A multi-source interference adaptive separation method and system

Abstract

The application relates to a multi-source interference adaptive separation method and system, and relates to the field of signal processing technology, which comprises the following steps: obtaining a discharge area in response to a preset discharge acquisition signal; searching for corresponding acquisition robot numbers according to the discharge area; controlling the acquisition robots corresponding to the acquisition robot numbers to move to the discharge area and then performing area determination operation to obtain discharge data points; after the area determination operation is completed, controlling the acquisition robots corresponding to the acquisition robot numbers to perform shielding box installation operation at the discharge data points; after the shielding box installation operation is completed, collecting discharge data; generating a final scheme based on the discharge data and a preset data processing scheme; and obtaining final data by combining the discharge data and the final scheme and outputting the final data. The application has the effect of improving the accuracy and reliability of discharge signal acquisition and processing to obtain discharge data.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, and in particular to an adaptive separation method and system for multi-source interference. Background Technology

[0002] In signal processing fields such as cable partial discharge monitoring, industrial signal acquisition, and power equipment condition detection, effective signal purification and true discharge feature identification under multi-source interference are key to improving detection accuracy, ensuring the reliability of equipment condition assessment, and reducing fault misjudgment rate.

[0003] Currently, processing methods and systems for discharge signal detection and interference suppression have emerged in the industry. The core of these methods is to achieve preliminary noise reduction of discharge data by integrating signal acquisition modules and filtering modules, and then to complete the identification and output of discharge signals by combining them with feature analysis modules. This has replaced the traditional manual identification, manual filtering, and offline analysis mode to a certain extent, laying the foundation for improving the efficiency of discharge signal detection.

[0004] Regarding the aforementioned technologies, current methods for acquiring and processing discharge data primarily involve real-time acquisition of discharge signals using fixed discharge signal acquisition devices, followed by filtering out interference signals to obtain relevant discharge data. Therefore, the accuracy and reliability of obtaining discharge data through processing discharge signals still have room for improvement. Summary of the Invention

[0005] To improve the accuracy and reliability of acquiring and processing partial discharge signals from cables to obtain discharge data, this invention provides a multi-source interference adaptive separation method and system.

[0006] In a first aspect, the present invention provides a multi-source interference adaptive separation method, which adopts the following technical solution: An adaptive separation method for multi-source interference includes: Step 1: In response to the preset discharge acquisition signal, acquire the discharge area; Step 2: Locate the corresponding data acquisition robot number based on the discharge area; Step 3: After controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area, perform the area determination operation to obtain the discharge data points; Step 4: After the area determination operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point; Step 5: After the shielding box installation is completed, collect discharge data; Step 6: Generate the final solution based on the discharge data and the preset data processing scheme; Step 7: Combine the discharge data with the final solution to obtain the final data and output it.

[0007] By adopting the above technical solution, the discharge area is obtained, and then the acquisition robot is controlled to move to the discharge area and install the shielding box. After the shielding box is installed, the discharge data is collected and the relevant parameters in the data processing scheme are adjusted to obtain the final data. This reduces the interference of interference signals on the partial discharge signal of the cable, avoids excessive interference signals leading to over-processing or under-processing of data, and improves the accuracy and reliability of discharge signal processing to obtain the final discharge data.

[0008] Optionally, the method for controlling the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point includes: Step 40: Obtain the corresponding cable number based on the discharge area; Step 41: Determine the corresponding cable layer information based on the cable number; Step 42: Determine the outer sheath thickness using cable layer information and define it as the cutting thickness output; Step 43: Control the acquisition robot corresponding to the acquisition robot number to perform the cutting operation according to the cutting thickness; Step 44: After the cutting operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point.

[0009] By adopting the above technical solution, the cable layer information is determined by the cable number to obtain the outer sheath cutting thickness. The data acquisition robot is then controlled to perform the cutting operation according to the thickness before installing the shielding box. This allows the shielding box to avoid the cable outer sheath and directly and tightly fit the surface of the metal shielding layer at the discharge data point, reducing the impact of external interference signals on subsequent discharge data and improving the tightness and reliability of the shielding box installation.

[0010] Optionally, methods for acquiring discharge data include: Step 50: Obtain environmental parameters; Step 51: Locate the corresponding ideal environment range based on the cable number; Step 52: Analyze available environmental information based on environmental parameters; Step 53: When the environmental parameters fall within the ideal environmental range, perform a data acquisition operation to obtain discharge data; Step 54: When environmental parameters do not fall within the ideal environmental range, combine available environmental information with the ideal environmental range to generate parameters, adjust the environmental plan, and execute it; Step 55: After the parameter adjustment environment plan is completed, perform a data acquisition operation to obtain discharge data.

[0011] By adopting the above technical solution, the current environmental parameters are compared with the ideal environmental range corresponding to the cable. When the environmental conditions meet the requirements, the discharge data is directly collected. When the conditions do not meet the requirements, the environmental parameters are adjusted in combination with the available environmental information. This reduces the interference caused by environmental fluctuations on the discharge signal acquisition and improves the stability and accuracy of discharge data acquisition.

[0012] Optional, also includes: Step 550: Determine the repair material and cable radius based on cable layer information; Step 551: Calculate the repair volume based on the cutting thickness and cable radius; Step 552: Calculate the required repair volume based on the repair volume and repair materials; Step 553: Control the acquisition robot corresponding to the acquisition robot number to perform the repair operation according to the repair demand.

[0013] By adopting the above technical solution, the repair material and cable radius are accurately determined through cable layer information. The accurate repair volume is calculated by combining the determined cutting thickness and cable radius. The required repair volume is calculated based on the repair volume and repair material. Finally, the corresponding acquisition robot is controlled to perform the repair operation according to the calculated repair requirements. This reduces interference residue caused by insufficient repair or damage to the cable body caused by over-repair, and improves the accuracy and standardization of the repair operation.

[0014] Optionally, methods for controlling the collection robot corresponding to the collection robot number to perform repair operations according to the repair demand include: Step 5530: Find the corresponding hair dryer number by collecting the robot number; Step 5531: Calculate the blowing angle and blowing parameters based on the cutting thickness and cable radius; Step 5532: Adjust the hair dryer corresponding to the hair dryer number according to the blowing angle; Step 5533: After adjusting the blowing angle, control the blower corresponding to the blower number to perform the blowing operation according to the blowing parameters, and at the same time control the collection robot corresponding to the collection robot number to perform the repair operation according to the repair demand.

[0015] By adopting the above technical solution, the robot number is matched with the corresponding blower number, and the appropriate blowing angle and blowing parameters are calculated by combining the cutting thickness and cable radius. After adjusting the blower angle, the blowing operation and repair operation are performed simultaneously, so that the repair material can be evenly attached to the repair volume, reducing the possibility of gaps or detachment at the repair position, and improving the efficiency and reliability of insulation layer repair.

[0016] Optionally, it also includes a method for determining the final data output, which includes: Step 70: Obtain fixed discharge data; Step 71: Generate a fixed processing scheme based on the fixed discharge data and data processing scheme; Step 72: Combine the fixed processing scheme with the fixed discharge data to obtain the fixed final data; Step 73: Calculate the difference between the final data and the fixed final data; Step 74: When the final data difference falls within the preset safety margin range, define the final data as qualified data and output it; Step 75: When the final data difference does not fall within the safety difference range, combine the final data with the fixed final data to form a marked data interval and output it.

[0017] By adopting the above technical solution, the discharge data is fixed and the corresponding processing scheme and final data are generated. Then, the data difference is calculated with the final data corresponding to the robot. When the data difference is within the safe range, qualified data is directly output. When it exceeds the safe range, the two are combined to form a marked data interval before output. This realizes the cross-validation of data collected by the robot and data collected by the fixed device, avoids the result deviation caused by interference or failure of a single data source, and improves the credibility and reliability of the final output data.

[0018] Optionally, when the final data difference does not fall within the safety margin range, the method of combining the final data with the fixed final data to form a marked data interval and outputting it includes: Step 750: Determine the category of interfering data based on the final data; Step 751: Replace the fixed processing scheme according to the category of interference data to obtain an updated processing scheme; Step 752: Combine the fixed discharge data with the updated processing scheme to obtain updated fixed data; Step 753: Define the updated fixed data as the fixed final data and execute steps 73 to 74 to obtain qualified data and output it; Step 754: If qualified data is not available, merge the interference data category with the fixed processing scheme to obtain a comprehensive processing scheme; Step 755: Combine the fixed discharge data with the integrated processing scheme to obtain integrated fixed data; Step 756: Define the integrated fixed data as the fixed final data and execute steps 73 to 75 to form the marked data range and output it.

[0019] By adopting the above technical solution, the category of interfering data is determined through the final data. The fixed processing scheme is replaced according to the category of interfering data to try to obtain qualified data. If qualified data still cannot be obtained, the category of interfering data and the fixed processing scheme are merged to form a comprehensive processing scheme. Finally, the marked data range is formed and output. This avoids the situation where the large deviation between the two data is due to inconsistent processing of interference, and improves the intelligence of data verification and the reliability of the final output results.

[0020] Optionally, the method for controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area and then performing an area determination operation to obtain the discharge data points includes: Step 30: Obtain the robot area; Step 31: Calculate the shortest and longest sliding distances based on the robot area and the discharge area; Step 32: Control the acquisition robot corresponding to the acquisition robot number to move to the discharge area according to the shortest sliding distance and perform the area determination operation to obtain the discharge data points; Step 33: When the discharge data point does not exist, control the acquisition robot corresponding to the acquisition robot number to continue moving according to the longest sliding distance while performing the area determination operation to obtain the discharge data point.

[0021] By adopting the above technical solution, the shortest and longest sliding distances are calculated between the robot area and the discharge area. The robot is controlled to move and perform the area determination operation according to the shortest sliding distance first. When no discharge data point is detected, the robot continues to move and perform the area determination operation according to the longest sliding distance, thereby improving the efficiency and accuracy of discharge data point finding.

[0022] Optionally, methods for determining the outer sheath thickness using cable layer information and defining it as the cut thickness output include: Step 420: Extract the cable installation time from the cable layer information; Step 421: If the cable installation time exceeds the preset new cable time, obtain the historical environmental parameter set; Step 422: Calculate the aging thickness range of the outer sheath based on the cable installation time and historical environmental parameter set combined with the preset aging model; Step 423: Extract the minimum thickness in the aging thickness range of the outer sheath and define it as the cutting thickness output; Step 424: If the cable installation time does not exceed the new cable time, determine the outer sheath thickness through the cable layer information and define it as the cutting thickness output.

[0023] By adopting the above technical solution, the installation time of the cable is used to determine whether the cable has exceeded the new cable time. For old cables, the historical environmental parameter set is obtained and the outer sheath aging thickness range is calculated by combining it with the aging model. The minimum thickness of the range is extracted as the cutting thickness. For new cables, the outer sheath thickness is directly determined by the cable layer information as the cutting thickness. This realizes the adaptive adjustment of the cutting thickness to the degree of cable aging, and improves the safety and reliability of the cutting operation.

[0024] Secondly, this invention provides a multi-source interference adaptive separation system, which adopts the following technical solution: A multi-source interference adaptive separation system, comprising: The acquisition module is used to acquire the discharge area, discharge data, environmental parameters, fixed discharge data, and robot area. A memory for storing a program for an adaptive separation method for multi-source interference as described above; The processor loads and executes programs from memory.

[0025] By adopting the above technical solution, key information such as the discharge area is acquired by the module, and the multi-source interference adaptive separation method program stored in the memory is loaded and executed by the processor. This achieves collaborative processing and cross-verification of data acquired by the robot and data acquired by the fixed device, reduces the influence of external interference on the discharge signal, and improves the accuracy and reliability of partial discharge detection and subsequent discharge data.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: By acquiring the discharge area, and then controlling the acquisition robot to move to the discharge area and install the shielding box, the discharge data is acquired after the shielding box is installed, and the relevant parameters in the data processing scheme are adjusted to obtain the final data. This reduces the interference of interference signals on the partial discharge signal of the cable, avoids excessive interference signals leading to over-processing or under-processing of data, and improves the accuracy and reliability of discharge signal processing to obtain the final discharge data. By cutting the outermost layer of the cable, i.e. the outer sheath, and then installing a shielding box, the influence of external interference signals on the internal discharge signal is reduced, thereby improving the accuracy and reliability of discharge signal acquisition and subsequent processing to obtain discharge data. By obtaining information such as the outer sheath material, outer sheath thickness, and cable radius of the cable segment through cable layer information, we can calculate the area and amount of cable that needs to be filled for repair, thereby reducing the rate of subsequent cable aging and damage caused by the cutting of the outer sheath and improving the reliability and safety of cable cutting and repair. Attached Figure Description

[0027] Figure 1 This is a flowchart of a multi-source interference adaptive separation method according to an embodiment of this application; Figure 2 This is a flowchart of the discharge signal processing according to an embodiment of this application; Figure 3 This is a schematic diagram of the movement of the data collection robot according to an embodiment of this application. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] This invention discloses an adaptive separation method for multi-source interference. (Refer to...) Figure 1 An adaptive separation method for multi-source interference includes: Step 1: In response to the preset discharge acquisition signal, acquire the discharge area.

[0030] The discharge acquisition signal refers to the instruction signal for collecting signals of partial discharge in cables. The system responds by automatically generating a discharge acquisition signal when it detects the presence of partial discharge by monitoring abnormal data uploaded by a fixed discharge monitoring device in real time.

[0031] The discharge region refers to the physical area on the cable where partial discharge anomalies exist. The discharge region is obtained by the system using the traveling wave method to calculate the time difference between the discharge pulse and the fixed monitoring points at both ends of the cable, and then combining this with the wave velocity to calculate the location of the discharge signal. Alternatively, the system can use the impedance spectrum method or attenuation method to estimate the discharge region by analyzing the attenuation characteristics of the discharge signal at different frequencies. The specific method used is determined by the system according to pre-defined settings.

[0032] Step 2: Find the corresponding data acquisition robot number based on the discharge area.

[0033] The acquisition robot number refers to the unique identifier of the robot used to acquire partial discharge signals from the cable. The acquisition robot number is retrieved by having a unique identifier assigned to each acquisition robot during installation and associated with the cable, then inputting this identifier into the system. When the system receives a discharge area, it automatically retrieves the corresponding acquisition robot number.

[0034] Step 3: After controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area, perform the area determination operation to obtain the discharge data points.

[0035] The area determination operation refers to the process by which the acquisition robot precisely locates the specific detection point of partial discharge within the discharge area. This operation is performed by the acquisition robot slowly sliding along the cable axis, simultaneously acquiring the discharge signal amplitude and characteristic parameters in real time. Locations where the signal strength exceeds a threshold set by the operator are identified as discharge data points. This threshold is determined by operators in the field through multiple experiments, using the lowest possible discharge value as the threshold, which is then input into the system. A discharge data point is a specific location on the cable where partial discharge exists and exhibits typical discharge characteristics. This data point is obtained by the acquisition robot continuously comparing the real-time acquired signal with the threshold during its sliding motion, identifying the location that first meets the signal strength condition as the discharge data point.

[0036] Step 4: After the area determination operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point.

[0037] The shielding box installation operation refers to the process by which the data acquisition robot securely installs the shielding box at the discharge data point. This operation is performed by the system issuing commands to the data acquisition robot, which first adjusts its gripping posture to align with the discharge data point. Then, the robotic arm precisely snaps the shielding box onto the cable discharge location, using clips or magnetic attachments to ensure a tight fit between the shielding box and the cable's outer wall.

[0038] After the area determination operation is completed, it means that the discharge data point has been determined. At this time, it is necessary to collect the discharge signal. Therefore, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point.

[0039] Step 5: After the shielding box installation is completed, collect discharge data.

[0040] Discharge data refers to the electrical signal data of partial discharge characteristics collected by the acquisition robot from the discharge data points of the cable. The discharge data is acquired by sensing the electromagnetic signals generated by partial discharge in the cable using a high-frequency current sensor or ultra-high-frequency sensor mounted on the acquisition robot, and then amplifying and converting the signals into digital electrical signal data.

[0041] Once the shielding box installation is completed, it indicates that external interference signals have been initially isolated, and therefore discharge data is collected.

[0042] Step 6: Generate the final solution based on the discharge data and the preset data processing scheme.

[0043] The data processing scheme refers to the basic processing flow, without parameter adjustments, used for time-domain signal acquisition, frequency-domain transformation, narrowband interference identification, and filter parameter setting of cable partial discharge data to achieve multi-source interference suppression and effective discharge signal purification. This data processing scheme is obtained by staff through experiments combined with common cable interference types and discharge signal characteristics. Parameters such as time-domain acquisition parameters, Fourier transform standards, interference identification thresholds, and initial filter parameters are pre-set and input into the system. Specifically, the data processing scheme includes: applying a Fast Fourier Transform (FFT) to the discharge data to convert it to the frequency domain and plotting an amplitude spectrum. The horizontal axis of the spectrum represents frequency, and the vertical axis represents the amplitude of the corresponding frequency component. Then, the system automatically identifies one or more sharp peaks above the base noise in the spectrum using an algorithm. The final scheme refers to the final interference processing scheme that purifies the effective discharge signal and adapts it to the current discharge scenario after adjusting and optimizing the filter stopband parameters in the data processing scheme. The final solution is generated by the system inputting the collected discharge data into the data processing scheme. Based on the actual identified narrowband interference frequency distribution characteristics, the filter stopband parameters are adjusted to optimize the filtering effect, ultimately forming a final processing scheme adapted to the current scenario. This adjustment can be used to set two independent stopbands for interference with center frequencies of 1.5MHz and 3.0MHz, with center frequencies and bandwidths set to 1.5MHz, BW1 and 3.0MHz, BW2, respectively. Then, the discharge data is filtered using a filter. This process effectively attenuates interference components near 1.5MHz and 3.0MHz while preserving signals in other frequency bands as much as possible, especially the main energy components of partial discharge pulse signals. For specific procedures, please refer to [reference needed]. Figure 2 .

[0044] Step 7: Combine the discharge data with the final solution to obtain the final data and output it.

[0045] The final data refers to the effective data obtained by removing multi-source interference from the discharge data and retaining only the true partial discharge characteristics. The final data is obtained by inputting the raw discharge data into the filtering process corresponding to the final scheme. The system removes narrowband interference and retains the effective discharge signal through a pre-defined filter, and then calculates and integrates the results to form the final data. The final data is output by transmitting the purified true partial discharge data to the system monitoring platform, database storage module, and maintenance terminal.

[0046] The method for controlling the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point includes: Step 40: Obtain the corresponding cable number based on the discharge area.

[0047] The cable number refers to the unique number of the cable segment where the discharge area is located. The cable number is obtained by having someone skilled in the art assign a unique number to each cable segment and input it into the system. When the system detects a discharge area, it automatically matches the corresponding cable number for that area.

[0048] Step 41: Determine the corresponding cable layer information based on the cable number.

[0049] Cable layer information refers to comprehensive information such as the thickness, material, and dimensional parameters of each structural layer of the cable, as well as relevant data such as installation time and historical environment. The method for determining cable layer information here is that the cable itself contains relevant parameters at the factory. These parameters, combined with information such as installation time and environment, are then input into the system by professionals in the field. When the system receives the cable number, it automatically retrieves and matches the corresponding relevant information to obtain the cable layer information.

[0050] Step 42: Determine the outer sheath thickness using the cable layer information and define it as the cutting thickness output.

[0051] The outer sheath thickness refers to the radial thickness parameter of the outermost sheath structure of the cable, which serves for insulation, corrosion protection, and mechanical protection. The outer sheath thickness is determined by the system directly extracting the standard thickness value from the cable layer information, which is then defined as the cutting thickness. The cutting thickness refers to the radial cutting depth parameter when the acquisition robot performs cutting operations on the cable outer sheath. The cutting thickness is output by the system using the determined radial cutting depth parameter as the cutting thickness, and then sending it to the acquisition robot via the communication bus.

[0052] Step 43: Control the acquisition robot corresponding to the acquisition robot number to perform the cutting operation according to the cutting thickness.

[0053] The cutting operation refers to the precise cutting of the cable's outer sheath to facilitate the subsequent installation of the shielding box. This cutting operation is performed by the system-controlled acquisition robot's control unit driving the cutting tool according to the received cutting thickness parameters. The tool feeds radially along the cable to a set depth and completes the localized cutting. This cutting only cuts through the cable's outer sheath without damaging the internal insulation layer.

[0054] Step 44: After the cutting operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point.

[0055] After the cutting operation is completed, it indicates that the position of the shielding box and the cable has changed from the outer sheath to the metal shielding layer. This can further prevent external interference signals from "crawling" into the shielding box through the outer sheath. Therefore, the acquisition robot corresponding to the acquisition robot number is controlled to perform the shielding box installation operation at the discharge data point.

[0056] The methods for collecting discharge data include: Step 50: Obtain environmental parameters.

[0057] Environmental parameters refer to the environmental parameters surrounding the cable that affect the accuracy of partial discharge signal acquisition, such as temperature, humidity, airflow, and dust concentration. These environmental parameters are obtained in real-time through temperature and humidity sensors, electromagnetic induction sensors, and dust sensors mounted on the acquisition robot.

[0058] Step 51: Find the corresponding ideal environment range based on the cable number.

[0059] The ideal environmental range refers to the standard numerical range of parameters such as temperature, humidity, and electromagnetic interference intensity that can ensure stable acquisition of partial discharge signals from cables without being affected by environmental interference. The method for finding the ideal environmental range is as follows: due to various factors such as the material of each cable, the ideal environmental range may vary. Therefore, professionals in the field obtain the ideal environmental range for each cable segment through experiments, combine it with the cable number, and input it into the system. When the system receives the cable number, it automatically matches and retrieves the standard environmental parameter range corresponding to that cable model.

[0060] Step 52: Analyze available environmental information based on environmental parameters.

[0061] Available environmental information refers to external environmental characteristics that enable adjustments to the environment inside the shielded box, such as ambient wind speed, temperature gradient, and air convection intensity. The analysis of available environmental information involves comparing real-time environmental parameters with an ideal environmental range, extracting external natural conditions that can be used to improve the environment inside the shielded box, and integrating these conditions to form adjustable environmental reference information, such as ambient wind speed and convection intensity.

[0062] Step 53: When the environmental parameters fall within the ideal environmental range, perform a data acquisition operation to obtain discharge data.

[0063] Data acquisition refers to the process by which the acquisition robot collects partial discharge signals from cables using sensors and converts them into digital signals. The data acquisition operation here involves the acquisition robot activating a high-frequency current sensor or an ultra-high-frequency sensor to continuously collect electromagnetic signals from discharge data points. After amplification, filtering, and analog-to-digital conversion, the signals are digitized and stored to form the discharge data to be processed.

[0064] When the environmental parameters fall within the ideal environmental range, it means that the current surrounding environment of the cable has a negligible impact on the acquisition of the cable discharge signal. Therefore, the data acquisition operation can be performed directly to obtain the discharge data.

[0065] Step 54: When environmental parameters do not fall within the ideal environmental range, combine available environmental information with the ideal environmental range to generate parameters, adjust the environmental plan, and execute it.

[0066] The parameter adjustment environment scheme refers to the environmental control execution plan that adjusts the internal environment of the shielded box by regulating the environment outside the shielded box. The generation method for this parameter adjustment environment scheme involves the system comparing the deviation of real-time environmental parameters from the ideal environmental range, and combining this with available external environmental conditions to generate control commands for the actuators. For example, if both internal and external temperatures exceed the ideal range, but there is wind outside the shielded box, natural convection can lower the internal temperature; therefore, the air guide can be opened to allow air to enter and leave the shielded box. Alternatively, if the ambient humidity is high, and there is wind but it is too humid, a drying duct can be used to enter the shielded box, reducing the internal humidity. In this case, the system generates the parameter adjustment environment scheme with the goal of bringing the environmental parameters within the ideal environmental range. The execution method for this parameter adjustment environment scheme involves the system issuing control commands to the data acquisition robot, which then drives the robot's corresponding environmental adjustment mechanism to control the opening and closing angle of the air guide, switch the drying ventilation duct, or activate the internal dehumidification module, gradually bringing the internal environment of the shielded box closer to the ideal environmental range.

[0067] When environmental parameters do not fall within the ideal environmental range, it indicates that the internal environment of the shielding box needs to be adjusted to avoid inaccurate discharge data. Therefore, the environmental adjustment scheme is generated and implemented by combining available environmental information with the ideal environmental range.

[0068] Step 55: After the parameter adjustment environment plan is completed, perform a data acquisition operation to obtain discharge data.

[0069] After the parameter adjustment environment plan is completed, it means that the data acquisition robot has adjusted the internal environment of the shielding box to the ideal range to the maximum extent. Therefore, the data acquisition operation is performed to obtain discharge data.

[0070] This also includes: Step 550: Determine the repair material and cable radius using cable layer information.

[0071] Repair material refers to the insulating protective material used to seal and repair the cut outer sheath area. The repair material is determined by the system extracting the outer sheath material type from the cable layer information and using the same type of repair insulation material. Cable radius refers to the radial distance from the outer edge of the cable outer sheath to the cable center. The cable radius is obtained by the system directly extracting the outer sheath radius value specified at the manufacturer's label for this cable model from the cable layer information.

[0072] Step 551: Calculate the repair volume based on the cutting thickness and cable radius.

[0073] Repair volume refers to the volume that needs to be sealed and restored using repair materials. The repair volume is calculated by the system based on the cable radius and cutting thickness, combined with the width of the cutting tool used by the robot, using the formula: Repair volume = π * cable radius * (bisector of cable radius - square of cutting thickness) * tool width. Here, the tool width refers to the thickness of the cutting tool installed on the robot at the factory.

[0074] Step 552: Calculate the required amount of repair based on the repair volume and the repair material.

[0075] Repair requirement refers to the total amount of repair material needed to complete the sealing repair work. The repair requirement is calculated by multiplying the volume corresponding to the repair volume by the amount of repair material used per unit area to obtain the total volume or total mass of repair material required.

[0076] Step 553: Control the acquisition robot corresponding to the acquisition robot number to perform the repair operation according to the repair demand.

[0077] Repair operation refers to the process of uniformly applying or wrapping repair material to the cut area of ​​the cable to seal, insulate, and restore protection. In this case, the repair operation is performed by a robotic collection system that controls the material output of its dispensing mechanism based on the repair requirements. The robot rotates along the cable and evenly applies the repair material, ensuring that the material completely fills the annular cut area.

[0078] The method for controlling the collection robot corresponding to the collection robot number to perform the repair operation according to the repair demand includes: Step 5530: Find the corresponding hair dryer number by collecting the robot number.

[0079] The blower number refers to a unique identifier associated with the corresponding data collection robot, used to clean and repair volumetric impurities and accelerate the curing of repair materials. The blower number is assigned to each robot and is set and entered into the system by professionals in the field. When the system recognizes that the data collection robot needs to perform a repair operation, it automatically retrieves and matches the corresponding blower number.

[0080] Step 5531: Calculate the blowing angle and blowing parameters based on the cutting thickness and cable radius.

[0081] The blowing angle refers to the angle at which the blower blows air onto the repaired cable volume. This angle is calculated by subtracting the cable radius from the cut thickness to obtain the remaining radius. Using the circle formed by this remaining radius as a reference, the direction of the tangent to the circle is calculated as the blowing angle. Blowing parameters refer to relevant parameters of the blower's application to the cable, such as airflow and air velocity. These parameters are calculated by the system based on the cut thickness, the curing characteristics of the repair material, and the repair volume, combined with the cable radius and ambient temperature, to generate corresponding airflow, air velocity, and blowing duration parameters, ensuring uniform curing of the repaired volume without damaging the cable's internal structure.

[0082] Step 5532: Adjust the hair dryer corresponding to the hair dryer number according to the blowing angle.

[0083] The adjustment method for the hair dryer here is that the system drives the rotating gimbal or angle adjustment motor of the hair dryer to rotate according to the calculated tangential blowing angle, so that the air outlet is aligned with the cable repair volume and maintains the blowing direction tangential to the remaining radius circle.

[0084] Step 5533: After adjusting the blowing angle, control the blower corresponding to the blower number to perform the blowing operation according to the blowing parameters, and at the same time control the collection robot corresponding to the collection robot number to perform the repair operation according to the repair demand.

[0085] The blowing operation refers to the continuous airflow delivered by a blower to the cable repair volume. The blowing operation is performed by adjusting the blower angle to the correct position, then starting the airflow based on calculated wind speed and volume parameters. The airflow is directed tangentially to the repair volume along the radius of the remaining cable, proceeding synchronously with the repair operation.

[0086] Once the blowing angle has been adjusted, it indicates that the air outlet has been adjusted and uneven airflow will not affect the repair. Therefore, while controlling the blower corresponding to the blower number to perform the blowing operation according to the blowing parameters, the collection robot corresponding to the collection robot number is controlled to perform the repair operation according to the repair requirements.

[0087] This also includes a method for determining the final data output, which includes: Step 70: Obtain fixed discharge data.

[0088] Fixed discharge data refers to the raw partial discharge data of cables collected by a fixedly installed discharge detection device. This fixed discharge data is acquired in real-time by the system through the fixed detection device.

[0089] Step 71: Generate a fixed processing scheme based on fixed discharge data and data processing scheme.

[0090] A fixed processing scheme refers to an interference signal processing scheme that purifies the effective discharge signal and adapts it to the current discharge scenario by adjusting and optimizing the filter stopband parameters in the data processing scheme based on fixed discharge data. Here, the fixed processing scheme is generated by the system substituting the collected fixed discharge data into the data processing scheme, adjusting the filter stopband parameters according to the interference frequency distribution characteristics in the actually identified fixed discharge data, optimizing the filtering effect, and finally forming a fixed processing scheme adapted to the fixed detection scenario.

[0091] Step 72: Combine the fixed processing scheme with the fixed discharge data to obtain the fixed final data.

[0092] Fixed final data refers to the interference-free and pure cable partial discharge reference data obtained after the fixed discharge data has undergone multi-source interference suppression and effective discharge signal purification through a fixed processing scheme. The fixed final data is obtained by the system filtering, eliminating interference, and purifying the fixed discharge data through a fixed processing scheme, outputting pure and valid fixed partial discharge data.

[0093] Step 73: Calculate the difference between the final data and the fixed final data.

[0094] The final data difference refers to the numerical deviation between the final data and the fixed final data. The final data difference is calculated by subtracting the feature parameters of the final data from those of the fixed final data, and then obtaining the absolute value to get the final data difference for each feature combination.

[0095] Step 74: When the final data difference falls within the preset safety difference range, define the final data as qualified data and output it.

[0096] The safety difference range refers to the numerical range used to determine whether the final data difference is within the normal safe range. It is determined by personnel skilled in the art who select samples of the same type of cable based on cable operation safety standards and insulation performance requirements. Under normal operating conditions without partial discharge, output data from both the fixed device and the robot are collected. The statistical distribution of the data difference between the two is calculated, and the confidence interval of this distribution is used as the safety difference range and input into the system. Qualified data refers to data where the difference between the final data and the fixed device's final data is within the allowable range, indicating good consistency between the robot and fixed device's detection results and that the collected discharge data is accurate and reliable. The output of qualified data involves the system uploading the qualified final data to the monitoring platform via a data interface, simultaneously generating a data qualification identifier and storing it in association with the final data to complete the output.

[0097] When the final data difference falls within the safety margin, it indicates that the data collected and processed by the robot has a small deviation from the data collected and processed by the fixed device, and both data are reliable. Since the robot obtains data by avoiding most interference signals, the final data is defined as qualified data and output.

[0098] Step 75: When the final data difference does not fall within the safety difference range, combine the final data with the fixed final data to form a marked data interval and output it.

[0099] The marked data interval refers to an abnormal data interval formed by the final data and the fixed final data, used to identify instances where the difference between the two detection results exceeds the limit. The marked data interval is formed by the system comparing the final data and the fixed final data, taking the larger value as the upper limit and the smaller value as the lower limit, and combining them to form the corresponding abnormal marked data interval. The marked data interval is output by the system attaching an excessive difference warning label to the marked data interval, pushing it to the monitoring terminal, and simultaneously storing it in the detection log.

[0100] When the final data difference does not fall within the safety margin, it indicates that one of the data collected by the robot and the data collected by the fixed device is incorrect. Therefore, the final data is combined with the fixed final data to form a marked data range and output.

[0101] Among them, when the final data difference does not fall within the safety difference range, the methods for combining the final data with the fixed final data to form a marked data interval and outputting it include: Step 750: Determine the category of interfering data based on the final data.

[0102] Interference data category refers to the type of interference classified based on the frequency characteristics, waveform morphology, and amplitude distribution of abnormal signals in the final data. The interference data category is determined by the fact that different interference categories correspond to different characteristics on the spectrum diagram. These characteristics are determined experimentally by those skilled in the art and then input into the system. When the system receives the final data and the difference does not fall within the safe error range, it automatically searches for the corresponding spectrum diagram based on the final data. The system then matches the frequency distribution, peak position, and amplitude characteristics in the spectrum diagram with the pre-input characteristics to obtain the corresponding interference data category.

[0103] Step 751: Replace the fixed processing scheme according to the category of interference data to obtain an updated processing scheme.

[0104] An updated processing scheme refers to an optimized processing scheme obtained by reconfiguring parameters such as filter stopband and signal recognition threshold based on the currently identified interference data category. Here, the updated processing scheme is obtained by the system replacing the corresponding interference type in the fixed processing scheme according to the identified interference data category, and then redetermining the filter parameters and recognition parameters adapted to the current interference to form an updated processing scheme.

[0105] Step 752: Combine the fixed discharge data with the updated processing scheme to obtain updated fixed data.

[0106] Updating fixed data refers to obtaining clean reference discharge data adapted to the current interference data category after the fixed discharge data has undergone interference suppression and signal purification through an update processing scheme. Here, the updated fixed data is obtained by the system substituting the fixed discharge data into the update processing scheme, processing it according to the redefined interference category and filtering parameters, and outputting the updated fixed reference data.

[0107] Step 753: Define the updated fixed data as the fixed final data and execute steps 73 to 74 to obtain qualified data and output it.

[0108] The updated fixed data after re-filtering, signal purification, and other processing is defined as the fixed final data. Then, steps 73 to 74 are executed to obtain qualified data output.

[0109] Step 754: If qualified data is not available, merge the interference data category with the fixed processing scheme to obtain a comprehensive processing scheme.

[0110] The comprehensive processing scheme refers to a comprehensive signal processing scheme that takes into account both the original parameters of the fixed device and the extracted interference types, and reconfigures key settings such as filtering parameters and recognition thresholds. Here, the comprehensive processing scheme is obtained by using the fixed processing scheme as a foundation, introducing interference data categories collected and processed by the robot, then fusing and optimizing the interference types and parameters, updating the filter stopband and recognition thresholds to adapt to the actual interference, thus forming the comprehensive processing scheme.

[0111] If qualified data is not available, it means that changing the category processed by the fixed device to the category processed by the robot will not make the deviation between the two data fall within the safety margin. Therefore, a comprehensive processing solution is obtained by integrating the category of interference data with the fixed processing solution.

[0112] Step 755: Combine the fixed discharge data with the integrated processing scheme to obtain integrated fixed data.

[0113] Integrated fixed data refers to comprehensive reference discharge data obtained by applying a comprehensive processing scheme to suppress interference and purify signals from fixed discharge data, while retaining the reference characteristics of the fixed device and adapting to the current actual interference type. Here, the integrated fixed data is obtained by the system substituting the fixed discharge data into the comprehensive processing scheme, processing it according to the fused and optimized filter stopband and identification threshold, and outputting the integrated fixed data.

[0114] Step 756: Define the integrated fixed data as the fixed final data and execute steps 73 to 75 to form the marked data range and output it.

[0115] The integrated fixed data after re-filtering, interference suppression and signal purification through the comprehensive processing scheme is defined as the fixed final data. Then, steps 73 to 75 are executed. If the difference still exceeds the limit, a marked data range is formed and output.

[0116] The method for controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area and then performing an area determination operation to obtain discharge data points includes: Step 30: Obtain the robot area.

[0117] The robot region refers to the area where the robot is currently located. This robot region is obtained by the system collecting and uploading the robot's current location information in real time through the robot's built-in positioning module.

[0118] Step 31: Calculate the shortest and longest sliding distances based on the robot area and the discharge area.

[0119] The shortest sliding distance refers to the distance the acquisition robot slides from its current robot area to the nearest end of the discharge area. This shortest sliding distance is calculated by obtaining the cable path length between the robot area and the nearest end of the discharge area, and then directly calculating it based on the path geometry. The longest sliding distance refers to the distance the acquisition robot slides from its current robot area to the farthest end of the discharge area. This longest sliding distance is calculated by obtaining the cable path length between the robot area and the farthest end of the discharge area, and then directly calculating it based on the path geometry. For example, if the nearest point between the robot area and the discharge area is 5m apart, and the discharge area occupies 1m of the length, then the shortest sliding distance is 5m, and the longest sliding distance is 5 + 1 = 6m.

[0120] Step 32: Control the acquisition robot corresponding to the acquisition robot number to move to the discharge area according to the shortest sliding distance and perform the area determination operation to obtain the discharge data points.

[0121] The method for determining the region here is as follows: after the system controls the acquisition robot to reach the nearest end of the discharge region, it collects signals through relevant sensors, and then compares the amplitude of the detected signals to obtain accurate discharge data points.

[0122] Step 33: When the discharge data point does not exist, control the acquisition robot corresponding to the acquisition robot number to continue moving according to the longest sliding distance while performing the area determination operation to obtain the discharge data point.

[0123] The method for determining the region here is that the system controls the acquisition robot to slide towards the farthest end of the discharge area, continuously collect signals in real time through relevant sensors, and simultaneously compare and detect the signal amplitude in order to locate and obtain accurate discharge data points.

[0124] When no discharge data point is found, it indicates that the partial discharge location of the cable is not at the nearest end. Therefore, the acquisition robot corresponding to the acquisition robot number continues to move according to the longest sliding distance while performing the area determination operation to obtain the discharge data point. The robot sliding here can be referenced. Figure 3 .

[0125] The methods for determining the outer sheath thickness and defining it as the cutting thickness output based on cable layer information include: Step 420: Extract the cable installation time from the cable layer information.

[0126] Cable installation time refers to the specific date and time when the cable body was completed and put into use. The cable installation time is extracted by the system reading the corresponding cable installation completion record field from the cable layer information.

[0127] Step 421: If the cable installation time exceeds the preset new cable time, obtain the historical environmental parameter set.

[0128] The new cable time refers to the threshold duration used to determine whether a cable is still in its new service life. This threshold is obtained by professionals in the field through experiments to determine the new service life of different cables and inputting the results into the system. For example, in a constant temperature and humidity laboratory with a temperature of 23℃±2℃ and a relative humidity of 45%±10%, samples of the same type of cable are selected and subjected to thermal aging tests under accelerated aging conditions ranging from 90℃ to 130℃. The aging critical point is defined as the time when the elongation at break decreases to 50% of the initial value. 30% to 50% of this critical point is taken as the new cable time threshold. This threshold is applicable to cables of the same type and voltage level and laid in an environment with an ambient temperature not exceeding 65℃.

[0129] The historical environmental parameter set refers to the collection of all historical environmental parameters of the cable from the time of installation and commissioning to the present moment. This historical environmental parameter set is obtained by the system retrieving all historical environmental monitoring data for the cable from the installation time to the current time interval and summarizing them to form the historical environmental parameter set. If the cable installation time exceeds the preset new cable time, it means that the cable has been used for a long time and is no longer a brand new cable. Therefore, the historical environmental parameter set should be obtained.

[0130] Step 422: Calculate the aging thickness range of the outer sheath based on the cable installation time and historical environmental parameter set combined with the preset aging model.

[0131] The aging model refers to a mathematical calculation model that fits and calculates the thickness loss of the cable outer sheath due to long-term use and environmental corrosion. Here, the aging model is set by professionals in the field and input into the system. It is an exponential decay model based on temperature, humidity, and time, and can be represented by the Arrhenius equation: Where d(t) is the remaining thickness of the outer sheath at time t, d0 is the initial thickness of the outer sheath, A is the frequency factor, and E is the frequency factor. a The activation energy, R (gas constant), T (absolute temperature), and t (aging time) are parameters obtained by those skilled in the art through numerous experiments. The outer sheath aging thickness range refers to the possible range of remaining effective thickness of the cable's outer sheath after long-term use and environmental corrosion. This range is calculated by substituting the cable installation time and historical environmental parameter set into the aging model to obtain the upper and lower limits of the remaining effective thickness of the cable's outer sheath, thus forming the outer sheath aging thickness range.

[0132] Step 423: Extract the minimum thickness in the aging thickness range of the outer sheath and define it as the cutting thickness output.

[0133] Minimum thickness refers to the lower limit of the remaining effective thickness within the aging thickness range of the outer sheath. The minimum thickness is extracted by the system selecting and extracting the smallest remaining effective thickness from the aging thickness range of the outer sheath. The cutting thickness is output by the system directly defining this minimum thickness as the cutting thickness and outputting it to the subsequent cutting control unit.

[0134] Step 424: If the cable installation time does not exceed the new cable time, determine the outer sheath thickness through the cable layer information and define it as the cutting thickness output.

[0135] If the cable installation time does not exceed the new cable time, it means that the cable has not been used for long. Even if aging occurs, its degree can be ignored. Therefore, the outer sheath thickness is determined by the cable layer information and defined as the cutting thickness output.

[0136] Based on the same inventive concept, embodiments of the present invention provide a multi-source interference adaptive separation system.

[0137] One example is a multi-source interference adaptive separation system, comprising: The acquisition module is used to acquire the discharge area, discharge data, environmental parameters, fixed discharge data, and robot area. A memory for storing a program for an adaptive separation method for multi-source interference; The processor loads and executes programs from memory.

[0138] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0139] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A multi-source interference adaptive separation method, characterized in that, include: Step 1: In response to the preset discharge acquisition signal, acquire the discharge area; Step 2: Locate the corresponding data acquisition robot number based on the discharge area; Step 3: After controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area, perform the area determination operation to obtain the discharge data points; Step 4: After the area determination operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point; Step 5: After the shielding box installation is completed, collect discharge data; Step 6: Generate the final solution based on the discharge data and the preset data processing scheme; Step 7: Combine the discharge data with the final solution to obtain the final data and output it.

2. The multi-source interference adaptive separation method according to claim 1, characterized in that, The methods for controlling the data acquisition robot corresponding to the robot's serial number to perform the shielding box installation operation at the discharge data point include: Step 40: Obtain the corresponding cable number based on the discharge area; Step 41: Determine the corresponding cable layer information based on the cable number; Step 42: Determine the outer sheath thickness using cable layer information and define it as the cutting thickness output; Step 43: Control the acquisition robot corresponding to the acquisition robot number to perform the cutting operation according to the cutting thickness; Step 44: After the cutting operation is completed, control the acquisition robot corresponding to the acquisition robot number to perform the shielding box installation operation at the discharge data point.

3. The multi-source interference adaptive separation method according to claim 2, characterized in that, Methods for collecting discharge data include: Step 50: Obtain environmental parameters; Step 51: Locate the corresponding ideal environment range based on the cable number; Step 52: Analyze available environmental information based on environmental parameters; Step 53: When the environmental parameters fall within the ideal environmental range, perform a data acquisition operation to obtain discharge data; Step 54: When environmental parameters do not fall within the ideal environmental range, combine available environmental information with the ideal environmental range to generate parameters, adjust the environmental plan, and execute it; Step 55: After the parameter adjustment environment plan is completed, perform a data acquisition operation to obtain discharge data.

4. The multi-source interference adaptive separation method according to claim 3, characterized in that, Also includes: Step 550: Determine the repair material and cable radius based on cable layer information; Step 551: Calculate the repair volume based on the cutting thickness and cable radius; Step 552: Calculate the required repair volume based on the repair volume and repair materials; Step 553: Control the acquisition robot corresponding to the acquisition robot number to perform the repair operation according to the repair demand.

5. The multi-source interference adaptive separation method according to claim 4, characterized in that, The method of controlling the data acquisition robot corresponding to the data acquisition robot number to perform repair operations according to the repair demand includes: Step 5530: Find the corresponding hair dryer number by collecting the robot number; Step 5531: Calculate the blowing angle and blowing parameters based on the cutting thickness and cable radius; Step 5532: Adjust the hair dryer corresponding to the hair dryer number according to the blowing angle; Step 5533: After adjusting the blowing angle, control the blower corresponding to the blower number to perform the blowing operation according to the blowing parameters, and at the same time control the collection robot corresponding to the collection robot number to perform the repair operation according to the repair demand.

6. The multi-source interference adaptive separation method according to claim 1, characterized in that, It also includes a method for determining the final data output, which includes: Step 70: Obtain fixed discharge data; Step 71: Generate a fixed processing scheme based on the fixed discharge data and data processing scheme; Step 72: Combine the fixed processing scheme with the fixed discharge data to obtain the fixed final data; Step 73: Calculate the difference between the final data and the fixed final data; Step 74: When the final data difference falls within the preset safety margin range, define the final data as qualified data and output it; Step 75: When the final data difference does not fall within the safety difference range, combine the final data with the fixed final data to form a marked data interval and output it.

7. The multi-source interference adaptive separation method according to claim 6, characterized in that, When the final data difference does not fall within the safety margin range, the methods for combining the final data with the fixed final data to form a marked data interval and outputting it include: Step 750: Determine the category of interfering data based on the final data; Step 751: Replace the fixed processing scheme according to the category of interference data to obtain an updated processing scheme; Step 752: Combine the fixed discharge data with the updated processing scheme to obtain updated fixed data; Step 753: Define the updated fixed data as the fixed final data and execute steps 73 to 74 to obtain qualified data and output it; Step 754: If qualified data is not available, merge the interference data category with the fixed processing scheme to obtain a comprehensive processing scheme; Step 755: Combine the fixed discharge data with the integrated processing scheme to obtain integrated fixed data; Step 756: Define the integrated fixed data as the fixed final data and execute steps 73 to 75 to form the marked data range and output it.

8. The multi-source interference adaptive separation method according to claim 1, characterized in that, Methods for controlling the acquisition robot corresponding to the acquisition robot number to move to the discharge area and then performing an area determination operation to obtain discharge data points include: Step 30: Obtain the robot area; Step 31: Calculate the shortest and longest sliding distances based on the robot area and the discharge area; Step 32: Control the acquisition robot corresponding to the acquisition robot number to move to the discharge area according to the shortest sliding distance and perform the area determination operation to obtain the discharge data points; Step 33: When the discharge data point does not exist, control the acquisition robot corresponding to the acquisition robot number to continue moving according to the longest sliding distance while performing the area determination operation to obtain the discharge data point.

9. The multi-source interference adaptive separation method according to claim 2, characterized in that, Methods for determining the outer sheath thickness and defining it as the output cutting thickness based on cable layer information include: Step 420: Extract the cable installation time from the cable layer information; Step 421: If the cable installation time exceeds the preset new cable time, obtain the historical environmental parameter set; Step 422: Calculate the aging thickness range of the outer sheath based on the cable installation time and historical environmental parameter set combined with the preset aging model; Step 423: Extract the minimum thickness in the aging thickness range of the outer sheath and define it as the cutting thickness output; Step 424: If the cable installation time does not exceed the new cable time, determine the outer sheath thickness through the cable layer information and define it as the cutting thickness output.

10. A multi-source interference adaptive separation system, characterized in that, include: The acquisition module is used to acquire the discharge area, discharge data, environmental parameters, fixed discharge data, and robot area. A memory for storing a program of a multi-source interference adaptive separation method as described in any one of claims 1 to 9; The processor loads and executes programs from memory.

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