CN112014703A - Robot inspection method under abnormal local discharge current of power pipe gallery - Google Patents
Robot inspection method under abnormal local discharge current of power pipe gallery Download PDFInfo
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- 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
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Abstract
The invention discloses a robot inspection method under abnormal power pipe gallery partial discharge current, which comprises the following steps: the method comprises the following steps that firstly, an optical fiber current sensor is adopted to detect the partial discharge current of the power pipe gallery, wherein the optical fiber current sensor comprises an optical path system unit, a sensing system unit and a signal processing unit; the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, and a partial discharge current optical fiber current sensor optical path system model is established by adopting a Jones matrix analysis method; the sensing system unit is used for sensing the partial discharge current, the output light of the sensing system unit is connected to the signal processing unit, and the optical power meter and the computer are used for resolving the partial discharge current to be measured; when the partial discharge current abnormal point is detected, the inspection robot operates to the partial discharge current abnormal point to carry out maintenance and troubleshooting. The invention fully utilizes the synergistic effect of multiple sensors to enhance the detection performance, realizes the robot inspection under the abnormal drive of the local discharge current of the power pipe gallery, can ensure the safe and reliable operation of the electrical equipment of the power pipe gallery, and improves the intelligent and automatic level of the power grid.
Description
Technical Field
The invention belongs to the technical field of smart power grids, and particularly relates to a robot inspection method under the condition of abnormal power pipe gallery partial discharge current.
Background
The power pipe gallery is a special area for operation of a power grid system, and various elements such as underground cables, channels, pipe galleries and the like exist. The underground pipe gallery which is closed in space and does not have communication signals is the key for guaranteeing the safe operation of a power grid system by carrying out safety detection on power equipment of the underground pipe gallery. With the increasing requirement for reliable operation of the power system, the failure of the electrical equipment, which is a basic element constituting the power system, will not only affect the safe operation of the adjacent equipment, but also cause significant economic loss to users. Insulation failure is a major cause of failure in large electrical equipment, and insulation defects can cause partial discharge. Statistics in industrialized countries indicate that an effective emergency detection system for accidents can reduce the accident loss to 6% of that of a non-emergency detection system. Because electric power piping lane covers several kilometers underground or even tens kilometers length range, it is huge to rely on electric power operation and maintenance personnel to have a work load alone, and operational environment is bad circumstances such as inferior, relies on the robot to patrol and examine and can accomplish and need not the site survey, goes the abnormal point of partial discharge current through driving the robot, can master each monitoring position equipment operation conditions especially the abnormal point of partial discharge current at any time to realize dangerous controllable purpose of dangerous case prevention.
Partial discharge online monitoring is also a requirement for condition maintenance. The on-line state monitoring is carried out on the electrical equipment, the insulation condition information can be obtained in time, the insulation reliability can be judged and the insulation service life can be evaluated by processing and comprehensively analyzing the information, and a basis is provided for state maintenance. The partial discharge current is about several milliamperes to dozens of milliamperes, the amplitude is weak, and the frequency distribution range is large. There are two types of conventional and optical detection methods for detecting the partial discharge current. The traditional detection method has certain limitations due to the self detection principle. The optical detection method includes ultraviolet light detection, fluorescence detection, optical-ultrasonic detection, and fiber optic current sensor detection. The optical fiber current sensor has high sensitivity and strong anti-electromagnetic interference capability, and partial discharge information can be obtained by performing time-frequency analysis on a detection result. When the electric current is unusual in the electrical equipment office discharge, patrol and examine the robot and remove the office and discharge the electric current anomaly point, have work efficiency height, detect safety, the advantage of using manpower and materials sparingly, but patrol and examine the relative position that needs to know robot current position and office and discharge between the anomaly point to the robot for the robot can remove the office according to predetermined route and discharge the anomaly point, detects electrical equipment. The position of the robot cannot be obtained by using a global positioning system in an underground space, and meanwhile, due to the factors of complex motion characteristics, time-varying network topological structure, unknown terrain structure, irregular obstacle distribution and the like, a lot of challenges are brought to the position acquisition of the power pipe gallery robot. And under high voltage electricity environment, adopt wired monitoring to need lay a large amount of cables, the power pipe gallery space is narrow and makes cable wiring loaded down with trivial details, makes the cable break or contact failure easily moreover, because adverse circumstances makes the cable suffer corrosive wear easily, has increased circuit interruption fault rate and data bit error rate simultaneously to influence entire system's performance. In order to overcome the defects of wired remote monitoring, the power pipe gallery is remotely monitored in a wireless mode, a monitoring system which is flexible in networking, strong in expandability, safe and reliable can be established, and tasks such as mobile robot information acquisition, data processing, fusion resolving and position tracking can be achieved.
Disclosure of Invention
Aiming at the problems, the invention provides a robot inspection method under the condition of abnormal local discharge current of a power pipe gallery, which can ensure the safe and reliable operation of electric equipment of the power pipe gallery and improve the intellectualization and automation level of a power grid.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
the invention provides a robot inspection method under abnormal power pipe gallery partial discharge current, which comprises the following steps: detecting the local discharge current of the power pipe gallery by using an optical fiber current sensor, wherein the optical fiber current sensor comprises an optical path system unit, a sensing system unit and a signal processing unit;
the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, and a partial discharge current optical fiber current sensor optical path system model is established by adopting a Jones matrix analysis method;
the sensing system unit senses the partial discharge current of the power pipe gallery, and the output light of the sensing system is connected to the signal processing unit;
the signal processing unit utilizes an optical power meter and a computer to calculate the measured partial discharge current;
when the abnormal point of the partial discharge current is detected, the inspection robot operates to the abnormal point to carry out maintenance and fault removal, and inspection of the robot under the abnormal partial discharge current is realized.
Optionally, the optical fiber current sensor includes an optical path system unit, a sensing system unit and a signal processing unit; the optical path system unit comprises a broadband light source, an online polarizer, an optical fiber circulator, an optical fiber reflector, an optical fiber sensing head, a polarization controller and a polarization beam splitter; the sensing system unit comprises a plurality of layers of solenoid sensing heads and sensing optical fibers; the signal processing unit comprises an optical power meter and a computer; the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, the sensing system unit is used for sensing partial discharge current, output light of the sensing system unit is connected to the signal processing unit, and the optical power meter and the computer are used for calculating the measured partial discharge current;
optionally, a partial discharge current optical fiber current sensor optical path system model is established by using a jones matrix analysis method, and an optical wave vector E output by a polarization beam splitter of the optical path systemoIs composed of
In the formula EiIs the input light wave vector; exiIs the component of the input light wave vector at x; l isp、Lm、LR、LpbsRespectively are Jones matrix models of an online polarizer, a fiber reflector, a polarization controller and a polarization beam splitter; l isf1And Lf2The Jones matrixes of the sensing optical fibers are respectively used when the light wave vibration surface rotates for the first time and rotates for the second time through the optical fiber reflector; θ is the Faraday rotation angle.
Optionally, the sensing system unit is configured to sense a partial discharge current in the power line corridor, when the partial discharge current exists, a magnetic field intensity is generated in the multi-layer solenoid sensing head, based on a faraday rotation effect, a light wave polarization plane passing through the sensing optical fiber rotates, and a relationship between a faraday rotation angle and the partial discharge current is:
in the formula: v is the Verdet constant of the sensing fiber; l and N are respectively the length of each sensing optical fiber in the uniform magnetic field and the number of the sensing optical fibers; n is a radical of1、N2Number of turns per unit length of the solenoid in the axial direction and the longitudinal direction, respectively; l is the length of the solenoid; A. b is the inner diameter and the outer diameter of the multilayer solenoid respectively; i (t) is the partial discharge current to be measured; θ (t) is the Faraday rotation angle.
Optionally, the two optical powers of the optical power meters of the signal processing units are respectively JxAnd JyAnd finally, the relationship between the output P of the optical fiber current sensor and the Faraday rotation angle is as follows:
the partial discharge current to be measured can be solved through the optical fiber current sensor signal processing unit.
Optionally, the method further comprises:
when the output of the optical fiber current sensor is smaller than a set threshold value, judging that no partial discharge current exists, and enabling the inspection robot to stop working; when the output of the optical fiber current sensor is larger than a set threshold value, judging that an abnormal point of the partial discharge current is detected, patrolling the action of the robot, and carrying out corresponding troubleshooting and maintenance work according to the partial discharge current value from the current position to the abnormal point.
Compared with the prior art, the invention has the beneficial effects that:
the optical fiber current sensor is adopted to detect the partial discharge current of the power pipe gallery, and the multilayer solenoid sensing heads are utilized to sense the partial discharge current of the power pipe gallery; the position of the inspection robot is obtained by adopting a distributed wireless sensing network, when an abnormal point of partial discharge current is detected, the optical fiber current sensor outputs the detected magnitude of the partial discharge current, and the inspection robot runs from the current position to the abnormal point and carries out corresponding troubleshooting and maintenance work according to the magnitude of the partial discharge current value. Utilize many sensor networks to increase detecting system dimension and extend space-time scope in coordination, improved the operation safety of electric power pipe gallery when strengthening power equipment detection efficiency, and then improve the intellectuality and the automatic level of electric wire netting.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic diagram of a robot inspection method under abnormal power pipe gallery local discharge current.
Fig. 2 is a structural block diagram of a robot inspection method under abnormal power pipe gallery local discharge current in the invention.
Fig. 3 is a flowchart for outputting the position of the inspection robot under the abnormal local discharge current of the power pipe gallery.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
The embodiment of the invention provides a robot inspection method under abnormal power pipe gallery local discharge current, which comprises the following steps:
the optical fiber current sensor for the local discharge current of the power pipe gallery comprises a light path system unit, a sensing system unit and a signal processing unit;
the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, and a partial discharge current optical fiber current sensor optical path system model is established by adopting a Jones matrix analysis method;
the sensing system unit senses the partial discharge current of the power pipe gallery, and the output light of the sensing system is connected to the signal processing unit;
the signal processing unit utilizes an optical power meter and a computer to calculate the measured partial discharge current;
when the abnormal point of the partial discharge current is detected, the inspection robot operates to the abnormal point to carry out maintenance and fault removal, and inspection of the robot under the abnormal partial discharge current is realized.
In a specific implementation manner of the embodiment of the present invention, the optical fiber current sensor includes an optical path system unit, a sensing system unit, and a signal processing unit; the optical path system unit comprises a broadband light source, an online polarizer, an optical fiber circulator, an optical fiber reflector, an optical fiber sensing head, a polarization controller and a polarization beam splitter; the sensing system unit comprises a plurality of layers of solenoid sensing heads and sensing optical fibers; the signal processing unit comprises an optical power meter and a computer. The optical path system unit is used for constructing an optical path system of the optical fiber current sensor, the sensing system unit is used for sensing partial discharge current, output light of the sensing system unit is connected to the signal processing unit, and the optical power meter and the computer are used for calculating the measured partial discharge current;
in a specific implementation manner of the embodiment of the invention, a Jones matrix analysis method is adopted to establish a light path system model of the partial discharge current optical fiber current sensor, and a light wave vector E output by a polarization beam splitter of the light path systemoIs composed of
In the formula EiIs the input light wave vector; exiIs the component of the input light wave vector at x; l isp、Lm、LR、LpbsRespectively are Jones matrix models of an online polarizer, a fiber reflector, a polarization controller and a polarization beam splitter; l isf1And Lf2The Jones matrixes of the sensing optical fibers are respectively used when the light wave vibration surface rotates for the first time and rotates for the second time through the optical fiber reflector; θ is the Faraday rotation angle;
in a specific implementation manner of the embodiment of the present invention, the sensing system unit is configured to sense an partial discharge current in the power pipe gallery, when the partial discharge current exists, a magnetic field intensity is generated in the multi-layer solenoid sensing head, and based on a faraday rotation effect, a polarization plane of light waves passing through the sensing optical fiber rotates, where a relationship between a faraday rotation angle and the partial discharge current is:
in the formula: v is the Verdet constant of the sensing fiber; l and N are respectively the length of each sensing optical fiber in the uniform magnetic field and the number of the sensing optical fibers; n is a radical of1、N2Number of turns per unit length of the solenoid in the axial direction and the longitudinal direction, respectively; l is the length of the solenoid; A. b is the inner diameter and the outer diameter of the multilayer solenoid respectively; i (t) is the partial discharge current to be measured; θ (t) is the Faraday rotation angle.
In a specific implementation manner of the embodiment of the present invention, the two optical powers of the optical power meters of the signal processing units are J respectivelyxAnd JyAnd finally, the relationship between the output P of the optical fiber current sensor and the Faraday rotation angle is as follows:
the partial discharge current to be measured can be solved through the optical fiber current sensor signal processing unit.
As shown in fig. 3, in the embodiment of the invention, in the robot inspection under abnormal local discharge current of the power pipe gallery, an anchor node and a mobile node are respectively deployed on the power pipe gallery and an inspection robot, and the inspection robot optimally performs three-dimensional coverage on a wireless sensor network by combining a high-voltage power environment three-dimensional environment and the dynamic motion of the inspection robot; acquiring a wireless position by adopting a time difference of arrival signal between a mobile node on the inspection robot and an anchor node on a high-voltage power environment; correcting information between the mobile node and the anchor node through known information between the anchor nodes in the power pipe gallery by adopting a multidimensional scale calibration technology; utilize the dual mapping of wireless signal field and inspection robot position field under the electric power piping lane environment to patrol and examine the geographical span of robot in the location visual field for the restraint, solve and patrol and examine the robot position based on interactive multimode kalman method, patrol and examine the robot and move the position of partial discharge current abnormal point place, realize patrolling and examining of robot under the electric power piping lane partial discharge current abnormality.
In a specific implementation manner of the embodiment of the invention, when the output of the optical fiber current sensor is smaller than a set threshold, it is determined that no partial discharge current exists, and the inspection robot does not act; when the output of the optical fiber current sensor is larger than a set threshold value, judging that an abnormal point of the partial discharge current is detected, patrolling the action of the robot, and carrying out corresponding troubleshooting and maintenance work according to the partial discharge current value from the current position to the abnormal point. The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A robot inspection method under abnormal power pipe gallery partial discharge current is characterized by comprising the following steps: detecting the local discharge current of the power pipe gallery by using an optical fiber current sensor, wherein the optical fiber current sensor comprises an optical path system unit, a sensing system unit and a signal processing unit;
the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, and a partial discharge current optical fiber current sensor optical path system model is established by adopting a Jones matrix analysis method;
the sensing system unit senses the partial discharge current of the power pipe gallery, and the output light of the sensing system is connected to the signal processing unit;
the signal processing unit utilizes an optical power meter and a computer to calculate the measured partial discharge current;
when the abnormal point of the partial discharge current is detected, the inspection robot operates to the abnormal point to carry out maintenance and fault removal, and inspection of the robot under the abnormal partial discharge current is realized.
2. The robot inspection method according to claim 1, characterized in that: the optical path system unit comprises a broadband light source, an online polarizer, an optical fiber circulator, an optical fiber reflector, an optical fiber sensing head, a polarization controller and a polarization beam splitter; the sensing system unit comprises a plurality of layers of solenoid sensing heads and sensing optical fibers; the signal processing unit comprises an optical power meter and a computer;
the optical path system unit is used for constructing an optical path system of the optical fiber current sensor, the sensing system unit is used for sensing partial discharge current, output light of the sensing system is connected to the signal processing unit, and the optical power meter and the computer are used for calculating the measured partial discharge current.
3. The robot inspection method according to claim 2, characterized in that: the optical path system unit adopts Jones matrix analysis method to establish a partial discharge current optical fiber current sensor optical path system model, and the optical wave vector E output by the polarization beam splitter of the optical path systemoIs composed of
In the formula EiIs the input light wave vector; exiIs the component of the input light wave vector at x; l isp、Lm、LR、LpbsRespectively are Jones matrix models of an online polarizer, a fiber reflector, a polarization controller and a polarization beam splitter; l isf1And Lf2The Jones matrixes of the sensing optical fiber are respectively used when the light wave vibration surface rotates for the first time and rotates for the second time through the optical fiber reflector, and theta is a Faraday rotation angle;
sensing system unit be arranged in the local current of putting of perception power piping lane, when having the local current of putting, produce magnetic field intensity in the multilayer solenoid sensing head, based on Faraday rotation effect, the light wave plane of polarization through sensing optic fibre takes place to rotate, the relation of Faraday rotation angle and local current of putting is:
in the formula: v is the Verdet constant of the sensing fiber; l and N are respectively the length of each sensing optical fiber in the uniform magnetic field and the number of the sensing optical fibers; n is a radical of1、N2Number of turns per unit length of the solenoid in the axial direction and the longitudinal direction, respectively; l is the length of the solenoid; A. b is the inner diameter and the outer diameter of the multilayer solenoid respectively; i (t) is the partial discharge current to be measured; θ (t) is the Faraday rotation angle.
4. The robot inspection method according to claim 3, characterized in that: the two paths of optical power of the optical power meter in the signal processing unit are respectively JxAnd JyAnd finally, the relationship between the output P of the optical fiber current sensor and the Faraday rotation angle is as follows:
the partial discharge current to be measured can be solved through a signal processing unit of the optical fiber current sensor.
5. The robot inspection method according to claim 1 or 4, characterized in that: when the output of the optical fiber current sensor is smaller than a set threshold value, judging that no partial discharge current exists, and enabling the inspection robot to stop working; when the output of the optical fiber current sensor is larger than a set threshold value, judging that an abnormal point of the partial discharge current is detected, patrolling the action of the robot, and carrying out corresponding troubleshooting and maintenance work according to the partial discharge current value from the current position to the abnormal point.
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| CN115128415A (en) * | 2022-08-26 | 2022-09-30 | 北京鼎诚鸿安科技发展有限公司 | Power distribution station room state testing platform and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115128415A (en) * | 2022-08-26 | 2022-09-30 | 北京鼎诚鸿安科技发展有限公司 | Power distribution station room state testing platform and method |
| CN115128415B (en) * | 2022-08-26 | 2022-11-22 | 北京鼎诚鸿安科技发展有限公司 | Power distribution station room state testing platform and method |
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