CN109142999A - The position detecting device and method of substation's shelf depreciation inspection positioning device - Google Patents
The position detecting device and method of substation's shelf depreciation inspection positioning device Download PDFInfo
- Publication number
- CN109142999A CN109142999A CN201811074436.XA CN201811074436A CN109142999A CN 109142999 A CN109142999 A CN 109142999A CN 201811074436 A CN201811074436 A CN 201811074436A CN 109142999 A CN109142999 A CN 109142999A
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- China
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- module
- substation
- shelf depreciation
- electronic compass
- laser ranging
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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
Abstract
The invention belongs to insulation of electrical installation state inspection fields, in particular to a kind of position detecting device and method of substation's shelf depreciation inspection positioning device, the position detecting device includes laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module and ripple reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and power module form a set of integral device, the integral device is placed in the center of the aerial array of substation's shelf depreciation inspection positioning vehicle, and the ripple reflection unit is placed on substation inspection channel；The microprocessor module is connect with laser ranging module, three-dimensional electronic compass module, stepper motor module and shelf depreciation inspection positioning device respectively.The present invention can accurately measure the coordinate of each test point, so as to precise positioning Partial Discharge Sources.
Description
Technical field
The invention belongs to insulation of electrical installation state inspection field, in particular to a kind of substation's shelf depreciation inspection
The position detecting device and method of positioning device.
Background technique
Shelf depreciation occurs inside insulation of electrical installation and supervenes ultrahigh-frequency signal.Shelf depreciation occurs to obtain
The position of electrical equipment, currently used method are to build aerial array, obtain multiple groups superfrequency using high speed acquisition equipment and believe
Number, it calculates the time delay between multiple groups signal and establishes Nonlinear System of Equations, obtain local put by solving the Nonlinear System of Equations
The position of power supply.Four groups of ultrahigh-frequency signals are obtained using four omnidirectional antennas, three groups of time delays is obtained through Time Delay Estimation Algorithms, establishes
Containing there are three the Nonlinear System of Equations of equation.Theoretically the three-dimensional seat of Partial Discharge Sources can be obtained by solving this equation group
Mark.But in practical application, since antenna distance measurement error each in aerial array, ultrahigh-frequency signal acquisition device sample rate limit
System, ultrahigh-frequency signal by factors such as noise pollutions are led to time-delay calculation result there are errors, and then can not obtain accurate three-dimensional
Coordinate.The actual running results show to be only capable of obtaining Partial Discharge Sources relative to monitoring point (antenna by solving Nonlinear System of Equations
Array center) two-dimensional directional.Currently, integral device is placed in inspection vehicle, people by the shelf depreciation positioning device of commercialization
Work drives to carry out multiple spot detection on substation inspection channel.For the accurate location for obtaining Partial Discharge Sources, it usually needs carry out
The measurement of multiple measuring points, to obtain multiple directions angle, multiple directions intersect the accurate location for obtaining Partial Discharge Sources.Therefore accurate
The coordinate for measuring each test point is the key that precise positioning Partial Discharge Sources.But current power transformation shelf depreciation inspection positioning
Device is not yet equipped with special test point coordinate measuring set.
Currently, widely used substation's infrared imaging crusing robot is often led with magnetic tracks navigation, inertial navigation, GPS
Boat and vision guided navigation.Track navigate need early period it is pre- be laid with track, not only efforts amount is larger but also can only rest in and overlays
It is marked with the position of label, does not meet the demand of Partial Discharge Detection；Inertial navigation needs that a large amount of unlimited signal is arranged in substation
R-T unit, stability are relatively poor；For the positioning accuracy of GPS navigation at 2-10 meters, error is larger and dangerous.Vision guided navigation by
Extraneous light intensity influence is very big, is not suitable for the navigation of open type substation.Therefore, it air navigation aid described above and is not suitable for
In substation's shelf depreciation inspection vehicle test point measurement of coordinates.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of position of substation's shelf depreciation inspection positioning device
Detection device and method are set, the coordinate of each test point can be measured, accurately so as to precise positioning Partial Discharge Sources.
To achieve the goals above, the following technical solution is employed by the present invention:
The present invention provides a kind of position detecting device of substation's shelf depreciation inspection positioning device, the position detection dress
It sets including laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module and wave
Line reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and power supply
Module forms a set of integral device, which is placed in the aerial array of substation's shelf depreciation inspection positioning vehicle
The heart, the ripple reflection unit are placed on substation inspection channel；The microprocessor module respectively with laser ranging module,
Three-dimensional electronic compass module, stepper motor module are connected with shelf depreciation inspection positioning device；The power module is Laser Measuring
Power supply is provided away from module, microprocessor module, stepper motor module and three-dimensional electronic compass module.
Further, the center of the three-dimensional electronic compass module is overlapped with the measurement initial position of laser ranging module,
And the Laser emission direction of laser ranging module is consistent with 0 degree of direction of three-dimensional electronic compass module.
Further, the axis of rotation of the stepper motor module is overlapped with the center of three-dimensional electronic compass module.
Further, the ripple reflection unit uses laser reflection face.
The present invention also provides a kind of method for detecting position of substation's shelf depreciation inspection positioning device, include following step
It is rapid:
Step 1, two-dimensional coordinate system is established in substation；
Step 2, ripple reflection unit is placed in coordinate origin, the ripple ginseng of the record single reflecting surface of ripple reflection unit
Number M (n), n=0,1,2,3 ..., n ..., N, N are ripple reflecting surface discretization points；
Step 3, substation's shelf depreciation inspection positioning vehicle is manually driven to carry out shelf depreciation in substation inspection channel
Detection start the measurement that the position detecting device carries out test point coordinate after detecting effective ultrahigh-frequency signal；
Step 4, three-dimensional electronic compass module is calibrated；
Step 5, driving stepper motor carries out 360 degree rotation, and starts laser ranging module, and laser ranging mould is read in timing
The distance measurement result of block output and the deflection of three-dimensional electronic compass module output；
Step 6, using dynamic time warpping algorithm calculate laser ranging module output different angle multiple distance measurement results with
The minimum space distance of the ripple parameter M (n) of the single reflecting surface of ripple reflection unit；
Step 7, the multiple minimum space distances obtained from step 6 extract minimum value, in conjunction with corresponding deflection, according to
Geometrical relationship calculates the coordinate of inspection positioning vehicle antenna array center.
Further, the step 1 establishes two-dimensional coordinate system in substation specifically:
The right-angled intersection for choosing substation inspection channel is coordinate origin, selects direct north for y-axis direction, is selected
Due east direction is x-axis direction.
Further, detailed process is as follows for the step 5:
It drives stepper motor to carry out 360 degree rotation, angular velocity of rotation V, and starts laser ranging module, its work is set
Mode is continuous measurement pattern, and the distance measurement result L of laser ranging module output is read at interval of time TiAnd three-dimensional electronic
The deflection θ of compass module outputi, it is denoted as L (θi)。
Further, the specific calculating process of the step 6 is as follows:
Successively intercept L (θi) in continuous Q point L (θi)~L (θi+Q) it is denoted as Lk(j), L is calculated using dynamic time warpping algorithmk(j)
With the minimum space distance of M (n), wherein 0≤j≤Q；
Step 601, L is rejected firstk(j) it is greater than 100 numerical value in, uses Lk(j) minimum value min (Lk(j)) substitution is rejected
Point, then to Lk(j) it is normalized, shown in normalization processing method such as formula (1), Lk(J)norFor normalized knot
Fruit；
Step 602, L is constructedk(j)norWith the Euclidean distance matrix D of M (n)j×n, as shown in formula (2), in formula
Step 603, it is planned according to formula (3) from d11To dJNBetween optimal path WP, wherein d11=dist [Lk(1)nor,M
(1)]；
Step 604, L is calculated according to formula (4), (5)k(j)norMinimum space distance between M (n), wherein H=max
(N,Q)；
Wh=d(hj)(hn)
(5)。
Further, detailed process is as follows for the step 7:
It obtains 360/V/T minimum space distance altogether by step 6, extracts the minimum value in 360/V/T group, be denoted as L
(j)min, record the distance L of this group of data intermediate pointminWith corresponding angle, θmin, inspection vehicle antenna array is calculated according to formula (6)
The coordinate (x, y) at column center；
Compared with prior art, the invention has the following advantages that
A kind of method for detecting position of substation's shelf depreciation inspection positioning device of the invention, utilizes laser ranging mould
Block, stepper motor module, three-dimensional electronic compass module and ripple reflection unit, realize after detecting effective high-frequency signal,
Accurately measure the coordinate of the test point.Compared with existing localization method, do not need that source detection apparatus is installed in substation, substantially
Promote the operability of detection method.The measurement accuracy of laser ranging module and three-dimensional electronic compass module is much higher than GPS, inertia
The precision of navigation, measurement result are more accurate.Laser ranging module uses a laser as ranging carrier, effectively overcomes ambient light
The influence of intensity.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural principle frame of the position detecting device of substation's shelf depreciation inspection positioning device of the invention
Figure；
Fig. 2 is a kind of structural representation of the position detecting device of substation's shelf depreciation inspection positioning device of the invention
Figure；
Fig. 3 is the schematic top plan view of ripple reflection unit；
Fig. 4 is the schematic side view of ripple reflection unit；
Fig. 5 is a kind of application scenarios of the method for detecting position of substation's shelf depreciation inspection positioning device of the invention
Figure；
Fig. 6 is the ripple normalized parameter schematic diagram of the single reflecting surface of ripple reflection unit；
Fig. 7 is the AVHRR NDVI result schematic diagram of ripple reflection unit.
Meaning representated by serial number in figure are as follows: 1. laser ranging modules, 2. microprocessor modules, 3. stepper motor modules,
4. three-dimensional electronic compass module, 5. power modules, 6. ripple reflection units, 7. shelf depreciation inspection positioning devices.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide the position detecting device and method of a kind of substation's shelf depreciation inspection positioning device,
The coordinate of each test point can accurately be measured.
Present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Embodiment one
As shown in Figure 1, a kind of position detecting device of substation's shelf depreciation inspection positioning device, the position detection dress
Set including laser ranging module 1, microprocessor module 2, stepper motor module 3, three-dimensional electronic compass module 4, power module 5 with
And ripple reflection unit 6；The laser ranging module 1, microprocessor module 2, stepper motor module 3, three-dimensional electronic compass mould
Block 4 and power module 5 form a set of integral device, which is placed in the day of substation's shelf depreciation inspection positioning vehicle
The center of linear array, the ripple reflection unit 6 are placed on substation inspection channel；The microprocessor module 2 respectively with
Laser ranging module 1, three-dimensional electronic compass module 4, stepper motor module 3 and shelf depreciation inspection positioning device 7 connect；It is described
Power module 5 is that laser ranging module 1, microprocessor module 2, stepper motor module 3 and three-dimensional electronic compass module 4 provide electricity
Source.
As shown in Fig. 2, the center of the three-dimensional electronic compass module 4 and the measurement initial position of laser ranging module 1 weight
It closes, and the Laser emission direction of laser ranging module 1 is consistent with 0 degree of direction of three-dimensional electronic compass module 4.The stepping electricity
The axis of rotation of machine module 3 is overlapped with the center of three-dimensional electronic compass module 4.
Preferably, 1 measurement accuracy of laser ranging module can carry out it by serial port less than 1 centimetre
Read-write Catrol.The stepper motor module 3 has driving circuit, can be by its action mode of Serial Port Control, minimum rotation
Angle is less than or equal to 0.9 degree.The three-dimensional electronic compass module 4 can realize self calibration by 360 ° of rotations, and azimuth is surveyed
Accuracy of measurement is less than 0.3 degree.Microprocessor module 2 has more than four serial ports, wherein three serial ports are respectively used to control
4 module of laser ranging module 1, stepper motor module 3 and three-dimensional electronic compass, the 4th serial port and shelf depreciation inspection position
Equipment 7 is communicated.As shown in Figure 3 and Figure 4, the ripple reflection unit 6 is anti-for the laser designed according to certain geometrical relationship
Penetrate face.
As shown in figure 5, the present embodiment also provides a kind of method for detecting position of substation's shelf depreciation inspection positioning device,
Comprising the following steps:
Step S101 establishes two-dimensional coordinate system in substation, selects certain point as coordinate origin.Under normal circumstances, it selects
Take substation inspection channel right-angled intersection be coordinate origin, select direct north for y-axis direction, select due east direction for
X-axis direction；
Ripple reflection unit 6 is placed in coordinate origin, the length of the single reflecting surface of ripple reflection unit 6 by step S102
Degree is no more than 1.5 meters, as shown in fig. 6, the ripple parameter M (n), n=0,1 of the record single reflecting surface of ripple reflection unit 6,2,
3 ..., n ..., N, N are ripple reflecting surface discretization points；The reflecting surface discretization points of 1.5 meters long of setting are P point；
Step S103 manually drives substation's shelf depreciation inspection positioning vehicle to carry out part in substation inspection channel and puts
The detection of electricity starts the measurement that the position detecting device carries out test point coordinate after detecting effective ultrahigh-frequency signal；
Step S104, setting three-dimensional electronic compass module 4 enter calibration procedure, and driving stepper motor carries out 360 degree rotation,
Complete the calibration of three-dimensional electronic compass module 4；
Step S105, driving stepper motor carry out 360 degree rotation, and angular velocity of rotation is 1 degrees second, and starts laser ranging
Module 1, it is continuous measurement pattern that its operating mode, which is arranged, and the ranging of a laser ranging module 1 output was read at interval of 0.1 second
As a result LiThe deflection θ exported with three-dimensional electronic compass module 4i, it is denoted as L (θi)；
Step S106 successively intercepts L (θi) in continuous Q point L (θi)~L (θi+Q) it is denoted as Lk(j), dynamic time warpping algorithm is utilized
Calculate Lk(j) with the minimum space distance of M (n), wherein 0≤j≤Q, specific calculating process is as follows:
Step S1061, first rejecting Lk(j) it is greater than 100 numerical value in, uses Lk(j) minimum value min (Lk(j)) substitution is picked
The point removed, as shown in fig. 7, then to Lk(j) it is normalized, shown in normalization processing method such as formula (1), Lk(J)norFor
Normalized result；
Step S1062 constructs Lk(j)norWith the Euclidean distance matrix D of M (n)j×n, as shown in formula (2), in formula
Step S1063 is planned according to formula (3) from d11To dJNBetween optimal path WP, wherein d11=dist [Lk(1)nor,
M(1)]；
Step S1064 calculates L according to formula (4), (5)k(j)norMinimum space distance between M (n), wherein H=max
(P,Q)；
Wh=d(hj)(hn)
(5)；
Step S107 obtains 3600 minimum space distances by step 6 altogether, extracts the minimum value in 3600 groups, is denoted as L
(j)min, record the distance L of this group of data intermediate pointminWith corresponding angle, θmin, inspection vehicle antenna array is calculated according to formula (6)
The coordinate (x, y) at column center；
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. a kind of position detecting device of substation's shelf depreciation inspection positioning device, which is characterized in that the position detection dress
It sets including laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module and wave
Line reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and power supply
Module forms a set of integral device, which is placed in the aerial array of substation's shelf depreciation inspection positioning vehicle
The heart, the ripple reflection unit are placed on substation inspection channel；The microprocessor module respectively with laser ranging module,
Three-dimensional electronic compass module, stepper motor module are connected with shelf depreciation inspection positioning device；The power module is Laser Measuring
Power supply is provided away from module, microprocessor module, stepper motor module and three-dimensional electronic compass module.
2. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The center of the three-dimensional electronic compass module is overlapped with the measurement initial position of laser ranging module, and laser ranging module is sharp
Light emitting direction is consistent with 0 degree of direction of three-dimensional electronic compass module.
3. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The axis of rotation of the stepper motor module is overlapped with the center of three-dimensional electronic compass module.
4. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The ripple reflection unit uses laser reflection face.
5. a kind of position detection using the described in any item substation's shelf depreciation inspection positioning devices of Claims 1-4 4 fills
Set the method for detecting position of realization, which is characterized in that comprise the steps of:
Step 1, two-dimensional coordinate system is established in substation；
Step 2, ripple reflection unit is placed in coordinate origin, records the ripple parameter M of the single reflecting surface of ripple reflection unit
(n), n=0,1,2,3 ..., n ..., N, N are ripple reflecting surface discretization points；
Step 3, substation's shelf depreciation inspection positioning vehicle is manually driven to carry out the inspection of shelf depreciation in substation inspection channel
It surveys, after detecting effective ultrahigh-frequency signal, starts the measurement that the position detecting device carries out test point coordinate；
Step 4, three-dimensional electronic compass module is calibrated；
Step 5, driving stepper motor carries out 360 degree rotation, and starts laser ranging module, and it is defeated that laser ranging module is read in timing
The deflection of distance measurement result and the output of three-dimensional electronic compass module out；
Step 6, the multiple distance measurement results and ripple of the different angle of laser ranging module output are calculated using dynamic time warpping algorithm
The minimum space distance of the ripple parameter M (n) of the single reflecting surface of reflection unit；
Step 7, the multiple minimum space distances obtained from step 6 extract minimum value, in conjunction with corresponding deflection, according to geometry
Relationship calculates the coordinate of inspection positioning vehicle antenna array center.
6. the method for detecting position of substation's shelf depreciation inspection positioning device according to claim 5, which is characterized in that
The step 1 establishes two-dimensional coordinate system in substation specifically:
The right-angled intersection for choosing substation inspection channel is coordinate origin, selects direct north for y-axis direction, selects due east
Direction is x-axis direction.
7. the method for detecting position of substation's shelf depreciation inspection positioning device according to claim 6, which is characterized in that
Detailed process is as follows for the step 5:
It drives stepper motor to carry out 360 degree rotation, angular velocity of rotation V, and starts laser ranging module, its operating mode is set
For continuous measurement pattern, the distance measurement result L of laser ranging module output is read at interval of time TiAnd three-dimensional electronic compass
The deflection θ of module outputi, it is denoted as L (θi)。
8. the method for detecting position of substation's shelf depreciation inspection positioning device according to claim 7, which is characterized in that
The specific calculating process of the step 6 is as follows:
Successively intercept L (θi) in continuous Q point L (θi)~L (θi+Q) it is denoted as Lk(j), L is calculated using dynamic time warpping algorithmk(j) and M
(n) minimum space distance, wherein 0≤j≤Q；
Step 601, L is rejected firstk(j) it is greater than 100 numerical value in, uses Lk(j) minimum value min (Lk(j)) substitution is rejected
Point, then to Lk(j) it is normalized, shown in normalization processing method such as formula (1), Lk(J)norFor normalized knot
Fruit；
Step 602, L is constructedk(j)norWith the Euclidean distance matrix D of M (n)j×n, as shown in formula (2),
In formula
Step 603, it is planned according to formula (3) from d11To dJNBetween optimal path WP, wherein d11=dist [Lk(1)nor,M(1)]；
Step 604, L is calculated according to formula (4), (5)k(j)norMinimum space distance between M (n), wherein H=max (N, Q)；
Wh=d(hj)(hn) (5)。
9. the method for detecting position of substation's shelf depreciation inspection positioning device according to claim 8, which is characterized in that
Detailed process is as follows for the step 7:
It obtains 360/V/T minimum space distance altogether by step 6, extracts the minimum value in 360/V/T group, be denoted as L (j)min,
Record the distance L of this group of data intermediate pointminWith corresponding angle, θmin, inspection vehicle antenna array center is calculated according to formula (6)
Coordinate (x, y)；
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074436.XA CN109142999A (en) | 2018-09-14 | 2018-09-14 | The position detecting device and method of substation's shelf depreciation inspection positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074436.XA CN109142999A (en) | 2018-09-14 | 2018-09-14 | The position detecting device and method of substation's shelf depreciation inspection positioning device |
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| Publication Number | Publication Date |
|---|---|
| CN109142999A true CN109142999A (en) | 2019-01-04 |
Family
ID=64825525
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811074436.XA Withdrawn CN109142999A (en) | 2018-09-14 | 2018-09-14 | The position detecting device and method of substation's shelf depreciation inspection positioning device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111781407A (en) * | 2020-07-03 | 2020-10-16 | 四川中迪电力工程有限公司 | Special operating platform for extra-high voltage transformer partial discharge test capable of being adjusted in multiple directions |
| CN113009416A (en) * | 2021-04-08 | 2021-06-22 | 国网江苏省电力有限公司检修分公司 | Insulator detection positioning method based on laser sensor array |
| CN114034998A (en) * | 2021-11-11 | 2022-02-11 | 清华大学 | Polymer three-dimensional electrical branch and partial discharge multi-channel joint measurement method and device |
-
2018
- 2018-09-14 CN CN201811074436.XA patent/CN109142999A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111781407A (en) * | 2020-07-03 | 2020-10-16 | 四川中迪电力工程有限公司 | Special operating platform for extra-high voltage transformer partial discharge test capable of being adjusted in multiple directions |
| CN111781407B (en) * | 2020-07-03 | 2022-11-01 | 四川中迪电力工程有限公司 | Special operating platform for extra-high voltage transformer partial discharge test capable of being adjusted in multiple directions |
| CN113009416A (en) * | 2021-04-08 | 2021-06-22 | 国网江苏省电力有限公司检修分公司 | Insulator detection positioning method based on laser sensor array |
| CN113009416B (en) * | 2021-04-08 | 2024-03-12 | 国网江苏省电力有限公司检修分公司 | Insulator detection positioning method based on laser sensor array |
| CN114034998A (en) * | 2021-11-11 | 2022-02-11 | 清华大学 | Polymer three-dimensional electrical branch and partial discharge multi-channel joint measurement method and device |
| CN114034998B (en) * | 2021-11-11 | 2022-08-30 | 清华大学 | Polymer three-dimensional electrical branch and partial discharge multi-channel joint measurement method and device |
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