CN108279365B - Electromagnetic wave monitoring and positioning device, system and method for space in GIL pipe gallery - Google Patents
Electromagnetic wave monitoring and positioning device, system and method for space in GIL pipe gallery Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 257
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- 238000004891 communication Methods 0.000 claims abstract description 22
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- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 238000013459 approach Methods 0.000 abstract description 2
- 239000002184 metal Substances 0.000 description 5
- 230000003750 conditioning effect Effects 0.000 description 4
- 238000009413 insulation Methods 0.000 description 4
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- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012806 monitoring device Methods 0.000 description 2
- HMUNWXXNJPVALC-UHFFFAOYSA-N 1-[4-[2-(2,3-dihydro-1H-inden-2-ylamino)pyrimidin-5-yl]piperazin-1-yl]-2-(2,4,6,7-tetrahydrotriazolo[4,5-c]pyridin-5-yl)ethanone Chemical compound C1C(CC2=CC=CC=C12)NC1=NC=C(C=N1)N1CCN(CC1)C(CN1CC2=C(CC1)NN=N2)=O HMUNWXXNJPVALC-UHFFFAOYSA-N 0.000 description 1
- VZSRBBMJRBPUNF-UHFFFAOYSA-N 2-(2,3-dihydro-1H-inden-2-ylamino)-N-[3-oxo-3-(2,4,6,7-tetrahydrotriazolo[4,5-c]pyridin-5-yl)propyl]pyrimidine-5-carboxamide Chemical compound C1C(CC2=CC=CC=C12)NC1=NC=C(C=N1)C(=O)NCCC(N1CC2=C(CC1)NN=N2)=O VZSRBBMJRBPUNF-UHFFFAOYSA-N 0.000 description 1
- LDXJRKWFNNFDSA-UHFFFAOYSA-N 2-(2,4,6,7-tetrahydrotriazolo[4,5-c]pyridin-5-yl)-1-[4-[2-[[3-(trifluoromethoxy)phenyl]methylamino]pyrimidin-5-yl]piperazin-1-yl]ethanone Chemical compound C1CN(CC2=NNN=C21)CC(=O)N3CCN(CC3)C4=CN=C(N=C4)NCC5=CC(=CC=C5)OC(F)(F)F LDXJRKWFNNFDSA-UHFFFAOYSA-N 0.000 description 1
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- 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
- G01R31/1227—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 invention discloses a GIL pipe gallery inner space electromagnetic wave monitoring and positioning device, a system and a method, wherein the monitoring and positioning device comprises a vehicle body and a detection and positioning module arranged on the vehicle body; the vehicle body comprises a traveling mechanism and a traveling driving mechanism; the detection positioning module comprises a control unit, a positioning unit, an electromagnetic wave signal sensor, an amplitude detection and storage unit and a communication unit; the control unit controls the running of the vehicle body running mechanism by controlling the running of the running driving mechanism. The monitoring and positioning device can monitor partial discharge magnetic wave signals in the GIL pipe gallery and can move in the GIL pipe gallery according to the signal direction so as to approach or reach the partial discharge position. The monitoring and positioning system and the method realize the positioning of the GIL partial discharge position in the pipe gallery by combining a plurality of monitoring and positioning devices and combining a time difference positioning method and the movement and positioning functions of the monitoring and positioning devices, improve the positioning sensitivity and reduce the damage of the partial discharge phenomenon to the insulating property of the GIL pipe gallery.
Description
Technical Field
The invention relates to the technical field of monitoring of the state of GIL pipe rack equipment, in particular to a device, a system and a method for monitoring and positioning electromagnetic waves in a space in a GIL pipe rack.
Background
GIL (gas-insulated metal enclosed transmission line), namely a gas-insulated metal-enclosed transmission line, is high-voltage, high-current and long-distance power transmission equipment which adopts sulfur hexafluoride (SF 6) or other gas insulation and is coaxially arranged between a shell and a conductor, and has the remarkable advantages of large transmission capacity, small loss, small occupied area, high operation reliability, small maintenance amount, long service life, small environmental impact and the like.
The length of the GIL in the pipe gallery is generally about hundreds of meters, and can reach thousands of meters under special conditions, and the GIL pipe gallery is generally under the underground, the riverbed or in the mountain, so that manual high-frequency inspection is difficult to realize, and the insulating capability of the GIL is an important factor for determining whether the GIL can safely run.
Partial discharge is a partial breakdown phenomenon occurring in a medium, and partial discharge of GIL equipment under an operating voltage is an important cause for aging insulation and developing to breakdown, so that partial discharge detection is an effective means for reflecting the insulation condition of GIL, and has important significance for avoiding insulation breakdown, and is also a hot spot field of current research.
The positioning of partial discharge can be realized by methods such as electrical parameter measurement, ultrasonic positioning method, ultra-high frequency electromagnetic wave positioning method and the like. The ultra-high frequency electromagnetic wave method has high detection frequency band, and can effectively avoid various electric signal interferences such as corona discharge, switch operation and the like in conventional electric measurement. The propagation speed of electromagnetic wave in air is close to the speed of light and is relatively stable, and the partial discharge positioning can be performed by using a time difference positioning method, but the time difference method has larger positioning error and needs further accurate positioning due to the fact that the sensitivity of the existing sensor is not high enough, a pipe gallery is bent and the like. Therefore, the application prospect of expanding and improving the space electromagnetic wave detection technology in the GIL aspect is wide.
Disclosure of Invention
The invention aims to provide a device, a system and a method for monitoring and positioning electromagnetic waves in a space in a GIL pipe gallery, wherein the monitoring and positioning device can monitor partial discharge magnetic wave signals in the GIL pipe gallery and can move in the GIL pipe gallery according to the signal direction so as to approach or reach a partial discharge position. The monitoring and positioning system and the method realize the positioning of the GIL partial discharge position in the pipe gallery by combining a plurality of monitoring and positioning devices and combining a time difference positioning method and the movement and positioning functions of the monitoring and positioning devices, improve the positioning sensitivity and reduce the damage of the partial discharge phenomenon to the insulating property of the GIL pipe gallery.
The technical scheme adopted by the invention is as follows: the electromagnetic wave monitoring and positioning device for the space in the GIL pipe gallery comprises a vehicle body and a detection and positioning module arranged on the vehicle body; the vehicle body comprises a traveling mechanism and a traveling driving mechanism;
the detection positioning module comprises a control unit, a positioning unit, an electromagnetic wave signal sensor, an amplitude detection and storage unit and a communication unit;
The control unit controls the running of the vehicle body running mechanism by controlling the running of the running driving mechanism;
the positioning unit collects real-time position data of the vehicle body and transmits the real-time position data to the control unit;
The electromagnetic wave signal sensor collects electromagnetic wave signals in the GIL pipe gallery and transmits the signals to the amplitude monitoring and storing unit;
The amplitude monitoring and storing unit detects and stores the amplitude of the received electromagnetic wave signal, stores the receiving time of the corresponding electromagnetic wave signal, and transmits the electromagnetic wave amplitude and the receiving time data to the control unit;
the control unit communicates with an external device connection via the communication unit.
When the invention is applied, the control unit can control the vehicle body to run towards the partial discharge position according to the amplitude of the electromagnetic wave signal detected by the amplitude monitoring and storage unit and the receiving time. The prior art can be adopted, for example, the amplitude of an electromagnetic wave signal is obtained in real time in the motion process, when the amplitude becomes smaller, the motion is immediately stopped, and the position at the stop position is the partial discharge position or the position extremely close to the partial discharge position.
Furthermore, in the electromagnetic wave monitoring and positioning device for the space in the GIL pipe gallery, the detection and positioning module further comprises an infrared ranging sensor, and the output end of the infrared ranging sensor is connected with the control unit. Can be used for detecting the distance between the device and other monitoring and positioning devices, and avoiding damage caused by collision.
Furthermore, in the electromagnetic wave monitoring and positioning device for the space in the GIL pipe gallery, the detection and positioning module further comprises an alarm unit, and the control unit controls the alarm unit to output an alarm signal. The alarm unit can be used for outputting alarm signals after the partial discharge position is positioned, so that on-site maintenance personnel can find the partial discharge position more quickly, and the mode of sound-light combined alarm can be adopted.
Furthermore, the electromagnetic wave monitoring and positioning device for the space in the GIL pipe gallery further comprises a telescopic mechanism, wherein the telescopic mechanism comprises a telescopic arm and a telescopic driving piece, the telescopic arm is vertically arranged on a vehicle body, an electromagnetic wave signal sensor is fixed at the top end of the telescopic arm, and a control unit controls the telescopic driving piece to act so as to control the telescopic arm to stretch. The telescopic mechanism adopts the existing electric telescopic arm.
Preferably, the electromagnetic wave signal sensor adopts a bidirectional electromagnetic wave signal sensor, and two signal receiving ends of the bidirectional electromagnetic wave signal sensor face to two ends of the GIL pipe gallery respectively. I.e., the antenna of the electromagnetic wave signal sensor is disposed generally parallel to the tube lane axis of the GIL tube lane segment at which it is located.
Preferably, the amplitude monitoring and storing unit adopts an oscilloscope with a storing function. Recording the time of receiving the signal and calculating the signal amplitude in real time, which is the basic function of the existing oscilloscope.
Preferably, in the electromagnetic wave monitoring and positioning device for space in the GIL pipe rack of the present invention, the communication unit in the detection and positioning module adopts a wireless communication unit, and the external device may be other detection and positioning modules or a background master control station, that is, between a plurality of detection and positioning modules, and between the detection and positioning modules and the background master control station, through wireless network communication, so as to transmit positioning related data.
The control unit controls the vehicle body walking driving mechanism through the signal conditioning unit and the RS485 communication circuit. The vehicle body walking driving mechanism can adopt a combination of a relay, a motor and a motor control loop, and is the prior art. The signal conditioning unit is used for realizing the communication between the control unit and the walking driving mechanism, between the control unit and the adjacent monitoring device and between the control unit and the background master control station, namely realizing the data conversion of control commands and the wireless WIFI signal receiving and transmitting, and adopting the prior art. The prior art is used for controlling the running and forward and backward rotation of the motor to realize the running and direction control of the vehicle body. The invention also discloses a monitoring and positioning system based on the electromagnetic wave monitoring and positioning device in the GIL pipe gallery, which comprises a background main control station and a plurality of monitoring and positioning devices distributed along the length of the pipe gallery; the adjacent monitoring and positioning devices are communicated with the background master control station through network connection;
Each monitoring and positioning device collects electromagnetic wave signals in the pipe rack in real time, acquires the amplitude and the receiving time of the electromagnetic wave signals, transmits the receiving time of the electromagnetic wave signals and self-position data to the adjacent monitoring and positioning device, and preliminarily judges the partial discharge position by using a time difference method according to the distance between the self-monitoring and positioning device and the adjacent monitoring and positioning device and the difference value of the receiving time of the electromagnetic wave signals;
And the monitoring and positioning device controls the running of the running mechanism according to the preliminary judgment result of the partial discharge position, so that the vehicle body walks towards the partial discharge position until reaching or approaching the position with the maximum amplitude of the electromagnetic wave signal, namely, the vehicle body is considered to reach the partial discharge position, and the monitoring and positioning device controls the vehicle body to stop walking and sends the current vehicle body position data to the background main control station.
Preferably, the adjacent monitoring and positioning devices and the background master control station are communicated through wireless WIFi network connection.
Preferably, a plurality of running rails are arranged in the GIL pipe rack, and the adjacent monitoring and positioning devices respectively move on different running rails. Collision of adjacent positioning robots under misjudgment or other unexpected conditions can be avoided. The running track can be respectively arranged at the bottom and the top of the pipeline. The bottom of the pipeline is not provided with a sliding rail, and the pipeline can only run without a rail by wheels.
Preferably, the monitoring and positioning device further comprises a telescopic mechanism controlled by the control unit, and the electromagnetic wave signal sensor is arranged at the top end of the telescopic mechanism; the control unit controls the height position change of the electromagnetic wave signal sensor through the telescopic mechanism so as to position the maximum height position of the amplitude of the electromagnetic wave signal, namely a specific power transmission line with partial discharge. The real-time height of the electromagnetic wave signal sensor can be calculated according to the structural characteristics of the telescopic mechanism, which is the prior art.
Preferably, the monitoring and positioning device further comprises an infrared ranging sensor, the monitoring and positioning device detects the distance between the monitoring and positioning device and other monitoring and positioning devices through the infrared ranging sensor and sends the distance to the control unit, and when the distance is smaller than a set distance threshold value, the control unit controls the vehicle body to stop walking. At the moment, the monitoring and positioning device can send a stop signal and vehicle body position data to the background master control station, and meanwhile, the vehicle body stop reason is sent to avoid collision. The distance threshold may be set to about 5-10 CM. At the moment, the background master control station can consider that the vehicle body stop position is the near partial discharge position, and then overhauls and checks the corresponding position.
Preferably, the monitoring and positioning device further comprises an alarm unit, and the control unit controls the alarm unit to output an alarm signal after the monitoring and positioning device reaches the partial discharge position to stop walking.
The invention also discloses a monitoring and positioning method based on the GIL pipe gallery inner space electromagnetic wave monitoring and positioning system, which comprises the following steps:
S1, a monitoring and positioning device collects partial discharge magnetic wave signals of an electric transmission line, and simultaneously records the time of collecting the partial discharge magnetic wave signals and acquires self position data in real time;
s2, calculating the position relation between the partial discharge position point and the monitoring and positioning device which collects the partial discharge magnetic wave signals first by using a time difference method based on the positions of the monitoring and positioning devices and the time when the partial discharge magnetic wave signals are collected, and further determining the monitoring and positioning devices which are positioned on two sides of the partial discharge position point at present;
S3, controlling at least one of two monitoring and positioning devices currently positioned on two sides of the partial discharge position point to walk towards the partial discharge position point;
S4, controlling the vehicle body to stop at the position with the maximum amplitude of the electromagnetic wave signal or to stop at the position close to the maximum amplitude of the electromagnetic wave signal according to the amplitude of the electromagnetic wave signal acquired in real time in the walking process of the monitoring and positioning device;
s5, the stopped monitoring and positioning device sends stopping information to the background master control station, wherein the stopping information comprises current stopping position data.
Preferably, in step S1, the monitoring and positioning device sends the time when the partial discharge magnetic wave signal is collected and the position data thereof to the background master control station, and the background master control station determines two monitoring and positioning devices which collect the partial discharge magnetic wave signal first according to the received data, and sends a distance calculation instruction to the corresponding monitoring and positioning devices, and the monitoring and positioning device which receives the distance calculation instruction calculates the position relationship between the closest monitoring and positioning device and the partial discharge position point by using a time difference method.
As another specific embodiment, all monitoring and positioning devices receiving the partial discharge magnetic wave signals are respectively communicated with adjacent monitoring and positioning devices to obtain the time when the counterpart collects the partial discharge magnetic wave signals and the counterpart position data; the receiving time of the partial discharge magnetic wave signals is compared between every two adjacent monitoring and positioning devices, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is determined, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is communicated with any one of the two adjacent monitoring and positioning devices, the acquisition time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning device which collects the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method.
In a third specific embodiment, all monitoring and positioning devices receiving the partial discharge magnetic wave signals are respectively communicated with adjacent monitoring and positioning devices to acquire the time when the other party acquires the partial discharge magnetic wave signals and the position data of the other party; the two monitoring and positioning devices which collect partial discharge magnetic wave signals first are determined by comparing the receiving time of the partial discharge magnetic wave signals between every two adjacent monitoring and positioning devices, communication is carried out between the two monitoring and positioning devices which collect the partial discharge magnetic wave signals first, the acquisition time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning devices which collect the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method.
Preferably, a monitoring and positioning device sequence R 1,R2,...,Ri,...,Rn which is distributed in sequence in the GIL pipe gallery is defined;
In step S2, when a partial discharge phenomenon occurs in the GIL pipe rack, if the monitoring and positioning device R i closest to the partial discharge point receives a partial discharge magnetic wave signal first, the monitoring and positioning device R i communicates with the adjacent monitoring and positioning device R i+1 or R i-1;
Assuming that the monitoring and positioning devices R i and R i-1 communicate, defining that the distance between R i and the partial discharge point is X i, the transmission speed of the partial discharge magnetic wave signal is c, the time when the R i and R i-1 receive the partial discharge magnetic wave signal is t i and the real-time distance between t i-1,Ri and R i-1 is L, respectively, the time difference Δt between the time when the monitoring and positioning devices R i and R i-1 receive the partial discharge magnetic wave signal is:
the distance between R i and the partial discharge point is X i:
If the calculated X i is not equal to 0, judging that the partial discharge point is located between R i and R i-1, otherwise, judging that the partial discharge point is located between R i and R i+1.
Preferably, in step S3, the monitoring and positioning devices at two sides of the partial discharge point walk towards the partial discharge point respectively, and collect distances between themselves and other monitoring and positioning devices respectively; each monitoring and positioning device walks to the position of the maximum amplitude of the electromagnetic wave signal or stops when the monitoring and positioning device collides with other monitoring and positioning devices, and stops when the monitoring and positioning device arrives at the position of the maximum amplitude of the electromagnetic wave signal, namely arrives at the partial discharge position point, and stops when the monitoring and positioning device collides with other monitoring and positioning devices, namely stops at the position close to the maximum amplitude of the electromagnetic wave signal; in step S5, the stop information further includes vehicle body stop cause data. The invention can avoid collision under the same condition of the running track. I.e. when the distance between the two is smaller than a set distance threshold. The monitoring and positioning device sends the stopping reason data to the background master control station, so that the background master control station can conveniently further judge whether the current stopping position reaches the partial discharge position point or is close to the partial discharge position point.
In the step S4, the monitoring and positioning device collects the amplitude value of the electromagnetic wave signal in real time in the walking process, derives the amplitude value of the electromagnetic wave signal in real time from time to time, and controls the vehicle body to stop walking when d|u|/dt is less than or equal to 0, so that the position with the maximum amplitude value of the electromagnetic wave signal is reached at the moment.
Further, step S4 further includes controlling, by the telescopic mechanism, a height change of the electromagnetic wave signal sensor on the radial cross section of the GIL pipe rack after the monitoring and positioning device stops walking, so that the electromagnetic wave signal sensor stays at a height position with the maximum amplitude of the electromagnetic wave signal; and S5, the monitoring and positioning device also transmits the height position data of the electromagnetic wave signal sensor to the background master control station. The final height position of the electromagnetic wave signal sensor can facilitate the positioning of a specific power transmission line with partial discharge by a worker. The judgment of the maximum height position of the amplitude of the electromagnetic wave signal can refer to the judgment in the walking process, and a derivative calculation method is adopted.
Further, step S5 further includes monitoring the positioning device to send an alarm signal at the stop position.
Advantageous effects
1) The monitoring and positioning device can acquire the position information of the self in real time, monitor the partial discharge magnetic wave signals in the GIL pipe gallery in real time, control the self travelling mechanism to travel towards the partial discharge position point according to the signal azimuth, stop travelling when reaching the position with the maximum signal amplitude, and position the partial discharge position point with more accurate positioning;
2) According to the monitoring and positioning system and the monitoring method, the monitoring and positioning devices are arranged in the GIL pipe gallery, so that the adjacent monitoring and positioning devices and the monitoring and positioning devices are connected with the background main control station for communication, the preliminary positioning of the partial discharge position point by using the time difference method is realized, the monitoring and positioning devices are controlled to reach the partial discharge position point by walking, the accurate positioning of the partial discharge position point on the basis of the time difference method is realized, and the monitoring and positioning system and the monitoring method are very suitable for the accurate positioning of the partial discharge point in the long-distance pipe gallery;
3) In the monitoring and positioning system and the monitoring method, the monitoring and positioning device not only can realize the functions of uploading alarm signals, partial discharge point position information, partial discharge detection waveforms and the like to a background main control station and the like, but also can carry out on-site audible and visual alarm at the partial discharge point.
Drawings
FIG. 1 is a schematic diagram of a device for monitoring and positioning electromagnetic waves in space of a GIL pipe gallery according to an embodiment of the invention;
FIG. 2 is a schematic block diagram of a system for monitoring and positioning electromagnetic waves in space of a GIL pipe rack according to an embodiment of the invention;
FIG. 3 is a schematic axial cross-sectional view of a gas insulated metal enclosed transmission line (GIL) space electromagnetic wave monitoring and positioning device in a pipe rack, which is mounted on a roller mobile robot according to an embodiment of the invention;
FIG. 4 is a flow chart of a positioning partial discharge point of a gas insulated metal enclosed transmission line (GIL) space electromagnetic wave monitoring and positioning device in a piping lane according to an embodiment of the invention;
FIG. 5 is a schematic radial cross-sectional view of a gas insulated metal enclosed transmission line (GIL) space electromagnetic wave monitoring and positioning device in a pipe rack, which is mounted on a roller mobile robot according to an embodiment of the invention;
Fig. 6 is a schematic radial cross-sectional view of a gas insulated metal enclosed transmission line (GIL) space electromagnetic wave monitoring and positioning device in a pipe rack according to an embodiment of the present invention, which is mounted on a suspended track mobile robot.
Detailed Description
Further description is provided below in connection with the drawings and the specific embodiments.
Example 1 electromagnetic wave monitoring and positioning device for space in GIL pipe gallery
Referring to fig. 1 and 2, the electromagnetic wave monitoring and positioning device for space in the GIL pipe rack comprises a vehicle body 1 and a detection and positioning module arranged on the vehicle body; the vehicle body comprises a traveling mechanism and a traveling driving mechanism;
referring to fig. 1, the detection and positioning module includes a control unit 3, a positioning unit 4, an electromagnetic wave signal sensor 8, an amplitude detection and storage unit 2, and a communication unit;
the control unit 3 controls the running of the vehicle body running mechanism by controlling the running of the running driving mechanism;
The positioning unit 4 collects real-time position data of the vehicle body and transmits the real-time position data to the control unit 3;
The electromagnetic wave signal sensor 8 collects electromagnetic wave signals in the GIL pipe gallery and transmits the signals to the amplitude monitoring and storing unit 2;
The amplitude monitoring and storing unit 2 detects and stores the amplitude of the received electromagnetic wave signal, stores the receiving time of the corresponding electromagnetic wave signal, and transmits the electromagnetic wave amplitude and the receiving time data to the control unit 3;
the control unit 3 communicates with an external device connection through a communication unit.
Example 1-1
In this embodiment, the amplitude monitoring and storing unit 2 adopts an oscilloscope with a storage function. Recording the time of receiving the signal and calculating the signal amplitude in real time, which is the basic function of the existing oscilloscope.
The electromagnetic wave signal sensor 8 adopts a two-way electromagnetic wave signal sensor, and two signal receiving ends of the two-way electromagnetic wave signal sensor face to two ends of the GIL pipe gallery respectively. I.e., the antenna of the electromagnetic wave signal sensor is disposed generally parallel to the tube lane axis of the GIL tube lane segment at which it is located.
The electromagnetic wave monitoring and positioning device for the space in the GIL pipe gallery further comprises a telescopic mechanism 7, wherein the telescopic mechanism comprises a telescopic arm and a telescopic driving piece, the telescopic arm is vertically arranged on a vehicle body, an electromagnetic wave signal sensor is fixed at the top end of the telescopic arm, and a control unit controls the telescopic driving piece to act so as to control the telescopic arm to stretch. The telescopic mechanism adopts the existing electric telescopic arm.
The detection positioning module further comprises an infrared ranging sensor 9, and the output end of the infrared ranging sensor is connected with the control unit. The infrared distance measuring sensor can be arranged on the car body and used for detecting the distance between the car body and other monitoring and positioning devices, so that damage caused by collision is avoided.
The detection positioning module also comprises an alarm unit 6, and the control unit 3 controls the alarm unit to output an alarm signal. The alarm unit can be used for outputting alarm signals after the partial discharge position is positioned, so that on-site maintenance personnel can find the partial discharge position more quickly, and the mode of sound-light combined alarm can be adopted.
The communication unit in the detection positioning module adopts a wireless communication unit, and the external equipment can be other monitoring positioning modules or a background master control station, namely, a plurality of detection positioning modules and the background master control station are communicated through a wireless network so as to transmit positioning related data.
The control unit controls the vehicle body walking driving mechanism through the signal conditioning unit and the RS485 communication circuit. The vehicle body walking driving mechanism can adopt a combination of a relay, a motor and a motor control loop, and is the prior art. The signal conditioning unit is used for realizing the communication between the control unit and the walking driving mechanism, between the control unit and the adjacent monitoring device and between the control unit and the background master control station, namely realizing the data conversion of control commands and the wireless WIFI signal receiving and transmitting, and adopting the prior art. The prior art is used for controlling the running and forward and backward rotation of the motor to realize the running and direction control of the vehicle body.
When the vehicle body partial discharge control device is applied, the control unit can control the vehicle body to run towards the partial discharge position according to the amplitude of the electromagnetic wave signal detected by the amplitude monitoring and storage unit and the receiving time. The prior art can be adopted, for example, the amplitude of an electromagnetic wave signal is obtained in real time in the motion process, when the amplitude becomes smaller, the motion is immediately stopped, and the position at the stop position is the partial discharge position point or the position extremely close to the partial discharge position.
Example 2 electromagnetic wave monitoring and positioning System for space in GIL pipe gallery
The monitoring and positioning system adopting the electromagnetic wave monitoring and positioning device for the space in the GIL pipe rack according to the embodiment 1 is shown in combination with fig. 1 and 3, and comprises a background main control station and a plurality of monitoring and positioning devices distributed along the length of the pipe rack; the adjacent monitoring and positioning devices are communicated with the background master control station through network connection;
Each monitoring and positioning device collects electromagnetic wave signals in the pipe rack in real time, acquires the amplitude and the receiving time of the electromagnetic wave signals, transmits the receiving time of the electromagnetic wave signals and self-position data to the adjacent monitoring and positioning device, and preliminarily judges the partial discharge position by using a time difference method according to the distance between the self-monitoring and positioning device and the adjacent monitoring and positioning device and the difference value of the receiving time of the electromagnetic wave signals;
And the monitoring and positioning device controls the running of the running mechanism according to the preliminary judgment result of the partial discharge position, so that the vehicle body walks towards the partial discharge position until reaching or approaching the position with the maximum amplitude of the electromagnetic wave signal, namely, the vehicle body is considered to reach the partial discharge position, and the monitoring and positioning device controls the vehicle body to stop walking and sends the current vehicle body position data to the background main control station.
Example 2-1
In this embodiment, the adjacent monitoring and positioning devices and each monitoring and positioning device are connected to the background master control station through a wireless wi fi network for communication.
Referring to fig. 5 and 6, a plurality of running rails are provided in the GIL pipe rack, such as at the top and bottom of the pipe rack, respectively, the top monitoring and positioning device is installed in a hanging manner, and the bottom of the pipe can be moved without rails only by wheels. The adjacent monitoring and positioning devices respectively move on different running tracks, so that collision of adjacent positioning robots under misjudgment or other unexpected conditions can be avoided.
The various monitoring and positioning devices also comprise a telescopic mechanism controlled by the control unit, and the electromagnetic wave signal sensor is arranged at the top end of the telescopic mechanism; the control unit controls the height position change of the electromagnetic wave signal sensor through the telescopic mechanism so as to position the maximum height position of the amplitude of the electromagnetic wave signal, namely a specific power transmission line with partial discharge. The real-time height of the electromagnetic wave signal sensor can be calculated according to the structural characteristics of the telescopic mechanism, and the prior art can be adopted.
Each monitoring and positioning device further comprises an infrared ranging sensor, the monitoring and positioning device detects the distance between the monitoring and positioning device and other monitoring and positioning devices through the infrared ranging sensor and sends the distance to the control unit, and when the distance is smaller than a set distance threshold value, the control unit controls the vehicle body to stop walking. At the moment, the monitoring and positioning device can send a stop signal and vehicle body position data to the background master control station, and meanwhile, the vehicle body stop reason is sent to avoid collision. The distance threshold may be set to about 5-10 CM. At the moment, the background master control station can consider that the vehicle body stop position is the near partial discharge position, and then overhauls and checks the corresponding position.
The monitoring and positioning device further comprises an alarm unit, and the control unit controls the alarm unit to output an alarm signal after the monitoring and positioning device reaches the partial discharge position and stops walking.
Example 3 electromagnetic wave monitoring and positioning method for space in GIL pipe gallery
The electromagnetic wave monitoring and positioning method for the space in the GIL pipe rack based on the embodiment 1 and the embodiment 2 comprises the following steps:
S1, a monitoring and positioning device collects partial discharge magnetic wave signals of an electric transmission line, and simultaneously records the time of collecting the partial discharge magnetic wave signals and acquires self position data in real time;
s2, calculating the position relation between the partial discharge position point and the monitoring and positioning device which collects the partial discharge magnetic wave signals first by using a time difference method based on the positions of the monitoring and positioning devices and the time when the partial discharge magnetic wave signals are collected, and further determining the monitoring and positioning devices which are positioned on two sides of the partial discharge position point at present;
S3, controlling at least one of two monitoring and positioning devices currently positioned on two sides of the partial discharge position point to walk towards the partial discharge position point;
S4, controlling the vehicle body to stop at the position with the maximum amplitude of the electromagnetic wave signal or to stop at the position close to the maximum amplitude of the electromagnetic wave signal according to the amplitude of the electromagnetic wave signal acquired in real time in the walking process of the monitoring and positioning device;
s5, the stopped monitoring and positioning device sends stopping information to the background master control station, wherein the stopping information comprises current stopping position data.
Example 3-1
In step S1, all monitoring and positioning devices which receive the partial discharge magnetic wave signals are respectively communicated with adjacent monitoring and positioning devices, and the time when the other party collects the partial discharge magnetic wave signals and the position data of the other party are obtained; the two monitoring and positioning devices which collect partial discharge magnetic wave signals first are determined by comparing the receiving time of the partial discharge magnetic wave signals between every two adjacent monitoring and positioning devices, communication is carried out between the two monitoring and positioning devices which collect the partial discharge magnetic wave signals first, the acquisition time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning devices which collect the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method.
Referring to the flowchart shown in FIG. 4, a sequence of monitoring and positioning devices R 1,R2,...,Ri,...,Rn is defined that are distributed sequentially within the GIL pipe gallery;
In step S2, when a partial discharge phenomenon occurs in the GIL pipe rack, the monitoring and positioning device R i closest to the partial discharge point and the second R i-1 closest to the partial discharge point receive the partial discharge magnetic wave signals in sequence first, and then the monitoring and positioning devices R i and R i-1 communicate with each other;
Defining that the distance between R i and the partial discharge point is X i, the transmission speed of the partial discharge magnetic wave signal is c, the time when R i and R i-1 receive the partial discharge magnetic wave signal is t i and the real-time distance between t i-1,Ri and R i-1 is L, and then the time difference delta t between the time when R i and R i-1 receive the partial discharge magnetic wave signal is:
the distance between R i and the partial discharge point is X i:
If the calculated X i is not equal to 0, judging that the partial discharge point is located between R i and R i-1, otherwise, judging that the partial discharge point is located between R i and R i+1.
After the azimuth of the partial discharge position point is obtained, any one of the monitoring and positioning devices on two sides of the partial discharge position point controls the vehicle body to walk towards the partial discharge position point.
In the step S4, the monitoring and positioning device collects the amplitude value of the electromagnetic wave signal in real time in the walking process, derives the amplitude value of the electromagnetic wave signal in real time from time to time, and controls the vehicle body to stop walking when d|u|/dt is less than or equal to 0, so that the position with the maximum amplitude value of the electromagnetic wave signal is reached at the moment.
In step S5, after the monitoring and positioning device stops, stop information is sent to the background master control station, the stop information includes current position data, and a worker can know the axial position in the pipe gallery where the partial discharge phenomenon occurs at the background master control station. Meanwhile, the monitoring and positioning device sends out an alarm signal at the stop position, so that on-site maintenance personnel can find the partial discharge position more quickly.
Example 3-2
The difference between this embodiment and the technical solution of embodiment 3-1 is how to determine the two monitoring and positioning devices that collect the partial discharge magnetic wave signal first.
In step S1 of this embodiment, the monitoring and positioning device sends the time when the partial discharge magnetic wave signal is collected and the position data of itself to the background master control station, and the background master control station determines two monitoring and positioning devices that collect the partial discharge magnetic wave signal first according to the received data, and sends a distance calculation instruction to the corresponding monitoring and positioning devices, and the monitoring and positioning device that receives the distance calculation instruction calculates the position relationship between the closest monitoring and positioning device and the partial discharge position point by using the time difference method shown in fig. 4.
Examples 3 to 3
The difference between this embodiment and the embodiment 3-1 is the main point of the time difference calculation.
In the embodiment S1, all monitoring and positioning devices that receive the partial discharge magnetic wave signals respectively communicate with adjacent monitoring and positioning devices to obtain the time when the counterpart collects the partial discharge magnetic wave signals and the counterpart position data; the receiving time of the partial discharge magnetic wave signals is compared between every two adjacent monitoring and positioning devices, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is determined, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is communicated with any one of the two adjacent monitoring and positioning devices, the acquisition time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning device which collects the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method.
When the time difference method is calculated, the monitoring and positioning device R i closest to the partial discharge point can communicate with any one of the two adjacent monitoring and positioning devices, such as R i and R i+1, if X i is not equal to 0, the partial discharge point is judged to be located between R i and R i+1, otherwise, the partial discharge point is judged to be located between R i and R i-1.
Examples 3 to 4
The difference between the embodiment and the embodiment 3-1 is that in the step S3, the monitoring and positioning devices at two sides of the partial discharge point walk towards the partial discharge point respectively, and the distances between the monitoring and positioning devices and other monitoring and positioning devices are collected respectively; each monitoring and positioning device walks to the position of the maximum amplitude of the electromagnetic wave signal or stops when the monitoring and positioning device collides with other monitoring and positioning devices, and stops when the monitoring and positioning device arrives at the position of the maximum amplitude of the electromagnetic wave signal, namely arrives at the partial discharge position point, and stops when the monitoring and positioning device collides with other monitoring and positioning devices, namely stops at the position close to the maximum amplitude of the electromagnetic wave signal; in step S5, the stop information further includes vehicle body stop cause data.
The embodiment can avoid collision under the same condition of the running track. I.e. when the distance between the two is smaller than a set distance threshold. The monitoring and positioning device sends the stopping reason data to the background master control station, so that the background master control station can conveniently further judge whether the current stopping position reaches the partial discharge position point or is close to the partial discharge position point.
In this embodiment, there are two situations, one is that the distance between the partial discharge position point and the monitoring and positioning devices on both sides is the same, and the walking speed of the monitoring and positioning devices is the same, so that the time for the monitoring and positioning devices on both sides to reach the partial discharge position point is the same. Because the two-side monitoring and positioning devices are limited by a certain length of the car body, the car body can possibly reach the position with the maximum amplitude before collision, when the two monitoring and positioning devices stop due to the fact that the two cars are detected to be in collision, the two cars are extremely close to the position with the maximum amplitude, and therefore the background main control station can still consider that the positioning is successful after the stop information is obtained.
In another case, the time for the two monitoring and positioning devices to reach the partial discharge position point is different, so that one monitoring and positioning device can reach the position with the maximum amplitude before collision, and the other monitoring and positioning device can stop due to collision avoidance.
Examples 3 to 5
The embodiment aims to optimize the embodiment 3-1, and after the monitoring and positioning device stops walking at the end of the step S4, the monitoring and positioning device controls the height change of the electromagnetic wave signal sensor on the radial section of the GIL pipe gallery through the telescopic mechanism, so that the electromagnetic wave signal sensor stays at the position of the height with the maximum amplitude of the electromagnetic wave signal; and S5, the monitoring and positioning device also transmits the height position data of the electromagnetic wave signal sensor to the background master control station. The final height position of the electromagnetic wave signal sensor can facilitate the positioning of a specific power transmission line with partial discharge by a worker. The judgment of the maximum height position of the amplitude of the electromagnetic wave signal can refer to the judgment in the walking process, and a derivative calculation method is adopted.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. A monitoring and positioning method of a space electromagnetic wave monitoring and positioning system in a GIL pipe gallery is characterized in that the space electromagnetic wave monitoring and positioning system in the GIL pipe gallery comprises a background main control station and a plurality of monitoring and positioning devices distributed along the length of the pipe gallery; the adjacent monitoring and positioning devices are communicated with the background master control station through network connection; the monitoring and positioning device comprises a telescopic mechanism controlled by the control unit, and the electromagnetic wave signal sensor is arranged at the top end of the telescopic mechanism;
The monitoring and positioning method comprises the following steps:
S1, a monitoring and positioning device collects partial discharge magnetic wave signals of an electric transmission line, and simultaneously records the time of collecting the partial discharge magnetic wave signals and acquires self position data in real time;
s2, calculating the position relation between the partial discharge position point and the monitoring and positioning device which collects the partial discharge magnetic wave signals first by using a time difference method based on the positions of the monitoring and positioning devices and the time when the partial discharge magnetic wave signals are collected, and further determining the monitoring and positioning devices which are positioned on two sides of the partial discharge position point at present;
S3, controlling at least one of two monitoring and positioning devices currently positioned on two sides of the partial discharge position point to walk towards the partial discharge position point;
S4, controlling the vehicle body to stop at the position with the maximum amplitude of the electromagnetic wave signal or to stop at the position close to the maximum amplitude of the electromagnetic wave signal according to the amplitude of the electromagnetic wave signal acquired in real time in the walking process of the monitoring and positioning device; wherein, the monitoring and positioning device collects the amplitude of the electromagnetic wave signal in real time and derives the amplitude of the electromagnetic wave signal in real time from time to time in the walking process, when When the vehicle body is controlled to stop walking, the position with the maximum amplitude of the electromagnetic wave signal is reached at the moment;
S5, the stopped monitoring and positioning device sends stop information to the background main control station, and the monitoring and positioning device sends out an alarm signal at the stop position; the stop information includes current stop position data; after the monitoring and positioning device stops walking, the telescopic mechanism controls the height change of the electromagnetic wave signal sensor on the radial section of the GIL pipe gallery, so that the electromagnetic wave signal sensor stays at the position of the height with the maximum amplitude value of the electromagnetic wave signal, and the monitoring and positioning device sends the height position data of the electromagnetic wave signal sensor to the background main control station;
define monitoring positioner sequence that distributes in proper order in GIL piping lane ; When the local discharge phenomenon occurs in the GIL pipe gallery, the monitoring and positioning device/>, which is nearest to the local discharge position point, is assumedFirstly, receiving a partial discharge magnetic wave signal;
in step S2, based on the positions of the monitoring and positioning devices and the time when the partial discharge magnetic wave signals are collected, calculating the positional relationship between the partial discharge position point and the monitoring and positioning device that collects the partial discharge magnetic wave signals first by using the time difference method, including:
Hypothesis monitoring positioning device And/>Communication is carried out, definition/>Distance from partial discharge location point is/>The transmission speed of partial discharge magnetic wave signal is c,/>And/>The time of receiving the partial discharge magnetic wave signals is/>, respectivelyAnd/>，And/>The real-time distance between the two is L, and the monitoring and positioning device/>And/>Time difference/>, of receiving partial discharge magnetic wave signalThe method comprises the following steps:
（1）
distance from partial discharge location point is/> The method comprises the following steps:
（2）
If it is calculated If the partial discharge position point is not equal to 0, judging that the partial discharge position point is positioned at/>And/>Between, otherwise the partial discharge location point is located at/>And/>Between them;
the implementation method of the step S2 is as follows:
In step S1, the monitoring and positioning device sends the time of collecting the partial discharge magnetic wave signals and the self position data to a background main control station, and the background main control station determines two monitoring and positioning devices which collect the partial discharge magnetic wave signals first according to the received data and sends a distance calculation instruction to the corresponding monitoring and positioning devices; in step S2, the monitoring and positioning device that receives the distance calculation instruction calculates the position relationship between the monitoring and positioning device closest to the partial discharge position point and the partial discharge position point by using the time difference method;
Or all the monitoring and positioning devices which receive the partial discharge magnetic wave signals are respectively communicated with the adjacent monitoring and positioning devices to acquire the time when the other party acquires the partial discharge magnetic wave signals and the position data of the other party; the method comprises the steps that the receiving time of partial discharge magnetic wave signals is compared between every two adjacent monitoring and positioning devices, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is determined, the monitoring and positioning device which collects the partial discharge magnetic wave signals first is communicated with any one of the two adjacent monitoring and positioning devices, the obtaining time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning device which collects the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method;
or all the monitoring and positioning devices which receive the partial discharge magnetic wave signals are respectively communicated with the adjacent monitoring and positioning devices to acquire the time when the other party acquires the partial discharge magnetic wave signals and the position data of the other party; the two monitoring and positioning devices which collect partial discharge magnetic wave signals first are determined by comparing the receiving time of the partial discharge magnetic wave signals between every two adjacent monitoring and positioning devices, communication is carried out between the two monitoring and positioning devices which collect the partial discharge magnetic wave signals first, the acquisition time of the partial discharge magnetic wave signals of the opposite party and the position data of the opposite party are obtained, and then the position relation between the monitoring and positioning devices which collect the partial discharge magnetic wave signals first and the partial discharge position point is calculated by using a time difference method;
In step S3, the monitoring and positioning devices on two sides of the partial discharge position point respectively walk towards the partial discharge position point, and meanwhile, the distances between the monitoring and positioning devices and other monitoring and positioning devices are respectively acquired; each monitoring and positioning device walks to the position of the maximum amplitude of the electromagnetic wave signal or stops when the monitoring and positioning device collides with other monitoring and positioning devices, and stops when the monitoring and positioning device arrives at the position of the maximum amplitude of the electromagnetic wave signal, namely arrives at the partial discharge position point, and stops when the monitoring and positioning device collides with other monitoring and positioning devices, namely stops at the position close to the maximum amplitude of the electromagnetic wave signal; in step S5, the stop information further includes vehicle body stop cause data.
2. The method of claim 1, wherein in the GIL tube rack space electromagnetic wave monitoring and positioning system, a plurality of running tracks are arranged in the GIL tube rack, and adjacent monitoring and positioning devices respectively move on different running tracks.
3. The method of claim 1, wherein the monitoring and positioning device comprises a vehicle body and a detection and positioning module mounted on the vehicle body; the vehicle body comprises a traveling mechanism and a traveling driving mechanism;
the detection positioning module comprises a control unit, a positioning unit, an electromagnetic wave signal sensor, an amplitude detection and storage unit and a communication unit;
The control unit controls the running of the vehicle body running mechanism by controlling the running of the running driving mechanism;
the positioning unit collects real-time position data of the vehicle body and transmits the real-time position data to the control unit;
The electromagnetic wave signal sensor collects electromagnetic wave signals in the GIL pipe gallery and transmits the signals to the amplitude detection and storage unit;
The amplitude detection and storage unit detects and stores the amplitude of the received electromagnetic wave signal, stores the receiving time of the corresponding electromagnetic wave signal, and transmits the electromagnetic wave amplitude and the receiving time data to the control unit;
the control unit communicates with an external device connection via the communication unit.
4. A method according to claim 3, wherein the detection and positioning module of the detection and positioning device further comprises an infrared ranging sensor; the monitoring and positioning device detects the distance between the monitoring and positioning device and other monitoring and positioning devices through the infrared ranging sensor, sends the distance to the control unit, and controls the vehicle body to stop walking when the distance is smaller than a set distance threshold value.
5. A method according to claim 3, wherein the detection and positioning module of the detection and positioning device further comprises an alarm unit, and the control unit controls the alarm unit to output an alarm signal.
6. The method according to claim 1, wherein the telescopic mechanism of the monitoring and positioning device comprises a telescopic arm and a telescopic driving member, the telescopic arm is vertically mounted on the vehicle body, the electromagnetic wave signal sensor is fixed at the top end of the telescopic arm, and the control unit controls the telescopic driving member to act so as to control the telescopic arm to stretch and retract.
7. A method according to claim 3, wherein in the detection positioning module of the detection positioning device:
The amplitude detection and storage unit adopts an oscilloscope with a storage function;
the electromagnetic wave signal sensor adopts a bidirectional electromagnetic wave signal sensor, and two signal receiving ends of the bidirectional electromagnetic wave signal sensor face towards two ends of the GIL pipe gallery respectively.
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| CN109683071A (en) * | 2018-12-24 | 2019-04-26 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Fast-positioning device and method after a kind of three support insulator discharge fault of GIL equipment |
| CN109541415A (en) * | 2018-12-29 | 2019-03-29 | 广州供电局有限公司 | Partial discharge detection device |
| CN111106424A (en) * | 2019-12-06 | 2020-05-05 | 国网江苏省电力有限公司检修分公司 | Adjustable spiral ground penetrating radar antenna |
| CN112130043B (en) * | 2020-09-25 | 2023-07-04 | 华北电力大学 | GIL post insulator burst fault early warning system and algorithm |
| CN116667213B (en) * | 2023-07-31 | 2024-01-23 | 广东电网有限责任公司佛山供电局 | Subsidence monitoring and adjusting device, system, method and medium for GIL pipeline |
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