CN108761282B - Ultrasonic partial discharge automatic diagnosis system and method based on robot - Google Patents
Ultrasonic partial discharge automatic diagnosis system and method based on robot Download PDFInfo
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- CN108761282B CN108761282B CN201810347442.1A CN201810347442A CN108761282B CN 108761282 B CN108761282 B CN 108761282B CN 201810347442 A CN201810347442 A CN 201810347442A CN 108761282 B CN108761282 B CN 108761282B
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 121
- 238000007689 inspection Methods 0.000 claims abstract description 53
- 238000009413 insulation Methods 0.000 claims abstract description 8
- 208000028659 discharge Diseases 0.000 claims description 113
- 239000004519 grease Substances 0.000 claims description 22
- 229920001296 polysiloxane Polymers 0.000 claims description 22
- 239000000523 sample Substances 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000002405 diagnostic procedure Methods 0.000 claims description 8
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- 238000005507 spraying Methods 0.000 claims description 7
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- 238000012360 testing method Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 238000013500 data storage Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 239000002923 metal particle Substances 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
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Abstract
The invention discloses an ultrasonic partial discharge automatic diagnosis system and method based on a robot, wherein the system comprises an ultrasonic partial discharge automatic detection device and partial discharge detection and diagnosis system software, wherein the ultrasonic partial discharge automatic detection device is arranged on a mechanical arm of a patrol robot, and the partial discharge detection and diagnosis system software is communicated with the patrol robot; the ultrasonic partial discharge automatic detection device is used for detecting a partial discharge signal of the GIL/GIS equipment, and transmitting data to partial discharge detection and diagnosis system software through the inspection robot; the partial discharge detection and diagnosis system software is used for establishing tasks, commanding the inspection robot to execute inspection work according to the tasks, receiving data transmitted by the inspection robot, and storing, displaying and diagnosing. The automatic detection device implements an intelligent inspection task to finish the insulation performance detection work of the GIL/GIS equipment, and the method can effectively find accident hidden trouble of the GIL/GIS equipment and ensure the safe operation of the GIL/GIS equipment.
Description
Technical Field
The invention relates to the technical field of insulation detection of power equipment, in particular to an ultrasonic partial discharge automatic diagnosis system and method based on a robot.
Background
Gas-insulated Metal-enclosed power transmission line GIL (Gas-insulated Metal-enclosed Transmission Line, GIL), also called "pipe bus", is a kind of SF 6 Gas or SF 6 And N 2 The insulating gas mixture is used as an insulating medium, the grounding shell and the inner tubular conductor are coaxially arranged in the high-current and high-voltage power transmission equipment, the electric quantity equivalent to the transmission of an aerial transmission line is realized, and the ultra-long-distance GIL high-capacity transmission is more and more widely applied, so that the safe operation of the GIL is critical to an electric power system, and the local discharge detection of the GIL equipment must be enhanced and paid attention to in order to ensure the safe operation of the GILAnd (5) measuring. The partial discharge is a phenomenon that in an insulation system of an electric power device, a partial region of the electric power device is discharged and leaked due to cracks, air gaps, needle-shaped protrusions, freely movable metal particles, suspended potential bodies existing in or around the metal particles, poor contact between conductors, and the like. GIL can appear floating potential body or free metal body discharge of certain length in operation, and the insulation defect that produces in the generating line also can cause corona discharge. Free metal particles are a major factor in reducing the insulating properties of GIL devices, and these problems can lead to GIL failure during operation. In certain cases, some partial discharge phenomena may exist for a long time, and each time partial discharge occurs, the GIL insulation is damaged, and when such damage is accumulated to a certain extent, the GIL equipment is finally damaged.
Because the GIL equipment is long in distance, the sensor network is not convenient to be arranged on a large scale to implement on-line monitoring, meanwhile, because the GIL equipment is provided with a plurality of points to be tested and different in the height of the tested parts, the detection workload is large, and the manual detection is high in cost, low in efficiency and unfavorable for data integration. In addition, because the flange surface of the long-distance GIL device adopts a fully-metal closed design, the partial discharge detection of the GIL cannot be performed by adopting an ultrahigh frequency method.
In addition, along with the continuous improvement of the voltage level of the power system in China, the volume and the use quantity of Gas-insulated Metal-enclosed switchgear (Gas-insulated Metal-enclosed Switchgear) in a transformer substation are also continuously increased, the workload of conventional manual detection is huge, and if the intelligent robot can be adopted to automatically patrol and finish the work, the working efficiency and the detection effect are greatly improved.
Disclosure of Invention
Aiming at the problems that the existing long-distance GIL and large-volume GIS equipment is inconvenient to implement on-line monitoring, the manual inspection cost is high, the efficiency is low, the ultra-high frequency method detection cannot be adopted, and the like, the invention provides an ultrasonic partial discharge automatic diagnosis system and a method based on a robot. The method is safe, efficient and low in cost, meanwhile, accident potential of the GIL/GIS equipment can be effectively found, and safe operation of the GIL/GIS equipment is guaranteed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention discloses an ultrasonic partial discharge automatic diagnosis system based on a robot, which is characterized by comprising an ultrasonic partial discharge automatic detection device and partial discharge detection and diagnosis system software, wherein the ultrasonic partial discharge automatic detection device is arranged on a mechanical arm of a patrol robot, and the partial discharge detection and diagnosis system software is communicated with the patrol robot; the ultrasonic partial discharge automatic detection device is used for detecting a partial discharge signal of the GIL/GIS equipment, and transmitting data to partial discharge detection and diagnosis system software through the inspection robot; the local discharge detection and diagnosis system software is deployed in a background server and is used for establishing tasks, commanding the inspection robot to execute inspection work according to the tasks, receiving data transmitted by the inspection robot, and storing, displaying and diagnosing the data so as to obtain the insulation state of the GIL/GIS equipment; the ultrasonic partial discharge automatic detection device comprises a telescopic rotating structure unit, a comprehensive control unit, a sliding telescopic arm, a rotating arm, a silicone grease spraying and erasing unit and a connecting mechanism unit; the comprehensive control unit is connected with the inspection robot through the telescopic rotating structure unit and the connecting mechanism unit; the sliding telescopic arm is arranged on one side of the integrated control unit and can stretch back and forth in a sliding mode, the rotating arm is arranged at the tail end of the sliding telescopic arm and can rotate in the side plane of the sliding telescopic arm, the silicone grease spraying and erasing unit is arranged on the upper portion of the outer end of the rotating arm, and a partial discharge ultrasonic sensor is arranged on the end face of the rotating arm.
And a spring device which is used for tightly adhering to the surface of the GIL/GIS equipment when the ultrasonic probe of the partial discharge ultrasonic sensor detects is arranged between the partial discharge ultrasonic sensor and the rotating arm.
The ultrasonic partial discharge automatic detection device adopts an RS485 interface, an Ethernet interface and a wireless module interface to communicate with the inspection robot.
The power supply of the ultrasonic partial discharge automatic detection device adopts a 24V lithium battery, and is powered by the inspection robot body.
The partial discharge detection and diagnosis system software comprises system software, partial discharge detection and diagnosis system service and a database, wherein the system software is used for displaying data, managing files and patrol tasks; the partial discharge detection and diagnosis system service is deployed in a server and is used for providing a partial discharge diagnosis algorithm, a big data algorithm and a data analysis algorithm service interface for system software to call; the system software is separated from the partial discharge detection and diagnostic system service design.
The system software inputs the information of the point to be tested of the GIL/GIS equipment to establish a patrol task, the patrol robot is communicated with the patrol robot through WiFi, the patrol robot is instructed to execute the patrol work, the patrol robot advances along the patrol track of the GIL/GIS equipment, the patrol robot sequentially reaches each point to be tested to execute the partial discharge detection work, the data is transmitted back to the system software after the detection is completed, and the system software realizes the storage, the display and the diagnosis of the data.
The invention relates to a diagnosis method of an ultrasonic partial discharge automatic diagnosis system based on a robot, which comprises the following steps:
(1) The inspection robot moves to a 1 st point to be tested in the GIL/GIS pipe gallery, a mechanical arm on the ultrasonic partial discharge automatic detection device acts, the ultrasonic partial discharge automatic detection device carried on the mechanical arm is attached to the surface of the point to be tested, the inspection robot sends an acquisition instruction, the ultrasonic partial discharge automatic detection device starts to acquire data after receiving the acquisition instruction, and at the same time, the inspection robot periodically inquires whether the ultrasonic partial discharge automatic detection device finishes acquisition, and after receiving the completion feedback, the inspection robot starts to acquire data from the ultrasonic partial discharge automatic detection device, and the data acquisition is completed, and the inspection robot transmits the acquired data to partial discharge detection and diagnosis system software;
(2) The ultrasonic partial discharge automatic detection device carries a set quantity of silicone grease, before each point to be detected is detected, after each set number of detection tasks are completed, the inspection robot executes silicone grease smearing actions, the ultrasonic probe of the partial discharge ultrasonic sensor is smeared with silicone grease, and when the detection of the test point is completed, the inspection robot executes silicone grease wiping actions, and residual silicone grease on the surface of the tested point is wiped;
(3) The partial discharge detection and diagnosis system software stores, analyzes and diagnoses the received data, when the diagnosis is abnormal, sends an instruction to instruct the inspection robot to enter a precise detection mode, takes the current abnormal point A to be detected as a base point, detects N point positions in a surrounding D range, uploads the data to a background server, diagnoses the N point position data to obtain the most serious abnormal point position B, takes the B point as the base point, detects the N point positions in the surrounding D/2 range, uploads the data to the background server, diagnoses the N point position data, finally finds the most serious abnormal point position, and completes the precise detection work; and the inspection robot sequentially detects each point to be tested according to the inspection task requirement until the last point, and finally completes one-time inspection task.
In the step (1), the ultrasonic partial discharge automatic detection device sequentially collects AE amplitude, AE waveform, AE pulse and AE phase spectrum data.
In the step (2), the value of D is 0.5m, and the value of N is 8.
The beneficial effects of the invention are as follows: (1) The labor intensity of detection personnel is reduced, and the working efficiency is improved; (2) forming a robot-based intelligent inspection system; (3) the normalization and the accuracy of the partial discharge test are improved; (4) The method provides storage, analysis and diagnosis of the GIL/GIS equipment data record, provides basis for state maintenance, and effectively promotes the intelligent process of ultrasonic partial discharge live detection of the GIL/GIS equipment.
Drawings
FIG. 1 is a schematic view of an ultrasonic partial discharge automatic detection device mounted on a inspection robot;
FIG. 2 (a) is a schematic front view of an ultrasonic partial discharge automatic detection device;
FIG. 2 (b) is a schematic side-view of an ultrasonic partial discharge automatic detection device;
FIG. 2 (c) is a schematic front view of an ultrasonic partial discharge automatic detection device;
FIG. 3 is a schematic perspective view of an ultrasonic partial discharge automatic detection device;
FIG. 4 (a) is a schematic radial cross-sectional view of a GIL lane with an ultrasonic partial discharge automatic inspection device mounted on a roller robot;
FIG. 4 (b) is a schematic radial cross-sectional view of the GIL pipe rack with the ultrasonic partial discharge automatic inspection device mounted on the rail robot;
FIG. 5 is a schematic diagram of a robot-based ultrasonic partial discharge automatic diagnostic system of the present invention;
FIG. 6 is a schematic diagram of the operation flow of the automatic ultrasonic partial discharge detection and diagnosis system according to the present invention;
FIG. 7 is a schematic axial cross-sectional view of a GIL pipe rack with an ultrasonic partial discharge automatic detection device mounted on a roller mobile robot;
the reference numerals in the drawings: 1. inspection robot; 2. a telescopic rotating structure unit; 3. a comprehensive control unit; 4. sliding the telescopic arm; 5. a rotating arm; 6. a silicone grease spraying and erasing unit; 7. a partial discharge ultrasonic sensor; 8. and a connection mechanism unit.
Detailed Description
The invention is further described below in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
The unit realizes real-time state monitoring and control of the detection device, can measure and feed back the positions of the robot and the ultrasonic probe and the distance between the ultrasonic probe and the detected object, monitors whether the working state of the device is normal, automatically checks whether each detection unit correctly executes the detection step, feeds back the contact pressure of the ultrasonic probe and the pipeline, thereby ensuring that the detection work is normally carried out, and acquiring correct detection data without damaging equipment and instruments. The unit also realizes information interaction with the outside, and obtains a diagnosis result by transmitting data to a remote server and analyzing the data in the server through diagnosis system software. At the same time, the unit is able to store a certain amount of detection information so as not to cause data loss in case of a sudden failure of the device.
The software design consists of 3 parts: the system comprises partial discharge detection and diagnosis system software, partial discharge detection and diagnosis system service and a database, wherein the partial discharge detection and diagnosis system software is mainly used for displaying data, managing files and routing inspection tasks, and the partial discharge detection and diagnosis system service is deployed in a server and is used for providing algorithm service interfaces such as a partial discharge diagnosis algorithm, a big data algorithm, data analysis and the like for the partial discharge detection and diagnosis system software to call, and the partial discharge detection and diagnosis system software is separated from the partial discharge detection and diagnosis system service design, so that the system is more modularized and clear and has the characteristics of simplicity in maintenance, good expandability and the like. The partial discharge detection and diagnosis system software inputs information of points to be tested of the GIL/GIS equipment to establish a patrol task, the information is communicated with the patrol robot 1 through WiFi, the patrol robot 1 is commanded to execute patrol work, the patrol robot 1 advances along a patrol track of the GIL/GIS equipment, the partial discharge detection work is sequentially carried out after each point to be detected is reached, after detection is completed, data are transmitted back to the partial discharge detection and diagnosis system software, and the system software can realize functions of analyzing, storing, analyzing, displaying, diagnosing and the like of the data.
The system uses the inspection robot 1 to carry an ultrasonic partial discharge automatic detection device to detect the partial discharge signal of the GIL/GIS equipment, thereby realizing the purpose of detecting the insulation state of the GIL/GIS equipment.
The detection and diagnosis device is specifically as follows:
referring to fig. 1, the ultrasonic partial discharge automatic detection device comprises a telescopic rotating structure unit 2, a comprehensive control unit 3, a sliding telescopic arm 4, a rotating arm 5, a silicone grease spraying and erasing unit 6 and a connecting mechanism unit 8; the comprehensive control unit 3 is connected with the inspection robot 1 through the telescopic rotating structure unit 2 and the connecting mechanism unit 8; the sliding telescopic arm 4 is arranged on one side of the integrated control unit 3 and can stretch back and forth in a sliding mode, the rotating arm 5 is arranged at the tail end of the sliding telescopic arm 4 and can rotate in the side plane of the sliding telescopic arm 4, the silicone grease spraying and erasing unit 6 is arranged on the upper portion of the outer end of the rotating arm 5, and the end face of the rotating arm 5 is provided with a partial discharge ultrasonic sensor 7.
The integrated control unit 3 is connected with the wheeled robot 1 through the telescopic rotating structure unit 2 and the connecting mechanism unit 8.
The unit realizes real-time state monitoring and control of the detection device, can measure and feed back the positions of the robot and the ultrasonic probe and the distance between the ultrasonic probe and the detected object, monitors whether the working state of the device is normal, automatically checks whether each detection unit correctly executes the detection step, feeds back the contact pressure of the ultrasonic probe and the pipeline, thereby ensuring that the detection work is normally carried out, and acquiring correct detection data without damaging equipment and instruments. The unit also realizes information interaction with the outside, and obtains a diagnosis result by transmitting data to a remote server and analyzing the data in the server through diagnosis system software. At the same time, the unit is able to store a certain amount of detection information so as not to cause data loss in case of a sudden failure of the device.
Fig. 2 (a), 2 (b), 2 (c) and 3 show schematic views of GIL/GIS partial discharge detection and diagnosis apparatuses, and a sliding telescopic arm 4 is installed on the right side of the integrated control unit 3 and can slide back and forth. The rotating arm 5 is mounted at the end of the sliding telescopic arm 4 and can rotate in the side plane of the sliding telescopic arm 4.
As shown in fig. 4 (a) and 4 (b), the detection device is mounted on a wheeled robot or a rail robot. When the robot is installed on the wheeled robot 1, the robot moves forwards on the ground in the pipe gallery, and the laser radar and the position control unit in the comprehensive control unit 3 ensure that the robot moves in the pipe gallery according to a correct advancing route and the mechanical arm is in effective contact with a test point. When the robot is installed on a track robot, the robot advances along the top track, the position of the robot can be determined by a position sensor, and a local discharge sensor at the end of the laser radar control mechanical arm is contacted with a test point.
The detection and diagnostic method is embodied as shown in fig. 5 and 6. The background server runs partial discharge detection and diagnosis system software, a patrol task is created for the first time, information of each point to be tested of the GIL/GIS equipment is recorded and then stored for the next multiplexing, the software is communicated with the patrol robot 1 through WiFi, the robot is instructed to execute the patrol task, and the robot starts to execute the patrol task along the patrol track of the GIL/GIS equipment.
As shown in fig. 7, the robot travels to the 1 st point to be tested in the GIL/GIS pipe rack, the mechanical arm on the ultrasonic partial discharge automatic detection device acts, the ultrasonic partial discharge automatic detection device carried on the mechanical arm is attached to the surface of the point to be tested with moderate pressure, the robot sends a collection instruction, the ultrasonic partial discharge automatic detection device starts to collect data after receiving the collection instruction, and sequentially collects AE amplitude, AE waveform, AE pulse and AE phase map data, and meanwhile, the robot inquires the ultrasonic partial discharge automatic detection device at regular time whether the collection is completed or not, after the feedback is received, the robot starts to acquire data to the ultrasonic partial discharge automatic detection device, the data acquisition is completed, and the robot transmits the collected data to the remote server through WiFi.
The ultrasonic partial discharge automatic detection device carries a certain amount of silicone grease, before each point to be detected is detected, after a certain number of detection tasks are completed, the robot executes silicone grease smearing action, and an ultrasonic sensor ultrasonic probe is smeared with a proper amount of silicone grease, so that the ultrasonic sensor probe is more tightly attached to the surface of the point to be detected, the acquisition of ultrasonic signals is facilitated, and when the detection of the test point is completed, the robot executes silicone grease wiping action to try to erase the silicone grease remained on the surface of the tested point.
The remote server stores, analyzes and diagnoses the received data, when the diagnosis is abnormal, an instruction is sent to instruct the robot to enter a precise measurement mode, 8 point positions in the range of 0.5m around the current abnormal point A to be tested are detected to be used as base points, the 8 point position data are uploaded to the background server, the 8 point position data are diagnosed to obtain the point position B with the most serious abnormality, the point B is used as base points, the 8 point position data in the range of 0.25m around the detection are uploaded to the background server, the 8 point position data are diagnosed, and finally the point position with the most serious abnormality is found, so that the precise measurement work is completed. And the robot sequentially detects each point to be tested according to the requirements of the inspection task until the point to be tested is the last point, and finally completes one-time inspection task.
The foregoing is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the foregoing embodiment, and all technical solutions belonging to the principles of the present invention are within the protection scope of the present invention. Modifications which would occur to those skilled in the art without departing from the principles of the invention are also intended to be included within the scope of the invention.
Claims (6)
1. A diagnostic method of a robot-based ultrasonic partial discharge automatic diagnostic system, the automatic diagnostic system comprising: an ultrasonic partial discharge automatic detection device mounted on a mechanical arm of the inspection robot (1) and partial discharge detection and diagnosis system software communicated with the inspection robot (1);
the ultrasonic partial discharge automatic detection device is used for detecting a partial discharge signal of the GIL/GIS equipment, and transmitting data to partial discharge detection and diagnosis system software through the inspection robot (1);
the partial discharge detection and diagnosis system software is deployed in a background server and is used for establishing tasks, commanding the inspection robot (1) to execute inspection work according to the tasks, receiving data transmitted by the inspection robot (1), and storing, displaying and diagnosing the data so as to obtain the insulation state of GIL/GIS equipment;
the ultrasonic partial discharge automatic detection device comprises a telescopic rotating structure unit (2), a comprehensive control unit (3), a sliding telescopic arm (4), a rotating arm (5), a silicone grease spraying and erasing unit (6) and a connecting mechanism unit (8); the comprehensive control unit (3) is connected with the inspection robot (1) through the telescopic rotating structure unit (2) and the connecting mechanism unit (8); the sliding telescopic arm (4) is arranged on one side of the comprehensive control unit (3) and can slide back and forth to stretch, the rotary arm (5) is arranged at the tail end of the sliding telescopic arm (4) and can rotate in the side plane of the sliding telescopic arm (4), the silicone grease spraying and erasing unit (6) is arranged at the upper part of the outer end of the rotary arm (5), and a partial discharge ultrasonic sensor (7) is arranged on the end face of the rotary arm (5);
the partial discharge detection and diagnosis system software comprises system software, partial discharge detection and diagnosis system service and a database, wherein the system software is used for displaying data, managing files and patrol tasks; the partial discharge detection and diagnosis system service is deployed in a server and is used for providing a partial discharge diagnosis algorithm, a big data algorithm and a data analysis algorithm service interface for system software to call; the system software is separated from the partial discharge detection and diagnosis system service design;
the system software inputs information of points to be tested of GIL/GIS equipment to establish a patrol task, the system software communicates with the patrol robot (1) through WiFi, the patrol robot (1) is instructed to execute patrol work, the patrol robot (1) advances along a patrol track of the GIL/GIS equipment, the system software sequentially reaches each point to be tested to execute partial discharge detection work, data are transmitted back to the system software after detection is completed, and the system software realizes data storage, display and diagnosis;
the diagnostic method comprises the steps of:
step (1): the inspection robot (1) moves to a 1 st point to be tested in the GIL/GIS pipe gallery, a mechanical arm on the ultrasonic partial discharge automatic detection device acts, the ultrasonic partial discharge automatic detection device carried on the mechanical arm is attached to the surface of the point to be tested, the inspection robot (1) sends an acquisition instruction, the ultrasonic partial discharge automatic detection device starts to acquire data after receiving the acquisition instruction, meanwhile, the inspection robot (1) inquires the ultrasonic partial discharge automatic detection device at regular time whether the acquisition is completed or not, after the feedback is completed, the acquisition of the data to the ultrasonic partial discharge automatic detection device is started, the data acquisition is completed, and the inspection robot (1) transmits the acquired data to partial discharge detection and diagnosis system software;
step (2): the ultrasonic partial discharge automatic detection device carries a set quantity of silicone grease, before each point to be detected is detected, after each set detection task is completed, the inspection robot (1) executes silicone grease smearing action, an ultrasonic probe of the partial discharge ultrasonic sensor (7) smears silicone grease, and when the detection of a test point is completed, the inspection robot (1) executes silicone grease wiping action, so that the silicone grease remained on the surface of the tested point is erased;
step (3): the partial discharge detection and diagnosis system software stores, analyzes and diagnoses the received data, when the diagnosis is abnormal, an instruction is sent to instruct the inspection robot (1) to enter a precise detection mode, the current abnormal point A to be detected is taken as a base point, N point data in a surrounding D range are detected and uploaded to a background server, the N point data are diagnosed to obtain a point B with the most serious abnormality, the point B is taken as a base point, N point data in a surrounding D/2 range are detected and uploaded to the background server, the N point data are diagnosed, finally the most serious abnormal point is found, and the precise detection work is completed; and the inspection robot (1) sequentially detects each point to be tested according to the inspection task requirement until the point to be tested is last, and finally completes one-time inspection task.
2. The diagnostic method of the robot-based ultrasonic partial discharge automatic diagnostic system according to claim 1, wherein in step (1), the ultrasonic partial discharge automatic detection device sequentially acquires AE amplitude, AE waveform, AE pulse, and AE phase map data.
3. The diagnostic method of the robot-based ultrasonic partial discharge automatic diagnostic system according to claim 1, wherein in the step (3), the value of D is 0.5m and the value of N is 8.
4. The diagnostic method of the robot-based ultrasonic partial discharge automatic diagnostic system according to claim 1, wherein a spring device for tightly adhering to the surface of the GIL/GIS device when the ultrasonic probe of the partial discharge ultrasonic sensor (7) detects is provided between the partial discharge ultrasonic sensor (7) and the rotating arm (5).
5. The diagnostic method of the robot-based ultrasonic partial discharge automatic diagnostic system according to claim 1, wherein the ultrasonic partial discharge automatic detection device communicates with the inspection robot (1) using an RS485 interface, an ethernet interface and a wireless module interface.
6. The diagnostic method of the robot-based ultrasonic partial discharge automatic diagnostic system according to claim 1, wherein the power supply of the ultrasonic partial discharge automatic detection device adopts a 24V lithium battery, and is powered by the body of the inspection robot (1).
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| CN109655720B (en) * | 2018-12-18 | 2020-12-01 | 杭州听测科技有限公司 | Partial discharge detection method and device based on two-dimensional sensor array |
| CN109541415A (en) * | 2018-12-29 | 2019-03-29 | 广州供电局有限公司 | Partial discharge detection device |
| CN110793569A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Fire-fighting robot carries on hazardous gas detecting system |
| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
| CN112014703A (en) * | 2020-08-31 | 2020-12-01 | 常州信息职业技术学院 | Robot inspection method under abnormal local discharge current of power pipe gallery |
| CN112285503B (en) * | 2020-10-26 | 2023-04-14 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL partial discharge detection device |
| CN112285502A (en) * | 2020-10-26 | 2021-01-29 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL equipment state detection device |
| CN114878994B (en) * | 2022-07-11 | 2022-09-27 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| CN116559604B (en) * | 2023-05-06 | 2024-08-02 | 上海莫克电子技术有限公司 | Intelligent mobile inspection device, inspection system and control method |
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