CN115166409A - Underground power cable line fault troubleshooting method based on human-computer interaction - Google Patents
Underground power cable line fault troubleshooting method based on human-computer interaction Download PDFInfo
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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
- G01R31/081—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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- 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
- G01R31/088—Aspects of digital computing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The invention discloses a man-machine interaction based underground power cable line fault troubleshooting method, which comprises the application of an intelligent robot body; positioning faults of the underground power cable; and (4) troubleshooting the high-energy signal source. The method comprises the steps of judging the line information laid by underground cable lines by detecting the magnetic field around the cable, positioning the fault position by a GPS, and checking the cable in a man-machine interaction mode. The invention utilizes a man-machine interaction mode to investigate the fault information of the underground power cable, accelerates the accuracy of cable line investigation work and improves the speed and anti-interference performance of the cable investigation work.
Description
Technical Field
The invention relates to power cable troubleshooting in the field of power, in particular to a man-machine interaction based underground power cable line troubleshooting method.
Background
In the existing power cable fault troubleshooting, when a local power cable has a fault, a power line fault troubleshooting method based on a decision tree and a cable line fault troubleshooting method based on leakage current are often adopted. With the rapid development of power technology in recent years, complex and compact underground networks have been formed. The underground cable is easy to generate faults due to self aging and external force damage, and the traditional fault troubleshooting method is difficult to effectively solve the problem of fault troubleshooting of the underground power cable due to unscientific cable laying path information management, and has poor anti-interference performance and larger errors.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a man-machine interaction based underground power cable line fault troubleshooting method, which is used for troubleshooting underground power cable fault information in a man-machine interaction mode, so that the accuracy of cable line troubleshooting is improved, and the speed and the anti-interference performance of the cable troubleshooting are improved.
The purpose of the invention is realized by the following technical scheme:
a man-machine interaction based underground power cable line fault troubleshooting method is characterized by comprising the following steps: the method comprises the following steps:
(1) The intelligent robot body is applied; the method comprises the following steps:
(1.1) setting a troubleshooting area and requirements by a user, and controlling the operation of the intelligent robot;
(1.2) the intelligent robot enters the ground to start working;
(1.3) shooting a video record to a local module by a camera module, and uploading the video record to a control center by using a networking system;
(1.4) the cable detection module judges whether the underground cable has a fault;
(1.5) if the judgment result is yes, starting a positioning module to position a fault position, and starting an early warning module to send fault information to a control center;
(1.6) if not, directly entering the step (1.7);
(1.7) continuing working, and checking other cables;
(2) Positioning faults of the underground power cable; the method comprises the following steps:
(2.1) the user receives the approximate location of the fault;
(2.2) acquiring a specific fault position according to the relation between the electric quantity and the fault;
(3) Troubleshooting a high-energy signal source; the method comprises the following steps:
(3.1) sending a signal by a high-energy signal source;
(3.2) the sensor receives a signal;
(3.3) the fault location receiver processes the electromagnetic signal into a digital signal;
and (3.4) the wireless network transmits the digital signals to the control center.
In step (1.4), the cable detection module includes a detector for determining whether a fault occurs in the cable, and the structure of the detector is as shown in fig. 2:
the detector comprises a transmitter and a receiver, wherein the transmitter transmits information, the receiver receives the information, and whether the cable has faults or not is judged according to the magnetic field information around the cable to be detected, which is collected by the receiver. And if the cable is judged to have a fault, fault positioning is carried out, and the electric fault position is obtained through distance measurement calculation by adopting an electric bridge method.
In step (1.5), the positioning module comprises a GPS positioning device for accurately positioning the cable.
In the step (2.2), the user calculates the fault distance according to the functional relation between the electrical quantity of the cable and the fault distance when the line fault occurs, and further fault positioning is achieved. The equivalent circuit is shown in fig. 3:
wherein, the bridge balance principle does:
wherein, the resistance R 1 And R 2 Is in a known state, will
Set to constant α, resistance R 3 And R 4 Can be fixed byIs as follows:
where d represents the total length of the cable and R represents the resistance per unit length of the cable. Substituting equation (2) into equation (1) yields:
known d = d 1 +d 2 Then, we can get:
d obtained by the above calculation 1 Namely, the distance of the left end of the underground power cable is measured, and the distance of the right end of the underground power cable can be obtained by repeating the process, so that the fault of the underground power cable is positioned.
The working principle of the invention is as follows:
the underground cable is checked through the intelligent robot, the running visual angle of the intelligent robot is provided through returning and recording video information, the control of a user is facilitated, the underground power cable information is judged according to magnetic field signals around the cable to be detected, and if the fault does not occur, the next stage of checking is carried out; if the fault occurs, starting a GPS positioning device to position; and the user positions the fault position by using the electrical quantity and the fault distance and checks the fault by using the high-energy signal source.
The invention is implemented by building an intelligent robot. The intelligent robot comprises a control module, a mobile module, a camera module, a cable detection module, a positioning module and an early warning module. The operation module comprises a liquid crystal control screen; the moving module comprises a controller, a motor and wheels; the camera module comprises a camera, a local storage system and a networking system; the cable detection module comprises a cable detector; the positioning module comprises a GPS positioner; the early warning module comprises a networking system and an information sending device. The invention judges the line information laid by the underground cable line by detecting the magnetic field around the cable. And the fault position is positioned through a GPS, and the cable is checked through a man-machine interaction mode.
Compared with the prior art, the invention has the following advantages:
according to the invention, the underground power cable line fault is checked in a man-machine interaction mode, so that the anti-interference performance of the underground power cable checking work is improved, the fault positioning error is reduced, and the extracted fault information is perfected. The method can better meet the requirements of troubleshooting of the line faults of the underground power cables which are continuously developed at present.
Drawings
FIG. 1 is a flow chart of a man-machine interaction based underground power cable line troubleshooting method of the present invention;
FIG. 2 is a block diagram of the power cable path detector of the present invention;
FIG. 3 is a diagram of an equivalent circuit for bridge ranging in accordance with the present invention;
FIG. 4 is a schematic diagram of the power cable position in the experiment of the present invention;
FIG. 5 is a schematic diagram of path detection deviation with different burial depths;
fig. 6 is a diagram of the results of a fault signal integrity test for different troubleshooting methods.
Detailed Description
Example (b):
as shown in figure 1, the intelligent robot comprises an operation module, a moving module, a camera module, a cable detection module, a positioning module and an early warning module.
The operation module comprises an operable liquid crystal display screen and control software.
The mobile module comprises a signal receiver, a motor and wheels. The signal receiver is used for receiving a movement request sent by a user, the motor is used for driving wheels to roll, and the wheels are used for driving the intelligent robot to run.
The camera module comprises a camera, a local storage and a networking system, the camera is used for acquiring environment information of the intelligent robot, the local storage is used for storing the environment information locally, and the networking system is used for sending the environment information to the user display layer.
The cable detection module comprises a transmitter and a receiver, wherein the transmitter injects alternating current meeting detection requirements into a cable to be checked; the receiver is used for collecting signals around the cable to be detected and carrying out pretreatment on the circuit so as to extract an effective magnetic field;
the positioning module comprises a GPS device and an EEPROM, and the GPS device is used for positioning the fault position of the power cable line and storing the result into the EEPROM.
The early warning module comprises a fault prompting device and a signal sending device, when the power cable line is in fault, the early warning module sends a signal to the control center, and the fault prompting device provides early warning for the fault line.
The man-machine interaction based underground power cable line fault troubleshooting method comprises the following steps:
(1) The intelligent robot body is applied;
(2) Positioning faults of the underground power cable;
(3) And (4) troubleshooting the high-energy signal source.
In the step (1), the application of the intelligent robot body comprises the following steps:
(1.1) setting a troubleshooting area and requirements by a user, and controlling the operation of the intelligent robot;
(1.2) the intelligent robot enters the ground to start working;
(1.3) shooting a video record to a local module by a camera module, and uploading the video record to a control center by using a networking system;
(1.4) the cable detection module judges whether the underground cable has a fault;
(1.5) if the judgment result is yes, starting a positioning module to position a fault position, and starting an early warning module to send fault information to a control center;
(1.6) if not, directly entering the step (1.7);
and (1.7) continuing working and checking other cables.
In the step (1.1), a liquid crystal display screen is arranged on the intelligent robot for controlling the behavior of the robot, and a user operates the intelligent robot from beginning to end through the display screen.
In step (1.4), the cable detection module includes a detector for determining whether the cable has a fault, and the structure of the detector is as shown in fig. 2:
the detector comprises a transmitter and a receiver, wherein the transmitter transmits information, the receiver receives the information, and whether the cable has faults or not is judged according to the magnetic field information around the cable to be detected, which is collected by the receiver. And if the cable is judged to have a fault, fault positioning is carried out, and the electric fault position is obtained through distance measurement calculation by adopting an electric bridge method.
In step (1.5), the positioning module comprises a GPS positioning device for accurately positioning the cable.
In the step (2), the underground power cable line fault location comprises the following steps:
(2.1) the user receives the approximate position of the fault;
(2.2) acquiring a specific fault position according to the relation between the electric quantity and the fault;
in the step (2.2), the user calculates the fault distance according to the functional relation between the electrical quantity of the cable and the fault distance when the line fault occurs, and further fault positioning is achieved. The equivalent circuit is shown in fig. 3:
wherein, the bridge balance principle does:
wherein, the resistance R 1 And R 2 Is in a known state, will
Set to constant α, resistance R 3 And R 4 Can be expressed in terms of fixed parameters as follows:
where d represents the total length of the cable and R represents the resistance per unit length of the cable. Substituting equation (2) into equation (1) yields:
known d = d 1 +d 2 Then, we can get:
d obtained by the above calculation 1 Namely, the distance of the left end of the underground power cable is measured, and the distance of the right end of the underground power cable can be obtained by repeating the process, so that the fault of the underground power cable is positioned.
In the step (3), the high-energy signal troubleshooting comprises the following steps:
(3.1) the high-energy signal source sends a signal;
(3.2) the sensor receives a signal;
(3.3) the fault positioning receiver processes the electromagnetic signal into a digital signal;
and (3.4) the wireless network transmits the digital signals to the control center.
The feasibility of the method is verified through experiments.
Assume power cable position D as: y = η x + a, z = q, where q represents the subsurface depth, η represents the actual position of the power cable at subsurface depths of 1, 2, 5, respectively, and η' represents the path slope. With reference to the schematic diagram, the actual position η of the power cable at the subsurface depth is related to the path slope η' as shown in fig. 4. As can be seen from fig. 4, the searched slope η' of the path and the actual position η are almost the same, and on this basis, the underground power cable simulation model as shown in fig. 5 is built. And (3) carrying out simulation by utilizing Matlab software to obtain the path trend and burial depth results of the power cable to be tested, executing different troubleshooting methods on the results, and analyzing the advantages and disadvantages of the different troubleshooting methods according to the integrity experimental result and the fault location error experimental result of the fault signal.
In the fault signal integrity experiment, a fault troubleshooting method based on a decision tree, a fault troubleshooting method based on leakage current and a fault troubleshooting method based on human-computer interaction designed in the text are respectively used for extracting a target fault signal, the amplitude-frequency response of a rectangular window is obtained by using Matlab, and the experiment result is shown in FIG. 6.
The amplitude change of the fault signal is uniform and normal based on a man-machine interaction method, no mutation or abnormal condition occurs, and the fault signal is extracted completely. The fault information is more complete.
In addition fault ranging experiments. And combining the fault signal integrity experiment result with the fault distance measurement experiment result, and analyzing the actual application level of different underground power cable line fault troubleshooting methods together.
Simulating different fault types, different fault positions and different fault resistances of a cable in an underground power cable simulation model prepared by an experiment, measuring fault distance and relative error by using different underground power cable line fault troubleshooting methods, and setting two experimental conditions: the first is that the total length of the cable is 10km, the number of decomposition layers is 5, and the fault resistance is 0.01 omega; the second experimental condition is that the total length of the cable is 10kn, the number of decomposition layers is 5, and the fault resistance is 100 omega. Under the two experimental conditions, the experimental results of different troubleshooting methods are shown in table 1 and table 2.
Table 1 conditions-fault ranging experimental results
TABLE 2 Experimental results of two-fault ranging
According to result analysis, under the condition of the first condition, for single-phase faults and two-phase faults, the relative error of the provided fault troubleshooting method based on human-computer interaction is the lowest, and the relative error calculated by the method is different from that calculated by the traditional troubleshooting method by a multiple. According to the method, the anti-interference performance is higher by combining the experimental result of the integrity of the fault signal.
Claims (3)
1. A man-machine interaction based underground power cable line fault troubleshooting method is characterized by comprising the following steps: the method comprises the following steps:
(1) The intelligent robot body is applied; the method comprises the following steps:
(1.1) setting a troubleshooting area and requirements by a user, and controlling the operation of the intelligent robot;
(1.2) the intelligent robot enters the ground to start working;
(1.3) shooting a video by the camera module, recording the video to a local module, and uploading the video to a control center by using a networking system;
(1.4) the cable detection module judges whether the underground cable has a fault;
(1.5) if the judgment result is yes, starting a positioning module to position a fault position, and starting an early warning module to send fault information to a control center;
(1.6) if not, directly entering the step (1.7);
(1.7) continuing working, and checking other cables;
(2) Underground power cable fault location; the method comprises the following steps:
(2.1) the user receives the approximate location of the fault;
(2.2) acquiring a specific fault position according to the relation between the electric quantity and the fault;
(3) Troubleshooting a high-energy signal source; the method comprises the following steps:
(3.1) the high-energy signal source sends a signal;
(3.2) the sensor receives a signal;
(3.3) the fault positioning receiver processes the electromagnetic signal into a digital signal;
and (3.4) the wireless network transmits the digital signal to the control center.
2. An underground power cable line troubleshooting method based on human-computer interaction as claimed in claim 1 wherein: the intelligent robot comprises an operation module, a moving module, a camera module, a cable detection module, a positioning module and an early warning module;
the operation module comprises a liquid crystal display screen and control software; the liquid crystal display screen is used for controlling the behavior of the robot;
the cable detection module comprises a detector used for judging whether the cable has a fault or not; the detector comprises a transmitter and a receiver, wherein the transmitter transmits information, the receiver receives the information, and the transmitter injects alternating current meeting the detection requirement into a cable to be checked; the receiver is used for collecting signals around the cable to be detected and carrying out pretreatment on the circuit so as to extract an effective magnetic field; judging whether the cable has a fault according to the magnetic field information around the cable to be detected collected by the receiver; if the cable is judged to have a fault, fault positioning is carried out, and the electric fault position is obtained through distance measurement calculation by adopting an electric bridge method;
the positioning module comprises a GPS positioning device for accurately positioning the cable.
3. An underground power cable line troubleshooting method based on human-computer interaction as claimed in claim 1 wherein: calculating the fault distance according to the functional relation between the electrical quantity of the cable and the fault distance when the line fault occurs, and further realizing fault positioning;
wherein, the electric bridge balance principle does:
wherein, the resistance R 1 And R 2 Is in a known state, will
Set to constant α, resistance R 3 And R 4 Expressed with fixed parameters, as follows:
wherein d represents the total length of the cable, and R represents the resistance value of the cable per unit length; substituting equation (2) into equation (1) yields:
known d = d 1 +d 2 Then, we can get:
d obtained by the above calculation 1 Namely, the distance of the left end of the underground power cable is measured, and the distance of the right end of the underground power cable can be obtained by repeating the process, so that the fault of the underground power cable is positioned.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181552A (en) * | 2018-01-17 | 2018-06-19 | 武汉科技大学 | Buried cable fault detection system and its fault detection method |
| CN109802490A (en) * | 2019-02-21 | 2019-05-24 | 国网山东省电力公司临沂供电公司 | A kind of intelligent platform of substation's electrification fortune inspection |
| CN110850233A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Cable fault positioning method and device |
| WO2020060305A1 (en) * | 2018-09-20 | 2020-03-26 | 한국전력공사 | Apparatus for detecting fault location of underground cable, and method therefor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181552A (en) * | 2018-01-17 | 2018-06-19 | 武汉科技大学 | Buried cable fault detection system and its fault detection method |
| WO2020060305A1 (en) * | 2018-09-20 | 2020-03-26 | 한국전력공사 | Apparatus for detecting fault location of underground cable, and method therefor |
| CN109802490A (en) * | 2019-02-21 | 2019-05-24 | 国网山东省电力公司临沂供电公司 | A kind of intelligent platform of substation's electrification fortune inspection |
| CN110850233A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Cable fault positioning method and device |
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