed defect confirmation; high-precision confirmation of the exact location of the target sound source is not required. Of course, it is understood that in this embodiment, the two ultrasonic detection modules 3 can move closer or further away simultaneously, or they can move individually to achieve the same effect.

[0047] Based on the above, the substation GIS pipeline defect detection system provided in this embodiment uses a drone platform 1 to carry two ultrasonic detection modules 3. It calculates the distance between the target sound source and the radial section of the GIS pipe 5 where the ultrasonic detection modules 3 are located by using the propagation time difference between the two ultrasonic detection modules 3 and the target sound source. The automation of the drone replaces the manual positioning and detection process, which greatly improves the detection efficiency. At the same time, the rotatable setting of the mounting frame 2 enables the synchronous rotation of the two ultrasonic detection modules 3 while keeping their relative positions unchanged, thereby improving the accuracy of the detection results through multiple detections and calculations.

[0048] Further, see attached document. Figure 10 In the substation GIS pipeline defect detection system provided in this embodiment, in a specific implementation, the controller 4 can calculate the distance of the target sound source relative to the radial section of the GIS pipe 5 where the ultrasonic detection module 3 is located according to formula (1);

[0049] (1)

[0050] In the formula: X is the distance between the target sound source and the radial section of the target circle where the two ultrasonic detection modules 3 are located; L is the distance between the two ultrasonic detection modules 3 in the first direction a. Δt represents the propagation speed of the ultrasonic wave within the GIS pipe 5; Δt represents the propagation time difference between the two ultrasonic detection modules 3 and the target sound source.

[0051] Understandably, in order to quickly calculate the relative position of the target sound source, this embodiment can be performed according to... Figure 10 The calculation is performed under the following assumptions: d and e represent two ultrasonic detection modules, and the distance between them is L, which is the diameter of the GIS pipe 5 to be tested. f is the location of the target sound source. Since the propagation time difference Δt of the ultrasonic wave from f to d and e has been calculated before, this embodiment assumes that f and e are directly opposite each other. Therefore, the distance between f and e and the distance between f and d differ by Δt*. Furthermore, the distance from f to e is also the distance of the line connecting f to ed, which is also the distance x of the radial section of the GIS pipe 5 where f and ed are located. Therefore, according to the Pythagorean theorem, we know...

[0052]

[0053] It can be obtained through derivation.

[0054]

[0055] in, Let the speed of sound be the speed at which sound waves propagate through the metal pipe wall. Taking aluminum and steel as typical examples, the speed of sound is... =3200-3400m / s, the following calculations in this embodiment use the value of 3200;

[0056] Furthermore, assuming L is 0.8m and the propagation time difference Δt is 1us, the distance x of the target sound source relative to the radial section of the GIS pipe 5 where the ultrasonic detection module 3 is located is... If m, the target sound source can be the radial section of GIS pipe 5, which is 0.84 meters away from the radial section of GIS pipe 5 where ed is located. Then, there are two radial sections on both sides of the ultrasonic detection module 3 in the axial direction of GIS pipe 5. The operator can then carefully confirm and troubleshoot the two pipe sections at these two locations.

[0057] Further, see attached document. Figure 4 and attached Figure 7In the substation GIS pipeline defect detection system provided in this embodiment, the mounting frame 2 includes a first frame 21 and a second frame 22. The first frame 21 is detachably connected to the side of the UAV platform 1 opposite to the rotor structure 12 and extends along the second direction b. The first frame 21 has a receiving space and two openings 23 connecting the receiving space in the first direction a. The second direction b is the direction from the side of the UAV platform 1 where the rotor structure 12 is located to the side opposite to it. The second direction b is perpendicular to the first direction a. The second frame 22 is semi-circular, and both ends of the second frame 22 extend out of the first frame 21 through the openings 23 to connect to the ultrasonic detection module 3 respectively. The second frame 22 is movably connected to the first frame 21 so that the second frame 22 can rotate relative to the first frame 21 around the center of the target circle.

[0058] It is understandable that, in order to enable the rotation of the mounting frame 2, or the two ultrasonic detection modules 3, in this embodiment, the mounting frame 2 can be configured to include a first frame 21 and a second frame 22. Both the first frame 21 and the second frame 22 are rigid structures, and can be, but are not limited to, steel structures. The first frame 21 is a structure connected to the UAV platform 1, and it can be set on the bottom surface of the UAV platform 1 to provide a mounting and movement platform for the second frame 22. (Refer to the attached diagram.) Figure 4 and attached Figure 6The first frame 21 can be configured to include a support plate 215, a T-shaped frame 211, and a partition plate 212. The support plate 215 is parallel to the drone body 11 and adheres to the bottom surface of the drone body 11. The support plate 215 and the drone body 11 can be connected by, but is not limited to, screws or adhesives. The T-shaped frame 211 is used to adhere to and connect to the side of the support plate 215 facing away from the drone body 11. It can be connected to the support plate 215 by, but is not limited to, screws, and the T-shaped frame 211 can be reserved for the side facing away from the drone body 11. The receiving slot of the drone platform 1 has a partition 212 that can be inserted into the receiving slot at one end and extend away from the drone platform 1 at the other end. When the two sets of the above structures are arranged side by side along the third direction c, the two partitions 212 can be arranged in a state that is spaced apart and parallel to each other in the third direction c, that is, the two form a receiving space for the second frame 22. Accordingly, the size of the openings 23 at both ends of the first frame 21 in the first direction a can be designed and adjusted according to actual needs, as long as they are compatible with the second frame 22 and do not affect the entry and exit of the second frame 22. In order to realize the rotation of the second frame 22 without interfering with the first frame 21, in this embodiment the second frame 22 is set as a semi-circle, which can be, but is not limited to, a semi-circular plate, with its axis parallel to the third direction c. Thus, the ultrasonic detection module 3 can be reserved at both ends for installation planes, and when the two ultrasonic detection modules 3 are located at its two ends, they can be automatically located in the radial direction of the target circle, that is, the center of the target circle is always on the line connecting the two ultrasonic detection modules 3. In this embodiment, the rotatable angle of the second frame 22 can be, but is not limited to, 0-300 degrees.

[0059] Further, see attached document. Figure 5 In the substation GIS pipeline defect detection system provided in this embodiment, in a specific implementation, the first frame 21 is provided with a limiting member 213 extending along a third direction c; the third direction c satisfies the condition of being perpendicular to both the first direction a and the second direction b; the second frame 22 is provided with a guide hole 221, the guide hole 221 is coaxial with the second frame 22 and is adapted to the limiting member 213.

[0060] Understandably, to ensure the stable rotation of the second frame 22, a limiting member 213 and a guide hole 221 are provided in this embodiment. The limiting member 213 is a rigid structure and can be, but is not limited to, block-shaped, rod-shaped, spherical, etc. It can be fixed to the partition plate 212 or screwed to the partition plate 212. The guide hole 221 can be a semi-circular hole structure coaxial with the second frame 22, and is sealed at both ends of the second frame 22. Thus, the limiting member 213 can pass through the guide hole 221 to limit the second frame 22, ensuring that the second frame 22 will not fall out of the receiving space of the first frame 21. The cooperation between the limiting member 213 and the guide hole 221 can also guide the rotation of the second frame 22, improving rotational stability. Accordingly, refer to the attached... Figure 5 In this embodiment, a second limiting member 214 can also be provided on the side of the second frame 22 facing the T-shaped frame 211. The second limiting member 214 can have the same structure and connection as the limiting member 213. The limiting member 213 and the second limiting member 214 can be staggered in the first direction a, that is, to clamp and guide one side of the guide hole 221, thereby further improving stability. With this configuration, the second frame 22 can be set to a detachable form, so that the second frame 22 of the appropriate size can be replaced to accommodate different specifications of GIS pipes 5, thereby improving the applicability and detection flexibility, and reducing the movement distance of the ultrasonic detection module 3 in the first direction a, thereby further reducing equipment costs.

[0061] Further, see attached document. Figure 3 and attached Figure 5 The substation GIS pipeline defect detection system provided in this embodiment further includes a drive unit 6 and a transmission assembly 7 in a specific implementation. The drive unit 6 is arranged along the third direction c. The transmission assembly 7 includes a first gear 71, which is rotatably connected to the output end of the drive unit 6 around the third direction c, so as to rotate with the output end of the drive unit 6 around the third direction c. The second frame 22 is provided with teeth 24 on the side away from the UAV platform 1 to mesh with the first gear 71. The drive unit 6 can drive the second frame 22 to rotate around the third direction c through the first gear 71.

[0062] It is understood that, in order to achieve the automatic rotation of the second frame 22, a drive unit 6 and a transmission assembly 7 are provided in this embodiment. The drive unit 6 may be, but is not limited to, a drive motor, which may be fixedly mounted on the first frame 21 and whose output end is rotatable around a third direction c. The transmission assembly 7 may include a first gear 71, which is sleeved on the output end of the drive unit 6 to be able to rotate around a third direction. Correspondingly, teeth 24 adapted to mesh with the first gear 71 are provided on the inner circle side of the second frame 22. Thus, when the first gear 71 reciprocates around the third direction c, the second frame 22 can reciprocate around the third direction c under the drive of the first gear 71. The dimensions of the first gear 71 and the teeth 24 can be designed and adjusted according to actual needs. The rotation angle for multiple detections can be designed and adjusted according to actual needs. It can be set to a fixed 30 degrees, 40 degrees, 50 degrees, etc., or it can be set progressively, such as rotating 15 degrees initially and increasing by 15 degrees with each subsequent rotation. Of course, the specific rotation angle can be controlled by the rotation speed and duration of the drive unit 6. This method is easily understood and implemented by those skilled in the art, and will not be elaborated further here. Correspondingly, the number of rotations of the second frame 22 at the same axial position of the GIS pipe 5 can be designed and adjusted according to actual needs. For example, if only one target sound source is detected in the first detection, only one rotation and two detections are needed; if two target sound sources are detected in the first detection, 2-3 rotations and corresponding multiple detections can be performed, and so on, to improve detection accuracy.

[0063] Further, see attached document. Figure 5 In the substation GIS pipeline defect detection system provided in this embodiment, in a specific implementation, the transmission component 7 further includes a second gear 72 and a third gear 73; the second gear 72 and the third gear 73 are respectively located on both sides of the first gear 71 along the first direction a and mesh with the first gear 71, and both the second gear 72 and the third gear 73 mesh with the teeth 24 of the second frame 22.

[0064] Understandably, in order to improve the rotational stability of the second frame 22 and reduce the load on the drive unit 6, in this embodiment, a second gear 72 and a third gear 73 can be provided in conjunction with the first gear 71. The second gear 72 and the third gear 73 are driven gears of the first gear 71. They can rotate synchronously under the rotation of the first gear 71, thereby driving the second frame 22 to rotate on more teeth 24. In addition, the contact length with the gear is extended around the center of the inner circle of the second frame 22 to prevent the second frame 22 from shifting or tilting in the third direction c, thereby improving the rotational stability of the second frame 22. At the same time, the driving force required by the drive unit 6 can be reduced under the cooperative drive of the second gear 72 and the third gear 73.

[0065] Further, see attached document. Figure 8 In the substation GIS pipeline defect detection system provided in this embodiment, the ultrasonic detection module 3 includes a mounting base 31, an ultrasonic detection sensor 32, and a second drive unit 33. The mounting base 31 is detachably connected to the end of the mounting frame 2. The ultrasonic detection sensor 32 is slidably connected to the mounting base 31 along the first direction a. The second drive unit 33 is disposed on the mounting base 31 on the side of the ultrasonic detection sensor 32 away from the other ultrasonic detection sensor 32, and the output end of the second drive unit 33 is connected to the ultrasonic detection sensor 32. The second drive unit 33 is signal-connected to the controller 4 so as to drive the ultrasonic detection sensor 32 to reciprocate along the first direction a according to the control signal.

[0066] It is understandable that, in order to enable the passive ultrasonic sensor to move in the first direction a, the ultrasonic detection module 3 in this embodiment can be configured to include a mounting base 31, an ultrasonic detection sensor 32, and a second drive unit 33. The mounting base 31 is a rigid structure, which can be, but is not limited to, a plate, a frame, a groove structure, etc. In this embodiment, the following description uses a plate as an example. The mounting base 31 can be parallel to the second frame 22 and located on the third direction c of the second frame 22 or in the opposite direction of the third direction c. The mounting base 31 can be connected to both ends of the second frame 22 by means of screws, snap-fits, etc. The ultrasonic detection sensor 32 is the aforementioned passive ultrasonic sensor. Two ultrasonic detection sensors 32 can synchronously acquire ultrasonic signals using the dual channels of the same ADC module. The sampling frequency of the ultrasonic detection sensor 32 can be set to 200kHz, and the specific setting can be adjusted according to actual needs, as long as it can cover the frequency range of ultrasonic waves (20-200kHz or 40-80kHz). The ultrasonic detection sensor 32 can collect 1024 points per sampling cycle, using a 5.12ms time window, and storing the ultrasonic waveform with 16-bit precision to ensure detection accuracy. It can be slidably connected to the mounting base 31 along the first direction a. A slide rail and groove can be set on the mounting base 31, and a slider or pulley can be set on the ultrasonic detection sensor 32 to realize its reciprocating motion relative to the mounting base 31 in the first direction a. The adjustable range in the first direction a can be, but is not limited to, 0.5m-1m. The second drive unit 33 may be, but is not limited to, a drive motor. The output end of the second drive unit 33 may be rotatable around a first direction a or around a third direction c. When it is rotatable around the first direction a, it can drive the ultrasonic detection sensor 32 in the first direction a through a lead screw structure extending along the first direction a. When it is rotatable around the third direction c, it can drive the ultrasonic detection sensor 32 in the first direction a. Figure 8As shown, the ultrasonic detection sensor 32 is driven in the first direction a by the rack 34 extending along the first direction a and the gear (not shown in the figure) sleeved on the output end. Both of these methods are easily understood by those skilled in the art and will not be elaborated further here. Specifically, after the UAV platform 1 descends to its position, the controller 4 can control the second drive unit 33 to drive one or two ultrasonic detection sensors 32 to approach the other ultrasonic detection sensor 32 until it touches the wall of the GIS pipe 5. Conversely, after the detection is completed, the controller 4 can control the second drive unit 33 to drive the two ultrasonic detection sensors 32 away from the other ultrasonic detection sensor 32 until it detaches from the wall of the GIS pipe 5, and then the second frame 22 rotates or returns.

[0067] Further, see attached document. Figure 8 In the substation GIS pipeline defect detection system provided in this embodiment, the ultrasonic detection module 3 further includes a first limiting part 35 and a second limiting part 36. The first limiting part 35 is disposed on the side of the mounting base 31 facing the other ultrasonic detection module 3, and is signal-connected to the controller 4 to detect and send a first positioning signal to the controller 4. The second limiting part 36 is disposed on the side of the second driving part 33 facing the ultrasonic detection sensor 32, and is signal-connected to the controller 4 to detect and send a second positioning signal to the controller 4. The controller 4 can control the second driving part 33 to stop driving the two ultrasonic detection sensors 32 to move closer to each other based on the first positioning signal; the controller 4 can also control the second driving part 33 to stop driving the two ultrasonic detection sensors 32 to move away from each other based on the second positioning signal.

[0068] It is understood that, in order to accurately control the moving distance of the ultrasonic detection sensor 32 in the first direction a, improve detection efficiency, and ensure the safety of the ultrasonic detection sensor 32, this embodiment is provided with a first limiting part 35 and a second limiting part 36. The first limiting part 35 and the second limiting part 36 may be, but are not limited to, limit switches, pressure sensors, micro switches, etc. Correspondingly, the first limiting part 35 and the second limiting part 36 may be the same device or different devices. The following description of this embodiment will use a limit switch as an example for detailed explanation. The contact system of the first limiting part 35 can be set on the top of the ultrasonic detection sensor 32. The transmission rod of the first limiting part 35 can be elastically connected to the contact system, and its free end can extend to a position flush with the detection end of the ultrasonic detection sensor 32. Therefore, when the ultrasonic detection sensor 32 abuts against the wall of the GIS pipe 5, the free end of the transmission rod will also be pressed against the contact system by the outer wall of the GIS pipe 5, making the contact system conductive. At this time, a first positioning signal can be generated and sent to the controller 4. The controller 4 can then recognize the contact position of the ultrasonic detection sensor 32 and control the second driving part 3. 3. Stop driving; Correspondingly, the contact system of the second limiting part 36 can be set on the second driving part 33, and the transmission rod of the second limiting part 36 can extend towards the ultrasonic detection sensor 32. When the ultrasonic detection sensor 32 disengages from the GIS pipe 5, it presses the transmission rod of the second limiting part 36 against the contact system of the second limiting part 36, at which point the contact system of the second limiting part 36 is activated. At this time, a second positioning signal can be generated and sent to the controller 4. The controller 4 recognizes the reset of the ultrasonic detection sensor 32 and then controls the second driving part 33 to adjust the ultrasonic detection sensor 32 to stop disengaging from the GIS pipe 5. (See attached diagram.) Figure 8 In this embodiment, guide rods 38 can also be provided corresponding to the second drive unit 33 and the ultrasonic detection sensor 32. The guide rods 38 are rigid rods that extend along the first direction a to guide the reciprocating motion of the ultrasonic detection sensor 32 in the first direction a. Multiple guide rods 38 can be arranged at intervals around the axial direction of the ultrasonic detection sensor 32 to ensure the motion stability of the ultrasonic detection sensor 32.

[0069] Furthermore, in the substation GIS pipeline defect detection system provided in this embodiment, the ultrasonic detection module 3 further includes a buffer component 37; the buffer component 37 is disposed on the side of the ultrasonic detection sensor 32 facing the second driving part 33, and the buffer component 37 is elastic in the first direction a.

[0070] Understandably, if there is a delay in the controller 4's control over the second drive unit 33, it could easily cause damage to the sides of the ultrasonic sensor 32 due to contact. Therefore, this embodiment provides a buffer assembly 37, which may include, but is not limited to, springs, rubber pads, silicone pads, etc. The buffer assembly 37 is located on the side of the ultrasonic sensor 32 facing the second drive unit 33. When there is a delay in the controller 4's control over the second drive unit 33, the buffer assembly 37 can deform in the first direction a to absorb the contact force from the GIS pipe 5 or the second drive unit 33. For example, when the second drive unit 33 drives the ultrasonic detection sensor 32 to approach the GIS pipe 5, there is a delay. Even if the ultrasonic detection sensor 32 has already come into contact with the GIS pipe 5, it can still move a certain displacement towards the second drive unit 33 under the action of the buffer component 37 to prevent it from being damaged by the GIS pipe 5. Conversely, when the second drive unit 33 drives the ultrasonic detection sensor 32 to approach the second drive unit 33, there is a delay. Even if the ultrasonic detection sensor 32 has already come into contact with the second limit part 36, it can still move a certain displacement towards another ultrasonic detection module 3 under the action of the buffer component 37 to prevent it from being damaged by the second drive unit 33. This greatly improves the safety of using the ultrasonic detection module 3.

[0071] Further, see attached document. Figure 8 In the substation GIS pipeline defect detection system provided in this embodiment, the buffer assembly 37 includes a buffer seat 371, a buffer rod 372, and an elastic element 373. The buffer seat 371 is placed between the ultrasonic detection sensor 32 and the second driving part 33. The buffer rod 372 extends from the buffer seat 371 toward another ultrasonic detection module 3 and passes through the ultrasonic detection sensor 32. The elastic element 373 is sleeved on the buffer rod 372, and its two ends abut against the ultrasonic detection sensor 32 and the buffer seat 371, respectively.

[0072] Understandably, in order to protect the ultrasonic sensor 32 with the buffer assembly 37, the buffer assembly 37 in this embodiment can be configured to include a buffer seat 371, a buffer rod 372, and an elastic element 373. The buffer seat 371 is a rigid structure, which can be, but is not limited to, a plate-like structure. It can be disposed between the ultrasonic sensor 32 and the second driving part 33, and its thickness direction can be parallel to the first direction a. The buffer rod 372 is a rigid rod structure, which can pass through the housing of the ultrasonic sensor 32 along the first direction a and form a limiting structure 374 at the end away from the buffer seat 371. It can be, but is not limited to, block-like, plate-like, spherical, etc., as long as it can restrict the buffer rod 372 from coming out of the ultrasonic sensor 32. Thus, the ultrasonic sensor 32 can move between the limiting structure 374 and the buffer seat 371, and thus, in conjunction with the elastic element 373, buffering can be achieved. In this embodiment, the buffer seat 371 can also be configured to be larger, thereby allowing several buffer rods 372 and elastic elements 373 to be spaced apart around the first direction a and around the circumference of the ultrasonic detection sensor 32, thereby improving the stability and uniformity of the buffer.

[0073] Example 2

[0074] Reference Appendix Figure 11 This embodiment provides a substation GIS pipeline defect detection method based on the substation GIS pipeline defect detection system described in Embodiment 1, which includes the following steps:

[0075] 101. The UAV platform 1 carrying two ultrasonic detection modules 3 takes off and hovers at the location of the GIS pipe 5 to be tested;

[0076] It is understood that the UAV platform 1 can be controlled via a ground control terminal. For example, in this embodiment, the UAV platform 1 can be controlled by using the ground terminal as the origin of the coordinate system and the coordinates of the target detection area of ​​the GIS tube 5 to be tested as the flight endpoint, so that it can fly along the predetermined flight trajectory and hover above the target detection area of ​​the GIS tube 5 to be tested. The above-mentioned flight control method is easily understood and implemented by those skilled in the art, and will not be described in detail here. Furthermore, a corresponding marker can be set at the target detection position of the GIS tube 5 to be tested. This marker can be, but is not limited to, a graphic marker or a text marker, such as a red triangle, a yellow triangle, etc. The camera mounted on the UAV platform 1 can recognize the marker and control the UAV platform 1 to align with the marker and descend downwards along the second direction b so that the mounting frame 2 can accommodate part of the GIS tube 5 to be tested. Specifically, the descent height after the UAV platform 1 is in place can be preset according to the diameter of the GIS tube 5 to be tested and the initial hovering height of the UAV platform 1. For example, if the diameter of the GIS tube 5 to be tested is 80cm and the initial hovering height of the UAV platform 1 when flying to the target detection area is 200cm, the descent height of the UAV platform 1 can be preset to 40cm so that the mounting frame 2 can accommodate part of the GIS tube 5 to be tested. Furthermore, in this embodiment, the correspondence between the camera on the drone platform 1 and the marker can be used as a signal to determine whether the mounting frame 2 can achieve a fitting and accommodating effect through the direct descent of the drone platform 1. For example, the shooting direction of the camera on the drone platform 1 can be from one end of the mounting frame 2 to the other end, and the marker is set on the side of the GIS pipe 5. Thus, it is set that only when the camera can directly shoot the marker can the mounting frame 2 achieve a fitting and accommodating effect through the direct descent of the drone platform 1, without interfering with the pipe wall of the GIS pipe 5 under test along the axial direction.

[0077] 102. Adjust the distance between the two ultrasonic detection modules 3 in the first direction a so that both ultrasonic detection modules 3 are in contact with the outer wall of the GIS pipe 5 to be tested; the first direction a is the radial direction of the GIS pipe 5 to be tested where the two ultrasonic detection modules 3 are located.

[0078] This step may include the following steps:

[0079] 201. Drive the two ultrasonic detection modules 3 to move closer to each other in the first direction a;

[0080] 202. Based on the first arrival signal, stop driving the two ultrasonic detection modules 3 to move closer to each other;

[0081] When the ultrasonic detection module 3 comes into contact with the outer wall of the GIS pipe 5, the first limiting part 35 located on the ultrasonic detection module 3 generates the first positioning signal.

[0082] It is understood that, in order for the second drive unit 33 to be driven by the controller 4 in this embodiment to move the ultrasonic detection module 3 in the first direction a to the detection state of contacting the outer wall of the GIA tube 5, the movement of a single ultrasonic detection sensor 32 can be controlled or the movement of two ultrasonic detection sensors 32 can be controlled synchronously. Specifically, when the ultrasonic detection sensor 32 contacts the wall of the GIS pipe 5, the free end of the transmission rod of the first limiting part 35 is also pressed against the contact system by the outer wall of the GIS pipe 5, making the contact system conductive. At this time, a first positioning signal can be generated and sent to the controller 4. The controller 4 can recognize that the ultrasonic detection sensor 32 has reached the contact position and then control the second driving part 33 to stop driving. Correspondingly, when the ultrasonic detection sensor 32 completes the detection and needs to detach from the GIS pipe 5, it can squeeze the transmission rod of the second limiting part 36 to contact the contact system of the second limiting part 36, making the contact system of the second limiting part 36 conductive. At this time, a second positioning signal can be generated and sent to the controller 4. The controller 4 recognizes that the ultrasonic detection sensor 32 has reached the reset position and then controls the second driving part 33 to adjust the ultrasonic detection sensor 32 to detach from the GIS pipe 5 and stop.

[0083] 103. Obtain the ultrasonic signal of the target sound source inside the GIS pipe 5 to be tested;

[0084] It is understandable that the first arrival signal received by the controller 4 from the first limit unit 35 can be used as the initial point for ultrasonic signal processing. Ultrasonic signals prior to this point are not part of the GIS pipe 5 and can be left unprocessed. At this point, preprocessing operations such as statistical analysis, organization, filtering (mainly filtering out low-frequency signals of the device's operating frequency and high-frequency signals of radio interference within the GIS pipe 5), amplification, and envelope demodulation can begin on the ultrasonic signals received by the two ultrasonic sensors 32. This lays the groundwork for subsequent calculations. This method is easily understood by those skilled in the art and will not be elaborated upon here. Furthermore, it is easy to understand that the second arrival signal received by the controller 4 from the second limit unit 36 ​​can be used as the endpoint for ultrasonic signal processing. Ultrasonic signals after this point are unrelated to the GIS pipe 5 and can be left unprocessed.

[0085] 104. Calculate the propagation time difference between the two ultrasonic detection modules 3 and the target sound source based on the ultrasonic signal of the target sound source inside the GIS pipe 5 to be tested;

[0086] It is understandable that the controller 4 can calculate the propagation time difference of the target sound source to the two ultrasonic detection modules 3 by using the cross-correlation method on the ultrasonic signals detected by the two ultrasonic detection modules 3. The calculation of the propagation time difference of the target sound source to the two ultrasonic detection modules 3 by using the cross-correlation method is easily understood and implemented by those skilled in the art, and will not be elaborated on here.

[0087] 105. Calculate the distance between the target sound source and the radial section of the GIS pipe 5 where the two ultrasonic detection modules 3 are located, based on the propagation time difference;

[0088] It should be noted that, due to the large size of the GIS pipe 5, especially its axial dimension, in this embodiment, the relative position of the target sound source in the axial direction of the GIS pipe 5 with respect to the ultrasonic detection module 3 can be determined by calculating the distance between the target sound source and the radial section of the GIS pipe 5 where the two ultrasonic detection modules 3 are located. That is, the target sound source is determined to be on a certain section of the GIS pipe 5. Subsequently, the defect can be confirmed by manually entering the pipe at that position. There is no need to confirm the specific location of the target sound source with high precision. Of course, it is understood that in this embodiment, the two ultrasonic detection modules 3 can move closer or further away synchronously, or they can move separately to move closer or further away. The distance between the target sound source and the radial section of the GIS pipe where the two ultrasonic detection modules are located can be calculated according to formula (1).

[0089]

[0090] (1)

[0091] In the formula: X is the distance between the target sound source and the radial section of the target circle where the two ultrasonic detection modules are located; L is the distance between the two ultrasonic detection modules in the first direction; Δt represents the propagation speed of ultrasound within the GIS pipe; Δt represents the propagation time difference between the two ultrasonic detection modules relative to the target sound source.

[0092] It can be understood from the above equation (1) that, in order to quickly calculate the relative position of the target sound source, this embodiment can be performed according to... Figure 10 The calculation is performed under the following assumptions: d and e represent two ultrasonic detection modules, and the distance between them is L, which is the diameter of the GIS pipe 5 to be tested. f is the location of the target sound source. Since the propagation time difference Δt of the ultrasonic wave from f to d and e has been calculated before, this embodiment assumes that f and e are directly opposite each other. Therefore, the distance between f and e and the distance between f and d differ by Δt*. Furthermore, the distance from f to e is also the distance of the line connecting f to ed, which is also the distance x of the radial section of the GIS pipe 5 where f and ed are located. Therefore, according to the Pythagorean theorem, we know...

[0093]

[0094] It can be obtained through derivation.

[0095]

[0096] in, Let the speed of sound be the speed at which sound waves propagate through the metal pipe wall. Taking aluminum and steel as typical examples, the speed of sound is... =3200-3400m / s, the following calculations in this embodiment use the value of 3200;

[0097] Furthermore, assuming L is 0.8m and the propagation time difference Δt is 1us, the distance x of the target sound source relative to the radial section of the GIS pipe 5 where the ultrasonic detection module 3 is located is...

[0098] If m, the target sound source can be the radial section of GIS pipe 5, which is 0.84 meters away from the radial section of GIS pipe 5 where ed is located. Then, there are two radial sections on both sides of the ultrasonic detection module 3 in the axial direction of GIS pipe 5. The operator can then carefully confirm and troubleshoot the two pipe sections at these two locations.

[0099] Further, see attached document. Figure 12 The substation GIS pipeline defect detection method provided in this embodiment may further include the following steps after step 105:

[0100] 106. The two ultrasonic detection modules 3 are rotated synchronously around the axis of the GIS pipe 5 to be tested;

[0101] Understandably, in order to improve the accuracy of the detection results, in this embodiment, after the initial acquisition of the ultrasonic signal, specifically after the controller 4 uses the second drive unit 33 to detach the ultrasonic detection sensor 32 from the outer wall of the GIS pipe 5, the controller 4 can use the drive unit 6 in conjunction with the first gear 71, the second gear 72, and the third gear 73 to drive the second frame 22 to rotate relative to the UAV platform 1 or relative to the GIS pipe 5, so as to adjust the detection position of the two ultrasonic detection sensors 32. The rotation angle can be designed and adjusted according to actual needs. It can be set to a fixed 30 degrees, 40 degrees, 50 degrees, etc., or it can be set to a progressive type, such as rotating 15 degrees initially and increasing by 15 degrees each time thereafter. Of course, the specific rotation angle can be controlled by the rotation speed and duration of the drive unit 6. This method is easily understood and implemented by those skilled in the art, and will not be elaborated on here. Accordingly, the number of rotations of the second frame 22 at the same axial position on the GIS pipe 5 can be designed and adjusted according to actual needs. For example, when only one target sound source is detected for the first time, only one rotation and two detections are needed; when two target sound sources are detected for the first time, two to three rotations and corresponding multiple detections can be performed, and so on, to improve detection accuracy. After the second frame 22 has rotated, the controller 4 can drive the ultrasonic detection sensor 32 to move along the first direction a to contact the outer wall of the GIS pipe 5 through the second drive unit 33. Please refer to the detailed description of step 102 for this process, which will not be repeated here.

[0102] 107. Acquire the ultrasonic signal of the target sound source inside the GIS pipe under test for the second time;

[0103] Understandably, this step can be referred to in the detailed description of step 103, and will not be repeated here.

[0104] 108. Calculate the propagation time difference between the two ultrasonic detection modules relative to the target sound source based on the ultrasonic signal of the target sound source inside the GIS pipe to be tested;

[0105] Understandably, this step can be referred to in the detailed description of step 104, and will not be repeated here.

[0106] 109. Calculate the distance between the target sound source and the radial cross section of the GIS pipe where the two ultrasonic detection modules are located based on the propagation time difference;

[0107] Understandably, this step can be referred to in the detailed description of step 105, and will not be repeated here.

[0108] 110. Compare the two calculation results and determine the location of the target sound source;

[0109] It is understood that, in order to improve the accuracy of the detection results, step 110 in this embodiment may further include the following steps:

[0110] 1101. Compare the results of multiple tests and remove data with large errors;

[0111] Understandably, this step applies to cases with at least three test results. An error range can be set, which can be, but is not limited to, 10cm. For example, if the difference between the first and second test results is higher than the error range, the difference between the first and third test results is lower than the error range, and the difference between the second and third test results is higher than the error range, it indicates that the second test result has a larger error and can be discarded. For cases with fewer than three test results, step 1102 can be performed directly.

[0112] 1102. Calculate the average value of the retained multiple detection results, and use the average value as the distance between the final target sound source and the radial section of the target circle where the two ultrasonic detection modules 3 are located;

[0113] The average value of the test results retained in step 1102 is used as the final result, which effectively ensures the accuracy of the test results.

[0114] This application embodiment may also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements at least the detection methods corresponding to steps 101 to 1102 above.

[0115] This application embodiment may also provide a computer program product, including a computer program that, when executed by a processor, implements at least the detection methods corresponding to the detection methods corresponding to steps 101 to 1102 above.

[0116] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] In a typical configuration, the device includes one or more processors (CPUs), memory, and a bus. The device may also include input / output interfaces, network interfaces, etc.

[0118] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0119] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A substation GIS pipeline defect detection system, characterized in that, include: Unmanned aerial vehicle (UAV) platform; The mounting bracket is attached to the UAV platform. The mounting bracket has a receiving space between its two ends to accommodate a portion of the GIS pipe to be tested along its radial direction. The mounting bracket is movably configured to rotate relative to the UAV platform about the center of a target circle. The target circle is a circle with the two ends of the mounting bracket as its radial directions. An ultrasonic detection module is provided, with two ultrasonic detection modules respectively disposed at two ends of the mounting frame. The two ultrasonic detection modules can move closer to or further away from each other relative to the mounting frame in a first direction to flexibly contact the outer wall of the GIS pipe under test, for acquiring the ultrasonic signal of the target sound source inside the GIS pipe under test; the first direction is the radial direction of the target circle where the two ultrasonic detection modules are located. A controller, which is signal-connected to the ultrasonic detection modules, calculates the propagation time difference between the two ultrasonic detection modules relative to the target sound source based on the ultrasonic signals acquired by the two ultrasonic detection modules, and calculates the distance between the target sound source and the radial section of the GIS pipe where the ultrasonic detection modules are located based on the propagation time difference.

2. The substation GIS pipeline defect detection system according to claim 1, characterized in that: The controller can calculate the distance of the target sound source relative to the radial section of the GIS pipe where the ultrasonic detection module is located according to equation (1); （1） In the formula: X is the distance between the target sound source and the radial section of the target circle where the two ultrasonic detection modules are located; L is the distance between the two ultrasonic detection modules in the first direction; Δt represents the propagation speed of ultrasound within the GIS pipe; Δt represents the propagation time difference between the two ultrasonic detection modules relative to the target sound source.

3. The substation GIS pipeline defect detection system according to claim 1, characterized in that: The mounting frame includes a first frame and a second frame; The first frame is detachably attached to the side of the UAV platform opposite to the rotor structure and extends along a second direction. The first frame has a receiving space and two openings connecting the receiving space in the first direction. The second direction is the direction from the side of the UAV platform where the rotor structure is located to the side opposite to it. The second direction is perpendicular to the first direction; The second frame is semi-circular, and each end of the second frame extends through an opening into the first frame to connect to an ultrasonic detection module. The second frame is movably connected to the first frame so that the second frame can rotate relative to the first frame around the center of the target circle.

4. The substation GIS pipeline defect detection system according to claim 3, characterized in that: The first frame is provided with a limiting member extending along a third direction; the third direction is perpendicular to both the first direction and the second direction. The second frame is provided with a guide hole, which is coaxial with the second frame and adapted to the limiting member.

5. The substation GIS pipeline defect detection system according to claim 4, characterized in that: It also includes the drive unit and transmission components; The drive unit is disposed along the third direction; The transmission assembly includes a first gear, which is connected to the output end of the drive unit in a third direction to rotate with the output end of the drive unit in the third direction. The second frame has teeth on the side opposite to the UAV platform to mesh with the first gear; The drive unit is capable of driving the second frame to rotate around the third direction via the first gear.

6. The substation GIS pipeline defect detection system according to claim 5, characterized in that: The transmission assembly also includes a second gear and a third gear; The second gear and the third gear are located on both sides of the first gear along the first direction and mesh with the first gear. Both the second gear and the third gear mesh with the teeth that fit the second frame.

7. The substation GIS pipeline defect detection system according to claim 1, characterized in that: The ultrasonic detection module includes a mounting base, an ultrasonic detection sensor, and a second drive unit. The mounting base is detachably connected to the end of the mounting bracket; The ultrasonic detection sensor is slidably connected to the mounting base along the first direction; The second drive unit is disposed on the mounting base on the side of the ultrasonic detection sensor away from the other ultrasonic detection sensor, and the output end of the second drive unit is connected to the ultrasonic detection sensor; The second drive unit is signal-connected to the controller so as to drive the ultrasonic detection sensor to reciprocate along the first direction according to the control signal.

8. The substation GIS pipeline defect detection system according to claim 7, characterized in that: The ultrasonic detection module also includes a first limiting part and a second limiting part; The first limiting part is disposed on the side of the mounting base facing the other ultrasonic detection module, and the first limiting part is signal connected to the controller to detect and send a first positioning signal to the controller; The second limiting part is disposed on the side of the second driving part facing the ultrasonic detection sensor, and the second limiting part is signal connected to the controller to detect and send a second positioning signal to the controller; The controller can control the second drive unit to stop driving the two ultrasonic detection sensors to move closer to each other based on the first positioning signal; the controller can also control the second drive unit to stop driving the two ultrasonic detection sensors to move away from each other based on the second positioning signal.

9. The substation GIS pipeline defect detection system according to claim 7, characterized in that: The ultrasonic detection module also includes a buffer component; The buffer assembly is disposed on the side of the ultrasonic detection sensor facing the second driving part, and the buffer assembly is elastic in the first direction.

10. The substation GIS pipeline defect detection system according to claim 9, characterized in that: The buffer assembly includes a buffer seat, a buffer rod, and an elastic element; The buffer seat is positioned between the ultrasonic detection sensor and the second drive unit; The buffer rod extends from the buffer seat toward another ultrasonic detection module and passes through the ultrasonic detection sensor; The elastic element is sleeved on the outside of the buffer rod, and the two ends of the elastic element abut against the ultrasonic detection sensor and the buffer seat, respectively.

11. A method for detecting defects in GIS pipelines in substations, characterized in that, It includes the following steps: The drone platform carrying two ultrasonic detection modules took off, hovered at the location of the GIS pipe to be tested, and remained stationary. The distance between the two ultrasonic detection modules is adjusted in a first direction so that both ultrasonic detection modules abut against the outer wall of the GIS pipe to be tested; the first direction is the radial direction of the GIS pipe to be tested where the two ultrasonic detection modules are located. Acquire the ultrasonic signal of the target sound source inside the GIS pipe under test; The propagation time difference between the two ultrasonic detection modules relative to the target sound source is calculated based on the ultrasonic signal of the target sound source inside the GIS pipe to be tested. The distance between the target sound source and the radial cross section of the GIS pipe where the two ultrasonic detection modules are located is calculated based on the propagation time difference.

12. The method for detecting defects in GIS pipelines in substations according to claim 11, characterized in that, The step of calculating the distance between the target sound source and the radial cross section of the GIS pipe where the two ultrasonic detection modules are located based on the propagation time difference includes: The distance between the target sound source and the radial section of the GIS pipe where the two ultrasonic detection modules are located is calculated according to formula (1); （1） In the formula: X is the distance between the target sound source and the radial section of the target circle where the two ultrasonic detection modules are located; L is the distance between the two ultrasonic detection modules in the first direction; Δt represents the propagation speed of ultrasound within the GIS pipe; Δt represents the propagation time difference between the two ultrasonic detection modules relative to the target sound source.

13. The method for detecting defects in GIS pipelines in substations according to claim 11, characterized in that, The step of adjusting the distance between the two ultrasonic detection modules in a first direction so that both ultrasonic detection modules abut against the outer wall of the GIS pipe to be tested includes: The two ultrasonic detection modules are driven to move closer to each other in a first direction. The two ultrasonic detection modules are stopped moving closer to each other based on the first arrival signal; When the ultrasonic detection module comes into contact with the outer wall of the GIS pipe, the first limiting part located on the ultrasonic detection module generates the first positioning signal.

14. The method for detecting defects in GIS pipelines in substations according to claim 11, characterized in that, After calculating the distance between the target sound source and the radial cross-section of the GIS pipe where the two ultrasonic detection modules are located based on the propagation time difference, the method further includes: The two ultrasonic detection modules rotate synchronously around the axis of the GIS pipe to be tested. The ultrasonic signal of the target sound source inside the GIS pipe to be tested is acquired a second time; The propagation time difference between the two ultrasonic detection modules relative to the target sound source is calculated twice based on the ultrasonic signal of the target sound source inside the GIS pipe to be tested. The distance between the target sound source and the radial cross section of the GIS pipe where the two ultrasonic detection modules are located is calculated twice based on the propagation time difference. Compare the two calculation results and determine the location of the target sound source.

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