CN108279365A - Spatial electromagnetic wave monitoring positioning device, system and method in a kind of GIL piping lanes - Google Patents
Spatial electromagnetic wave monitoring positioning device, system and method in a kind of GIL piping lanes Download PDFInfo
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- CN108279365A CN108279365A CN201810345917.3A CN201810345917A CN108279365A CN 108279365 A CN108279365 A CN 108279365A CN 201810345917 A CN201810345917 A CN 201810345917A CN 108279365 A CN108279365 A CN 108279365A
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- 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
- G01R31/1227—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 of components, parts or materials
- G01R31/1263—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 of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—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 of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
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Abstract
The present invention discloses spatial electromagnetic wave monitoring positioning device, system and method in a kind of GIL piping lanes, wherein monitoring positioning device, including vehicle body and the detection locating module that is installed on vehicle body；Vehicle body includes walking mechanism and hoofing part mechanism；It includes control unit, positioning unit, electromagnetic wave signal sensor, amplitude detection and storage unit and communication unit to detect locating module；Control unit controls the walking of vehicle body walking mechanism by controlling the operation of hoofing part mechanism.Monitoring positioning device can realize the monitoring to the partial discharge electromagnetic wave signal in GIL piping lanes, and can be moved in GIL piping lanes according to aspect, to approach or arrive at partial discharge position.Monitoring and positioning system and method then pass through the combination of multiple monitoring positioning devices, movement in conjunction with time-of-arrival loaction and monitoring positioning device and positioning function, it realizes the positioning to GIL partial discharge positions in piping lane, improves location sensitivity, reduce destruction of the partial discharge phenomenon to GIL piping lane insulation performances.
Description
Technical field
The present invention relates to GIL piping lane equipment condition monitoring technical fields, spatial electromagnetic wave is supervised in especially a kind of GIL piping lanes
Survey positioning device, system and method.
Background technology
GIL (gas-insulated metal enclosed transmission line) is i.e. gas-insulated metal-enclosed
Transmission line of electricity is a kind of using sulfur hexafluoride (SF6) or other gas-insulateds, the high voltage, big of shell and conductor coaxial arrangement
Electric current, long range power transmitting device, have that transmission line capability is big, loss is small, take up an area less, operational reliability is high, maintenance is small, the longevity
Life is long, environment influences the remarkable advantages such as small.
GIL length is generally at hundreds of meters or so in piping lane, and in special circumstances up to several kms, and GIL piping lanes are typically in
Under underground, riverbed or inside massif, it is difficult to realize artificial high-frequency inspection, and the insulating capacity of GIL is to determine that can GIL pacify
The key factor of row for the national games.
Shelf depreciation is the partial breakdown phenomenon occurred in the medium, and shelf depreciation of the GIL equipment under operating voltage is
Make insulation ag(e)ing and develop to the major reason of breakdown, therefore Partial Discharge Detection is to react the effective means of GIL insulation status,
Insulation breakdown is avoided to be of great significance and the hot fields of current research.
The positioning of shelf depreciation can pass through the side such as measurement of electric parameter, ultrasonic wave positioning mode, uhf electromagnetic wave positioning mode
Method is realized.Uhf electromagnetic wave method has detection frequency range relatively high, can effectively avoid corona discharge in conventional electrical measurement,
A variety of electric signal interference such as switching manipulation.The aerial spread speed of electromagnetic wave is available close to the light velocity and more stable
Time-of-arrival loaction carry out partial discharge location, but moment sensor sensitivity is not high enough, piping lane bending etc. due to, the time difference is legal
Position error is larger, need to further be accurately positioned.For this purpose, expanding room for improvement Electromagnetic Wave Detection technology before the application in terms of GIL
Scape is wide.
Invention content
The object of the present invention is to provide spatial electromagnetic wave monitoring positioning device, system and method in a kind of GIL piping lanes,
In, monitoring positioning device can realize the monitoring to the partial discharge electromagnetic wave signal in GIL piping lanes, and can be existed according to aspect
It is moved in GIL piping lanes, to approach or arrive at partial discharge position.Monitoring and positioning system and method then pass through multiple monitoring positioning devices
Combination, the movement in conjunction with time-of-arrival loaction and monitoring positioning device and positioning function are realized to GIL shelf depreciations position in piping lane
The positioning set improves location sensitivity, reduces destruction of the partial discharge phenomenon to GIL piping lane insulation performances.
The technical solution that the present invention takes is：Spatial electromagnetic wave monitoring positioning device in a kind of GIL piping lanes, including vehicle body with
And it is installed on the detection locating module on vehicle body；Vehicle body includes walking mechanism and hoofing part mechanism；
It includes control unit, positioning unit, electromagnetic wave signal sensor, amplitude detection and storage unit to detect locating module
And communication unit；
Control unit controls the walking of vehicle body walking mechanism by controlling the operation of hoofing part mechanism；
Positioning unit acquisition vehicle body real time position data is transmitted to control unit；
Electromagnetic wave signal sensor acquires the electromagnetic wave signal in GIL piping lanes, and transmits a signal to amplitude monitoring and deposit
Storage unit；
Amplitude monitors and storage unit detects amplitude and the storage of the electromagnetic wave signal received, while storing corresponding electromagnetism
The receiving time of wave signal, and by electromagnetism wave amplitude and receiving time data transmission to control unit；
Control unit passes through communication unit and external equipment connection communication.
The present invention is in use, the electromagnetic wave signal amplitude that control unit can be monitored according to amplitude and storage unit detects
And receiving time, control vehicle body are run towards partial discharge locality.The prior art can be used, such as obtain electricity in real time during the motion
Magnetostatic wave signal amplitude size, when amplitude becomes smaller then stop motion immediately, position is partial discharge position or extremely close to office at stopping
Put position.
Further, in GIL piping lanes of the invention in spatial electromagnetic wave monitoring positioning device, detection locating module further includes
The output end of infrared distance sensor, infrared distance sensor connects control unit.It can be used for detecting and be filled with other monitorings positioning
The distance between set, avoiding bumping against causes to damage.
Further, in GIL piping lanes of the invention in spatial electromagnetic wave monitoring positioning device, detection locating module further includes
Alarm unit, control unit control alarm unit output alarm signal.The alarm that alarm unit can be used for after the positioning of partial discharge position
Signal exports, and partial discharge position is quickly found convenient for field service personnel, and the form that acousto-optic combines alarm can be used.
Further, spatial electromagnetic wave monitoring positioning device further includes telescoping mechanism in GIL piping lanes of the invention, is stretched
Mechanism includes telescopic arm and telescopic drive part, and telescopic arm is vertically arranged on vehicle body, and electromagnetic wave signal sensor is fixed on flexible
The top of arm, the action of control unit control telescopic drive part is to control the flexible of telescopic arm.Telescoping mechanism uses existing electricity
Dynamic telescopic arm.
Preferably, the electromagnetic wave signal sensor uses bi-directional electromagnetic wave signal transducer, two signal receiving end
It is respectively facing GIL piping lanes both ends.That is the piping lane of GIL piping lane sections is axial where the antenna of electromagnetic wave signal sensor is roughly parallel to
Setting.
Preferably, the amplitude monitoring and storage unit use the oscillograph with store function.Record receives signal
Time and calculate signal amplitude in real time, be existing oscillograph basic function.
Preferably, in GIL piping lanes of the invention in spatial electromagnetic wave monitoring positioning device, positioning mould communication in the block is detected
It can be other monitoring locating modules or backstage master station, i.e., multiple detection positioning that unit, which uses wireless communication unit, external equipment,
Between module, and by wireless communication between detection locating module and backstage master station, to transmit positioning related data.
Control unit realizes the control to vehicle body hoofing part mechanism by signal condition unit and RS485 telecommunication circuits
System.The combination of relay, motor and motor control loop can be used in vehicle body hoofing part mechanism, is the prior art.Signal condition
Unit realizes control for realizing the communication of control unit and hoofing part mechanism and adjacent monitoring device, backstage master station
Order data conversion, the transmitting-receiving of wireless WIFI signal, using the prior art.Vehicle body is realized by controlling motor operation and positive and negative rotation
Walking and direction controlling be the prior art.Invention additionally discloses one kind based on spatial electromagnetic wave monitoring in aforementioned GIL piping lanes
The monitoring and positioning system of positioning device, including backstage master station and multiple monitoring positioning devices along the setting of piping lane distribution of lengths；
It is communicated between adjacent monitoring positioning device and between each monitoring positioning device and backstage master station by network connection；
Each monitoring positioning device acquires the electromagnetic wave signal in piping lane in real time, when obtaining amplitude and the reception of electromagnetic wave signal
Between, by the receiving time of electromagnetic wave signal and self-position data transmission to adjacent monitoring positioning device, and according to itself with
The difference of the distance between adjacent monitoring positioning device and electromagnetic wave signal receiving time utilizes time difference method tentatively judgement office
Put position；
Monitoring positioning device controls the operation of walking mechanism according to the preliminary judging result of partial discharge position so that vehicle body court
Partial discharge position walking thinks that vehicle body reaches partial discharge position until reaching or close at the maximum position of electromagnetic wave signal amplitude,
Monitoring positioning device controls vehicle body and stops walking, and current vehicle body position data is sent to backstage master station.
Preferably, pass through nothing between adjacent monitoring positioning device and between each monitoring positioning device and backstage master station
Line WIFi network connections communicate.
Preferably, multiple running rails are equipped in GIL piping lanes, adjacent monitoring positioning device is respectively in different running rails
Upper movement.It can avoid collision of the adjacent positioned robot under erroneous judgement or other fortuitous events.Running rail can be used in pipeline
The form that bottom is respectively set with top.Duct bottom can also be not provided with sliding rail, and only wheel rail-free be leaned on to walk.
Preferably, monitoring positioning device further includes the telescoping mechanism controlled by control unit, electromagnetic wave signal sensor peace
Top loaded on telescoping mechanism；The height and position that control unit controls electromagnetic wave signal sensor by telescoping mechanism changes, with
The specific transmission line of electricity of partial discharge occurs for the amplitude maximum height and position of location electromagnetic wave signal.Electromagnetic wave signal sensor
Height can be calculated according to the design feature of telescoping mechanism in real time, be the prior art.
Preferably, monitoring positioning device further includes infrared distance sensor, and monitoring positioning device is sensed by infrared distance measurement
Device detects the distance between other monitoring positioning devices, is sent to control unit, when distance is less than a setpoint distance threshold value, control
Unit control vehicle body processed stops walking.Monitoring positioning device can send stop signal and vehicle body position to backstage master station at this time
Data, while it is to avoid collision to send vehicle body stop reason.The distance threshold may be configured as 5-10CM or so.Backstage is main at this time
Control station is it is believed that vehicle body stop position is to carry out maintenance investigation close to partial discharge position, and then to corresponding position.
Preferably, monitoring positioning device further includes alarm unit, and monitoring positioning device, which reaches partial discharge position, to be stopped after walking,
Control unit controls alarm unit output alarm signal.
Invention additionally discloses a kind of monitoring positioning sides based on spatial electromagnetic wave monitoring and positioning system in aforementioned GIL piping lanes
Method, including：
S1, monitoring positioning device acquires transmission line of electricity partial discharge electromagnetic wave signal, while record collects partial discharge electromagnetic wave letter
Number time, obtain itself position data in real time；
S2 based on the position of each monitoring positioning device, and collects the time of partial discharge electromagnetic wave signal, utilizes time difference method
The position relationship between partial discharge location point and the monitoring positioning device for collecting partial discharge electromagnetic wave signal at first is calculated, and then is determined
It is currently located at the monitoring positioning device of partial discharge location point both sides；
S3, control are currently located at least one of two monitoring positioning devices of partial discharge location point both sides to partial discharge position
Point walking；
S4, monitoring positioning device in the process of walking, according to the electromagnetic wave signal amplitude size acquired in real time, control vehicle body
The position of electromagnetic wave signal amplitude maximum is stopped at, or is stopped at the position close to electromagnetic wave signal amplitude maximum；
Stop message is sent to backstage master station by S5, the monitoring positioning device of stopping, and Stop message includes current stops
Position data.
Preferably, in step S1, monitoring positioning device will collect time and the self-position of partial discharge electromagnetic wave signal
Data are sent to backstage master station, and backstage master station collects partial discharge electromagnetic wave signal at first according to the data determination received
Two monitoring positioning devices, and to corresponding monitoring positioning device transmission range computations, receive apart from computations
Monitoring positioning device is calculated using time difference method between the monitoring positioning device and partial discharge location point nearest apart from partial discharge location point
Position relationship.
As another specific implementation mode, all monitoring positioning devices for receiving partial discharge electromagnetic wave signal respectively with phase
Adjacent monitoring positioning device is communicated, and time and other side's position data that other side collects partial discharge electromagnetic wave signal are obtained；Phase
By comparing the receiving time of partial discharge electromagnetic wave signal between any two between adjacent monitoring positioning device, determination collects partial discharge at first
The monitoring positioning device of electromagnetic wave signal collects the monitoring positioning device of partial discharge electromagnetic wave signal at first, with two neighboring prison
Any one surveyed in positioning device is communicated, and is obtained other side's partial discharge electromagnetic wave signal and is obtained time and other side's positional number
According to, and then collected at first between the monitoring positioning device of partial discharge electromagnetic wave signal and partial discharge location point using time difference method calculating
Position relationship.
There are the third specific implementation mode that is, all monitoring positioning devices for receiving partial discharge electromagnetic wave signal respectively with
Adjacent monitoring positioning device is communicated, and time and other side's position data that other side collects partial discharge electromagnetic wave signal are obtained；
By comparing the receiving time of partial discharge electromagnetic wave signal between any two between adjacent monitoring positioning device, determination collects office at first
Discharge two monitoring positioning devices of magnetostatic wave signal, between two monitoring positioning devices for collecting partial discharge electromagnetic wave signal at first
It is communicated, obtains other side's partial discharge electromagnetic wave signal and obtain time and other side's position data, and then calculated most using time difference method
First collect the position relationship between the monitoring positioning device of partial discharge electromagnetic wave signal and partial discharge location point.
Preferably, the monitoring positioning device sequence R being sequentially distributed in GIL piping lanes is defined1,R2,...,Ri,...,Rn；
In step S2, when defining generation partial discharge phenomenon in GIL piping lanes, the monitoring positioning device nearest apart from partial discharge point position
RiIt is initially received partial discharge electromagnetic wave signal, then monitoring positioning device RiWith adjacent monitoring positioning device Ri+1Or Ri-1Led to
Letter；
Assuming that monitoring positioning device RiWith Ri-1It is communicated, defines RiThe distance between partial discharge point is Xi, partial discharge electromagnetism
Wave signaling rate is c, RiWith Ri-1The time for receiving partial discharge electromagnetic wave signal is respectively tiAnd ti-1, RiWith Ri-1Between
Real-time range is L, then monitoring positioning device RiWith Ri-1The time difference Δ t for receiving partial discharge electromagnetic wave signal is：
Then RiThe distance between partial discharge point is XiFor：
If the X being calculatediNot equal to 0, then judge that partial discharge point is located at RiWith Ri-1Between, otherwise partial discharge point is located at RiWith
Ri+1Between.
Preferably, in step S3, the monitoring positioning device of partial discharge point both sides is walked towards partial discharge point respectively, while being acquired respectively
The distance between itself and other monitoring positioning devices；Each monitoring positioning device, which is run to, reaches electromagnetic wave signal amplitude maximum point
Place will then stop with the collision of other monitoring positioning devices, reach and reach partial discharge position at electromagnetic wave signal amplitude maximum point
Point will stop at when bumping against with other monitoring positioning devices at the position close to electromagnetic wave signal amplitude maximum；Step
In rapid S5, Stop message further includes vehicle body stop reason data.The present invention can avoid the collision under running rail same case.I.e.
It will bump against with other monitoring positioning devices when being less than a setpoint distance threshold value at a distance between the two.Monitoring positioning device to
Backstage master station sends stop reason data, and backstage master station can be facilitated further to judge that current stop position is to reach partial discharge position
It sets a little still close to partial discharge location point.
In step S4, monitoring positioning device in the process of walking, acquires electromagnetic wave signal amplitude size, and will be real-time in real time
Electromagnetic wave signal amplitude is to time derivation, as d | u | when/dt≤0, control vehicle body stops walking, then reaches electromagnetic wave signal at this time
The position of amplitude maximum.
Further, step S4 further includes that after monitoring positioning device stops walking, electromagnetic wave letter is controlled by telescoping mechanism
Number height change of the sensor on GIL piping lane radial sections so that electromagnetic wave signal sensor rests on electromagnetic wave signal width
It is worth at maximum height and position；In S5, the height position data of electromagnetic wave signal sensor is also sent to by monitoring positioning device
Backstage master station.The height and position that electromagnetic wave signal sensor finally stops can facilitate staff to position and the specific of partial discharge occurs
Transmission line of electricity.Judgement in walking process can refer to the judgement of electromagnetic wave signal amplitude maximum height and position, same use is asked
The computational methods led.
Further, step S5 further includes that monitoring positioning device sends out alarm signal in rest position.
Advantageous effect
1) monitoring positioning device of the invention can acquire own location information in real time, while to the partial discharge in GIL piping lanes
Electromagnetic wave signal is monitored in real time, and according to aspect control itself walking mechanism towards partial discharge location point walk, and to
Stop walking when position maximum up to signal amplitude, to position partial discharge location point, and positions more accurate；
2) in monitoring and positioning system of the invention and monitoring method, by the way that multiple monitorings positioning are arranged in GIL piping lanes
Device so that connection communication between adjacent monitoring positioning device and each monitoring positioning device and backstage master station is realized and utilized
Time difference method makes its reach partial discharge position to the Primary Location of partial discharge location point, and then by controlling the walking of monitoring positioning device
Point realizes that the partial discharge location point on time difference method basis is accurately positioned, and the accurate of shelf depreciation point in long range piping lane is determined
Position is applicable in very much；
3) in monitoring and positioning system of the invention and monitoring method, monitoring positioning device can not only be realized alarm signal
Number, shelf depreciation dot position information, Partial Discharge Detection waveform etc. be uploaded to the functions such as backstage master station, while can be in partial discharge
Location point carries out sound-light alarm on the spot.
Description of the drawings
Fig. 1 is spatial electromagnetic wave monitoring positioning device structural schematic diagram in a kind of GIL piping lanes of the embodiment of the present invention；
Fig. 2 is spatial electromagnetic wave monitoring and positioning system functional block diagram in a kind of GIL piping lanes of the embodiment of the present invention；
Fig. 3 is that gas-insulated metal closed power transmission line (GIL) spatial electromagnetic wave is supervised in a kind of piping lane of the embodiment of the present invention
It surveys positioning device and is loaded into the GIL piping lane axial sectional diagrammatical view illustrations on idler wheel mobile robot；
Fig. 4 is that gas-insulated metal closed power transmission line (GIL) spatial electromagnetic wave is supervised in a kind of piping lane of the embodiment of the present invention
It surveys positioning device and positions shelf depreciation point flow chart；
Fig. 5 is that gas-insulated metal closed power transmission line (GIL) spatial electromagnetic wave is supervised in a kind of piping lane of the embodiment of the present invention
It surveys positioning device and is loaded into the GIL piping lane radial cross sections on idler wheel mobile robot；
Fig. 6 is that gas-insulated metal closed power transmission line (GIL) spatial electromagnetic wave is supervised in a kind of piping lane of the embodiment of the present invention
It surveys positioning device and is loaded into the GIL piping lane radial cross sections on suspended rail mobile robot.
Specific implementation mode
It is further described below in conjunction with the drawings and specific embodiments.
Spatial electromagnetic wave monitoring positioning device in embodiment 1GIL piping lanes
In conjunction with shown in Fig. 1 and Fig. 2, spatial electromagnetic wave monitoring positioning device in GIL piping lanes, including vehicle body 1 and be installed on
Detection locating module on vehicle body；Vehicle body includes walking mechanism and hoofing part mechanism；
With reference to figure 1, detection locating module includes control unit 3, positioning unit 4, electromagnetic wave signal sensor 8, amplitude inspection
Survey and storage unit 2 and communication unit；
Control unit 3 controls the walking of vehicle body walking mechanism by controlling the operation of hoofing part mechanism；
Positioning unit 4 acquires vehicle body real time position data and is transmitted to control unit 3；
Electromagnetic wave signal sensor 8 acquires the electromagnetic wave signal in GIL piping lanes, and transmits a signal to amplitude monitoring and deposit
Storage unit 2；
Amplitude monitors and storage unit 2 detects amplitude and the storage of the electromagnetic wave signal received, while storing corresponding electricity
The receiving time of magnetostatic wave signal, and by electromagnetism wave amplitude and receiving time data transmission to control unit 3；
Control unit 3 passes through communication unit and external equipment connection communication.
Embodiment 1-1
In the present embodiment, amplitude monitoring and storage unit 2 are using the oscillograph with store function.Record receives signal
Time and calculate signal amplitude in real time, be existing oscillograph basic function.
Electromagnetic wave signal sensor 8 uses bi-directional electromagnetic wave signal transducer, two signal receiving end to be respectively facing GIL
Piping lane both ends.That is the piping lane of GIL piping lane sections is axially arranged where the antenna of electromagnetic wave signal sensor is roughly parallel to.
Spatial electromagnetic wave monitoring positioning device further includes telescoping mechanism 7 in GIL piping lanes, and telescoping mechanism includes telescopic arm and stretches
Contracting actuator, telescopic arm are vertically arranged on vehicle body, and electromagnetic wave signal sensor is fixed on the top of telescopic arm, control unit control
The action of telescopic drive part processed is to control the flexible of telescopic arm.Telescoping mechanism uses existing electric telescopic arm.
Detection locating module further includes infrared distance sensor 9, and the output end of infrared distance sensor connects control unit.
Infrared distance sensor can be arranged multiple on vehicle body, for the distance between detecting with other monitoring positioning devices, avoid phase
Hitting causes to damage.
Detection locating module further includes alarm unit 6, and control unit 3 controls alarm unit output alarm signal.Alarm is single
Member can be used for the alarm signal output after the positioning of partial discharge position, quickly finds partial discharge position convenient for field service personnel, can be used
Acousto-optic combines the form of alarm.
It detects positioning mould communication unit in the block and uses wireless communication unit, external equipment can be other monitoring locating modules
Or backstage master station, i.e., between multiple detection locating modules, and by wireless between detection locating module and backstage master station
Network communication, to transmit positioning related data.
Control unit realizes the control to vehicle body hoofing part mechanism by signal condition unit and RS485 telecommunication circuits
System.The combination of relay, motor and motor control loop can be used in vehicle body hoofing part mechanism, is the prior art.Signal condition
Unit realizes control for realizing the communication of control unit and hoofing part mechanism and adjacent monitoring device, backstage master station
Order data conversion, the transmitting-receiving of wireless WIFI signal, using the prior art.Vehicle body is realized by controlling motor operation and positive and negative rotation
Walking and direction controlling be the prior art.
In use, control unit can be according to the electromagnetic wave signal amplitude and reception that amplitude monitoring and storage unit detect
Time, control vehicle body are run towards partial discharge locality.The prior art can be used, such as obtain electromagnetic wave letter in real time during the motion
Number amplitude size, when amplitude becomes smaller then stop motion immediately, position is partial discharge location point or extremely close to partial discharge position at stopping
It sets.
Spatial electromagnetic wave monitoring and positioning system in embodiment 2GIL piping lanes
In conjunction with shown in Fig. 1 and Fig. 3, using the monitoring of spatial electromagnetic wave monitoring positioning device in GIL piping lanes described in embodiment 1
Positioning system, including backstage master station and multiple monitoring positioning devices along the setting of piping lane distribution of lengths；Adjacent monitoring positioning dress
It is communicated between setting and between each monitoring positioning device and backstage master station by network connection；
Each monitoring positioning device acquires the electromagnetic wave signal in piping lane in real time, when obtaining amplitude and the reception of electromagnetic wave signal
Between, by the receiving time of electromagnetic wave signal and self-position data transmission to adjacent monitoring positioning device, and according to itself with
The difference of the distance between adjacent monitoring positioning device and electromagnetic wave signal receiving time utilizes time difference method tentatively judgement office
Put position；
Monitoring positioning device controls the operation of walking mechanism according to the preliminary judging result of partial discharge position so that vehicle body court
Partial discharge position walking thinks that vehicle body reaches partial discharge position until reaching or close at the maximum position of electromagnetic wave signal amplitude,
Monitoring positioning device controls vehicle body and stops walking, and current vehicle body position data is sent to backstage master station.
Embodiment 2-1
In the present embodiment, lead between adjacent monitoring positioning device and between each monitoring positioning device and backstage master station
Cross wireless WIFi network connections communication.
With reference to shown in figure 5 and Fig. 6, it is equipped with multiple running rails in GIL piping lanes, is such as separately positioned on the top and bottom of piping lane
Portion, top monitoring positioning device are installed using suspension type, and duct bottom can be not provided with sliding rail, and only wheel be leaned on to carry out rail-free row
It walks.Adjacent monitoring positioning device moves on different running rails respectively, can avoid adjacent positioned robot erroneous judgement or its
Collision under its fortuitous event.
Various monitoring positioning devices further include the telescoping mechanism controlled by control unit, and electromagnetic wave signal sensor is installed on
The top of telescoping mechanism；The height and position that control unit controls electromagnetic wave signal sensor by telescoping mechanism changes, with positioning
The specific transmission line of electricity of partial discharge occurs for the amplitude maximum height and position of electromagnetic wave signal.Electromagnetic wave signal sensor it is real-time
Height can be calculated according to the design feature of telescoping mechanism, and the prior art can be used.
Each monitoring positioning device further includes infrared distance sensor, and monitoring positioning device is detected by infrared distance sensor
The distance between other monitoring positioning devices, are sent to control unit, when distance is less than a setpoint distance threshold value, control unit
It controls vehicle body and stops walking.Monitoring positioning device can send stop signal and vehicle body position data to backstage master station at this time,
It is to avoid collision to send vehicle body stop reason simultaneously.The distance threshold may be configured as 5-10CM or so.Backstage master station at this time
It is believed that vehicle body stop position is to carry out maintenance investigation close to partial discharge position, and then to corresponding position.
Monitoring positioning device further includes alarm unit, and monitoring positioning device, which reaches partial discharge position, to be stopped after walking, and control is single
Member control alarm unit output alarm signal.
Spatial electromagnetic wave monitoring and positioning method in embodiment 3GIL piping lanes
Spatial electromagnetic wave monitoring and positioning method in GIL piping lanes based on embodiment 1 and embodiment 2, including：
S1, monitoring positioning device acquires transmission line of electricity partial discharge electromagnetic wave signal, while record collects partial discharge electromagnetic wave letter
Number time, obtain itself position data in real time；
S2 based on the position of each monitoring positioning device, and collects the time of partial discharge electromagnetic wave signal, utilizes time difference method
The position relationship between partial discharge location point and the monitoring positioning device for collecting partial discharge electromagnetic wave signal at first is calculated, and then is determined
It is currently located at the monitoring positioning device of partial discharge location point both sides；
S3, control are currently located at least one of two monitoring positioning devices of partial discharge location point both sides to partial discharge position
Point walking；
S4, monitoring positioning device in the process of walking, according to the electromagnetic wave signal amplitude size acquired in real time, control vehicle body
The position of electromagnetic wave signal amplitude maximum is stopped at, or is stopped at the position close to electromagnetic wave signal amplitude maximum；
Stop message is sent to backstage master station by S5, the monitoring positioning device of stopping, and Stop message includes current stops
Position data.
Embodiment 3-1
In step S1, all monitoring positioning devices for receiving partial discharge electromagnetic wave signal respectively with adjacent monitoring positioning device
It is communicated, obtains time and other side's position data that other side collects partial discharge electromagnetic wave signal；Adjacent monitoring positioning device
Between by comparing the receiving time of partial discharge electromagnetic wave signal between any two, determination collects the two of partial discharge electromagnetic wave signal at first
A monitoring positioning device collects communicated between two monitoring positioning devices of partial discharge electromagnetic wave signal at first, obtains pair
Square partial discharge electromagnetic wave signal obtains time and other side's position data, and then collects partial discharge electromagnetism at first using time difference method calculating
Position relationship between the monitoring positioning device and partial discharge location point of wave signal.
With reference to flow chart shown in Fig. 4, the monitoring positioning device sequence R being sequentially distributed in GIL piping lanes is defined1,R2,...,
Ri,...,Rn；
In step S2, when defining generation partial discharge phenomenon in GIL piping lanes, the monitoring positioning device nearest apart from partial discharge point position
RiThe close R with secondi-1It is sequentially received partial discharge electromagnetic wave signal at first, then monitoring positioning device RiWith Ri-1It is communicated；
Define RiThe distance between partial discharge point is Xi, partial discharge electromagnetic wave signal transmission speed is c, RiWith Ri-1Receive office
The time of electric discharge magnetostatic wave signal is respectively tiAnd ti-1, RiWith Ri-1Between real-time range be L, then monitoring positioning device RiWith Ri-1
The time difference Δ t for receiving partial discharge electromagnetic wave signal is：
Then RiThe distance between partial discharge point is XiFor：
If the X being calculatediNot equal to 0, then judge that partial discharge point is located at RiWith Ri-1Between, otherwise partial discharge point is located at RiWith
Ri+1Between.
Behind the orientation for obtaining partial discharge location point, any one monitoring positioning device control vehicle body court of partial discharge location point both sides
Partial discharge location point is walked.
In step S4, monitoring positioning device in the process of walking, acquires electromagnetic wave signal amplitude size, and will be real-time in real time
Electromagnetic wave signal amplitude is to time derivation, as d | u | when/dt≤0, control vehicle body stops walking, then reaches electromagnetic wave signal at this time
The position of amplitude maximum.
In step S5, after monitoring positioning device stops, Stop message is sent to backstage master station, Stop message includes current
Position data, staff is in the upward position of the piping lane inner shaft that partial discharge phenomenon known to the master station of backstage occurs.It is fixed to monitor simultaneously
Position device sends out alarm signal in rest position, and field service personnel can be facilitated to quickly find partial discharge position.
Embodiment 3-2
The distinctive points of the present embodiment and embodiment 3-1 technical solutions are how to determine collects partial discharge electromagnetic wave letter at first
Number two monitoring positioning devices.
In the present embodiment step S1, monitoring positioning device will collect time and the self-position of partial discharge electromagnetic wave signal
Data are sent to backstage master station, and backstage master station collects partial discharge electromagnetic wave signal at first according to the data determination received
Two monitoring positioning devices, and to corresponding monitoring positioning device transmission range computations, receive apart from computations
Monitoring positioning device calculates the monitoring positioning device nearest apart from partial discharge location point and partial discharge position using time difference method shown in Fig. 4
Position relationship between point.
Embodiment 3-3
The distinctive points of the present embodiment and embodiment 3-1 technical solutions are the main body that time difference method calculates.
In the present embodiment S1, all monitoring positioning devices for receiving partial discharge electromagnetic wave signal are positioned with adjacent monitoring respectively
Device is communicated, and time and other side's position data that other side collects partial discharge electromagnetic wave signal are obtained；Adjacent monitoring positioning
By comparing the receiving time of partial discharge electromagnetic wave signal between any two between device, determination collects partial discharge electromagnetic wave signal at first
Monitoring positioning device, the monitoring positioning device of partial discharge electromagnetic wave signal is collected at first, with two neighboring monitoring positioning device
In any one communicated, obtain other side's partial discharge electromagnetic wave signal and obtain time and other side's position data, and then utilize
Time difference method calculates the position relationship collected at first between the monitoring positioning device of partial discharge electromagnetic wave signal and partial discharge location point.
When carrying out time difference method calculating, the monitoring positioning device R nearest apart from partial discharge point positioniCan be adjacent thereto two
Any of monitoring positioning device is communicated, such as RiWith Ri+1It is communicated, if X is calculatediNot equal to 0, then judgement office
It puts and is a little located at RiWith Ri+1Between, otherwise partial discharge point is located at RiWith Ri-1Between.
Embodiment 3-4
The distinctive points of the present embodiment and embodiment 3-1 are, in step S3, the monitoring positioning device of partial discharge point both sides is distinguished
It walks towards partial discharge point, while acquiring the distance between itself and other monitoring positioning devices respectively；Each monitoring positioning device walking
Then stop to reaching at electromagnetic wave signal amplitude maximum point or will bump against with other monitoring positioning devices, reaches electromagnetic wave signal
Partial discharge location point is reached at amplitude maximum point, i.e., will be stopped at close to electromagnetism when will bump against with other monitoring positioning devices
At the maximum position of wave signal amplitude；In step S5, Stop message further includes vehicle body stop reason data.
The present embodiment can avoid the collision under running rail same case.It will bump against with other monitoring positioning devices and work as
When distance between the two is less than a setpoint distance threshold value.Monitoring positioning device sends stop reason data to backstage master station,
Backstage master station can be facilitated further to judge that current stop position is to reach partial discharge location point or close to partial discharge location point.
There are two kinds of situations for the present embodiment, and one is the distance between partial discharge location point and both sides monitoring positioning device phases
Together, and the speed of travel of monitoring positioning device is also identical, then both sides monitoring positioning device reach partial discharge location point time it is identical.
Due to both sides monitoring positioning device since there is vehicle body certain length must limit, amplitude maximum position may be reached before collision
Place, then when two monitoring positioning devices will bump against because monitoring and stop, actually two vehicles are extremely close to amplitude maximum
At position, therefore backstage master station is still believed that after obtaining Stop message and has been positioned to work(.
Another situation is that the time that both sides monitoring positioning device reaches partial discharge location point differs, then there are one certainty
Monitoring positioning device can be reached before collision at amplitude maximum position, and another monitoring positioning device then can be due to avoiding collision
Stop, it is clear that be the location information that sends out of the monitoring positioning device that can stop at first in this case as partial discharge location point
It is accurately positioned.
Embodiment 3-5
The present embodiment is intended to optimize embodiment 3-1, and when step S4 terminates, monitoring positioning device stops after walking,
Monitoring positioning device controls height change of the electromagnetic wave signal sensor on GIL piping lane radial sections by telescoping mechanism, makes
Electromagnetic wave signal sensor is obtained to rest at the height and position of electromagnetic wave signal amplitude maximum；In S5, monitoring positioning device will also
The height position data of electromagnetic wave signal sensor is sent to backstage master station.The height that electromagnetic wave signal sensor finally stops
Position can facilitate staff to position the specific transmission line of electricity that partial discharge occurs.Electromagnetic wave signal amplitude maximum height and position is sentenced
The disconnected judgement that can refer in walking process, the same computational methods for using derivation.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (18)
1. spatial electromagnetic wave monitoring positioning device in a kind of GIL piping lanes, characterized in that including vehicle body and be installed on vehicle body
Detect locating module；Vehicle body includes walking mechanism and hoofing part mechanism；
Detection locating module includes control unit, positioning unit, electromagnetic wave signal sensor, amplitude detection and storage unit and leads to
Believe unit；
Control unit controls the walking of vehicle body walking mechanism by controlling the operation of hoofing part mechanism；
Positioning unit acquisition vehicle body real time position data is transmitted to control unit；
Electromagnetic wave signal sensor acquires the electromagnetic wave signal in GIL piping lanes, and transmits a signal to amplitude monitoring and storage list
Member；
Amplitude monitors and storage unit detects amplitude and the storage of the electromagnetic wave signal received, while storing corresponding electromagnetic wave letter
Number receiving time, and by electromagnetism wave amplitude and receiving time data transmission to control unit；
Control unit passes through communication unit and external equipment connection communication.
2. spatial electromagnetic wave monitoring positioning device in GIL piping lanes according to claim 1, characterized in that detection positioning mould
Block further includes infrared distance sensor, and the output end of infrared distance sensor connects control unit.
3. spatial electromagnetic wave monitoring positioning device in GIL piping lanes according to claim 1, characterized in that detection positioning mould
Block further includes alarm unit, and control unit controls alarm unit output alarm signal.
4. spatial electromagnetic wave monitoring positioning device in GIL piping lanes according to claim 1, characterized in that further include stretching
Mechanism, telescoping mechanism include telescopic arm and telescopic drive part, and telescopic arm is vertically arranged on vehicle body, and electromagnetic wave signal sensor is solid
Due to the top of telescopic arm, the action of control unit control telescopic drive part is to control the flexible of telescopic arm.
5. spatial electromagnetic wave monitoring positioning device in GIL piping lanes according to claim 1, characterized in that the amplitude prison
It surveys and storage unit uses the oscillograph with store function；
The electromagnetic wave signal sensor uses bi-directional electromagnetic wave signal transducer, two signal receiving end to be respectively facing GIL
Piping lane both ends.
6. a kind of monitoring and positioning system using spatial electromagnetic wave monitoring positioning device in GIL piping lanes described in claim 1 to 5,
It is characterized in that including backstage master station and along piping lane distribution of lengths setting multiple monitoring positioning devices；Adjacent monitoring positioning dress
It is communicated between setting and between each monitoring positioning device and backstage master station by network connection；
Each monitoring positioning device acquires the electromagnetic wave signal in piping lane in real time, obtains the amplitude and receiving time of electromagnetic wave signal,
By the receiving time of electromagnetic wave signal and self-position data transmission to adjacent monitoring positioning device, and according to itself with it is adjacent
The difference of the distance between monitoring positioning device and electromagnetic wave signal receiving time tentatively judges partial discharge position using time difference method
It sets；
Monitoring positioning device controls the operation of walking mechanism according to the preliminary judging result of partial discharge position so that vehicle body is towards partial discharge
Position walking thinks that vehicle body reaches partial discharge position, monitoring until reaching or close at the maximum position of electromagnetic wave signal amplitude
Positioning device controls vehicle body and stops walking, and current vehicle body position data is sent to backstage master station.
7. monitoring and positioning system according to claim 6, characterized in that multiple running rails are equipped in GIL piping lanes, it is adjacent
Monitoring positioning device moves on different running rails respectively.
8. monitoring and positioning system according to claim 6, characterized in that monitoring positioning device further includes by control unit control
The telescoping mechanism of system, electromagnetic wave signal sensor are installed on the top of telescoping mechanism；Control unit controls electricity by telescoping mechanism
The height and position of magnetostatic wave signal sensor changes, and with the amplitude maximum height and position of location electromagnetic wave signal, that is, partial discharge occurs
Specific transmission line of electricity.
9. monitoring and positioning system according to claim 6, characterized in that monitoring positioning device further includes infrared distance measurement sensing
Device, monitoring positioning device are sent to control by the distance between infrared distance sensor detection and other monitoring positioning devices
Unit, when distance is less than a setpoint distance threshold value, control unit controls vehicle body and stops walking.
10. a kind of monitoring and positioning method based on spatial electromagnetic wave monitoring and positioning system in GIL piping lanes described in claim 6 to 9,
It is characterized in that including：
S1, monitoring positioning device acquires transmission line of electricity partial discharge electromagnetic wave signal, while record collects partial discharge electromagnetic wave signal
Time obtains itself position data in real time；
S2 based on the position of each monitoring positioning device, and is collected the time of partial discharge electromagnetic wave signal, is calculated using time difference method
Position relationship between partial discharge location point and the monitoring positioning device for collecting partial discharge electromagnetic wave signal at first, and then determine current
Monitoring positioning device positioned at partial discharge location point both sides；
S3, control are currently located at least one of two monitoring positioning devices of partial discharge location point both sides to partial discharge location point row
It walks；
S4, in the process of walking, according to the electromagnetic wave signal amplitude size acquired in real time, control vehicle body stops monitoring positioning device
In the position of electromagnetic wave signal amplitude maximum, or stop at the position close to electromagnetic wave signal amplitude maximum；
Stop message is sent to backstage master station by S5, the monitoring positioning device of stopping, and Stop message includes current stop position
Data.
11. according to the method described in claim 10, it is characterized in that, in step S1, monitoring positioning device will collect partial discharge electricity
The time of magnetostatic wave signal and self-position data are sent to backstage master station, and backstage master station is determined according to the data received
Two monitoring positioning devices of partial discharge electromagnetic wave signal are collected at first, and are calculated to corresponding monitoring positioning device transmission range
Instruction, the monitoring positioning device received apart from computations are fixed using the time difference method calculating monitoring nearest apart from partial discharge location point
Position relationship between position device and partial discharge location point.
12. according to the method described in claim 10, it is characterized in that, it is all receive partial discharge electromagnetic wave signal monitorings positioning dress
It sets and is communicated respectively with adjacent monitoring positioning device, obtain other side and collect the time of partial discharge electromagnetic wave signal and to orientation
Set data；By comparing the receiving time of partial discharge electromagnetic wave signal between any two between adjacent monitoring positioning device, determine at first
The monitoring positioning device of partial discharge electromagnetic wave signal is collected, collects the monitoring positioning device of partial discharge electromagnetic wave signal at first, with
Any one in two neighboring monitoring positioning device is communicated, and is obtained other side's partial discharge electromagnetic wave signal and is obtained time and right
Square position data, and then monitoring positioning device and the partial discharge position for collecting partial discharge electromagnetic wave signal at first are calculated using time difference method
Position relationship between point.
13. according to the method described in claim 10, it is characterized in that, it is all receive partial discharge electromagnetic wave signal monitorings positioning dress
It sets and is communicated respectively with adjacent monitoring positioning device, obtain other side and collect the time of partial discharge electromagnetic wave signal and to orientation
Set data；By comparing the receiving time of partial discharge electromagnetic wave signal between any two between adjacent monitoring positioning device, determine at first
Two monitoring positioning devices for collecting partial discharge electromagnetic wave signal collect two monitoring positioning of partial discharge electromagnetic wave signal at first
It is communicated between device, obtains other side's partial discharge electromagnetic wave signal and obtain time and other side's position data, and then utilize the time difference
Method calculates the position relationship collected at first between the monitoring positioning device of partial discharge electromagnetic wave signal and partial discharge location point.
14. according to the method described in claim 10, it is characterized in that, define the monitoring positioning device that is sequentially distributed in GIL piping lanes
Sequence R1,R2,...,Ri,...,Rn；
In step S2, when defining generation partial discharge phenomenon in GIL piping lanes, the monitoring positioning device R nearest apart from partial discharge point positioniMost
Partial discharge electromagnetic wave signal is first received, then monitoring positioning device RiWith adjacent monitoring positioning device Ri+1Or Ri-1It is communicated；
Assuming that monitoring positioning device RiWith Ri-1It is communicated, defines RiThe distance between partial discharge point is Xi, partial discharge electromagnetic wave letter
Number transmission speed is c, RiWith Ri-1The time for receiving partial discharge electromagnetic wave signal is respectively tiAnd ti-1, RiWith Ri-1Between it is real-time
Distance is L, then monitoring positioning device RiWith Ri-1The time difference Δ t for receiving partial discharge electromagnetic wave signal is：
Then RiThe distance between partial discharge point is XiFor：
If the X being calculatediNot equal to 0, then judge that partial discharge point is located at RiWith Ri-1Between, otherwise partial discharge point is located at RiWith Ri+1It
Between.
15. according to the method described in claim 10, it is characterized in that, in step S3, the monitoring positioning device minute of partial discharge point both sides
It does not walk towards partial discharge point, while acquiring the distance between itself and other monitoring positioning devices respectively；Each monitoring positioning device row
It walks to reaching at electromagnetic wave signal amplitude maximum point or will then stopping with the collision of other monitoring positioning devices, reaches electromagnetic wave letter
Partial discharge location point is reached at number amplitude maximum point, i.e., stopped at when will bump against with other monitoring positioning devices approach it is electric
At the position of magnetostatic wave signal amplitude maximum；In step S5, Stop message further includes vehicle body stop reason data.
16. according to the method described in claim 10, it is characterized in that, in step S4, monitoring positioning device is in the process of walking, real
When acquire electromagnetic wave signal amplitude size, and by real-time electromagnetic wave signal amplitude to time derivation, as d | u | when/dt≤0, control
Vehicle body stops walking, then reaches the position of electromagnetic wave signal amplitude maximum at this time.
17. according to the method described in claim 10, it is characterized in that, step S4 further includes, after monitoring positioning device stops walking,
Height change of the electromagnetic wave signal sensor on GIL piping lane radial sections is controlled by telescoping mechanism so that electromagnetic wave signal
Sensor rests at the height and position of electromagnetic wave signal amplitude maximum；In S5, monitoring positioning device also passes electromagnetic wave signal
The height position data of sensor is sent to backstage master station.
18. according to the method described in claim 10, it is characterized in that, step S5 further includes that monitoring positioning device is in stop position
Place sends out alarm signal.
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