Insulator appearance detection system and method based on high position of suspension tower

Abstract

The invention discloses an insulator appearance detection system and method based on the high position of a suspension tower, and the system comprises an equipment subsystem which comprises an unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is provided with a pneumatic clamp, and the pneumatic clamp is provided with an O-shaped clamping opening used for being clamped outside an insulator at the high position of the suspension tower; an ultrasonic thickness gauge and a temperature sensor are arranged in the O-shaped clamping opening; the control subsystem is used for comparing the collected temperature of the insulator with a preset temperature threshold value and judging whether the surface temperature of the insulator to be detected is too high or not; analyzing the collected image to obtain actual information of an insulator picture, and calling an insulator picture reference information table to carry out crack detection; the device is also used for calculating and comparing the collected insulator diameters, and judging whether the surface of the to-be-detected insulator has dirt or not. According to the invention, triple synchronous detection of temperature, surface crack and surface thickness on the surface of the insulator to be detected can be carried out, so that the accuracy and detection effect of insulator surface appearance insulation detection are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of insulator appearance detection, and in particular to an insulator appearance detection system and method based on a high position of a suspension tower. Background Art

[0002] Currently, insulators operating on power lines are categorized by material into three main types: porcelain, composite, and tempered glass. During production, transportation, and installation, insulators inevitably suffer minor localized degradation, often resulting from bumps and even breakage. Furthermore, with age, some outdoor insulators, located high up on suspension towers, experience varying degrees of degradation in electrical and mechanical performance. Cracks and surface contamination can occur, leading to increased thickness and heat buildup, ultimately resulting in a loss of insulation performance and low or zero insulation value.

[0003] The existing patent document, with publication number CN118688586A, includes a reference state acquisition module, an image acquisition module, an image analysis module, an appearance comparison module, a test field strength acquisition module, a field strength comparison module, and an output module. The reference state acquisition module models the transmission line construction drawings, decomposes the solid model into sub-models, and calculates the reference field strength curve for each insulator. The image acquisition module, image analysis module, and appearance comparison module perform appearance inspection of porcelain insulator strings. The test field strength acquisition module and field strength comparison module then perform field strength inspection on porcelain insulators that appear normal. Finally, the output module outputs the remote inspection results for degraded porcelain insulators. This system's advantage lies in its ability to remotely measure the power frequency electric field strength around insulators, enabling operators to detect degraded insulators without having to climb onto the tower, thereby increasing the safety of line operations and maintenance.

[0004] However, the above method only detects the surface of the insulator through image acquisition, which makes it impossible to detect dirt on the surface of the insulator in time, causing the thickness of the insulator surface to thicken and affect the insulation of the insulator. At the same time, it is impossible to detect the problem of heating on the surface of the insulator in time, which ultimately leads to inaccurate insulation detection results of the insulator.

[0005] In view of this, this application is hereby filed. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the existing insulator inspection method is unable to detect dirt on the insulator surface in a timely manner because the insulator surface is inspected solely through image acquisition. This causes the thickness of the insulator surface to increase, affecting the insulation of the insulator. At the same time, it is unable to detect the problem of heating on the insulator surface in a timely manner, which ultimately leads to inaccurate insulation inspection results. The purpose of the present invention is to provide an insulator appearance inspection system and method based on a high position of a suspension tower. The present invention can further improve the accuracy of insulation inspection of the insulator surface appearance by performing triple synchronous inspection of temperature, surface cracks, and surface thickness on the surface of the insulator to be inspected. Compared with simple image inspection, the present invention has better detection accuracy and better detection effect.

[0007] The present invention is achieved through the following technical solutions: In a first aspect, the present invention provides an insulator appearance inspection system based on a high position of a suspension tower, the system comprising: The equipment subsystem includes a drone, a pneumatic clamp is provided at the bottom of the drone, and the pneumatic clamp is provided with an O-shaped clamp for clamping the outside of the insulator at a high position on the suspension tower; an ultrasonic thickness gauge and a temperature sensor are provided in the O-shaped clamp; a mounting base is provided on the side of the pneumatic clamp, and an image acquisition module is provided on the mounting base; The control subsystem is set at the remote end and is used to compare the insulator temperature collected by the temperature sensor with the preset temperature threshold I o Compare and determine whether the surface temperature of the insulator to be tested is too high; and analyze the images collected by the image acquisition module to obtain the actual information of the insulator picture; and based on the actual information of the insulator picture, call the insulator picture reference information table to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; it is also used to calculate and compare the insulator diameter collected by the ultrasonic thickness gauge to determine whether there is dirt on the surface of the insulator to be tested.

[0008] Furthermore, the control subsystem includes a controller, a data storage library, a communication module and an image analysis module; the controller is electrically connected to the temperature sensor, the data storage library, the communication module and the image analysis module; Data repository for storing insulator image reference information table, temperature threshold I o and the insulator surface thickness threshold T; The image analysis module is used to analyze the images collected by the image acquisition module through computer vision and image processing technology to obtain the actual information of the insulator image; retrieve the insulator image reference information table and the actual information of the insulator image in the data storage library to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; The controller is used to compare the insulator temperature collected by the temperature sensor with the temperature threshold value I in the data storage library. oThe system is used to compare and determine whether the surface temperature of the insulator to be tested is too high. The system is also used to calculate the current single-side thickness of the insulator surface in real time based on the insulator diameter collected by the ultrasonic thickness gauge and the insulator surface calculation model, and compare the current single-side thickness of the insulator surface in real time with the insulator surface thickness threshold T in the data storage library to determine whether there is dirt on the surface of the insulator to be tested.

[0009] Furthermore, the expression of the insulator surface calculation model is: T s =(T q -T d )+T dec ; Among them, T s is the single-side thickness of the current real-time insulator surface, T q It is the overall diameter of the conductor with insulator measured by ultrasonic thickness gauge; T d is the diameter of the conductor inside the insulator; T dec is the diameter error constant.

[0010] Furthermore, the current real-time single-side thickness of the insulator surface is compared with the insulator surface thickness threshold T in the data storage library to determine whether there is dirt on the insulator surface to be tested, including: The current real-time single-sided thickness of the insulator surface is compared with the insulator surface thickness threshold T in the data storage library: if the current real-time single-sided thickness of the insulator surface is less than or equal to the insulator surface thickness threshold T, it means that the insulator surface to be tested is free of dirt; if the current real-time single-sided thickness of the insulator surface is greater than the insulator surface thickness threshold T, it means that the insulator surface to be tested is dirty.

[0011] Furthermore, the insulator temperature collected by the temperature sensor is compared with the temperature threshold value I in the data storage library. o Compare and determine whether the surface temperature of the insulator to be tested is too high, including: According to the insulator temperature collected by the temperature sensor, the temperature calculation model is called to calculate the final detection temperature value; the expression of the temperature calculation model is: I s =I q +I dec , where I s is the final detection temperature value, I q is the insulator temperature collected by the temperature sensor, I dec is the temperature error constant; The final detected temperature value is compared with the temperature threshold value I in the data storage library. o Compare; if the final detected temperature value is greater than the temperature threshold I in the data storage database o, it means that the surface of the insulator to be tested is damaged, the temperature is too high, and leakage occurs; if the final detection temperature value is less than or equal to the temperature threshold value I in the data storage library o , it means that the surface temperature of the insulator to be tested is normal.

[0012] Furthermore, the control subsystem also includes an appearance comparison module, which is communicatively connected to the controller and is used to detect the appearance of the porcelain insulator string.

[0013] Furthermore, the control subsystem also includes a mobile terminal and a display screen, and the mobile terminal and the display screen are both communicatively connected to the controller.

[0014] Furthermore, an image acquisition module is hinged on the mounting seat, and a driving motor for driving the image acquisition module to rotate 360 ​​degrees is provided at the hinged portion between the image acquisition module and the mounting seat.

[0015] Furthermore, the drone is also equipped with a GPS locator, anti-collision mechanism, solar panels and a path planning system; The GPS locator, anti-collision mechanism, and path planning system are all connected to the controller in communication; Solar panels are used to power the drone.

[0016] Furthermore, the image acquisition module is a camera, and there are two cameras, which are respectively located on the front and back sides of the pneumatic clamp.

[0017] In a second aspect, the present invention further provides a method for inspecting the appearance of an insulator at a high position on a suspension tower, the method comprising: Equip the drone with a temperature sensor, an ultrasonic thickness gauge, and an image acquisition module; The insulator temperature is collected by the temperature sensor, the insulator diameter is collected by the ultrasonic thickness gauge, and the insulator image is collected by the image acquisition module; The insulator temperature is compared with the preset temperature threshold I o Make a comparison to determine whether the surface temperature of the insulator to be tested is too high; Analyze the insulator image to obtain the actual information of the insulator picture; and based on the actual information of the insulator picture, retrieve the insulator picture reference information table to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; Calculate and compare the insulator diameter to determine whether there is dirt on the surface of the insulator to be tested; Among them, a pneumatic clamp is set at the bottom of the drone, and the pneumatic clamp is provided with an O-shaped clamp for clamping the outside of the insulator at a high position on the suspension tower; an ultrasonic thickness gauge and a temperature sensor are set in the O-shaped clamp; a mounting base is set on the side of the pneumatic clamp, and an image acquisition module is hinged on the mounting base.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention provides an insulator appearance inspection system and method based on a high position of a suspension tower. The present invention can perform triple synchronous detection of temperature, surface cracks and surface thickness on the surface of the insulator to be tested to further improve the accuracy of insulation inspection of the insulator surface appearance. Compared with image inspection, the present invention has better inspection accuracy and better inspection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 This is a schematic diagram of the structure of the drone in Example 1; Figure 2 This is a connection diagram of the control subsystem in Example 1; Figure 3 for Figure 1 A magnified view of point A; Figure 4 This is a connection diagram of the control subsystem in Example 2; Figure 5 This is a connection diagram of the control subsystem in Example 3; Figure 6 This is a connection diagram of the control subsystem in Example 4; Figure 7 This is a schematic diagram of the structure of the drone in Example 5; Figure 8 Schematic diagram of the structure of the UAV in Example 6.

[0020] Reference numerals and corresponding component names: 1-UAV, 2-Pneumatic clamp, 3-O-type clamp, 4-Ultrasonic thickness gauge, 5-Temperature sensor, 6-Mounting base, 7-Image acquisition module, 8-Controller, 9-Data storage library, 10-Communication module, 11-Image analysis module, 12-Appearance comparison module, 13-Mobile terminal, 14-Display screen, 15-GPS locator, 16-Drive motor, 17-Anti-collision mechanism, 18-Solar panel, 19-Path planning system. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0022] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that these specific details are not necessarily required to practice the present invention. In other instances, well-known structures, circuits, materials, or methods are not described in detail to avoid obscuring the present invention.

[0023] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "one embodiment," "an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combinations and / or subcombinations. Furthermore, it will be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0024] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0025] The present invention includes an equipment subsystem and a control subsystem. The equipment subsystem, which has improved detection accuracy and better detection effects, includes an unmanned aerial vehicle (UAV). The bottom of the UAV is provided with a pneumatic clamp. The pneumatic clamp is provided with an O-shaped clamp for clamping the outside of an insulator high on a suspension tower. The O-shaped clamp is provided with an ultrasonic thickness gauge and a temperature sensor for detecting the diameter of the insulator. A mounting base is provided on the side of the pneumatic clamp, and an image acquisition module is hingedly connected to the mounting base. The control subsystem, which has improved detection accuracy and better detection effects, includes a controller, a data storage library, a communication module, an image analysis module, and an appearance comparison module. The controller is electrically connected to the temperature sensor, data storage library, image analysis module, communication module, and appearance comparison module. The present invention improves detection accuracy.

[0026] Example 1 like Figures 1 to 3 As shown, the present invention provides an insulator appearance inspection system based on a high position of a suspension tower, the system comprising: The equipment subsystem includes a drone 1, a pneumatic clamp 2 disposed at the bottom of the drone 1, and an O-shaped clamp 3 disposed on the pneumatic clamp 2 for clamping the outside of an insulator at a high position on the suspension tower; an ultrasonic thickness gauge 4 and a temperature sensor 5 are disposed within the O-shaped clamp 3; a mounting base 6 is disposed on the side of the pneumatic clamp 2, and an image acquisition module 7 is hingedly connected to the mounting base 6; The control subsystem is set at the remote end and is used to compare the insulator temperature collected by the temperature sensor 5 with the preset temperature threshold I o The image acquisition module 7 is used to analyze the image captured by the image acquisition module 7 to obtain the actual information of the insulator image; and based on the actual information of the insulator image, the insulator image reference information table is retrieved to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; and the insulator diameter collected by the ultrasonic thickness gauge 4 is calculated and compared to determine whether there is dirt on the surface of the insulator to be tested.

[0027] Specifically, the control subsystem includes a controller 8, a data storage library 9, a communication module 10, an image analysis module 11, and an appearance comparison module 12; the controller 8 is electrically connected to the temperature sensor 5, the data storage library 9, the communication module 10, the image analysis module 11, and the appearance comparison module 12; Data storage library 9, used to store insulator picture reference information table, temperature threshold I o and the insulator surface thickness threshold T; The image analysis module 11 is used to analyze the image acquired by the image acquisition module 7 through computer vision and image processing technology to obtain actual information of the insulator image; retrieve the insulator image reference information table and the actual information of the insulator image from the data storage library 9 to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; The controller 8 is used to compare the insulator temperature collected by the temperature sensor 5 with the temperature threshold value I in the data storage library 9. o Comparison is performed to determine whether the surface temperature of the insulator to be tested is too high; it is also used to calculate the current real-time single-side thickness of the insulator surface based on the insulator diameter collected by the ultrasonic thickness gauge 4 and the insulator surface calculation model, and compare the current real-time single-side thickness of the insulator surface with the insulator surface thickness threshold T in the data storage library 9 to determine whether the surface of the insulator to be tested is dirty; The appearance comparison module 12 is used to detect the appearance of the porcelain insulator string.

[0028] In this embodiment, the insulator surface calculation model is expressed as: T s =(T q -T d )+T dec ; Among them, T s is the single-side thickness of the current real-time insulator surface, T q T is the overall diameter of the conductor with the insulator measured by the ultrasonic thickness gauge 4; d is the diameter of the conductor inside the insulator; T dec is the diameter error constant.

[0029] In this embodiment, the current real-time single-side thickness of the insulator surface is compared with the insulator surface thickness threshold T in the data storage library 9 to determine whether the surface of the insulator to be tested is contaminated, including: The current single-side thickness T of the insulator surface s Compare with the insulator surface thickness threshold T in the data storage library 9: If the current single-side thickness T of the insulator surface is s If the thickness of the insulator surface is less than or equal to the threshold value T, it means that the insulator surface to be tested is free of dirt. If the single-side thickness of the current real-time insulator surface is T s If the value is greater than the insulator surface thickness threshold T, it means that there is dirt on the surface of the insulator to be tested.

[0030] In this embodiment, the insulator temperature collected by the temperature sensor 5 is compared with the temperature threshold value I in the data storage library 9. o Compare and determine whether the surface temperature of the insulator to be tested is too high, including: According to the insulator temperature collected by the temperature sensor 5, the temperature calculation model is called to calculate the final detection temperature value; the expression of the temperature calculation model is: I s =I q +I dec , where I s is the final detection temperature value, I q is the insulator temperature collected by the temperature sensor 5, I dec is the temperature error constant; The final detected temperature value is compared with the temperature threshold value I in the data storage library 9. o For comparison; if the final detected temperature value I s Greater than the temperature threshold I in the data storage library 9 o , it means that the surface of the insulator to be tested is damaged, the temperature is too high, and leakage occurs; if the final detection temperature value I s Less than or equal to the temperature threshold I in the data storage library 9 o , it means that the surface temperature of the insulator to be tested is normal.

[0031] In this embodiment, the image acquisition module 7 is a camera, and there are two cameras, which are respectively located at the front and back sides of the pneumatic clamp 2 .

[0032] In this embodiment, the image acquisition module 7 is hingedly connected to the mounting base 6, and a drive motor 16 is provided at the hinged portion of the image acquisition module 7 and the mounting base 6 to drive the image acquisition module 7 to rotate 360 ​​degrees. This structural arrangement can drive the drive motor 16 to drive the image acquisition module 7 to rotate 360 ​​degrees, thereby further improving detection accuracy.

[0033] In this embodiment, the drone 1 is further provided with a path planning system 19 , which is communicatively connected to the controller 8 .

[0034] The specific working principle of the present invention is as follows: first, a route is planned by the path planning system 19 according to the position of the insulator to be tested, then the drone 1 moves to the position of the insulator to be tested, pneumatically opens the pneumatic clamp 2, and clamps the O-shaped clamp 3 at the starting position of the insulator to be tested along the route planned by the path planning system 19. Then, the ultrasonic thickness gauge 4 is used to detect the insulator diameter on the surface of the insulator to be tested, and the current single-side thickness of the insulator surface is calculated according to the insulator surface calculation model. The specific method is as follows: The preferred calculation model for obtaining the insulator surface is: T s =(T q -T d )+T dec ; Then compare it with the preset insulator surface thickness threshold T. Once it is found that the insulator surface thickness threshold T is greater than or equal to the current single-side thickness T of the insulator surface s , indicating that there is no dirt on the insulator surface. On the contrary, when the insulator surface thickness threshold T is less than the current real-time single-side thickness T of the insulator surface s , indicating that there is dirt on the insulator surface; indicating that the insulator surface does not meet the requirements, and at the same time, the image of the insulator surface is collected by the image acquisition module 7, and then the image analysis module 11 uses computer vision and image processing technology to analyze and process the image collected by the image acquisition module 7, and then calls the insulator picture reference information table for crack detection to confirm whether there are surface cracks on the insulator surface; at the same time, the surface temperature of the insulator to be tested is obtained by the temperature sensor 5 and sent to the controller 8. After the controller 8 obtains the temperature, it compares it with the preset temperature threshold I o Compare to determine whether the surface temperature of the insulator to be tested is too high; the specific operation method is: first obtain the surface temperature of the insulator through the temperature sensor 5; then call the temperature calculation formula: I s =I q +I dec , and then obtain the final detection temperature value I s After the preset temperature threshold I o For comparison, when the final detected temperature value I s Greater than the preset temperature threshold Io When the temperature is too high, it means that the insulator surface is damaged, the temperature is too high, and leakage occurs. s Less than or equal to the preset temperature threshold I o When , it indicates that the surface temperature of the insulator is normal.

[0035] After the current position measurement is qualified, the drone 1 is moved to the next insulator to be tested according to the route planned by the path planning system 19, and then the test is performed again according to the above method until the entire path is completed to achieve a complete test. Therefore, the present invention can perform triple synchronous detection of temperature, surface cracks and surface thickness on the surface of the insulator to be tested to further improve the accuracy of insulation inspection of the insulator surface appearance. Compared with image detection, its detection accuracy is better and the detection effect is better.

[0036] Example 2 like Figure 4 As shown, this embodiment provides an insulator appearance inspection system based on a high position of a suspension tower, the general structure of which is the same as that of Example 1, except that the control subsystem further includes a mobile terminal 13 that is communicatively connected to the controller 8.

[0037] In this embodiment, the mobile terminal 13 is provided to enable the user of the mobile terminal 13 to promptly discover problems with the insulator and perform timely repairs.

[0038] Example 3 like Figure 5 As shown, this embodiment provides an insulator appearance inspection system based on a high position of a suspension tower. The general structure is the same as that of the embodiment, except that the control subsystem further includes a display screen 14 that is communicatively connected to the controller 8.

[0039] In this embodiment, the display screen 14 is provided to realize intuitive display of the surface problems of the insulator.

[0040] Example 4 like Figure 6 As shown, this embodiment provides an insulator appearance inspection system based on a high position of a suspension tower, the general structure of which is the same as that of the embodiment, except that the present invention provides another preferred technical solution: a solar panel 18 for powering the drone 1 is connected to the drone 1.

[0041] In this embodiment, a solar panel 18 is provided on the drone 1 to utilize solar energy to power the control unit inside the drone.

[0042] Example 5 like Figure 7As shown, this embodiment provides an insulator appearance inspection system based on a high position of a suspension tower, the general structure of which is the same as that of the embodiment, except that the present invention provides another preferred technical solution: an anti-collision mechanism 17 connected to the drone 1 for communication with the controller 8 is connected.

[0043] In this embodiment, an anti-collision mechanism 17 is provided on the drone 1 to prevent the drone 1 from playing an anti-collision role when working, thereby preventing the drone 1 from being damaged by collisions when flying.

[0044] Example 6 like Figure 8 As shown, this embodiment provides an insulator appearance inspection system based on a high position of a suspension tower, the general structure of which is the same as that of the embodiment, except that the present invention provides another preferred technical solution: a GPS locator 15 connected to the drone 1 for communication with the controller 8 is connected.

[0045] In this embodiment, a GPS locator 15 is provided on the drone 1 to locate the specific position of the drone 1, so that the controller 8 can monitor the position of the drone 1.

[0046] Example 7 This embodiment provides a method for inspecting the appearance of an insulator at a high position on a suspension tower. The method is based on any one of the insulator appearance inspection systems at a high position on a suspension tower described in Embodiments 1 to 6. The method includes: The drone 1 is equipped with a temperature sensor 5, an ultrasonic thickness gauge 4 and an image acquisition module 7; The insulator temperature is collected by the temperature sensor 5, the insulator diameter is collected by the ultrasonic thickness gauge 4, and the insulator image is collected by the image acquisition module 7; The insulator temperature is compared with the preset temperature threshold I o Make a comparison to determine whether the surface temperature of the insulator to be tested is too high; Analyze the insulator image to obtain the actual information of the insulator picture; and based on the actual information of the insulator picture, retrieve the insulator picture reference information table to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; Calculate and compare the insulator diameter to determine whether there is dirt on the surface of the insulator to be tested; Among them, a pneumatic clamp 2 is provided at the bottom of the drone 1, and an O-shaped clamp 3 is provided on the pneumatic clamp 2 for clamping the outside of the insulator at a high position on the suspension tower; an ultrasonic thickness gauge 4 and a temperature sensor 5 are provided in the O-shaped clamp 3; a mounting seat 6 is provided on the side of the pneumatic clamp 2, and an image acquisition module 7 is hinged on the mounting seat 6.

[0047] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An insulator appearance inspection system based on a high position of a suspension tower, characterized in that: The system includes: The equipment subsystem includes a drone (1), wherein a pneumatic clamp (2) is provided at the bottom of the drone (1), and an O-shaped clamp (3) is provided on the pneumatic clamp (2) for clamping the outside of an insulator at a high position of a suspension tower; an ultrasonic thickness gauge (4) and a temperature sensor (5) are provided in the O-shaped clamp (3); a mounting seat (6) is provided on the side of the pneumatic clamp (2), and an image acquisition module (7) is provided on the mounting seat (6); The control subsystem is provided at the remote end and is used to compare the insulator temperature acquired by the temperature sensor (5) with a preset temperature threshold value to determine whether the surface temperature of the insulator to be tested is too high; and to analyze the image acquired by the image acquisition module (7) to obtain actual information of the insulator image; and based on the actual information of the insulator image, retrieve the insulator image reference information table to perform crack detection to determine whether there are surface cracks on the surface of the insulator to be tested; and further to calculate and compare the insulator diameter acquired by the ultrasonic thickness gauge (4) to determine whether there is dirt on the surface of the insulator to be tested.

2. The insulator appearance inspection system based on a high position of a suspension tower according to claim 1 is characterized in that: The control subsystem includes a controller (8), a data storage library (9), a communication module (10), and an image analysis module (11); the controller (8) is electrically connected to the temperature sensor (5), the data storage library (9), the communication module (10), and the image analysis module (11); The data storage library (9) is used to store an insulator picture reference information table, a temperature threshold value, and an insulator surface thickness threshold value; The image analysis module (11) is used to analyze the image collected by the image acquisition module (7) through computer vision and image processing technology to obtain actual information of the insulator image; retrieve the insulator image reference information table in the data storage library (9) and the actual information of the insulator image to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; The controller (8) is used to compare the insulator temperature collected by the temperature sensor (5) with the temperature threshold in the data storage library (9) to determine whether the surface temperature of the insulator to be tested is too high; it is also used to calculate the current real-time single-side thickness of the insulator surface based on the insulator surface calculation model according to the insulator diameter collected by the ultrasonic thickness gauge (4), and compare the current real-time single-side thickness of the insulator surface with the insulator surface thickness threshold in the data storage library (9) to determine whether the surface of the insulator to be tested is dirty.

3. The insulator appearance inspection system based on a high position of a suspension tower according to claim 2, characterized in that: The expression of the insulator surface calculation model is: T s =(T q -T d )+T dec ; Among them, T s is the single-side thickness of the current real-time insulator surface, T q T is the overall diameter of the conductor with insulator measured by ultrasonic thickness gauge (4); d is the diameter of the conductor inside the insulator; T dec is the diameter error constant.

4. The insulator appearance inspection system based on a high position of a suspension tower according to claim 2, characterized in that: Compare the current real-time single-side thickness of the insulator surface with the insulator surface thickness threshold in the data storage library (9) to determine whether there is dirt on the insulator surface to be tested, including: The current real-time single-side thickness of the insulator surface is compared with the insulator surface thickness threshold in the data storage library (9): if the current real-time single-side thickness of the insulator surface is less than or equal to the insulator surface thickness threshold, it means that the insulator surface to be tested is free of dirt; if the current real-time single-side thickness of the insulator surface is greater than the insulator surface thickness threshold, it means that the insulator surface to be tested is dirty.

5. The insulator appearance inspection system based on a high position of a suspension tower according to claim 2, characterized in that: Comparing the insulator temperature collected by the temperature sensor (5) with the temperature threshold in the data storage library (9) to determine whether the surface temperature of the insulator to be tested is too high, including: According to the insulator temperature collected by the temperature sensor (5), the temperature calculation model is called to calculate the final detection temperature value; the expression of the temperature calculation model is: I s =I q +I dec , where I s is the final detection temperature value, I q is the insulator temperature collected by the temperature sensor (5), I dec is the temperature error constant; The final detected temperature value is compared with the temperature threshold in the data storage library (9); if the final detected temperature value is greater than the temperature threshold in the data storage library (9), it indicates that the surface of the insulator to be tested is damaged, the temperature is too high, and leakage occurs; if the final detected temperature value is less than or equal to the temperature threshold in the data storage library (9), it indicates that the surface temperature of the insulator to be tested is normal.

6. The insulator appearance inspection system based on a high position of a suspension tower according to claim 2, characterized in that: The control subsystem further comprises a mobile terminal (13) and a display screen (14), and both the mobile terminal (13) and the display screen (14) are communicatively connected to the controller (8).

7. The insulator appearance inspection system based on a high position of a suspension tower according to claim 1, characterized in that: An image acquisition module (7) is hingedly connected to the mounting seat (6), and a driving motor (16) is provided at the hinged portion between the image acquisition module (7) and the mounting seat (6) to drive the image acquisition module (7) to rotate 360 ​​degrees.

8. The insulator appearance inspection system based on a high position of a suspension tower according to claim 1, characterized in that: The drone (1) is also provided with a GPS locator (15), an anti-collision mechanism (17), a solar panel (18) and a path planning system (19); The GPS locator (15), anti-collision mechanism (17), and path planning system (19) are all in communication connection with the controller (8); The solar panel (18) is used to supply power to the drone (1).

9. The insulator appearance inspection system based on a high position of a suspension tower according to claim 1, characterized in that: The image acquisition module (7) is a camera, and there are two cameras, which are respectively located on the front and rear sides of the pneumatic clamp (2).

10. A method for inspecting the appearance of an insulator at a high position on a suspension tower, characterized in that: The method includes: A temperature sensor (5), an ultrasonic thickness gauge (4), and an image acquisition module (7) are mounted on the drone (1); The temperature of the insulator is collected by a temperature sensor (5), the diameter of the insulator is collected by an ultrasonic thickness gauge (4), and the image of the insulator is collected by an image acquisition module (7); Comparing the insulator temperature with a preset temperature threshold to determine whether the surface temperature of the insulator to be tested is too high; Analyze the insulator image to obtain actual information of the insulator image; and retrieve an insulator image reference information table based on the actual information of the insulator image to perform crack detection to confirm whether there are surface cracks on the surface of the insulator to be tested; Calculating and comparing the diameters of the insulators to determine whether there is dirt on the surface of the insulator to be tested; The bottom of the drone (1) is provided with a pneumatic clamp (2), and the pneumatic clamp (2) is provided with an O-shaped clamp (3) for clamping the outside of an insulator at a high position of a suspension tower; an ultrasonic thickness gauge (4) and a temperature sensor (5) are provided in the O-shaped clamp (3); a mounting seat (6) is provided on the side of the pneumatic clamp (2), and an image acquisition module (7) is hingedly connected to the mounting seat (6).

Images