CN111707902A - Underground cable fault detection device and method based on infrared image - Google Patents
Underground cable fault detection device and method based on infrared image Download PDFInfo
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- CN111707902A CN111707902A CN202010531765.3A CN202010531765A CN111707902A CN 111707902 A CN111707902 A CN 111707902A CN 202010531765 A CN202010531765 A CN 202010531765A CN 111707902 A CN111707902 A CN 111707902A
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention relates to the technical field of underground cable fault detection, in particular to an underground cable fault detection device and method based on infrared images. The device comprises at least one detection node arranged at a downhole cable, wherein the at least one detection node is in data interaction with an upper computer and comprises a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module; the method is realized based on the device. The invention can better realize the fault monitoring of the underground cable and the acquisition of image data.
Description
Technical Field
The invention relates to the technical field of underground cable fault detection, in particular to an underground cable fault detection device and method based on infrared images.
Background
The current monitoring based on infrared image mainly is through unmanned aerial vehicle's mode, comes the circuit situation of real-time supervision whole cable through unmanned aerial vehicle. When the infrared detection of the electrical equipment is carried out on site, the measurement result is greatly different due to the influence of site factors such as solar radiation and the like. However, the underground environment is special, the influence of solar radiation is avoided, the measured image result is more accurate, and the circuit fault analysis is convenient, so that the infrared imaging technology has obvious advantages when being applied to the detection of an underground power supply system. But because use unmanned aerial vehicle not very good control in the pit, and the communication mode has also received very big restriction, so current infrared image's monitoring can't directly be applied to in the fault detection of cable in the pit.
Disclosure of Invention
The present invention provides an infrared image based downhole cable fault detection apparatus that overcomes some or all of the deficiencies of the prior art.
The underground cable fault detection device based on the infrared image comprises at least one detection node arranged at an underground cable, wherein the at least one detection node is in data interaction with an upper computer and comprises a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module;
the system comprises a current parameter detection module, an environment data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module, wherein the current parameter detection module is used for acquiring current parameters at a position of an underground cable in real time;
the main control module can be used for processing current parameters collected by the current parameter detection module and underground environment data collected by the environment data detection module and then sending the processed current parameters and the underground environment data to an upper computer, the upper computer can send an image acquisition instruction to the main control module when any one of the current parameters and the environment data is abnormal, the main control module can control a motor to drive an infrared image acquisition module to rotate and control the infrared image acquisition module to operate when receiving the image acquisition instruction sent by the upper computer, and the image data collected by the infrared image acquisition module can be sent to the upper computer after being processed by the main control module.
According to the invention, the detection nodes can be adaptively arranged according to the length of the underground cable, so that the underground cable can be sectionally monitored by the detection nodes; therefore, the monitoring can be carried out more quickly and accurately. In addition, because every detection node all is provided with current parameter detection module and environmental data detection module, so make the parameter of measurement abundanter for the host computer is more accurate to the judgement of trouble.
Preferably, the current parameter detection module adopts a three-phase current collection module EDA9033 which adopts a 32-bit processor and has a floating point number and DSP processing unit for collecting three-phase voltage, three-phase current, power factor, single-phase voltage, single-phase current, active power of each phase, reactive power, apparent power, power factor, fundamental active power, harmonic active power, fundamental reactive power, active power and reactive power. The current parameter detection module provides various current and voltage measuring ranges for a user to select, and the wiring mode can be a three-phase three-wire system or a three-phase four-wire system, so that the application range of the invention can be greatly expanded.
Preferably, the environmental data detection module includes a temperature sensor, a dust sensor, and a gas concentration sensor. Wherein, temperature sensor, dust sensor and gas concentration sensor can choose for use current corresponding sensor, so can detect the environmental parameter of cable department in the pit better, through the scope that sets up normal parameter in host computer department, can judge whether normal through the mode of comparison environmental parameter better.
Preferably, the infrared image acquisition module comprises an infrared camera and a motor, and the motor is used for driving the infrared camera to rotate. The infrared image data of the corresponding detection node can be better acquired through the infrared camera and is sent to the upper computer after being processed by the main control module, so that the real-time detection of the underground cable can be better realized. Through setting up the motor can adjust infrared camera's shooting visual angle better, and then can realize comparatively comprehensively taking a photograph in real time to cable in the pit better.
Preferably, the motor is provided with a magnetic grid ruler for collecting the rotation stroke of the motor, and the main control module can process data returned by the magnetic grid ruler and then send the processed data to the upper computer. Therefore, the running stroke of the motor can be recorded in real time, and the upper computer can conveniently detect the position with the fault more quickly.
Preferably, the detection node is communicated with the upper computer through an RS-485 communication module. Through the RS-485 communication module, the detection node and the upper computer can be communicated better, and the underground environment can be adapted better.
Preferably, the master control module adopts a PLC. So that the processing of the relevant data can be preferably realized.
Preferably, the upper computer is provided with an alarm unit and a manual control unit, and the alarm unit is used for giving an alarm when the parameter at any detection node is abnormal. By arranging the alarm unit, fault alarm can be realized by timely action of the alarm unit when abnormality occurs; the manual control unit is arranged, so that a user can actively control the detection node to collect corresponding infrared image data.
The invention also provides an underground cable fault detection method based on the infrared image, which comprises the following steps:
s1, arranging at least one detection node at the underground cable, and performing data interaction on the at least one detection node and an upper computer;
s2, acquiring current parameters and downhole environment data of the downhole cable in real time through a current parameter detection module and an environment data detection module which are arranged at a detection node, processing the acquired data through a main control module which is arranged at the detection node, and then sending the processed data to an upper computer;
s3, the upper computer analyzes and processes the current parameters and the underground environment data sent by the detection nodes, and sends an image acquisition instruction to the main control module at the corresponding detection node when any one of the current parameters and the environment data is abnormal;
and step S4, after the main control module at the detection node receives the image acquisition instruction, the motor is controlled by the motor driving module to drive the infrared image acquisition module to rotate and control the infrared image acquisition module to operate, and the image data acquired by the infrared image acquisition module is processed by the main control module and then is sent to the upper computer.
Through the steps S1-S4, the monitoring of related parameters of the downhole cable and the detection and troubleshooting of the fault point can be preferably realized. Specifically, the system is initialized after being started, then relevant parameters uploaded at each detection node are analyzed, and when the relevant parameters are normal, monitoring is continued; when abnormal parameters appear at any detection node, the upper computer can analyze the conditions according to the abnormal parameters and automatically or manually assist to perform corresponding fault treatment according to the analysis result; meanwhile, the upper computer can send an image acquisition instruction to the corresponding detection node, and after the detection node receives the image acquisition instruction, the detection node can control the infrared camera and the motor to act, so that the infrared image of the fault section can be acquired and analyzed, and the fault position is determined.
Preferably, in step S4, the processing of the acquired image data by the main control module includes image filtering processing and edge detection processing of the acquired image data. The infrared image acquisition module is easily interfered by a plurality of noises in the processes of image shooting and information transmission, so that the acquired infrared image is not enough to reflect a target really, and the imaging effect of the image is poor; therefore, the collected image can be better collected through image filtering processing and edge detection processing, so that the noise interference of the image is reduced, then the image edge is detected through edge detection, the image edge is the part with the most obvious gray level change in the image, and the edge detection processing is also used for detecting the image edge according to the principle.
Drawings
FIG. 1 is a block diagram schematically illustrating an infrared image-based downhole cable fault detection apparatus according to embodiment 1;
fig. 2 is a block diagram schematically illustrating a detection node in embodiment 1;
FIG. 3 is a schematic flow chart of a method for detecting a fault of a downhole cable based on an infrared image according to embodiment 1;
fig. 4 is a schematic diagram of the current parameter detection module and the environmental data detection module in embodiment 1 for data collection;
fig. 5 is a schematic diagram of the detection node in embodiment 1 for collecting an infrared image;
fig. 6 is a schematic diagram of the main control module in embodiment 1 processing the acquired image data;
fig. 7 is a schematic diagram of the image filtering process in embodiment 1.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
As shown in fig. 1, the present embodiment provides an underground cable fault detection device based on infrared images, which includes at least one detection node disposed at an underground cable, where the at least one detection node performs data interaction with an upper computer.
Wherein, it can be understood that a plurality of detection nodes can be provided at the upper computer, and all detection nodes can be distributed along the downhole cable. Because the scheme in this embodiment is to acquire the infrared image of the underground cable, and the shooting range of the infrared image that each detection node can acquire is limited. Therefore, in practical application, the number of the detection nodes can be set according to the length of the underground cable. And when the number of the detection nodes is actually set, the requirement that the distance between the adjacent detection nodes can be covered by the infrared image shooting range of the corresponding detection node is only required to be met. In this embodiment, the number of detection nodes set is 5 as an example.
Referring to fig. 2, the detection node includes a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module, and a power supply module.
The current parameter detection module is used for collecting current parameters of the underground cable in real time, the environment data detection module is used for collecting underground environment data in real time, the main control module is used for achieving data interaction between the detection node and an upper computer, the infrared image acquisition module is used for collecting image data of the surrounding environment of the detection node, the motor driving module is used for driving the infrared image acquisition module to rotate through a motor, and the power supply module is used for supplying power to all devices at the detection node.
The main control module can be used for processing current parameters collected by the current parameter detection module and underground environment data collected by the environment data detection module and then sending the processed current parameters and the underground environment data to the upper computer, the upper computer can send an image acquisition instruction to the main control module when any one of the current parameters and the environment data is abnormal, the main control module can control the motor to drive the infrared image acquisition module to rotate and control the infrared image acquisition module to operate through the motor driving module when receiving the image acquisition instruction sent by the upper computer, and the image data collected by the infrared image acquisition module can be sent to the upper computer after being processed by the main control module.
In the embodiment, the detection nodes can be adaptively arranged according to the length of the underground cable, so that the underground cable can be monitored in sections through the detection nodes; therefore, the monitoring can be carried out more quickly and accurately.
In addition, because every detection node all is provided with current parameter detection module and environmental data detection module, so make the parameter of measurement abundanter for the host computer is more accurate to the judgement of trouble.
In this embodiment, the current parameter detection module adopts a three-phase power acquisition module EDA9033, which is used to acquire three-phase voltage, three-phase current, power factor, single-phase voltage, single-phase current, active power, reactive power, apparent power, power factor, fundamental active power, harmonic active power, fundamental reactive power, active power, and reactive power.
It can be understood that the current parameter detecting module can directly adopt the existing related sensors and circuits, and the current parameter detecting module is not described in detail in this embodiment since only the existing related functions are integrated in the solution of the present invention, and the detecting manner of the current parameter is not improved. The range of the normal parameters is set at the upper computer, so that whether the current parameters are normal or not can be judged better in a comparison mode.
The current parameter detection module provides various current and voltage measuring ranges for a user to select, and the wiring mode can be a three-phase three-wire system or a three-phase four-wire system, so that the application range of the embodiment can be greatly expanded.
In this embodiment, the environmental data detection module includes temperature sensor, dust sensor and gas concentration sensor.
Wherein, temperature sensor, dust sensor and gas concentration sensor can choose for use current corresponding sensor, so can detect the environmental parameter of cable department in the pit better, through the scope that sets up normal parameter in host computer department, can judge whether normal through the mode of comparison environmental parameter better.
In this embodiment, the infrared image acquisition module includes infrared camera and motor, and the motor is used for driving infrared camera to rotate. The infrared image data of the corresponding detection node can be better acquired through the infrared camera and is sent to the upper computer after being processed by the main control module, so that the real-time detection of the underground cable can be better realized. Through setting up the motor can adjust infrared camera's shooting visual angle better, and then can realize comparatively comprehensively taking a photograph in real time to cable in the pit better.
In this embodiment, motor department is equipped with the magnetic grid chi that is used for gathering the motor rotation stroke, and host system can send the host computer after handling with the data that the magnetic grid chi returned. Therefore, the running stroke of the motor can be recorded in real time, and the upper computer can conveniently detect the position with the fault more quickly.
In the embodiment, the detection node and the upper computer are communicated through the RS-485 communication module. In the embodiment, the RS-485 communication module is arranged, so that the detection node and the upper computer can be better communicated, and the underground environment can be better adapted.
In addition, in the detection node of the embodiment, data transmission can be realized through the RS-485 communication module, so that the detection node can be better applied to a downhole environment.
In this embodiment, the main control module adopts a PLC. So that the processing of the relevant data can be preferably realized.
In this embodiment, the upper computer is provided with an alarm unit and a manual control unit, and the alarm unit is used for giving an alarm when the parameter at any detection node is abnormal. By arranging the alarm unit, fault alarm can be realized by timely action of the alarm unit when abnormality occurs; the manual control unit is arranged, so that a user can actively control the detection node to collect corresponding infrared image data.
Referring to fig. 3, based on the device for detecting a fault of an underground cable based on an infrared image in the present embodiment, the present embodiment further provides a method for detecting a fault of an underground cable based on an infrared image, which includes the following steps:
s1, arranging at least one detection node at the underground cable, and performing data interaction on the at least one detection node and an upper computer;
s2, acquiring current parameters and downhole environment data of the downhole cable in real time through a current parameter detection module and an environment data detection module which are arranged at a detection node, processing the acquired data through a main control module which is arranged at the detection node, and then sending the processed data to an upper computer;
s3, the upper computer analyzes and processes the current parameters and the underground environment data sent by the detection nodes, and sends an image acquisition instruction to the main control module at the corresponding detection node when any one of the current parameters and the environment data is abnormal;
and step S4, after the main control module at the detection node receives the image acquisition instruction, the motor is controlled by the motor driving module to drive the infrared image acquisition module to rotate and control the infrared image acquisition module to operate, and the image data acquired by the infrared image acquisition module is processed by the main control module and then is sent to the upper computer.
Through the steps S1-S4, the monitoring of related parameters of the downhole cable and the detection and troubleshooting of the fault point can be preferably realized. Specifically, the system in this embodiment is initialized after being started, and then relevant parameters uploaded at each detection node are analyzed and processed, and when the relevant parameters are normal, monitoring is continued; when abnormal parameters appear at any detection node, the upper computer can analyze the conditions according to the abnormal parameters and automatically or manually assist to perform corresponding fault treatment according to the analysis result; meanwhile, the upper computer can send an image acquisition instruction to the corresponding detection node, and after the detection node receives the image acquisition instruction, the detection node can control the infrared camera and the motor to act, so that the infrared image of the fault section can be acquired and analyzed, and the fault position is determined.
The automatic starting and manual starting of the motor can be achieved through the manual control unit, when a control room where the upper computer is located is empty, the upper computer can automatically send a control instruction to automatically start the motor, the infrared camera can rotate between adjacent detection nodes, images between the two adjacent detection nodes can be shot and stored in the upper computer, and a worker can watch the images before receiving an alarm, so that the fault judgment and analysis are achieved. When workers exist in the control room, the motor can be manually controlled to operate, the field image is observed in real time, and the fault position is determined.
Referring to fig. 4, in step S2 of this embodiment, the current parameter detection module and the environmental data detection module collect current parameters and downhole environmental data of the downhole cable in real time, the collected data is processed by the main control module and then sent to the upper computer, the upper computer can set a normal value range of the relevant parameters, and whether the relevant parameters are normal or not can be determined by comparing the normal value range with the normal value range.
The current parameter detection module is mainly used for collecting electrical parameters and can be used for measuring parameters such as instantaneous three-phase current, voltage, power factor, zero sequence current, negative sequence current, active power and reactive power flowing through corresponding lines, and then the measured results can be transmitted to an upper computer through the RS-485 communication module for analysis to determine whether related parameters are abnormal or not.
Wherein, environmental data detection module includes temperature sensor, dust concentration sensor and gas concentration sensor. The temperature sensor is mainly used for measuring the temperature in a coal mine so as to detect whether the ambient temperature of the whole system is normal during operation. The dust concentration sensor is mainly used for measuring the dust concentration in a coal mine, so that corresponding treatment can be better carried out when the dust concentration is too high, and dangers such as explosion can be prevented. The gas concentration sensor is used for measuring the gas concentration in a coal mine, and the gas content in the air during the operation of the whole system is monitored in real time, so that corresponding processing can be carried out when the gas concentration is too high, and dangers such as gas explosion can be prevented.
The current parameter detection module and the environmental data detection module can measure related parameters in real time on line, measured data can be processed by the main control module and then sent to the upper computer, whether the related parameters are normal or not can be better judged, the upper computer can give an alarm when abnormality occurs, meanwhile, the upper computer end can automatically send an image acquisition instruction to the corresponding detection node, and then related infrared image data at a fault point can be acquired.
Referring to fig. 5, in step S4, when the upper computer detects an abnormality and performs fault processing, the upper computer can send an instruction to the main control module at a corresponding detection node through the RS-485 communication module, the main control module performs corresponding motor control according to the received instruction, controls the rotation of the motor so as to enable the infrared camera to move between two adjacent detection nodes, performs fault recognition through a picture taken by the infrared camera, and assists in determining the distance of a corresponding fault point through data returned by the magnetic grid ruler.
As shown in fig. 6, in step S4, the main control module processes the acquired image data, including image filtering and edge detection processes on the acquired image data. The infrared image acquisition module is easily interfered by a plurality of noises in the processes of image shooting and information transmission, so that the acquired infrared image is not enough to reflect a target really, and the imaging effect of the image is poor; therefore, the collected image can be better collected through image filtering processing and edge detection processing, so that the noise interference of the image is reduced, then the image edge is detected through edge detection, the image edge is the part with the most obvious gray level change in the image, and the edge detection processing is also used for detecting the image edge according to the principle.
In the embodiment, the image filtering processing of the acquired image mainly adopts the existing median filtering algorithm to perform median filtering processing on the original image. The median filtering algorithm mainly depends on the quick sorting algorithm, so that the method has the advantage of less fuzzy edges, can effectively reduce random noise and noise pulses, and can completely retain the edge information of the image.
With reference to fig. 7, the image filtering process will be described with a 3 × 3 sliding module as an example in this embodiment. Fig. 7 a is an original image, fig. 7 b is a 3 × 3 sliding module, and fig. 7 c is a result of image filtering processing. In fig. 7, the X, Y axes represent the horizontal and vertical directions of the acquired infrared image, respectively, wherein specifically 9 elements in the original image are compared with each other, and the middle value g (x, y) is taken as the final output value.
Assuming that the original image of an image is f (x, y), S is a set of neighborhoods centered at point (x, y), the median image g (x, y) is described as follows:
since the image edge is the most significant portion of the image in the change in gray scale, the edge detection processing in the present embodiment also detects the image edge on the basis of this principle. In this embodiment, Sobel operators are used to perform edge detection, and the basic principle of Sobel operator edge detection is to use the characteristic that gray values on two sides of an edge have obvious changes, and then use the inverse of the gray values to describe the changes of edge points. The Sobel operator comprises two groups of 3-by-3 matrixes which are respectively a transverse operator and a longitudinal operator, and transverse and longitudinal gray level distribution gradients can be obtained by performing convolution operation on the Sobel operator and an image.
The Sobel operator formula in this embodiment is:
the gradient amplitude formula obtained by using the Sobel operator is as follows:
the present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. Underground cable fault detection device based on infrared image, its characterized in that: the system comprises at least one detection node arranged at a downhole cable, wherein the at least one detection node is in data interaction with an upper computer and comprises a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module;
the system comprises a current parameter detection module, an environment data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module, wherein the current parameter detection module is used for acquiring current parameters at a position of an underground cable in real time;
the main control module can be used for processing current parameters collected by the current parameter detection module and underground environment data collected by the environment data detection module and then sending the processed current parameters and the underground environment data to an upper computer, the upper computer can send an image acquisition instruction to the main control module when any one of the current parameters and the environment data is abnormal, the main control module can control a motor to drive an infrared image acquisition module to rotate and control the infrared image acquisition module to operate when receiving the image acquisition instruction sent by the upper computer, and the image data collected by the infrared image acquisition module can be sent to the upper computer after being processed by the main control module.
2. The infrared image-based downhole cable fault detection device of claim 1, wherein: the current parameter detection module adopts a three-phase electricity acquisition module EDA9033 which is used for acquiring three-phase voltage, three-phase current, power factor, single-phase voltage, single-phase current, active power, reactive power, apparent power, power factor, fundamental active power, harmonic active power, fundamental reactive power, active power and reactive power.
3. The infrared image-based downhole cable fault detection device of claim 1, wherein: the environmental data detection module comprises a temperature sensor, a dust sensor and a gas concentration sensor.
4. The infrared image-based downhole cable fault detection device of claim 1, wherein: the infrared image acquisition module comprises an infrared camera and a motor, and the motor is used for driving the infrared camera to rotate.
5. An infrared image-based downhole cable fault detection device as claimed in claim 4, wherein: the motor is provided with a magnetic grid ruler for collecting the rotation stroke of the motor, and the master control module can process data returned by the magnetic grid ruler and then send the data to the upper computer.
6. The infrared image-based downhole cable fault detection device of claim 1, wherein: the detection node is communicated with the upper computer through an RS-485 communication module.
7. The infrared image-based downhole cable fault detection device of claim 1, wherein: the main control module adopts a PLC.
8. The infrared image-based downhole cable fault detection device of claim 1, wherein: and the upper computer is provided with an alarm unit and a manual control unit, and the alarm unit is used for giving an alarm when the parameter at any detection node is abnormal.
9. The underground cable fault detection method based on the infrared image comprises the following steps:
s1, arranging at least one detection node at the underground cable, and performing data interaction on the at least one detection node and an upper computer;
s2, acquiring current parameters and downhole environment data of the downhole cable in real time through a current parameter detection module and an environment data detection module which are arranged at a detection node, processing the acquired data through a main control module which is arranged at the detection node, and then sending the processed data to an upper computer;
s3, the upper computer analyzes and processes the current parameters and the underground environment data sent by the detection nodes, and sends an image acquisition instruction to the main control module at the corresponding detection node when any one of the current parameters and the environment data is abnormal;
and step S4, after the main control module at the detection node receives the image acquisition instruction, the motor is controlled by the motor driving module to drive the infrared image acquisition module to rotate and control the infrared image acquisition module to operate, and the image data acquired by the infrared image acquisition module is processed by the main control module and then is sent to the upper computer.
10. The infrared image-based downhole cable fault detection method of claim 9, wherein: in step S4, the main control module performs processing on the acquired image data, including image filtering processing and edge detection processing on the acquired image data.
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