CN112255507B - Partial discharge positioning method and device, computer equipment and storage medium - Google Patents
Partial discharge positioning method and device, computer equipment and storage medium Download PDFInfo
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- CN112255507B CN112255507B CN202010945829.4A CN202010945829A CN112255507B CN 112255507 B CN112255507 B CN 112255507B CN 202010945829 A CN202010945829 A CN 202010945829A CN 112255507 B CN112255507 B CN 112255507B
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- 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
- G01R31/1209—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 acoustic measurements
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
The application relates to a partial discharge positioning method, a partial discharge positioning device, computer equipment and a storage medium. The method comprises the following steps: acquiring the position coordinates of each ultrasonic sensor in the ultrasonic sensor array; acquiring the incoming wave direction of a partial discharge ultrasonic signal output by an ultrasonic sensor in an ultrasonic sensor array; when the incoming wave directions are multiple, determining a straight line where a connecting line between the ultrasonic sensor acquired in each incoming wave direction and the local discharge point is located according to each incoming wave direction and the position coordinates of the ultrasonic sensor acquired in each incoming wave direction to obtain a straight line set; and randomly selecting a straight line from the straight line set, determining a point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set as a partial discharge point, and outputting the position coordinate of the partial discharge point. The method can improve the positioning accuracy.
Description
Technical Field
The present application relates to the field of computer technology and electrical technology, and in particular, to a method and an apparatus for locating partial discharge, a computer device, and a storage medium.
Background
The insulation medium of the electrical equipment can discharge in a local range under the action of a strong enough electric field, each partial discharge has certain influence on the insulation medium, and the partial discharge is an important reason for causing the final insulation breakdown of the high-voltage electrical equipment and is also an important sign of insulation degradation. Therefore, it is necessary to monitor the operating high-voltage electrical equipment intensively, find the partial discharge in time, and locate the position of the partial discharge.
In the conventional method, an ultrasonic signal generated by partial discharge is detected by a single ultrasonic sensor installed near the high-voltage electrical equipment, so that only the direction of a partial discharge point can be obtained, and the accurate position of the partial discharge point cannot be obtained.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a partial discharge positioning method, a partial discharge positioning apparatus, a computer device, and a storage medium, which can improve the accuracy of a positioning result.
A partial discharge localization method, the method comprising:
acquiring the position coordinates of each ultrasonic sensor in the ultrasonic sensor array;
acquiring the incoming wave direction of a partial discharge ultrasonic signal output by an ultrasonic sensor in the ultrasonic sensor array; the incoming wave direction is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal;
when the incoming wave directions output by a plurality of ultrasonic sensors are obtained, determining a straight line where a connecting line between the ultrasonic sensor obtained from each incoming wave direction and a local discharge point is located according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained from each incoming wave direction, and obtaining a straight line set;
and randomly selecting a straight line from the straight line set, determining a point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set as a partial discharge point, and outputting the position coordinate of the partial discharge point.
In one embodiment, the determining, according to each of the incoming wave directions and the position coordinates of the ultrasonic sensor obtained from each of the incoming wave directions, a straight line on which a connecting line between the ultrasonic sensor obtained from each of the incoming wave directions and the partial discharge point is located includes:
determining a linear equation of a straight line in which a connecting line between the ultrasonic sensor and the partial discharge point, obtained from each of the incoming wave directions, is located according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the position coordinates of the first ultrasonic sensor among the ultrasonic sensors obtained for each of the incoming wave directions,
and
coordinate values on the x-axis, y-axis and z-axis respectively,
a direction vector of an incoming wave direction determined for the l-th ultrasonic sensor,
and
vectors in the directions of the x axis, the y axis and the z axis respectively, and t is any real number greater than 0, (x)l,yl,zl) Is the coordinate of a point on said straight line, xl、ylAnd zlRespectively, the coordinate values on the x-axis, y-axis and z-axis.
In one embodiment, the determining, as the partial discharge point, a point on the selected straight line where the sum of the distances between the selected straight line and each straight line in the set of straight lines is the minimum includes:
determining a point on the selected straight line with the minimum sum of distances to each straight line in the straight line set according to the following formula:
where o ═ is (x, y, z), o ═ is (x, y, z) the position coordinates of points on the selected straight line, x, y, and z are the coordinate values on the x axis, y axis, and z axis, respectively,
and
unit vectors, p, in the directions of the x, y and z axes, respectivelyl、qlAnd rlAre respectively as
And
the size of the vector, d (o) the distance between a point on the selected line and a line of the set of lines, opd＝(xpd,ypd,zpd)，opd＝(xpd,ypd,zpd) Is the position coordinate, x, of the point on the selected line having the smallest sum of the distances to each line in the set of linespd、ypdAnd zpdCoordinate values on the x-axis, the y-axis and the z-axis, N is the number of the ultrasonic sensors for determining the incoming wave direction, l is the serial number of the ultrasonic sensors, and opdThe point is the point on the selected straight line with the smallest sum of the distances between the selected straight line and each straight line in the straight line set.
In one embodiment, the arbitrarily selecting one straight line from the straight line set, and determining a point on the selected straight line, at which a sum of distances between the selected straight line and each straight line in the straight line set is minimum, as the partial discharge point includes:
randomly selecting a straight line from the straight line set;
selecting initial reference candidate points on the selected straight line, and setting an initial point-taking interval;
taking the initial reference candidate point as a current reference candidate point, taking the initial point taking interval as a current point taking interval, and taking two points which are away from the current reference candidate point by the current point taking interval as current candidate points;
selecting a point with the minimum sum of the distances between the current reference candidate point and each straight line in the straight line set from the current reference candidate point and the two current candidate points as a new current reference candidate point, and determining a new current point taking interval smaller than the current point taking interval;
and returning to execute the following steps of taking the two points which are away from the current reference candidate point by the current point taking interval as the current candidate point until the current point taking interval is smaller than a preset threshold value, and determining the current reference candidate point as a partial discharge point.
In one embodiment, the selecting an initial reference candidate point on the selected straight line and setting the initial point-taking interval includes:
respectively taking points in a position range meeting an approaching condition and a position range meeting a far condition on the selected straight line relative to the ultrasonic sensor as reference points;
taking a point located at a central position between the two reference points as an initial reference candidate point;
and taking one half of the position coordinates of the initial reference candidate points as an initial point taking interval.
In one embodiment, the determining a new current fetch interval that is smaller than the current fetch interval comprises:
and taking one half of the current point taking interval as a new current point taking interval.
In one embodiment, the method further comprises:
when the incoming wave direction output by one ultrasonic sensor is obtained, the incoming wave direction is determined as the incoming wave direction of a partial discharge ultrasonic signal, and the incoming wave direction of the partial discharge ultrasonic signal is output.
A partial discharge localization apparatus, the apparatus comprising:
the position coordinate acquisition module is used for acquiring the position coordinate of each ultrasonic sensor in the ultrasonic sensor array;
an incoming wave direction acquisition module, configured to acquire an incoming wave direction of a partial discharge ultrasonic signal output by an ultrasonic sensor in the ultrasonic sensor array; the incoming wave direction is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal;
a straight line set determining module, configured to determine, according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained in each incoming wave direction, a straight line in which a connection line between the ultrasonic sensor obtained in each incoming wave direction and the local discharge point is located, to obtain a straight line set, when the incoming wave directions are multiple;
and the partial discharge determining module is used for randomly selecting a straight line from the straight line set, determining a point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set as a partial discharge point, and outputting the position coordinate of the partial discharge point.
A computer device comprising a memory and a processor, the memory having stored therein a computer program, which, when executed by the processor, causes the processor to perform the steps of the partial discharge localization method according to embodiments of the present application.
A computer-readable storage medium, having stored thereon a computer program, which, when executed by a processor, causes the processor to perform the steps of the partial discharge location method according to the embodiments of the present application.
The partial discharge positioning method, the partial discharge positioning device, the computer equipment and the storage medium acquire incoming wave directions of partial discharge ultrasonic signals output by ultrasonic sensors in an ultrasonic sensor array, determine a straight line in which a connecting line between the ultrasonic sensor and a partial discharge point acquired in each incoming wave direction is located when the incoming wave directions are multiple, then randomly select one straight line, determine a point on the selected straight line, where the sum of distances between the point and each straight line is the minimum, as the partial discharge point, and output the position coordinates of the partial discharge point. Therefore, the position coordinates of the partial discharge point can be accurately determined according to the incoming wave directions output by the ultrasonic sensors in the ultrasonic sensor array, and the accuracy of the partial discharge positioning is improved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a partial discharge localization method;
FIG. 2 is a schematic flow chart diagram illustrating a partial discharge localization method in one embodiment;
FIG. 3 is a schematic diagram illustrating an overall flowchart of a partial discharge localization method according to an embodiment;
FIG. 4 is a block diagram of a partial discharge locator device in accordance with one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The partial discharge positioning method provided by the application can be applied to the application environment shown in fig. 1. The ultrasonic sensor array includes a plurality of ultrasonic sensors 102, and a central processor 104 is connected to each of the ultrasonic sensors 102. The ultrasonic sensor array including the plurality of ultrasonic sensors 102 may be disposed in the vicinity of the high-voltage electrical equipment 106, that is, at a position capable of receiving an ultrasonic signal generated when the partial discharge occurs in the high-voltage electrical equipment 106. When the high-voltage electrical equipment 106 generates partial discharge, the ultrasonic sensor 102 in the ultrasonic sensor array may receive an ultrasonic signal generated by the partial discharge, and obtain an incoming wave direction of the ultrasonic signal according to the ultrasonic signal. The central processor 104 may obtain the incoming wave direction obtained by the ultrasonic sensor 102, and then determine the position of the partial discharge point according to the obtained position of the ultrasonic sensor from each incoming wave direction and incoming wave direction. The ultrasonic sensor 102 is a sensor that converts an ultrasonic signal into an electric signal. The central processor 104 may be an embedded device (i.e., a device including a processor, a memory, etc., and capable of functioning independently) or a computer device, etc. The high voltage electrical devices 106 may be electrical devices such as motors, transformers, disconnectors, capacitors and transformers that produce partial discharge.
In one embodiment, as shown in fig. 2, a partial discharge localization method is provided, which is described by taking the method as an example applied to the central processor in fig. 1, and includes the following steps:
s202, position coordinates of each ultrasonic sensor in the ultrasonic sensor array are obtained.
The ultrasonic sensor is a sensor that converts an ultrasonic signal into an electric signal. The ultrasonic sensor array is an array composed of a plurality of ultrasonic sensors. The position coordinates of the ultrasonic sensor are position coordinates of the center of the ultrasonic sensor in a previously constructed spatial coordinate system.
In one embodiment, the worker may set the position coordinates of each of the ultrasonic sensors in the ultrasonic sensor array to the central processor in advance.
In another embodiment, the central processor may acquire the position coordinates of each ultrasonic sensor from other computer devices through a network.
S204, obtaining the incoming wave direction of the partial discharge ultrasonic wave signal output by the ultrasonic sensor in the ultrasonic sensor array; the direction of the incoming wave is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal.
The partial discharge refers to a phenomenon that an insulating medium of the electrical equipment discharges in a partial range under the action of a strong enough electric field. The partial discharge ultrasonic signal is an ultrasonic signal generated when the high-voltage electrical equipment generates partial discharge. The high-voltage electrical equipment comprises electrical equipment which can generate partial discharge phenomena, such as a motor, a transformer, an isolating switch, a capacitor, a mutual inductor and the like.
The direction of the incoming wave is a direction from which the partial discharge ultrasonic signal is transmitted to the ultrasonic sensor. The direction of the incoming wave is based on the direction in a pre-constructed space coordinate system.
Specifically, the ultrasonic sensor may detect a partial discharge ultrasonic signal, and then determine an incoming wave direction of the partial discharge ultrasonic signal from the detected partial discharge ultrasonic signal. The central processor may acquire the determined incoming wave direction from the ultrasonic sensor.
It will be appreciated that the ultrasonic sensor array includes a plurality of ultrasonic sensors, each of which is at a different location in the ultrasonic sensor array. Therefore, when the high-voltage electrical equipment is partially discharged, the distances of the ultrasonic sensors with respect to the partial discharge point are different, and thus all the ultrasonic sensors do not necessarily detect the partial discharge ultrasonic signal. That is, when partial discharge occurs in the high-voltage electrical equipment, all or part of the ultrasonic sensors in the ultrasonic sensor array may detect a partial discharge ultrasonic signal.
And S206, when the incoming wave directions output by the ultrasonic sensors are acquired, determining a straight line in which a connecting line between the ultrasonic sensor acquired in each incoming wave direction and the local discharge point is positioned according to each incoming wave direction and the position coordinates of the ultrasonic sensor acquired in each incoming wave direction, and acquiring a straight line set.
The straight line set refers to a set formed by a plurality of straight lines.
It can be understood that when the central processor acquires the incoming wave directions output by the plurality of ultrasonic sensors, it indicates that the plurality of ultrasonic sensors detect the partial discharge ultrasonic signals.
Specifically, when the central processor acquires the incoming wave directions output by the plurality of ultrasonic sensors, the central processor may determine, for each incoming wave direction, a straight line on which a connection line between the acquired ultrasonic sensor and the partial discharge point is located, according to the incoming wave direction and the position coordinates of the acquired ultrasonic sensor acquired in the incoming wave direction. And forming a straight line set by straight lines corresponding to all incoming wave directions.
S208, randomly selecting a straight line from the straight line set, determining a point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set as a partial discharge point, and outputting the position coordinate of the partial discharge point.
The partial discharge point is a position where partial discharge occurs in the high-voltage electrical equipment.
Specifically, the central processor may determine a distance calculation formula of a distance between any one point in the space and each straight line in the straight line set according to a straight line equation of each straight line in the straight line set. Then, the central processor can arbitrarily select a straight line from the straight line set, and determine a calculation formula of the sum of the distances between any one point on the selected straight line and each straight line in the straight line set according to the distance calculation formula. Then, the central processor may determine, as the position coordinates of the partial discharge point, the position coordinates of a point on the selected straight line where the sum of the distances to each straight line in the set of straight lines is the minimum, according to a calculation formula of the sum of distances.
In one embodiment, the central processor may iteratively take points on the selected lines using bisection and calculate the sum of the distances between the taken points and each line in the set of lines until a point is determined where the sum of the distances to each line in the set of lines is minimal. In another embodiment, the central processor may also use other manners to take points on the straight lines, and determine a point with the minimum sum of distances to each straight line in the set of straight lines, which is not limited.
In one embodiment, the central processor may determine a point on the selected straight line at which the sum of squares of distances to each straight line in the set of straight lines is the smallest as the partial discharge point.
In the above-mentioned partial discharge positioning method, incoming wave directions of partial discharge ultrasonic signals output by ultrasonic sensors in an ultrasonic sensor array are obtained, when there are a plurality of incoming wave directions, a straight line in which a connecting line between the ultrasonic sensor and a partial discharge point obtained in each incoming wave direction is located is determined, then a straight line is arbitrarily selected, a point on the selected straight line where the sum of distances between the point and each straight line is the minimum is determined as a partial discharge point, and a position coordinate of the partial discharge point is output. Therefore, the position coordinates of the partial discharge point can be accurately determined according to the incoming wave directions output by the ultrasonic sensors in the ultrasonic sensor array, and the accuracy of the partial discharge positioning is improved. And the position of the partial discharge point can be determined by only needing two ultrasonic sensors at least, thereby reducing the cost.
In one embodiment, the step of determining, according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained from each incoming wave direction, a straight line on which a connecting line between the ultrasonic sensor obtained from each incoming wave direction and the partial discharge point is located includes: and determining a linear equation of a straight line on which a connecting line between the ultrasonic sensor and the partial discharge point obtained from each incoming wave direction is positioned according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the positional coordinates of the l-th ultrasonic sensor among the ultrasonic sensors obtained for each incoming wave direction,
and
coordinate values on the x-axis, y-axis and z-axis respectively,
the direction vector of the incoming wave direction determined for the l-th ultrasonic sensor,
and
vectors in the directions of the x-axis, the y-axis and the z-axis respectively, and t is any real number greater than 0 (x)l,yl,zl) Is the coordinate of a point on a straight line, xl、ylAnd zlRespectively, the coordinate values on the x-axis, y-axis and z-axis.
It can be understood that l is a serial number of the ultrasonic sensors from which the ultrasonic sensor is obtained in each incoming wave direction, that is, assuming that a total of N ultrasonic sensors detect a partial discharge ultrasonic signal, the above-mentioned linear equation is a linear equation of a line where a connecting line between the l-th ultrasonic sensor of the N ultrasonic sensors and the partial discharge point is located. That is, the ultrasonic sensors from which the incoming wave direction and the incoming wave direction are obtained are known, and the central processor may respectively substitute each incoming wave direction and the position coordinates of the ultrasonic sensor from which the incoming wave direction is obtained into the above-mentioned linear equation, so as to obtain a linear equation of a straight line on which a connecting line between the ultrasonic sensor from which the incoming wave direction is obtained and the partial discharge point is located.
In this embodiment, the central processor may accurately determine, according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained in each incoming wave direction, a straight line equation of a straight line where a connection line between the ultrasonic sensor obtained in each incoming wave direction and the partial discharge point is located, so as to lay a cushion for accurately determining the position coordinates of the partial discharge point.
In one embodiment, the step of determining a point on the selected straight line at which the sum of the distances to each straight line in the set of straight lines is minimum as the partial discharge point includes: determining a point on the selected line where the sum of the distances to each line in the set of lines is minimal according to the following formula:
where o ═ is (x, y, z), o ═ is (x, y, z) is the position coordinates of the points on the selected straight line, and x, y, and z are the coordinate values on the x axis, y axis, and z axis, respectively，
And
unit vectors, p, in the directions of the x, y and z axes, respectivelyl、qlAnd rlAre respectively as
And
the size of the vector, d (o) being the distance between a point on the selected line and a line of the set of lines, opd＝(xpd,ypd,zpd)，opd＝(xpd,ypd,zpd) Is the position coordinate of the point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set, xpd、ypdAnd zpdCoordinate values on the x-axis, the y-axis and the z-axis, N is the number of the ultrasonic sensors for determining the incoming wave direction, l is the serial number of the ultrasonic sensors, and opdAnd the point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set is selected.
It will be appreciated that the central processor may determine the calculation of d (o) from the equation of a straight line.
The meaning of (A) is to
The minimum o, determined as opd. The central processor may convert the data topdIs determined as the position coordinates of the partial discharge point.
In this embodiment, the central processor may determine, as the position coordinates of the partial discharge point, the position coordinates of a point on the selected straight line where the sum of the distances between the selected straight line and each straight line in the straight line set is the minimum according to a formula. Since the position coordinates of the partial discharge points are determined using the set of straight lines obtained from the incoming wave directions determined by the plurality of ultrasonic sensors and the point having the smallest distance to each straight line is used as the partial discharge point, the accuracy of positioning the partial discharge points can be improved.
In one embodiment, the step of arbitrarily selecting one straight line from the straight line set, and determining a point on the selected straight line, at which the sum of distances to each straight line in the straight line set is minimum, as the partial discharge point includes: randomly selecting a straight line from the straight line set; selecting initial reference candidate points on the selected straight line, and setting an initial point-taking interval; taking the initial reference candidate point as a current reference candidate point, taking the initial point taking interval as a current point taking interval, and taking two points which are away from the current reference candidate point by the current point taking interval as current candidate points; selecting a point with the minimum sum of distances between the point and each straight line in the straight line set from the current reference candidate point and the two current candidate points as a new current reference candidate point, and determining a new current point taking interval which is smaller than the current point taking interval; and returning to execute the subsequent steps of taking two points which are away from the current reference candidate point by the current point taking interval as the current candidate point until the current point taking interval is smaller than a preset threshold value, and determining the current reference candidate point as a partial discharge point.
The point-taking interval is an interval between the selected candidate point and the reference candidate point.
In one embodiment, the central processor may first select two reference points on the selected straight line, and ensure that the partial discharge point is located between the two reference points, and then take a point located at a central position between the two reference points as the initial candidate point for fiducial. Suppose the position coordinates of two reference points are respectively a0And b0Then can be
As the position coordinates of the initial reference candidate points.
In one embodiment, the initial fetch interval mayIs one-half of the position coordinates of the initial reference candidate point. Assuming that the position coordinates of the initial reference candidate points are
Then can be connected with
As the initial dotting interval.
In one embodiment, the central processor may take two points in both positive and negative directions which are distant from the current reference candidate point by the current fetching interval as the current candidate point. For example: assume that the position coordinates of the current reference candidate point are crThe current point taking interval is deltarThen the position coordinates of the current candidate point are respectively cr+δrAnd cr-δr。
In one embodiment, the current point-taking interval may be represented by a distance between the current candidate point and the current reference candidate point in each coordinate axis direction. For example: assuming that the position coordinates of the current reference candidate point are (1,1,1) and the current fetch interval is (1,2,3), the position coordinates of two points that are away from the current reference candidate point by the current fetch interval are (1,1,1) + (1,2,3) and (1,1,1) - (1,2,3), i.e., (2,3,4) and (0, -1, -2), respectively, as two current candidate points.
In one embodiment, the central processor may calculate a sum of distances between the current reference candidate point and each of the lines in the line set for the current reference candidate point and the two current candidate points, respectively, and use a point with a smallest sum of distances among the three points as a new current reference candidate point. Let cr-1For the position coordinates of the current reference candidate point, δr-1Is the current point taking interval, then ei＝cr-1+(i-1)δr-1Where i ═ 0, 1, or 2, may represent the position coordinates of the current reference candidate point and the two current candidate points, the central processor may determine the point of the three points whose sum of distances to each of the lines in the set of lines is the smallest, according to the following formula:
wherein, crR is the iteration round for the new current position coordinates of the reference candidate point.
The first iteration is performed with r equal to 1, and r is increased by 1 every time the iteration is performed. Assuming that the preset threshold is delta, when delta isr<Delta, end iteration, crDetermined as local candidate points.
In this embodiment, the central processor may iteratively extract points on the selected straight line, calculate the sum of distances between the points and each straight line in the straight line set, and finally may accurately determine the point on the selected straight line where the sum of distances between the points and each straight line in the straight line set is the minimum, as the partial discharge point, thereby improving the accuracy of positioning the partial discharge point.
In one embodiment, the step of selecting an initial reference candidate point on the selected straight line and setting an initial point-taking interval includes: respectively taking points in a position range meeting the approaching condition and a position range meeting the departing condition relative to the ultrasonic sensor on the selected straight line as reference points; taking a point located at a central position between the two reference points as an initial reference candidate point; and taking one half of the position coordinates of the initial reference candidate points as an initial point taking interval.
The position range satisfying the proximity condition with respect to the ultrasonic sensor means a position range close to the ultrasonic sensor. The position range satisfying the distance condition with respect to the ultrasonic sensor means a position range having a long distance with respect to the ultrasonic sensor. In one embodiment, the range of positions satisfying the away condition is substantially more remote from the ultrasonic sensor than the range of positions satisfying the approach condition. The approaching condition and the departing condition may be set in advance as required.
It is understood that the range of positions on the selected straight line that satisfy the approaching condition with respect to the ultrasonic sensor and the range of positions that satisfy the departing condition are within the range of positions, respectivelyAnd taking a point as a reference point, and ensuring that the partial discharge point is positioned between the two taken reference points. Suppose the position coordinates of two reference points are respectively a0And b0Then can be connected to
As the position coordinates of the initial reference candidate points, will
As the initial dotting interval.
In this embodiment, points are respectively taken as reference points in the position range meeting the approaching condition and the position range meeting the departing condition on the selected straight line relative to the ultrasonic sensor, then an initial reference point is taken between the two reference points, and subsequent iteration processing is performed, so that the partial discharge point can be accurately determined between the two reference points finally.
In one embodiment, the step of determining a new current fetching interval that is smaller than the current fetching interval comprises: and taking one half of the current point taking interval as a new current point taking interval.
In particular, assume δr-1For the current fetch interval, the central processor may then proceed
Determining a new current fetch interval, whereinrIs the new current fetch interval.
In this embodiment, the central processor reduces the current point-taking interval by one half in each iteration until the current point-taking interval is smaller than the preset threshold, which may complete the iteration and effectively control the accuracy of the finally determined partial discharge point.
In one embodiment, the method further comprises: when the incoming wave direction output by one ultrasonic sensor is acquired, the incoming wave direction is determined as the incoming wave direction of the partial discharge ultrasonic signal, and the incoming wave direction of the partial discharge ultrasonic signal is output.
It can be understood that when the central processor acquires the incoming wave direction output by one ultrasonic sensor, it indicates that only one ultrasonic sensor has detected a partial discharge ultrasonic signal. In this case, the central processor may directly use the incoming wave direction determined by the ultrasonic sensor that detected the partial discharge ultrasonic signal as the direction of the partial discharge point.
In this embodiment, when the incoming wave direction output by one ultrasonic sensor is acquired, the incoming wave direction is directly determined as the incoming wave direction of the partial discharge ultrasonic signal, and the incoming wave direction of the partial discharge ultrasonic signal can be quickly determined when only one ultrasonic sensor detects the partial discharge ultrasonic signal.
Fig. 3 is a schematic overall flow chart of a partial discharge positioning method in the embodiments of the present application. The central processor can acquire the incoming wave direction output by the ultrasonic sensors in the ultrasonic sensor array. When there is no ultrasonic signal detected by the ultrasonic sensor (i.e., the central processor does not acquire the incoming wave direction output by the ultrasonic sensor), the central processor may determine that no partial discharge occurs in the high-voltage electrical equipment. When there is an ultrasonic signal detected by the ultrasonic sensor (i.e., the central processor acquires the incoming wave direction output by at least one ultrasonic sensor), it is determined whether only one ultrasonic sensor detects an ultrasonic signal (i.e., whether only the incoming wave direction output by one ultrasonic sensor is acquired). When only one ultrasonic sensor detects the ultrasonic signal, the central processor can determine that partial discharge occurs in the high-voltage electrical equipment and determine the incoming wave direction output by the ultrasonic sensor as the incoming wave direction of the partial discharge ultrasonic signal. When the ultrasonic signal is not detected by only one ultrasonic sensor (i.e. more than one ultrasonic sensor detects the ultrasonic signal), the central processor can determine that partial discharge occurs in the high-voltage electrical equipment, and the position of the partial discharge point needs to be determined jointly according to the detection results of the plurality of ultrasonic sensors (i.e. the position of the partial discharge point needs to be determined jointly according to the incoming wave direction output by the ultrasonic sensor which detects the ultrasonic signal). At this time, the central processor may determine the position of each ultrasonic sensor detecting the ultrasonic signal and the direction of the incoming wave output in the spatial coordinate system, then determine a set of straight lines according to the position and the direction of the incoming wave, and arbitrarily select one straight line from the set of straight lines, and take a on the selected straight line0And b0Two reference points, take
And δ is set. The central processor may then calculate c separately0-δ、c0And c0The sum of the distances between the three points of + delta and each straight line in the straight line set is determined, and the point with the minimum sum of the distances is determined as a new c0Reducing delta, iterating until delta is less than preset threshold value, then obtaining current c0Is determined as a partial discharge point.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, as shown in fig. 4, there is provided a partial discharge localization apparatus 400 comprising: a position coordinate acquisition module 402, an incoming wave direction acquisition module 404, a straight line set determination module 406, and an partial discharge determination module 408, wherein:
a position coordinate acquiring module 402, configured to acquire a position coordinate of each ultrasonic sensor in the ultrasonic sensor array;
an incoming wave direction obtaining module 404, configured to obtain an incoming wave direction of a partial discharge ultrasonic signal output by an ultrasonic sensor in an ultrasonic sensor array; the incoming wave direction is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal;
a straight line set determining module 406, configured to determine, when the incoming wave directions output by the multiple ultrasonic sensors are obtained, a straight line in which a connecting line between the ultrasonic sensor obtained in each incoming wave direction and the local discharge point is located according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained in each incoming wave direction, so as to obtain a straight line set;
the partial discharge determining module 408 is configured to arbitrarily select a straight line from the straight line set, determine a point on the selected straight line where the sum of distances between the selected straight line and each straight line in the straight line set is the minimum as a partial discharge point, and output a position coordinate of the partial discharge point.
In one embodiment, the straight line set determination module 406 is further configured to determine a straight line equation of a straight line where a connecting line between the ultrasonic sensor and the partial discharge point is located, for each incoming wave direction, according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the positional coordinates of the l-th ultrasonic sensor among the ultrasonic sensors obtained for each incoming wave direction,
and
respectively the coordinate values on the x axis, the y axis and the z axis,
the direction vector of the incoming wave direction determined for the l-th ultrasonic sensor,
and
vectors in the directions of the x axis, the y axis and the z axis respectively, and t is any real number greater than 0, (x)l,yl,zl) Is the coordinate of a point on a straight line, xl、ylAnd zlRespectively, the coordinate values on the x-axis, y-axis and z-axis.
In one embodiment, the partial discharge determination module 408 is further configured to determine a point on the selected straight line where the sum of the distances to each straight line in the set of straight lines is the smallest according to the following formula:
where o ═ is (x, y, z), o ═ is (x, y, z) the position coordinates of points on the selected straight line, x, y, and z are the coordinate values on the x axis, y axis, and z axis, respectively,
and
unit vectors, p, in the directions of the x, y and z axes, respectivelyl、qlAnd rlAre respectively as
And
the size of the vector, d (o) the distance between a point on the selected line and a line in the set of lines, opd＝(xpd,ypd,zpd)，opd＝(xpd,ypd,zpd) Is the position coordinate of the point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set, xpd、ypdAnd zpdRespectively, coordinate values on the x-axis, the y-axis and the z-axis, N is the number of the ultrasonic sensors for determining the incoming wave direction, l is the serial number of the ultrasonic sensors, opdAnd the point with the minimum sum of the distances between the selected straight line and each straight line in the straight line set is selected.
In one embodiment, the partial discharge determination module 408 is further configured to arbitrarily select a straight line from the set of straight lines; selecting initial reference candidate points on the selected straight line, and setting an initial point-taking interval; taking the initial reference candidate point as a current reference candidate point, taking the initial point taking interval as a current point taking interval, and taking two points which are away from the current reference candidate point by the current point taking interval as current candidate points; selecting a point with the minimum sum of the distances between the point and each straight line in the straight line set from the current reference candidate point and the two current candidate points as a new current reference candidate point, and determining a new current point taking interval which is smaller than the current point taking interval; and returning to execute the subsequent steps of taking two points which are away from the current reference candidate point by the current point taking interval as the current candidate point until the current point taking interval is smaller than a preset threshold value, and determining the current reference candidate point as a partial discharge point.
In one embodiment, the partial discharge determination module 408 is further configured to respectively take points in a position range satisfying a proximity condition and a position range satisfying a distance condition on the selected straight line with respect to the ultrasonic sensor as reference points; taking a point located at a central position between the two reference points as an initial reference candidate point; and taking one half of the position coordinates of the initial reference candidate points as an initial point taking interval.
In one embodiment, the partial discharge determination module 408 is further configured to consider one-half of the current point taking interval as the new current point taking interval.
In one embodiment, the partial discharge determination module 408 is further configured to determine the incoming wave direction as the incoming wave direction of the partial discharge ultrasonic signal when the incoming wave direction output by one ultrasonic sensor is acquired, and output the incoming wave direction of the partial discharge ultrasonic signal.
In the above-described partial discharge positioning apparatus, incoming wave directions of partial discharge ultrasonic signals output by ultrasonic sensors in an ultrasonic sensor array are acquired, when there are a plurality of incoming wave directions, a straight line in which a connection line between the ultrasonic sensor and a partial discharge point acquired in each incoming wave direction is located is determined, then one straight line is arbitrarily selected, a point on the selected straight line at which the sum of distances between the point and each straight line is the smallest is determined as a partial discharge point, and a position coordinate of the partial discharge point is output. Therefore, the position coordinates of the partial discharge point can be accurately determined according to the incoming wave directions output by the ultrasonic sensors in the ultrasonic sensor array, and the accuracy of the partial discharge positioning is improved.
For the specific definition of the partial discharge positioning device, reference may be made to the above definition of the partial discharge positioning method, and details are not described here. The modules in the partial discharge positioning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be an embedded device, and the internal structure thereof may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a partial discharge localization method.
It will be appreciated by those skilled in the art that the configuration shown in fig. 5 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (9)
1. A partial discharge localization method, the method comprising:
acquiring the position coordinates of each ultrasonic sensor in the ultrasonic sensor array; the ultrasonic sensor array comprises at least two ultrasonic sensors;
acquiring the incoming wave direction of a partial discharge ultrasonic signal output by an ultrasonic sensor in the ultrasonic sensor array; the incoming wave direction is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal;
when the incoming wave directions output by a plurality of ultrasonic sensors are obtained, determining a straight line where a connecting line between the ultrasonic sensor obtained from each incoming wave direction and a local discharge point is located according to each incoming wave direction and the position coordinates of the ultrasonic sensor obtained from each incoming wave direction to obtain a straight line set;
randomly selecting a straight line from the straight line set;
selecting two reference points on the selected straight line, and taking a point located at the center position between the two reference points as an initial reference candidate point; the partial discharge point is positioned between two reference points;
taking one half of the position coordinates of the initial reference candidate points as an initial point taking interval;
taking the initial reference candidate point as a current reference candidate point, taking the initial point-taking interval as a current point-taking interval, and taking two points which are away from the current reference candidate point by the current point-taking interval as current candidate points;
selecting a point with the minimum sum of the distances between the point and each straight line in the straight line set from the current reference candidate point and the two current candidate points as a new current reference candidate point, and taking one half of the current point taking interval as a new current point taking interval;
and returning to execute the following steps of taking the two points which are away from the current reference candidate point by the current point taking interval as the current candidate point until the current point taking interval is smaller than a preset threshold value, determining the current reference candidate point as the partial discharge point, and outputting the position coordinates of the partial discharge point.
2. The method according to claim 1, wherein said determining a straight line on which a connecting line between the ultrasonic sensor obtained from each of the incoming wave directions and a partial discharge point is located according to each of the incoming wave directions and the position coordinates of the ultrasonic sensor obtained from each of the incoming wave directions comprises:
determining a linear equation of a straight line in which a connecting line between the ultrasonic sensor and the partial discharge point, obtained from each of the incoming wave directions, is located according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the positional coordinates of the l-th ultrasonic sensor among the ultrasonic sensors obtained for each of the incoming wave directions,
and
coordinate values on the x-axis, y-axis and z-axis respectively,
a direction vector of an incoming wave direction determined for the l-th ultrasonic sensor,
and
vectors in the directions of the x axis, the y axis and the z axis respectively, and t is any real number greater than 0, (x)l,yl,zl) Is the coordinate of a point on said straight line, xl、ylAnd zlThe coordinate values on the x-axis, y-axis and z-axis, respectively.
3. The method of claim 2, wherein determining a point on the selected line with the smallest sum of distances to each line in the set of lines as a partial discharge point comprises:
determining a point on the selected line where the sum of the distances to each line in the set of lines is minimal according to the following formula:
where o ═ x, y, z is the position coordinates of points on the selected line, x, y, and z are the coordinate values on the x, y, and z axes, respectively,
and
unit vectors, p, in the directions of the x, y and z axes, respectivelyl、qlAnd rlAre respectively as
And
the size of the vector, d (o) being the distance between a point on the selected line and a line of the set of lines, opd＝(xpd,ypd,zpd) Is the position coordinate, x, of the point on the selected line having the smallest sum of the distances to each line in the set of linespd、ypdAnd zpdRespectively, coordinate values on the x-axis, the y-axis and the z-axis, N is the number of the ultrasonic sensors for determining the incoming wave direction, l is the serial number of the ultrasonic sensors, opdThe point is the point on the selected straight line with the smallest sum of the distances between the selected straight line and each straight line in the straight line set.
4. The method of claim 1, further comprising:
when the incoming wave direction output by one ultrasonic sensor is obtained, the incoming wave direction is determined as the incoming wave direction of a partial discharge ultrasonic signal, and the incoming wave direction of the partial discharge ultrasonic signal is output.
5. A partial discharge localization apparatus, the apparatus comprising:
the position coordinate acquisition module is used for acquiring the position coordinate of each ultrasonic sensor in the ultrasonic sensor array;
the incoming wave direction acquisition module is used for acquiring the incoming wave direction of the partial discharge ultrasonic signal output by the ultrasonic sensor in the ultrasonic sensor array; the incoming wave direction is determined by the ultrasonic sensor according to the detected partial discharge ultrasonic signal;
a straight line set determining module, configured to determine, when multiple incoming wave directions are provided, a straight line in which a connection line between the ultrasonic sensor and a local discharge point is located, where the connection line is located, according to each incoming wave direction and a position coordinate of the ultrasonic sensor obtained in each incoming wave direction, to obtain a straight line set;
the partial discharge determining module is used for selecting two reference points on the selected straight line and taking a point positioned in the center between the two reference points as an initial reference candidate point; the partial discharge point is positioned between two reference points; taking one half of the position coordinates of the initial reference candidate points as an initial point taking interval; taking the initial reference candidate point as a current reference candidate point, taking the initial point-taking interval as a current point-taking interval, and taking two points which are away from the current reference candidate point by the current point-taking interval as current candidate points; selecting a point with the minimum sum of the distances between the current reference candidate point and each straight line in the straight line set from the current reference candidate point and the two current candidate points as a new current reference candidate point, and taking one half of the current point taking interval as a new current point taking interval; and returning to execute the following steps of taking the two points which are away from the current reference candidate point by the current point taking interval as the current candidate point until the current point taking interval is smaller than a preset threshold value, determining the current reference candidate point as the partial discharge point, and outputting the position coordinates of the partial discharge point.
6. The apparatus of claim 5, wherein the straight line set determination module is further configured to determine a straight line equation of a straight line where a connecting line between the ultrasonic sensor and the partial discharge point obtained from each incoming wave direction is located according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the positional coordinates of the l-th ultrasonic sensor among the ultrasonic sensors obtained for each incoming wave direction,
and
coordinate values on the x-axis, y-axis and z-axis respectively,
the direction vector of the incoming wave direction determined for the l-th ultrasonic sensor,
and
vectors in the directions of the x-axis, the y-axis and the z-axis respectively, and t is any real number greater than 0 (x)l,yl,zl) Is the coordinate of a point on a straight line, xl、ylAnd zlRespectively, the coordinate values on the x-axis, y-axis and z-axis.
7. The apparatus of claim 5, the partial discharge determination module further configured to determine a point on the selected line where the sum of the distances between each line in the set of lines is minimal according to the following equation:
where o is the position coordinate of a point on the selected straight line, x, y, and z are coordinate values on the x, y, and z axes, respectively,
and
unit vectors, p, in the directions of the x, y and z axes, respectivelyl、qlAnd rlAre respectively as
And
the size of the vector, d (o) the distance between a point on the selected line and a line in the set of lines, opd＝(xpd,ypd,zpd) Is the position coordinate of the point on the selected straight line with the smallest sum of the distances between the straight line and each straight line in the straight line set, xpd、ypdAnd zpdCoordinate values on the x-axis, the y-axis and the z-axis, N is the number of the ultrasonic sensors for determining the incoming wave direction, l is the serial number of the ultrasonic sensors, and opdThe point on the selected straight line with the smallest sum of the distances between the straight line and each straight line in the straight line set.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 4.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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