CN107728021A - The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding - Google Patents
The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding Download PDFInfo
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- CN107728021A CN107728021A CN201710979443.3A CN201710979443A CN107728021A CN 107728021 A CN107728021 A CN 107728021A CN 201710979443 A CN201710979443 A CN 201710979443A CN 107728021 A CN107728021 A CN 107728021A
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- photons
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- range finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
Abstract
The present invention relates to a kind of partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding, including the detection robot connected by wireless network and host computer, the detection robot includes robot car body and the CPU, controller, ultraviolet imager, ultrasonic range finder, the first obliquity sensor and the second obliquity sensor that are arranged on the robot car body；The detection ramp angles residing for robot measured using the ultrasonic range finder that the first obliquity sensor measures with the elevation angle at electric discharge and the second obliquity sensor are compensated to the measurement distance of ultrasonic range finder, distance after compensation of the acquisition ultrasonic range finder at electric discharge, the number of photons measured with distance after the compensation to ultraviolet imager calculate the number of photons under unified detecting distance.Compared with prior art, the present invention can compensate for observed range and observe influence of the visual angle to ultraviolet light subnumber result, improve accuracy of detection by setting two elevation sensors.
Description
Technical field
The present invention relates to a kind of ultraviolet partial discharge number of photons detection means, and inclination angle and supersonic sounding are based on more particularly, to one kind
The partial discharge number of photons detection means of compensation.
Background technology
It is to ensure the conventional technical means of power equipment safety stable operation that customary ultraviolet inspection is carried out to substation equipment.
In recent years, traditional artificial ultraviolet patrol mode is just gradually developing into the ultraviolet patrol mode of robot, but crusing robot exists
But the accuracy of detection problem of number of photons is faced with actual application, number of photons is that ultraviolet imagery technology sets for assessing operation
Standby insulation status and the important parameter of timely the defects of finding insulator arrangement.Number of photons also can be by temperature, humidity, sea simultaneously
Pull out, the influence of the factor such as the propagation attenuation of dust, ultraviolet light, distance, observation angle.In the detection process of reality, allowing
Experiment condition under, can accomplish not influenceed by temperature, humidity, height above sea level, the decay of dust, aqueous vapor, ultraviolet light also can
Avoid, observation angle can also be controlled in controllable scope.The testing result at substantial amounts of experiment and scene shows ultraviolet imagery
The number of photons detected is relevant with detecting distance, but the distance detected can change because of the difference at electric discharge, also lead
The number of photons for having caused to be detected does not have comparativity.Therefore the relation between research number of photons and detecting distance, and by photon
Number is equivalent to having great importance under a certain unified observed range.
Ultrasonic ranging is that a kind of emitter sends ultrasonic wave, and receiver receives time difference of ultrasonic wave so as to measure
The method of distance.Ultrasonic transmitter launches ultrasonic wave to determinand, starts timing while transmitting, ultrasonic wave is in atmosphere
Propagate, encounter determinand and return to come immediately, ultrasonic receiver receives back wave and just stops timing immediately, according to timer
Time, by certain signal transacting, ultrasonic range finder is calculated to the distance of determinand.It falls within diffusing reflection sensing
Device.This e measurement technology can measure several millimeters and reach millimeter magnitude to the distance of upper km, measurement accuracy some.Due to
With above-mentioned advantage, ultrasonic ranging can be very good be applied in real time measurement ultrasonic range finder between tested point away from
From.
But existing compensated distance also has the problem of precision is not high enough, therefore need to research and develop a kind of new based on compensated distance
Number of photons detection means.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on inclination angle and surpasses
The partial discharge number of photons detection means of sound ranging compensation.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding, including connected by wireless network
Robot and host computer are detected, the detection robot includes robot car body and is arranged on the robot car body
CPU, controller, ultraviolet imager, ultrasonic range finder, the first obliquity sensor and the second obliquity sensor, the CPU difference
Connect robot car body, controller, ultraviolet imager, ultrasonic range finder, the first obliquity sensor and the second obliquity sensor；
CPU receives ultraviolet imager, ultrasonic range finder, the first obliquity sensor and the according to the assignment instructions of host computer
The metrical information of two obliquity sensors is transferred to controller, the ultrasonic range finder that controller is measured using the first obliquity sensor
Survey of the ramp angles to ultrasonic range finder residing for the detection robot measured with the elevation angle at electric discharge and the second obliquity sensor
Span obtains distance after compensation of the ultrasonic range finder at electric discharge, with distance after the compensation to ultraviolet imagery from compensating
The number of photons that instrument measures calculates the number of photons under unified detecting distance.
Further, the robot car body include firm banking, the two-dimensional pan-tilt that is arranged on the firm banking with
And the vertical-horizontal stepper motor of the control two-dimensional pan-tilt.
Further, first obliquity sensor and ultraviolet imager are bonded are arranged on the two-dimensional pan-tilt up and down.
Further, second obliquity sensor is closely set on the firm banking.
Further, the CPU is connected by wireless communication module with host computer.
Further, the CPU is also associated with the canonical parameter memory module for being stored with standard equivalent observation distance.
Further, distance is specially after compensation of the ultrasonic range finder at electric discharge：
l1=d1cosβ
Wherein, d1The distance at electric discharge between projection measured for ultrasonic range finder, l1For ultrasonic range finder to electric discharge
Locate the horizontal range of projection, α1For at electric discharge and ultrasonic range finder the elevation angle, β is ramp angles residing for detection robot, and l is
Distance after compensation.
Further, the number of photons under the unified detecting distance is calculated by below equation：
Wherein, d0For standard equivalent observation distance, gd0It is in standard equivalent observation number of photons measured under, d1For
The distance at electric discharge between projection that ultrasonic range finder measures, α1For at electric discharge and ultrasonic range finder the elevation angle, β for detection
Ramp angles residing for robot, gd1Number of photons measured under the distance of ultrasonic range finder is projected at electric discharge.
Compared with prior art, the present invention has the advantages that：
1st, the present invention can compensate for observed range and observation visual angle to ultraviolet light subnumber by setting two elevation sensors
As a result influence, suitable for the temperature patrol inspection of electric inspection process robot, patrol unmanned machine and related functional inspection instrument, therefore have
Standby higher practical value, is worthy of popularization and furthers investigate.
2nd, range measurement of the ultraviolet imager to point of discharge is realized using the distance measurement function of ultrasonic range finder, in conjunction with
The elevation angle that obliquity sensor measures, can be equivalent by the number of photons progress measured by ultraviolet thermal imaging system, largely solves
Number of photons result inaccuracy problem caused by the range measurement difference of conventional electric power equipment ultraviolet detection.
3rd, first obliquity sensor of the invention is fixed on head with being bonded above and below ultraviolet imager, because of spacing between the two
Very little and it is placed in parallel, can accurately measures inclination angle, improve final accuracy of detection.
4th, first obliquity sensor of the invention and it is closely set on firm banking, slope detection precision can be improved, from
And improve final accuracy of detection.
5th, the present invention uses non-contact electric power equipment surface On-line Discharge Detection, and using the cloud by step motor control
Platform mechanical structure, the security and convenience of operation are ensure that, solve conventional electric power equipment detection electric discharge number of photons in difference
There is no the problem of comparativity under.
6th, the present invention carries out number of photons calculating using ultrasonic range finder combination ultraviolet imager, and ultrasonic range finder has
Accurately, conveniently, the advantages that precision is fast, speed is fast, be easy to also have obliquity sensor to be combined detection with ultraviolet imager, can be with
Effectively solve the problems, such as the existing detection of ultraviolet imager number of photons and monitoring in real time, improve the ultraviolet inspection of power equipment shelf depreciation
The degree of accuracy of survey.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structure principle chart of the present invention；
Fig. 3 is the workflow diagram of the present invention；
Fig. 4 is the range correction figure of ultrasonic range finder；
Fig. 5 is the specific embodiment three-dimensional structure diagram of apparatus of the present invention；
Fig. 6 is 2 d plane picture when apparatus of the present invention work.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As Figure 1-Figure 2, the present invention is provided a kind of partial discharge number of photons compensated based on inclination angle and supersonic sounding and detects dress
Put, including the detection robot and host computer 9 connected by wireless network, detection robot include robot car body and setting
In the CPU10 on robot car body, controller 5, ultraviolet imager 2, ultrasonic range finder 4, the first obliquity sensor 1 and second
Obliquity sensor 8, CPU10 connect robot car body, controller 5, ultraviolet imager 2, ultrasonic range finder 4, first inclined respectively
The obliquity sensor 8 of angle transducer 1 and second；CPU10 receives ultraviolet imager 2, ultrasound according to the assignment instructions of host computer 9
The metrical information of distance meter 4, the first obliquity sensor 1 and the second obliquity sensor 8 is transferred to controller 5, and controller 5 utilizes first
The detection robot that the ultrasonic range finder 4 that obliquity sensor measures measures with the elevation angle at electric discharge and the second obliquity sensor 8
Residing ramp angles compensate to the measurement distance of ultrasonic range finder 4, obtain the compensation at ultrasonic range finder 4 to electric discharge
Distance afterwards, the number of photons measured with distance after the compensation to ultraviolet imager 2 calculate the number of photons under unified detecting distance.It is above-mentioned
Detection means carries out positioning search using locating interface circuit according to the locus coordinate of measured point, and according to ultrasonic ranging
Instrument measures the distance that ultrasonic range finder is projected at electric discharge, then by angle measured by obliquity sensor, calculates electric discharge
Locate the distance to ultraviolet imager, the number of photons for finally detecting ultraviolet imager is equivalent to unified observed range so that different
Number of photons apart from lower detection has comparability.
Robot car body includes firm banking 6, the two-dimensional pan-tilt 3 being arranged on firm banking 6 and control two-dimensional pan-tilt 3
Vertical-horizontal stepper motor 12.First obliquity sensor 1 and ultraviolet imager are bonded about 2 to be arranged on two-dimensional pan-tilt 3.The
Two obliquity sensors 8 are closely set on firm banking 6.CPU10 is connected by wireless communication module with host computer 9.Fixed bottom
Seat 6 has universal wheel 7.
In certain embodiments, the canonical parameter that CPU10 is also associated with for being stored with standard equivalent observation distance stores
Module 11.
In the present embodiment, the model RS232Analog of the first obliquity sensor 1 and the second obliquity sensor 8, model is measured
Enclose for 0-360 ° of single shaft, twin shaft ± 80 °, 0.01 ° of minimum resolution, 0.1 ° of precision, no filter response time 10ms, it is built-in
Newest micro electronmechanical elevation unit, small volume is low in energy consumption, and stability is high, and the way of output is voltage output.Ultraviolet imager 2
Model ZF-32 type ultraviolet imagers, minimum ultraviolet luminous sensitivity 3 × 10-18watt/cm2, video resolution is 722 × 560,
Visual field (H × V) is 5 ° × 3.75 °, and gain control is made as adjustable, and frame frequency be 25 frames/s, it is seen that light zooms to 432 times and amplified, and × 36
Optics, × 12 numeral, focal distance be 3 meters to infinity, detectable minimal illumination be 0.1Lus.The type of ultrasonic range finder 4
Number it is KS109, there is less beam wave angle (10 °~20 °), using single channel range finder module SK109, when receives the effective of main frame
Detection mode can be entered after instruction, and (each frame probe instructions form is：I2C- register 2-8/16 positions data), investigative range is 0
~11m (instruction is 0xb0/0xb2/0xb4), after the response time as defined in wait, reuses function reading read register 2 or 3
Value, you can obtain range data, the i.e. distance as ultraviolet imager at corona discharge, then exported by data wire.
In specific detection, to ensure the validity of detection number of photons, detection means proposed by the present invention is fixed on 3m
On outer test point, equipment gain is arranged to 15%.As shown in figure 4, before ultrasonic range finder 4 measures, first in 2m or so
Scope carries out range correction to it using metallic object, and the distance that ultrasound obtains AB is 2.130m, actual ultrasonic range finder from
Metallic object distance is 2.13m, and correction is completed.As Fig. 5 for examine insulator surface corona discharge phenomenon, can measure at electric discharge
With the elevation angle of obliquity sensor, the distance of ultrasonic range finder is projected at the angle on slope and electric discharge, and distance parameter leads to
Ultrasonic ranging software function reading is crossed to obtain from register.The first obliquity sensor on head measure its at electric discharge
The elevation angle be 60.01 ° (the actual elevation angle is 60.00 °), the angle on the slope that the second obliquity sensor on firm banking measures is
24.98°.Fig. 6 is the 2 d plane picture of detection number of photons, is in ultrasonic range finder by PC control head electric discharge
In the range of ultraviolet imager, the distance measured by ultrasonic range finder is d1=3.001m (actual range 3m), light
Subnumber carries out synthesis acquisition by ultraviolet image and visible images by corresponding software in control system, can obtain in 15% gain
Photon numbers are 1500 at the electric discharge of lower collection.
As shown in fig. 6, distance is specially after compensation of the ultrasonic range finder 4 at electric discharge：
l1=d1cosβ
Wherein, d1The distance at electric discharge between projection measured for ultrasonic range finder 4, l1It is ultrasonic range finder 4 to putting
The horizontal range projected at electricity, α1For the elevation angle at electric discharge with ultrasonic range finder 4, β is ramp angles residing for detection robot,
L is the distance after compensation.
Because observed range is more remote, it is also bigger to receive the probability from interference signals such as dust, aqueous vapors, thus same
Under strength of discharge, with the increase of distance, the useful photon number that ultraviolet imager detects also gradually decreases.Therefore, for general
Under the equivalent observed range to unification of number of photons detected, the equivalent observation distance of present invention setting canonical parameter memory module is
8m。
The photon Numerical Equivalent detected is unified under observed range to certain in the present invention so that testing result have can
It is comparative.For the equivalent of distance, the present invention employs the equivalent method ((reference of power function according to resulting experimental data
Document：Wang Shenghui, Feng Hongen, rule side into, the distance of corona discharge ultraviolet imagery detection number of photons is equivalent, High-Voltage Technology, 1
(41):194-201,2015), the equivalent formulation under different distance is：
Wherein, d0For standard equivalent observation distance, gd0It is in standard equivalent observation number of photons measured under, d1For
The distance at electric discharge between projection that ultrasonic range finder 4 measures, α1For the elevation angle at electric discharge with ultrasonic range finder 4, β is inspection
Survey ramp angles residing for robot, gd1Number of photons measured under the distance of ultrasonic range finder is projected at electric discharge.
It is 8m to set equivalent observation distance, is seen using number of photons of the formula 1 by ultraviolet imager at 3m is equivalent to unified
Ranging from, it is equivalent after number of photons be 936, found by the contrast of number of photons measured with ultraviolet imager, it is equivalent after knot
It is more accurate before fruit is more equivalent.
Ultraviolet imagery technology, ultrasonic measuring distance technology are also had obliquity sensor module effectively to combine by apparatus of the present invention, profit
Range measurement of the ultraviolet imager to point of discharge is realized with the distance measurement function of ultrasonic range finder, is surveyed in conjunction with obliquity sensor
The elevation angle obtained, can be equivalent by the number of photons progress measured by ultraviolet thermal imaging system, largely solves conventional electric power and sets
Number of photons result inaccuracy problem caused by the range measurement difference of standby ultraviolet detection.The apparatus structure is simple, cost-effective, tool
There is higher practical value, therefore there is stronger practical performance and development prospect.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (8)
1. a kind of partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding, it is characterised in that including by wireless
The detection robot and host computer (9) of network connection, the detection robot include robot car body and are arranged at the machine
CPU (10), controller (5), ultraviolet imager (2), ultrasonic range finder (4), the first obliquity sensor (1) on device people's car body
With the second obliquity sensor (8), the CPU (10) connects robot car body, controller (5), ultraviolet imager (2), super respectively
Sound-ranging equipment (4), the first obliquity sensor (1) and the second obliquity sensor (8)；
CPU (10) receives ultraviolet imager (2), ultrasonic range finder (4), the first inclination angle according to the assignment instructions of host computer (9)
The metrical information of sensor (1) and the second obliquity sensor (8) is transferred to controller (5), and controller (5) is passed using the first inclination angle
The institute of detection robot that the ultrasonic range finder (4) that sensor measures measures with the elevation angle at electric discharge and the second obliquity sensor (8)
Place's ramp angles compensate to the measurement distance of ultrasonic range finder (4), obtain the benefit at ultrasonic range finder (4) to electric discharge
Rear distance is repaid, the number of photons measured with distance after the compensation to ultraviolet imager (2) calculates the number of photons under unified detecting distance.
2. the partial discharge number of photons detection means according to claim 1 compensated based on inclination angle and supersonic sounding, its feature are existed
In the robot car body includes firm banking (6), the two-dimensional pan-tilt (3) being arranged on the firm banking (6) and control
The vertical-horizontal stepper motor (12) of the two-dimensional pan-tilt (3).
3. the partial discharge number of photons detection means according to claim 2 compensated based on inclination angle and supersonic sounding, its feature are existed
In first obliquity sensor (1) and ultraviolet imager (2) are bonded are arranged on the two-dimensional pan-tilt (3) up and down.
4. the partial discharge number of photons detection means according to claim 2 compensated based on inclination angle and supersonic sounding, its feature are existed
In second obliquity sensor (8) is closely set on the firm banking (6).
5. the partial discharge number of photons detection means according to claim 1 compensated based on inclination angle and supersonic sounding, its feature are existed
In the CPU (10) is connected by wireless communication module with host computer (9).
6. the partial discharge number of photons detection means according to claim 1 compensated based on inclination angle and supersonic sounding, its feature are existed
In the CPU (10) is also associated with the canonical parameter memory module (11) for being stored with standard equivalent observation distance.
7. the partial discharge number of photons detection means according to claim 1 compensated based on inclination angle and supersonic sounding, its feature are existed
In distance is specially after compensation of the ultrasonic range finder (4) at electric discharge：
<mrow>
<mi>l</mi>
<mo>=</mo>
<mfrac>
<msup>
<mi>l</mi>
<mn>1</mn>
</msup>
<mrow>
<msub>
<mi>cos&alpha;</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
</mrow>
l1=d1cosβ
Wherein, d1The distance at electric discharge between projection measured for ultrasonic range finder (4), l1It is ultrasonic range finder (4) to putting
The horizontal range projected at electricity, α1For the elevation angle at electric discharge with ultrasonic range finder (4), β is ramp angle residing for detection robot
Degree, l are the distance after compensation.
8. the partial discharge number of photons detection means according to claim 1 compensated based on inclination angle and supersonic sounding, its feature are existed
In the number of photons under the unified detecting distance is calculated by below equation：
<mrow>
<msub>
<mi>g</mi>
<mrow>
<mi>d</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>g</mi>
<mrow>
<mi>d</mi>
<mn>1</mn>
</mrow>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&beta;</mi>
</mrow>
<mrow>
<msub>
<mi>d</mi>
<mn>0</mn>
</msub>
<msub>
<mi>cos&alpha;</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mn>1.222</mn>
</msup>
</mrow>
Wherein, d0For standard equivalent observation distance, gd0It is in standard equivalent observation number of photons measured under, d1For ultrasound
The distance at electric discharge between projection that ripple rangefinder (4) measures, α1For the elevation angle at electric discharge with ultrasonic range finder (4), β is inspection
Survey ramp angles residing for robot, gd1Number of photons measured under the distance of ultrasonic range finder is projected at electric discharge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979443.3A CN107728021A (en) | 2017-10-19 | 2017-10-19 | The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710979443.3A CN107728021A (en) | 2017-10-19 | 2017-10-19 | The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding |
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Family
ID=61212118
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| CN201710979443.3A Pending CN107728021A (en) | 2017-10-19 | 2017-10-19 | The partial discharge number of photons detection means compensated based on inclination angle and supersonic sounding |
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| CN109709460A (en) * | 2019-02-11 | 2019-05-03 | 成都福森元光电科技有限公司 | A kind of blind type ultraviolet imagery system Photoncounting methods |
| CN109799432A (en) * | 2019-02-01 | 2019-05-24 | 国网上海市电力公司 | A kind of electrical equipment discharge fault positioning device |
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