CN211375602U - Mobile intelligent noise live-action cloud picture modeling system for transformer substation - Google Patents

Mobile intelligent noise live-action cloud picture modeling system for transformer substation Download PDF

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CN211375602U
CN211375602U CN201922288190.2U CN201922288190U CN211375602U CN 211375602 U CN211375602 U CN 211375602U CN 201922288190 U CN201922288190 U CN 201922288190U CN 211375602 U CN211375602 U CN 211375602U
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noise
substation
mobile robot
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蔡萱
瞿子涵
魏建国
王利
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Haina Kede Hubei Technology Co ltd
Wuhan University of Technology WUT
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
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Wuhan University of Technology WUT
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
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Abstract

本实用新型提供一种变电站移动式智能噪声实景云图建模系统,定位装置安装在智能移动机器人的支撑杆顶部并与控制主板连接;所述声学测量装置安装在智能移动机器人的支撑杆上并与控制主板连接;所述激光雷达装置安装在智能移动机器人的支撑杆上并与控制主板连接;所述控制主板安装在智能移动机器人的内部,用以接收定位装置采集的位置坐标、声学测量装置采集的噪声声压数据、激光雷达装置采集的点云数据并生成噪声实景云图。本实用新型通过智能移动式设备,对变电站全域进行自动在线检测,通过传感器感知各建筑和设备的分布与尺寸,并建立整个变电站统一的全局三维立体场景模型进一步提高变电站辐射噪声预报精度。

Figure 201922288190

The utility model provides a substation mobile intelligent noise real scene cloud image modeling system. A positioning device is installed on the top of a support rod of an intelligent mobile robot and is connected with a control main board; the acoustic measurement device is installed on the support rod of the intelligent mobile robot and is connected with the support rod. The control board is connected; the lidar device is installed on the support rod of the intelligent mobile robot and connected with the control board; the control board is installed inside the intelligent mobile robot to receive the position coordinates collected by the positioning device and the acoustic measurement device. The noise sound pressure data, the point cloud data collected by the lidar device, and the noise real cloud map are generated. The utility model performs automatic online detection of the whole substation through intelligent mobile equipment, perceives the distribution and size of each building and equipment through sensors, and establishes a unified global three-dimensional stereoscopic scene model of the entire substation to further improve the prediction accuracy of the radiation noise of the substation.

Figure 201922288190

Description

一种变电站移动式智能噪声实景云图建模系统A mobile intelligent noise cloud map modeling system for substations

技术领域technical field

本实用新型涉及噪声治理实施工程领域,特别涉及一种变电站移动式智能噪声实景云图建模系统。The utility model relates to the field of noise control implementation engineering, in particular to a mobile intelligent noise real scene cloud map modeling system of a substation.

背景技术Background technique

变电站作为城市主要噪声污染源,对周围居民身心健康的影响不容小觑,因此变电站的噪声治理成为亟待解决的问题。虽然国家电网在变电站噪声治理方面非常重视,也投入大量的人力财力来支持变电站的噪声治理工程,但是从噪声治理后的现状分析,实际的效果还是不太理想。其中一个重要原因即在于无法真正了解变电站在全域内以及随着运行工况的变化而相应变化的情况,而现有变电站的噪声治理工作无法及时的响应或者预估声场随外界条件变化的趋势,使得变电站的噪声治理工程在某个时段(工况)满足国家法规,而在另一个时段(工况)又不符合国家法规的要求。As the main source of noise pollution in the city, the substation has an impact on the physical and mental health of the surrounding residents. Therefore, the noise control of the substation has become an urgent problem to be solved. Although the State Grid attaches great importance to noise control of substations, and has invested a lot of human and financial resources to support the noise control project of substations, the actual effect is still not ideal from the analysis of the current situation after noise control. One of the important reasons is that it is impossible to truly understand the changes of the substation in the whole area and with the change of operating conditions, and the noise control work of the existing substation cannot respond in time or predict the trend of the sound field changing with the external conditions. It makes the noise control project of the substation meet the national regulations in a certain period (working condition), but does not meet the requirements of the national regulations in another period (working condition).

现有的噪声声场仿真技术中至少存在以下问题:(1)在变电站的声学仿真中,最重要的数据是变电站场域的精确的三维立体模型和声源强度模型。实际的变电站进行声学仿真时,对于部分使用年限较久的变电站,原始的建造资料缺失,造成变电站的布局尺寸数据获取困难,而采用现场人工尺寸测试也存在一定的困难,如高空尺寸无法获取,危险环境无法进入测量等,从而难以建立准确尺寸的声学仿真模型;(2)仿真中采用的声源模型强度的确定也是依据现场的实际测量,而变电站声场随运行工况和环境影响因素而变化的非稳定性特点导致声源模型强度只反映了但是测试的结果,仿真结论只适合于当时的测试状态,当运行工况和环境影响因素发生变化时,声学仿真结果与测试结果往往会出现较大的差距。(3)声学仿真中的模型存在一定程度的简化,某些物理参数随运行工况和环境因素需要调整,如各种物理界面的吸声系数、反射系数等,通过连续的噪声测量,进一步修正声学仿真的结果,体现变电站仿真与现实状态的一致性,提高变电站仿真的适应性和针对性。There are at least the following problems in the existing noise sound field simulation technology: (1) In the acoustic simulation of the substation, the most important data are the accurate three-dimensional model and the sound source intensity model of the substation field. When the actual substation performs acoustic simulation, for some substations with a long service life, the original construction data is missing, which makes it difficult to obtain the layout and size data of the substation. Hazardous environments cannot enter into measurement, etc., so it is difficult to establish an acoustic simulation model of accurate size; (2) The determination of the intensity of the sound source model used in the simulation is also based on the actual measurement on site, and the sound field of the substation varies with operating conditions and environmental factors. Due to the unstable characteristics of the sound source model, the strength of the sound source model only reflects the test results, and the simulation conclusion is only suitable for the test state at that time. When the operating conditions and environmental factors change, the acoustic simulation results and test results often appear different. big gap. (3) The model in the acoustic simulation is simplified to a certain extent, and some physical parameters need to be adjusted according to the operating conditions and environmental factors, such as the sound absorption coefficient and reflection coefficient of various physical interfaces, which are further corrected through continuous noise measurement. The results of the acoustic simulation reflect the consistency between the substation simulation and the real state, and improve the adaptability and pertinence of the substation simulation.

实用新型内容Utility model content

为了克服上述缺陷,本实用新型提供了一种变电站移动式智能噪声实景云图建模系统,提高噪声源模型与运行工况影响因素之间的高度匹配性,改善变电站声学预测及仿真的工况适应性,提高变电站噪声预测精度。In order to overcome the above-mentioned defects, the present utility model provides a mobile intelligent noise cloud map modeling system for substations, which improves the high degree of matching between the noise source model and the influencing factors of operating conditions, and improves the adaptability of substation acoustic prediction and simulation to operating conditions. improve the accuracy of noise prediction in substations.

本实用新型的技术方案:The technical scheme of the present utility model:

一种变电站移动式智能噪声实景云图建模系统,包括智能移动机器人、电源装置、机器人驱动装置、定位装置、声学测量装置、激光雷达装置、驱动轮以及控制主板,A mobile intelligent noise real-world cloud image modeling system in a substation, comprising an intelligent mobile robot, a power supply device, a robot drive device, a positioning device, an acoustic measurement device, a laser radar device, a driving wheel and a control board,

所述电源装置安装在智能移动机器人内用以给整个建模系统供电;The power supply device is installed in the intelligent mobile robot to supply power to the entire modeling system;

所述机器人驱动装置安装在智能移动机器人内并与电源装置、驱动轮以及控制主板连接,用以驱动智能移动机器人移动;The robot driving device is installed in the intelligent mobile robot and connected with the power supply device, the driving wheel and the control main board, so as to drive the intelligent mobile robot to move;

所述定位装置安装在智能移动机器人的支撑杆顶部并与控制主板连接,用以对智能移动机器人进行实时定位;The positioning device is installed on the top of the support rod of the intelligent mobile robot and connected with the control main board, so as to perform real-time positioning of the intelligent mobile robot;

所述声学测量装置安装在智能移动机器人的支撑杆上并与控制主板连接,用以完成变电站噪声声压数据的采集;The acoustic measurement device is installed on the support rod of the intelligent mobile robot and connected with the control main board, so as to complete the acquisition of noise sound pressure data of the substation;

所述激光雷达装置安装在智能移动机器人的支撑杆上并与控制主板连接,用以实现变电站场域内设备及建筑物的点云数据的获取;The lidar device is installed on the support rod of the intelligent mobile robot and connected with the control main board, so as to realize the acquisition of point cloud data of equipment and buildings in the substation field;

所述控制主板安装在智能移动机器人的内部,用以接收定位装置采集的位置坐标、声学测量装置采集的噪声声压数据、激光雷达装置采集的点云数据并生成噪声实景云图。The control board is installed inside the intelligent mobile robot, and is used to receive the position coordinates collected by the positioning device, the noise sound pressure data collected by the acoustic measurement device, and the point cloud data collected by the laser radar device, and generate a real noise cloud map.

所述控制主板上安装有处理芯片,控制芯片包括数据分析管理模块、噪声仿真模块以及实景云图生成模块,所述数据分析管理模块与定位装置、声学测量装置、激光雷达装置相连接,用以接收位置坐标数据、噪声声压数据以及点云数据并对数据进行存储和管理,所述噪声仿真模块与数据分析管理模块相连,并根据噪声声压数据进行仿真形成噪声云图,实景云图生成模块与噪声仿真模块相连,用以根据位置坐标数据、噪声声压数据、点云数据生成声压时空分布图并与噪声云图叠加生成噪声实景云图。A processing chip is installed on the control main board, and the control chip includes a data analysis management module, a noise simulation module and a real cloud image generation module. The data analysis and management module is connected with a positioning device, an acoustic measurement device, and a laser radar device for receiving Position coordinate data, noise sound pressure data, and point cloud data, and store and manage the data. The noise simulation module is connected to the data analysis and management module, and simulates according to the noise sound pressure data to form a noise cloud map, and the real cloud map generation module is connected with the noise. The simulation module is connected to generate a spatial-temporal distribution map of sound pressure according to the position coordinate data, noise sound pressure data, and point cloud data, and superimpose it with the noise cloud map to generate a real noise cloud map.

所述电源装置采用可充电锂电池。The power supply device adopts a rechargeable lithium battery.

所述定位装置为北斗定位装置或GPS定位装置。The positioning device is a Beidou positioning device or a GPS positioning device.

所述声学测量装置采用MEMS麦克风。The acoustic measurement device uses a MEMS microphone.

所述激光雷达装置采用Velarray系列的MEMS激光雷达。The lidar device adopts the MEMS lidar of the Velarray series.

所述控制主板上安装有酷睿I7处理芯片,处理芯片内固化安装有ANSYSFluent软件用以进行噪声仿真和声压时空分布图仿真。A Core I7 processing chip is installed on the control motherboard, and ANSYS Fluent software is solidified and installed in the processing chip for noise simulation and sound pressure time-space distribution diagram simulation.

与现有技术相比,本实用新型的有益效果是:通过智能移动式设备,对变电站全域进行自动在线检测,通过传感器感知各建筑和设备的分布与尺寸,并建立整个变电站统一的全局三维立体场景模型,同时实时采集、存储各处的真实声压。采用智能移动式设备能够按照既定任务进行自主巡检与避障,不间断的完成监测任务,实现噪声监测的自动化和智能化,能够克服人工操作受工作时间和人工费用限制以及工作疲劳等问题,提高监测的可靠性。利用智能移动式设备建立的全局三维立体场景模型,与各处采集的声压数据,可通过坐标转换、数据处理等技术绘制出噪声时空分布图,可以直观的“看到”声压随路径的变化规律,真实体现了变电站的声场的分布状态,因为是现实的真实状态而不存在任何的人为参数设置,声压的时空分布规律能体现变电站噪声现状,能够科学的指导变电站噪声治理方案设计。通过常年不间断的连续测试和绘制噪声时空分布图,可以清晰的了解变电站声场随运行工况和环境影响因素的变化情况,这些信息对于变电站的噪声管理至关重要。基于噪声连续测试所积累的大量数据,根据季节、运行负载、天气状态等信息,研究外界影响因素与噪声预测模型参数的关系,将进一步提高变电站辐射噪声预报精度。Compared with the prior art, the beneficial effect of the utility model is: through intelligent mobile equipment, automatic online detection of the whole substation is carried out, the distribution and size of each building and equipment are sensed through sensors, and a unified global three-dimensional stereo of the entire substation is established. Scene model, and real-time acquisition and storage of real sound pressure everywhere. The use of intelligent mobile equipment can perform autonomous inspection and obstacle avoidance according to the established tasks, complete the monitoring tasks uninterruptedly, realize the automation and intelligence of noise monitoring, and overcome the problems of manual operation limited by working time and labor costs, and work fatigue. Improve the reliability of monitoring. Using the global three-dimensional scene model established by intelligent mobile devices, and the sound pressure data collected from various places, the spatial and temporal distribution map of noise can be drawn through technologies such as coordinate conversion and data processing, and it is possible to intuitively "see" the sound pressure along the path. The change law truly reflects the distribution state of the sound field of the substation. Because it is the real state without any artificial parameter settings, the spatiotemporal distribution law of sound pressure can reflect the current situation of the noise in the substation, and can scientifically guide the design of the substation noise control plan. Through continuous testing all year round and drawing noise spatiotemporal distribution map, we can clearly understand the change of substation sound field with operating conditions and environmental factors. This information is very important for substation noise management. Based on a large amount of data accumulated in continuous noise testing, and according to seasons, operating loads, weather conditions and other information, the relationship between external influencing factors and noise prediction model parameters will be studied, which will further improve the accuracy of radiated noise prediction in substations.

附图说明Description of drawings

图1为本实用新型系统原理框图;Fig. 1 is the principle block diagram of the utility model system;

图2为本实用新型智能移动机器人结构示意图。FIG. 2 is a schematic structural diagram of an intelligent mobile robot of the present invention.

具体实施方式Detailed ways

下面将结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

请参阅图1和图2,本实用新型提供一种技术方案:Please refer to Fig. 1 and Fig. 2, the utility model provides a kind of technical scheme:

一种变电站移动式智能噪声实景云图建模系统,包括智能移动机器人1、电源装置2、机器人驱动装置3、定位装置4、声学测量装置5、激光雷达装置6、驱动轮10以及控制主板11,A substation mobile intelligent noise real scene cloud image modeling system, comprising an intelligent mobile robot 1, a power supply device 2, a robot driving device 3, a positioning device 4, an acoustic measurement device 5, a laser radar device 6, a driving wheel 10 and a control motherboard 11,

所述电源装置2安装在智能移动机器人1内用以给整个建模系统供电;The power supply device 2 is installed in the intelligent mobile robot 1 to supply power to the entire modeling system;

所述机器人驱动装置3安装在智能移动机器人1内并与电源装置2、驱动轮10以及控制主板11连接,用以驱动智能移动机器人1移动;The robot driving device 3 is installed in the intelligent mobile robot 1 and connected with the power supply device 2, the driving wheel 10 and the control main board 11 to drive the intelligent mobile robot 1 to move;

所述定位装置4安装在智能移动机器人1的支撑杆顶部并与控制主板11连接,用以对智能移动机器人1进行实时定位,用于控制智能移动机器人能够按照既定路线在变电站场域内行走,能够停留在规划的测点处完成变电站点云数据的采集,并能够记录测点处的坐标值;The positioning device 4 is installed on the top of the support rod of the intelligent mobile robot 1 and is connected with the control main board 11 to perform real-time positioning of the intelligent mobile robot 1, so as to control the intelligent mobile robot to walk in the substation field according to a predetermined route and to be able to Stay at the planned measuring point to complete the collection of cloud data of the substation, and can record the coordinate value of the measuring point;

所述声学测量装置5安装在智能移动机器人1的支撑杆上并与控制主板11连接,用以完成变电站噪声声压数据的采集;The acoustic measurement device 5 is installed on the support rod of the intelligent mobile robot 1 and connected with the control main board 11 to complete the acquisition of noise and sound pressure data of the substation;

所述激光雷达装置6安装在智能移动机器人1的支撑杆上并与控制主板11连接,用以实现变电站场域内设备及建筑物的点云数据的获取;激光雷达获取机器人当前位置周围建筑和设备的分布与尺寸信息,并从中提取有效的特征点,当移动到下一个位置时,进行特征点的匹配以计算出机器人位姿的变化矩阵,根据计算出的变化矩阵将两个位置监测出的地图拼接成一个。The lidar device 6 is installed on the support rod of the intelligent mobile robot 1 and connected to the control main board 11 to realize the acquisition of point cloud data of equipment and buildings in the substation field; the lidar obtains the buildings and equipment around the current position of the robot distribution and size information, and extract effective feature points from it. When moving to the next position, the feature points are matched to calculate the change matrix of the robot pose, and the two positions are monitored according to the calculated change matrix. Maps are stitched into one.

所述控制主板11安装在智能移动机器人1的内部,用以接收定位装置4采集的位置坐标、声学测量装置5采集的噪声声压数据、激光雷达装置6采集的点云数据并生成噪声实景云图。The control board 11 is installed inside the intelligent mobile robot 1 to receive the position coordinates collected by the positioning device 4, the noise sound pressure data collected by the acoustic measurement device 5, and the point cloud data collected by the lidar device 6, and generate a real noise cloud map .

所述控制主板11上安装有处理芯片,控制芯片包括数据分析管理模块7、噪声仿真模块8以及实景云图生成模块9,所述数据分析管理模块7与定位装置4、声学测量装置5、激光雷达装置6相连接,用以接收位置坐标数据、噪声声压数据以及点云数据并对数据进行存储和管理,所述噪声仿真模块8与数据分析管理模块7相连,噪声仿真模块8用于完成对变电站全域声场分布的预测与计算;对比变电站实测数据,对声学参数设置:材料反射系数、材料吸声系数、衍射边界、声学场点设置等进行修正,使其噪声仿真与现场实测保持可接受的误差。并根据噪声声压数据进行仿真形成噪声云图,实景云图生成模块9与噪声仿真模块8相连,用以根据位置坐标数据、噪声声压数据、点云数据生成声压时空分布图并与噪声云图叠加生成噪声实景云图,从全局显示噪声在变电站场域内的分布,让噪声“看得见”。A processing chip is installed on the control motherboard 11, and the control chip includes a data analysis and management module 7, a noise simulation module 8 and a real cloud image generation module 9. The data analysis and management module 7 is connected with the positioning device 4, the acoustic measurement device 5, and the laser radar. The device 6 is connected to receive position coordinate data, noise sound pressure data and point cloud data and store and manage the data. The noise simulation module 8 is connected to the data analysis and management module 7, and the noise simulation module 8 is used to complete the data analysis. Prediction and calculation of the overall sound field distribution of the substation; compare the measured data of the substation, and correct the acoustic parameter settings: material reflection coefficient, material sound absorption coefficient, diffraction boundary, acoustic field point settings, etc., so that the noise simulation and field measurement remain acceptable. error. And perform simulation according to noise sound pressure data to form a noise cloud map. The real cloud map generation module 9 is connected with the noise simulation module 8 to generate a sound pressure spatiotemporal distribution map according to the position coordinate data, noise sound pressure data, and point cloud data and superimpose it with the noise cloud map. Generate a real noise cloud map, display the distribution of noise in the substation field from a global perspective, and make the noise "visible".

所述电源装置2采用可充电锂电池。The power supply device 2 uses a rechargeable lithium battery.

所述定位装置4为北斗定位装置或GPS定位装置。The positioning device 4 is a Beidou positioning device or a GPS positioning device.

所述声学测量装置5采用MEMS麦克风。The acoustic measurement device 5 uses a MEMS microphone.

所述激光雷达装置6采用Velarray系列的MEMS激光雷达。The lidar device 6 adopts the MEMS lidar of the Velarray series.

所述控制主板11上安装有酷睿I7处理芯片,处理芯片内固化安装有ANSYS Fluent软件用以进行噪声仿真和声压时空分布图仿真。A Core I7 processing chip is installed on the control motherboard 11, and ANSYS Fluent software is solidified and installed in the processing chip for noise simulation and sound pressure time-space distribution diagram simulation.

尽管已经示出和描述了本实用新型的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本实用新型的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention , alternatives and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A transformer substation mobile intelligent noise live-action cloud picture modeling system is characterized by comprising an intelligent mobile robot (1), a power supply device (2), a robot driving device (3), a positioning device (4), an acoustic measuring device (5), a laser radar device (6), a driving wheel (10) and a control main board (11),
the power supply device (2) is arranged in the intelligent mobile robot (1) and used for supplying power to the whole modeling system;
the robot driving device (3) is installed in the intelligent mobile robot (1), connected with the power supply device (2), the driving wheel (10) and the control main board (11) and used for driving the intelligent mobile robot (1) to move;
the positioning device (4) is installed at the top of a support rod of the intelligent mobile robot (1) and connected with the control main board (11) and used for positioning the intelligent mobile robot (1) in real time;
the acoustic measurement device (5) is arranged on a support rod of the intelligent mobile robot (1) and connected with the control main board (11) to complete collection of noise sound pressure data of the transformer substation;
the laser radar device (6) is installed on a support rod of the intelligent mobile robot (1) and connected with the control main board (11) to achieve acquisition of point cloud data of equipment and buildings in the substation field;
the control main board (11) is installed in the intelligent mobile robot (1) and used for receiving position coordinates collected by the positioning device (4), noise sound pressure data collected by the acoustic measurement device (5) and point cloud data collected by the laser radar device (6) and generating a noise live-action cloud picture.
2. The substation mobile intelligent noise live-action cloud picture modeling system according to claim 1, characterized in that the power supply device (2) employs a rechargeable lithium battery.
3. The substation mobile intelligent noise live-action cloud picture modeling system according to claim 1, characterized in that the positioning device (4) is a Beidou positioning device or a GPS positioning device.
4. A substation mobile intelligent noise live-action cloud picture modeling system according to claim 1, characterized in that said acoustic measurement device (5) employs a MEMS microphone.
5. A substation mobile intelligent noise live-action cloud picture modeling system according to claim 1, characterized in that said lidar device (6) employs a MEMS lidar of the veilarray series.
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113139349A (en) * 2021-05-12 2021-07-20 江西师范大学 Method, device and equipment for removing atmospheric noise in InSAR time sequence
CN113239521A (en) * 2021-04-20 2021-08-10 武汉理工大学 Dynamic visual display method for transformer substation noise
CN113252165A (en) * 2021-03-31 2021-08-13 国网河北省电力有限公司电力科学研究院 Transformer substation noise monitoring method
CN114838810A (en) * 2022-03-25 2022-08-02 武汉理工大学 An inspection robot
CN115272560A (en) * 2021-12-06 2022-11-01 中国电力科学研究院有限公司 Three-dimensional sound field cloud picture based substation equipment hidden danger positioning method and system

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113252165A (en) * 2021-03-31 2021-08-13 国网河北省电力有限公司电力科学研究院 Transformer substation noise monitoring method
CN113252165B (en) * 2021-03-31 2022-06-14 国网河北省电力有限公司电力科学研究院 Substation Noise Monitoring Method
CN113239521A (en) * 2021-04-20 2021-08-10 武汉理工大学 Dynamic visual display method for transformer substation noise
CN113139349A (en) * 2021-05-12 2021-07-20 江西师范大学 Method, device and equipment for removing atmospheric noise in InSAR time sequence
CN115272560A (en) * 2021-12-06 2022-11-01 中国电力科学研究院有限公司 Three-dimensional sound field cloud picture based substation equipment hidden danger positioning method and system
CN115272560B (en) * 2021-12-06 2023-09-19 中国电力科学研究院有限公司 Substation equipment hidden danger positioning method and system based on three-dimensional sound field cloud picture
CN114838810A (en) * 2022-03-25 2022-08-02 武汉理工大学 An inspection robot

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