CN112014695A - GIS equipment fault rapid positioning system and method - Google Patents
GIS equipment fault rapid positioning system and method Download PDFInfo
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- CN112014695A CN112014695A CN202010842817.9A CN202010842817A CN112014695A CN 112014695 A CN112014695 A CN 112014695A CN 202010842817 A CN202010842817 A CN 202010842817A CN 112014695 A CN112014695 A CN 112014695A
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- 238000003745 diagnosis Methods 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 9
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1281—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of liquids or gases
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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
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/11—Locating faults in cables, transmission lines, or networks using pulse reflection methods
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Abstract
The invention relates to the field of substation equipment fault positioning, and discloses a GIS equipment fault rapid positioning system and a GIS equipment fault rapid positioning method. The system comprises a signal acquisition module, a protection action behavior analysis and diagnosis module and an ultrahigh frequency partial discharge online monitoring module. The invention outputs GIS fault time, phase and positioning range information to a GIS ultrahigh frequency online monitoring system by analyzing and diagnosing equipment trip information in the station, transfers amplitude and discharge rate signals of a GIS ultrahigh frequency sensor in a positioning range corresponding to the phase corresponding to the corresponding time through a dual-mode synchronous clock module, and determines a GIS air chamber with the maximum fault possibility by a signal intensity amplitude positioning method, thereby reducing the transfer quantity of the GIS ultrahigh frequency sensor, avoiding the influence of interference signals and obviously improving the positioning accuracy and efficiency of the GIS equipment.
Description
Technical Field
The invention relates to the field of substation equipment fault positioning, in particular to a GIS equipment fault rapid positioning system and a GIS equipment fault rapid positioning method.
Background
At present, a GIS (gas Insulated switchgear) combined electrical apparatus in an AC extra-high voltage AC station is widely applied due to the advantages of compact structure, small occupied area, high operation reliability, no influence from external environment, convenience in maintenance and the like. GIS equipment manufacturing, transportation, field assembly and operation are subjected to lightning and operation overvoltage, and GIS insulation faults can be caused.
When the extra-high voltage GIS equipment has a fault, the fault can be located in a single air chamber of the specific GIS equipment through SF6 component analysis. But, the detection of a plurality of air chambers has large workload and long time consumption, is not beneficial to the quick recovery of GIS equipment, and seriously influences the safe and stable operation of a 1000kV ultrahigh voltage transformer substation.
At present, GIS equipment fault location in a power system is mainly carried out by adopting an ultrasonic locating method, and signals acquired by an external ultrasonic sensor are accessed into an oscilloscope for display or corresponding central processing equipment for processing and analysis through signal processing in a wired transmission mode. However, the ultrasonic partial discharge positioning system is mainly applied to a GIS alternating current withstand voltage test, has short application time and limited arrangement range, and cannot effectively position faults occurring in the operation process of GIS equipment.
Disclosure of Invention
The invention aims to provide a GIS equipment fault rapid positioning system and a GIS equipment fault rapid positioning method.
In order to achieve the above object, in one aspect, the present invention provides a system for quickly locating a GIS device fault, including:
the signal acquisition module is used for acquiring a tripping signal;
the protective action behavior analysis and diagnosis module acquires the trip signal and diagnoses and analyzes whether the trip signal is an in-station GIS equipment fault according to the trip protective action condition and fault distance measurement information;
if the GIS equipment fault in the station is judged, the tripping signal is related to primary equipment in the station, and GIS fault time, phase and positioning range information is uploaded to a master control platform of an upper computer;
and the ultrahigh frequency partial discharge online monitoring module is used for calculating a fault rate comprehensive index of each UHF sensor according to the GIS fault time, phase and positioning range information transmitted by the upper computer main control platform, and the UHF sensor signal intensity amplitude and discharge rate signals in the corresponding time, phase and positioning range are acquired through the synchronous clock module, determining the position of a fault gas chamber according to the fault rate comprehensive index, and uploading the result to the upper computer main control platform.
Preferably, the trip signal obtained by the protection action behavior analysis and diagnosis module is a trip signal after protocol conversion.
Preferably, the intra-station primary device comprises:
and determining a reaction protection range through the primary main wiring, and corresponding a primary equipment wiring diagram to a bus, a main transformer and a line of the actual protection device in the reaction protection range.
Preferably, the system further comprises a fault range analysis module, and when a GIS station fault occurs, the fault location range is narrowed according to the protection action conditions of the differential protection devices of the bus, the main transformer and the line.
Preferably, the reducing the fault location range according to the protection action conditions of the differential protection device of the bus, the main transformer and the line comprises:
when two differential protection devices in the differential protection devices of the bus, the main transformer and the line simultaneously perform protection actions, judging that a fault point is positioned at the intersection of the protection ranges of the two differential protection devices;
when the differential protection device of the line or the main transformer acts and the differential protection device of the bus does not act, judging that a fault point is positioned in a line grounding knife, an isolation knife and grounding knife combination or an outlet sleeve air chamber;
when the differential protection device of the bus is in protection action and the differential protection devices of the main transformer and the line are not in protection action, the fault point is judged to be positioned in the bus air chamber.
Preferably, the UHF sensor includes a high pass filter with a lower cutoff frequency of 6000 MHz.
Preferably, the synchronous clock module is a big dipper + GPS dual-mode synchronous clock module.
Preferably, the calculating the fault rate comprehensive index of each UHF sensor includes:
determining a transient characteristic frequency band according to the GIS partial discharge characteristic;
iterating the transient characteristic frequency band to form a two-dimensional function in the signal intensity amplitude and the discharge rate signal of each UHF sensor;
and acquiring singular data through an EMD algorithm to form a fault rate comprehensive index of each UHF sensor.
On the other hand, the invention discloses a GIS equipment fault rapid positioning method, which is applied to the GIS equipment fault rapid positioning system and comprises the following steps:
judging whether the GIS equipment in the station has a fault or not according to the tripping protection action and the fault distance measurement information;
if the GIS equipment fault in the station is judged, determining the fault occurrence time according to the tripping protection action, and reducing the fault positioning range;
adjusting time scale amplitude and discharge rate information corresponding to each UHF sensor in a positioning range;
acquiring a fault rate comprehensive index of each UHF sensor through an EMD algorithm;
and outputting the position of the fault air chamber according to the size relation of the fault rate comprehensive index.
Preferably, the fault rate comprehensive indicator calculating method includes:
determining a fault transient characteristic frequency band according to GIS partial discharge characteristics, and constructing a characteristic function s (w, v);
reading discharge rate signals and signal intensity amplitudes of all UHF sensors to form partial discharge functions x (w, v);
respectively superposing and subtracting the characteristic functions constructed by the characteristic frequency bands in the partial discharge functions to obtain D1(w, v) and D2(w, v);
performing EMD decomposition on D1(w, v) and D2(w, v) to obtain D1'(w, v) and D2' (w, v);
averaging D1' (w, v) and D2' (w, v) to obtain a characteristic waveform x ' (w, v);
performing singular decomposition on x' (w, v);
and outputting the fault rate comprehensive index of each UHF sensor.
By the technical scheme, faults occurring in the running process of the GIS equipment can be effectively positioned, the fault point searching time is shortened, the isolation of the fault equipment is realized as soon as possible, the purpose of rapidly recovering the power supply of the power failure equipment is achieved, and the method has very important significance for the safe and stable running of a power grid.
The invention outputs GIS fault time, phase and positioning range information to a GIS ultrahigh frequency online monitoring system by analyzing and diagnosing equipment trip information in the station, transfers amplitude and discharge rate signals of a GIS ultrahigh frequency sensor in a positioning range corresponding to the phase corresponding to the corresponding time through a dual-mode synchronous clock module, and determines a GIS air chamber with the maximum fault possibility by a signal intensity amplitude positioning method, thereby reducing the transfer quantity of the GIS ultrahigh frequency sensor, avoiding the influence of interference signals and obviously improving the positioning accuracy and efficiency of the GIS equipment.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural diagram of a GIS device fault fast positioning system according to an embodiment of the present invention;
fig. 2 shows a flowchart of a method for quickly locating a GIS device fault according to an embodiment of the present invention;
fig. 3 shows a flow chart of calculating a fault rate comprehensive indicator in a method for quickly locating a GIS device fault according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a schematic structural diagram of a GIS device fault rapid positioning system according to an embodiment of the present invention. Referring to fig. 1, a system for quickly locating a GIS device fault includes a signal acquisition module, a protection action behavior analysis and diagnosis module, and an ultrahigh frequency partial discharge online monitoring module.
The system comprises a signal acquisition module, a protection action analysis and diagnosis module, a fault location information analysis module and a fault location information analysis module, wherein the signal acquisition module is used for acquiring a trip signal, and the protection action analysis and diagnosis module acquires the trip signal and diagnoses whether the trip signal is a GIS equipment fault in a station according to the trip protection action condition and the fault location information; and under the condition that the GIS equipment in the station has a fault, associating the trip signal with primary equipment in the station, and uploading GIS fault time, phase and positioning range information to the host computer main control platform, wherein the ultrahigh frequency local discharge online monitoring module is used for calling UHF sensor signal intensity amplitude and discharge rate signals in corresponding time, corresponding phase and corresponding positioning range through the synchronous clock module according to the GIS fault time, phase and positioning range information issued by the host computer main control platform, calculating fault rate comprehensive indexes of all UHF sensors, determining the position of a fault air chamber according to the fault rate comprehensive indexes, and uploading the result to the host computer main control platform, wherein the frequency band of the UHF sensor is 300-plus 1800 MHz.
And the trip signal acquired by the protective action behavior analysis and diagnosis module is the trip signal after protocol conversion. Specifically, the tripping signal is uploaded to the integrated data network through the optical fiber, and after the protocol conversion is performed by the integrated data network, the tripping signal is uploaded to the protection action behavior analysis and diagnosis module.
The primary equipment in the associated station is associated by the following method: and determining a reaction protection range through the primary main wiring, and corresponding a primary equipment wiring diagram to a bus, a main transformer and a line of an actual protection device in the reaction protection range so as to realize the association of primary equipment and secondary equipment in the transformer substation.
In addition, the quick GIS equipment fault positioning system also comprises a fault range analysis module, and when a GIS station fault occurs, the fault positioning range is narrowed according to the protection action conditions of differential protection devices of the bus, the main transformer and the line. The bus, the main transformer and the line are important units in the grid structure of the power system.
The specific method for reducing the fault location range is as follows:
when two differential protection devices in the differential protection devices of the bus, the main transformer and the line simultaneously perform protection actions, judging that a fault point is positioned at the intersection of the protection ranges of the two differential protection devices;
when the differential protection device of the line or the main transformer acts and the differential protection device of the bus does not act, judging that a fault point is positioned in a line grounding knife, an isolation knife and grounding knife combination or an outlet sleeve air chamber;
when the differential protection device of the bus is in protection action and the differential protection devices of the main transformer and the line are not in protection action, the fault point is judged to be positioned in the bus air chamber.
The ultrahigh frequency online monitoring system can detect electromagnetic wave signals within the range of 0.3-1.5 GHz, obvious ultrahigh frequency electromagnetic wave signals can be generated when GIS equipment breaks down, the electromagnetic wave signals can be transmitted to a remote place along a GIS pipe body and collected by UHF sensors arranged on different basin-type insulators, the GIS is provided with a plurality of basin-type insulators connected by flanges, a turning structure, a T-shaped joint, an isolating switch, a circuit breaker and other discontinuous points, and the ultrahigh frequency signals inevitably cause attenuation when passing through the structures in the GIS transmission process, so that fault points can be located by comparing the amplitude values and the discharge rate of the ultrahigh frequency signals collected by different sensors when faults occur. However, the field interference of the extra-high voltage transformer substation is more, and the amplitude and the discharge rate of interference signals acquired at certain moments are even higher than those during fault. Therefore, a high-pass filter with the lower limit cutoff frequency of 6000MHz is arranged in the UHF sensor, and signal interference is eliminated by the high-pass filter, so that the positioning accuracy and efficiency are obviously improved.
The synchronous clock module is a Beidou and GPS dual-mode synchronous clock module, and the module can ensure that the time scale parameters of all UHF sensors are consistent with the time scale parameters of the protective action behavior analysis and diagnosis module. In addition, in the ultrahigh frequency partial discharge online monitoring module, GIS fault time, phase and range information are all issued to the ultrahigh frequency partial discharge online monitoring module by an upper computer main control platform through optical fibers, and the ultrahigh frequency partial discharge online monitoring module acquires amplitude and discharge rate signals of the UHF sensor in a corresponding range corresponding to the phase at the time of fault occurrence through optical fiber transmission.
The extra-high voltage GIS equipment adopts 3/2 wiring mode, the GIS equipment protection configuration adopts double configuration, and the electric quantity protection ranges of the bus, the line and the main transformer (main transformer) are crossed. The fault location range can be reduced to a certain extent according to protective action behaviors, but the reduced fault location range is still larger, the workload of directly analyzing and locating SF6 components is large, GIS fault time, phase and location range information is output to a GIS ultrahigh frequency online monitoring system by analyzing and diagnosing equipment trip information in a station, GIS ultrahigh frequency sensor amplitude and discharge rate signals in the location range corresponding to the corresponding phase and corresponding to the corresponding time are called through a synchronous clock module, a GIS air chamber with the maximum fault possibility is determined by a signal intensity amplitude location method, and the number of the called UHF sensors is reduced.
The calculation method of the fault rate comprehensive index of the UHF sensor comprises the following steps:
determining a transient characteristic frequency band according to the GIS partial discharge characteristic;
iterating the transient characteristic frequency band to form a two-dimensional function in the signal intensity amplitude and the discharge rate signal of each UHF sensor;
and acquiring singular data through an EMD algorithm to form a fault rate comprehensive index of each UHF sensor.
On the other hand, the embodiment also discloses a method for quickly positioning a GIS device fault, which is applied to the system for quickly positioning a GIS device fault, and comprises the following steps:
(1) judging whether the GIS equipment in the station has a fault or not according to the tripping protection action and the fault distance measurement information;
for example, when only the line protection action is performed and the ranging information is greater than 2 kilometers, the station is not in a GIS equipment fault; and when the distance measurement information is less than 2 kilometers, determining that the GIS equipment in the station has a fault.
(2) If the GIS equipment fault in the station is judged, determining the fault occurrence time according to the tripping protection action, and reducing the fault positioning range; the trip protection action may be a corresponding switch indexing action.
(3) And (4) calling time scale amplitude and discharge rate information corresponding to each UHF sensor in the positioning range. Specifically, according to GIS fault time, phase difference and positioning range information issued by an upper computer main control platform, corresponding time, corresponding phase difference and UHF sensor signal intensity amplitude and discharge rate signals in a corresponding positioning range are called through a synchronous clock module.
(4) Acquiring a fault rate comprehensive index of each UHF sensor through an EMD algorithm;
(5) and outputting the position of the fault air chamber according to the magnitude relation of the fault rate comprehensive index.
The method for narrowing the fault positioning range comprises the following steps:
when two differential protection devices in the differential protection devices of the bus, the main transformer and the line simultaneously perform protection actions, judging that a fault point is positioned at the intersection of the protection ranges of the two differential protection devices;
when the differential protection device of the line or the main transformer acts and the differential protection device of the bus does not act, judging that a fault point is positioned in a line grounding knife, an isolation knife and grounding knife combination or an outlet sleeve air chamber;
when the differential protection device of the bus is in protection action and the differential protection devices of the main transformer and the line are not in protection action, the fault point is judged to be positioned in the bus air chamber.
The failure rate comprehensive index calculation method comprises the following steps:
determining a fault transient characteristic frequency band according to GIS partial discharge characteristics, and constructing a characteristic function s (w, v);
reading discharge rate signals and signal intensity amplitudes of all UHF sensors to form partial discharge functions x (w, v);
respectively superposing and subtracting the characteristic functions constructed by the characteristic frequency bands in the partial discharge functions to obtain D1(w, v) and D2(w, v);
performing EMD decomposition on D1(w, v) and D2(w, v) to obtain D1'(w, v) and D2' (w, v);
averaging D1' (w, v) and D2' (w, v) to obtain a characteristic waveform x ' (w, v);
performing singular decomposition on x' (w, v);
and outputting the fault rate comprehensive index of each UHF sensor.
The invention outputs GIS fault time, phase and positioning range information to a GIS ultrahigh frequency online monitoring system by analyzing and diagnosing equipment trip information in the station, transfers amplitude and discharge rate signals of a GIS ultrahigh frequency sensor in a positioning range corresponding to the phase corresponding to the corresponding time through a dual-mode synchronous clock module, and determines a GIS air chamber with the maximum fault possibility by a signal intensity amplitude positioning method, thereby reducing the transfer quantity of the GIS ultrahigh frequency sensor, avoiding the influence of interference signals and obviously improving the positioning accuracy and efficiency of the GIS equipment.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A GIS equipment fault rapid positioning system is characterized by comprising:
the signal acquisition module is used for acquiring a tripping signal;
the protective action behavior analysis and diagnosis module acquires the trip signal and diagnoses and analyzes whether the trip signal is an in-station GIS equipment fault according to the trip protective action condition and fault distance measurement information;
if the GIS equipment fault in the station is judged, the tripping signal is related to primary equipment in the station, and GIS fault time, phase and positioning range information is uploaded to a master control platform of an upper computer;
and the ultrahigh frequency partial discharge online monitoring module is used for calculating a fault rate comprehensive index of each UHF sensor according to the GIS fault time, phase and positioning range information transmitted by the upper computer main control platform, and the UHF sensor signal intensity amplitude and discharge rate signals in the corresponding time, phase and positioning range are acquired through the synchronous clock module, determining the position of a fault gas chamber according to the fault rate comprehensive index, and uploading the result to the upper computer main control platform.
2. The GIS equipment fault rapid positioning system of claim 1, wherein the trip signal obtained by the protection action behavior analysis and diagnosis module is a protocol-converted trip signal.
3. The GIS device fault rapid location system of claim 1, wherein the associated intra-site primary device comprises:
and determining a reaction protection range through the primary main wiring, and corresponding a primary equipment wiring diagram to a bus, a main transformer and a line of the actual protection device in the reaction protection range.
4. The GIS equipment fault rapid positioning system according to claim 1, further comprising a fault range analysis module, wherein when a GIS station fault occurs, the fault positioning range is narrowed according to the protection action conditions of the differential protection devices of the bus, the main transformer and the line.
5. The GIS equipment fault fast positioning system of claim 4, wherein the reducing of the fault positioning range according to the protection action of the differential protection device of the bus, the main transformer and the line comprises:
when two differential protection devices in the differential protection devices of the bus, the main transformer and the line simultaneously perform protection actions, judging that a fault point is positioned at the intersection of the protection ranges of the two differential protection devices;
when the differential protection device of the line or the main transformer acts and the differential protection device of the bus does not act, judging that a fault point is positioned in a line grounding knife, an isolation knife and grounding knife combination or an outlet sleeve air chamber;
when the differential protection device of the bus is in protection action and the differential protection devices of the main transformer and the line are not in protection action, the fault point is judged to be positioned in the bus air chamber.
6. The GIS device fault rapid location system of claim 1, wherein the UHF sensor includes a high pass filter with a lower cutoff frequency of 6000 MHz.
7. The GIS device fault rapid location system of claim 1, wherein the synchronous clock module is a Beidou + GPS dual-mode synchronous clock module.
8. The GIS device fault rapid location system of claim 1, wherein the calculating fault rate composite indicators for each UHF sensor comprises:
determining a transient characteristic frequency band according to the GIS partial discharge characteristic;
iterating the transient characteristic frequency band to form a two-dimensional function in the signal intensity amplitude and the discharge rate signal of each UHF sensor;
and acquiring singular data through an EMD algorithm to form a fault rate comprehensive index of each UHF sensor.
9. A method for quickly locating a GIS device fault, which is applied to the GIS device fault quick locating system of any one of claims 1-8, and comprises:
judging whether the GIS equipment in the station has a fault or not according to the tripping protection action and the fault distance measurement information;
if the GIS equipment fault in the station is judged, determining the fault occurrence time according to the tripping protection action, and reducing the fault positioning range;
adjusting time scale amplitude and discharge rate information corresponding to each UHF sensor in a positioning range;
acquiring a fault rate comprehensive index of each UHF sensor through an EMD algorithm;
and outputting the position of the fault air chamber according to the size relation of the fault rate comprehensive index.
10. The GIS equipment fault rapid positioning method according to claim 9, wherein the fault rate comprehensive index calculation method comprises:
determining a fault transient characteristic frequency band according to GIS partial discharge characteristics, and constructing a characteristic function s (w, v);
reading discharge rate signals and signal intensity amplitudes of all UHF sensors to form partial discharge functions x (w, v);
respectively superposing and subtracting the characteristic functions constructed by the characteristic frequency bands in the partial discharge functions to obtain D1(w, v) and D2(w, v);
performing EMD decomposition on D1(w, v) and D2(w, v) to obtain D1'(w, v) and D2' (w, v);
averaging D1' (w, v) and D2' (w, v) to obtain a characteristic waveform x ' (w, v);
performing singular decomposition on x' (w, v);
and outputting the fault rate comprehensive index of each UHF sensor.
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| CN202010842817.9A CN112014695A (en) | 2020-08-20 | 2020-08-20 | GIS equipment fault rapid positioning system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030641A (en) * | 2021-03-05 | 2021-06-25 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection robot vehicle and method |
| CN113219292A (en) * | 2021-07-08 | 2021-08-06 | 广东电网有限责任公司梅州供电局 | Bus accident diagnosis method, device, equipment and storage medium |
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2020
- 2020-08-20 CN CN202010842817.9A patent/CN112014695A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030641A (en) * | 2021-03-05 | 2021-06-25 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection robot vehicle and method |
| CN113030641B (en) * | 2021-03-05 | 2023-08-15 | 国网四川省电力公司技能培训中心 | Intelligent cable fault inspection machine vehicle and method |
| CN113219292A (en) * | 2021-07-08 | 2021-08-06 | 广东电网有限责任公司梅州供电局 | Bus accident diagnosis method, device, equipment and storage medium |
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