High-voltage overhead transmission line insulator string detection device and control method thereof

Abstract

The invention relates to the technical field of power transmission line detection, and provides a high-voltage overhead power transmission line insulator string detection device and a control method thereof. Comprising an unmanned aerial vehicle body, and an airborne data transmission module, an airborne insulator detection module and an image acquisition and analysis module which are carried on the unmanned aerial vehicle body, the image acquisition and analysis module is used for acquiring an image signal of the insulator string and analyzing the image signal so as to output a position control signal of the unmanned aerial vehicle and an angle control signal of the airborne insulator detection module; the unmanned aerial vehicle body flies to a specified position based on the position control signal; the airborne insulator detection module is used for rotating to a specified angle based on the angle control signal and detecting an insulator string; and the airborne data transmission module is used for receiving the detection data sent by the airborne insulator detection module and determining the health state of the insulator chain based on the detection data. Zero-value insulator live-line detection of a full-voltage-class full-string type insulator string of a power transmission line can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line detection, in particular to a high-voltage overhead power transmission line insulator string detection device and a control method thereof. BACKGROUND

[0002] Insulators are an important part of overhead power transmission lines, and play a role in electrical isolation and mechanical support between conductors and towers. Once there is a zero value state of the insulator, when the line is subjected to lightning, icing and other adverse weather conditions, it may lead to string dropping, line breaking and even tower collapse accidents. In order to discover the zero value state of the insulator in time, the insulator needs to be detected, and the traditional detection method includes manual detection and robot detection. Among them, manual detection is low in efficiency and high in operation risk, and the existing robot detection means, due to contact with the insulator string, has insufficient anti-electromagnetic interference ability, is easily interfered in live detection, and affects the detection result, and at the same time, due to the limitation of its structure, it cannot meet the different insulator string type requirements of suspension string and strain string, especially the double string and even multiple string on the ultra / extra-high voltage line, not all insulators can be detected, so that the zero value insulator cannot be discovered in time.

[0003] Therefore, there is an urgent need for a device that can detect the zero value of the existing full string type insulator string under live conditions. SUMMARY

[0004] Therefore, the embodiments of the present application provide a high-voltage overhead power transmission line insulator string detection device and a control method thereof, which can analyze the image signal of the insulator string and correspondingly adjust the angle of the airborne insulator detection module, so as to realize the live detection of the zero value insulator of the full voltage grade full string type (including but not limited to suspension string, strain double string, three continuous string and other types) insulator string of the power transmission line.

[0005] The first aspect of the embodiments of the present application provides a high-voltage overhead power transmission line insulator string detection device, which comprises a UAV body and airborne data transmission module, airborne insulator detection module and image acquisition and analysis module carried on the UAV body; The control signal output end of the image acquisition and analysis module is connected with the control signal input end of the airborne insulator detection module and the UAV body, and the data output end of the airborne insulator detection module is connected with the data input end of the airborne data transmission module; The image acquisition and analysis module is configured to acquire an image signal of the insulator string, and analyze the image signal to output a position control signal of the unmanned aerial vehicle and an angle control signal of the onboard insulator detection module; the unmanned aerial vehicle body is configured to fly to a specified position based on the position control signal; the onboard insulator detection module is configured to rotate to a specified angle based on the angle control signal, and detect the insulator string; and the onboard data transmission module is configured to receive detection data sent by the onboard insulator detection module, and determine a health state of the insulator string based on the detection data.

[0006] In one embodiment, the onboard insulator detection module comprises a detection rod, a detection box, a limit steering engine, and a steering engine connecting rod, one end of the detection rod is connected to the detection box, the other end is connected to a free end of the limit steering engine, one end of the steering engine connecting rod is connected to the unmanned aerial vehicle body, and the other end is connected to a fixed end of the limit steering engine. The control signal input end of the limit steering engine is connected to the control signal output end of the image acquisition and analysis module, and the detection box is in communication connection with the onboard data transmission module. The limit steering engine is configured to drive the free end to rotate around the fixed end based on the angle control signal, so that the detection rod is at a specified angle. The detection box is configured to detect the insulator string.

[0007] In one embodiment, the limit steering engine is configured to adjust the detection rod within a specified angle, and the specified angle is 0-90 degrees.

[0008] In one embodiment, the onboard data transmission module comprises a bracket and a data transmission box, and the data transmission box is fixed to the unmanned aerial vehicle body through the bracket. The data transmission box is in communication connection with the onboard insulator detection module, configured to receive and analyze the detection data to determine the health state of the insulator string.

[0009] In one embodiment, the image acquisition and analysis module is configured to: scan the insulator string to obtain an image signal of the insulator string; wherein the image signal comprises a three-dimensional model of the insulator string; analyze the three-dimensional model to identify a string type of the insulator string; generate an angle control signal of the onboard insulator detection module according to the string type.

[0010] In one embodiment, the image acquisition and analysis module is further configured to: when the string type is a hanging string, determine that the angle during detection is 0 degrees, and generate a corresponding angle control signal; When the string type is a strain string, the angle at the time of detection is determined based on the inclination angle of each insulator in the strain string, and a corresponding angle control signal is generated.

[0011] In one embodiment, the image acquisition and analysis module is further configured to: identify a steel foot cap in the three-dimensional model, and determine the inclination angle of each insulator based on the position of the steel foot cap.

[0012] A second aspect of the embodiments of the present application provides a control method of a high-voltage overhead transmission line insulator string detection device, comprising: controlling the UAV body to fly to the position of the insulator string to be detected; acquiring an image signal of the insulator string and calculating an angle control signal of the airborne insulator detection module; in response to the angle control signal, rotating the detection rod to a specified angle to detect the corresponding insulator in the insulator string; When the detection rod is rotated to the specified angle, the detection rod is perpendicular to the axis of the insulator to be detected.

[0013] In one embodiment, it further comprises: The angle of the detection rod is adjusted to 0 degrees before the UAV body takes off and before it lands.

[0014] In one embodiment, it further comprises: scanning the insulator string to obtain an image signal of the insulator string; wherein the image signal comprises a three-dimensional model of the insulator string; analyzing the three-dimensional model to identify the string type of the insulator string; generating an angle control signal of the airborne insulator detection module according to the string type.

[0015] In one embodiment, the generation of the angle control signal of the airborne insulator detection module according to the string type comprises: When the string type is a suspension string, the angle at the time of detection is determined to be 0 degrees, and a corresponding angle control signal is generated; When the string type is a strain string, the angle at the time of detection is determined based on the inclination angle of each insulator in the strain string, and a corresponding angle control signal is generated.

[0016] In one embodiment, it further comprises: identifying a steel foot cap in the three-dimensional model, and determining the inclination angle of each insulator based on the position of the steel foot cap.

[0017] The first aspect of the embodiment of the application provides a high-voltage overhead transmission line insulator string detection device, which comprises a UAV body and an airborne data transmission module, an airborne insulator detection module and an image acquisition and analysis module carried on the UAV body; a control signal output end of the image acquisition and analysis module is connected with control signal input ends of the airborne insulator detection module and the UAV body, and a data output end of the airborne insulator detection module is connected with a data input end of the airborne data transmission module; the image acquisition and analysis module is used for acquiring image signals of insulator strings and analyzing the image signals to output a position control signal of the UAV and an angle control signal of the airborne insulator detection module; the UAV body is used for flying to a specified position based on the position control signal; the airborne insulator detection module is used for rotating to a specified angle based on the angle control signal and detecting the insulator strings; and the airborne data transmission module is used for receiving detection data sent by the airborne insulator detection module and determining a health state of the insulator strings based on the detection data. By using the fast and convenient moving characteristics of the UAV, the technical substitution of manual detection of the ultra / extra-high-voltage overhead transmission line is realized, and by operating the UAV and the airborne insulator live-line detection device, the detection work of various string types of the multi-connection insulator strings of the ultra / extra-high-voltage overhead transmission line can be realized without manual tower climbing under the condition that the line is not powered off. The image signals of the insulator strings can be analyzed, and the angle of the airborne insulator detection module can be adjusted correspondingly, so that the detection of all string types such as the suspension string, the tension string, the single-connection string and the multi-connection string can be adapted, and the safety, the intelligent level and the detection efficiency of the zero-value insulator detection of the ultra / extra-high-voltage overhead transmission line are improved, thereby providing protection for the essential safety evaluation of the overhead transmission line equipment by the front-line operation and maintenance unit.

[0018] It can be understood that the beneficial effects of the second aspect to the fourth aspect can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a structural schematic diagram of the high-voltage overhead transmission line insulator string detection device provided by an embodiment of the application; Figure 2 is a detection schematic diagram of the high-voltage overhead transmission line insulator string detection device when detecting the suspension insulator string; Figure 3is a detection schematic diagram of the high-voltage overhead transmission line insulator string detection device of the application when detecting a tension insulator string (including single and multiple); Figure 4 is a detection schematic diagram of the high-voltage overhead transmission line insulator string detection device of the application when detecting a tension insulator string (including single and multiple); In the figure: 1 - unmanned aerial vehicle body, 2 - on-board data transmission module, 21 - support piece, 22 - data transmission box, 3 - on-board insulator detection module, 31 - detection rod, 32 - detection box, 33 - limit servo, 34 - servo connecting rod, 4 - image acquisition and analysis module, 5 - insulator string. DETAILED DESCRIPTION

[0021] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the application. However, it will be apparent to those skilled in the art that the application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the application with unnecessary detail.

[0022] It should be understood that the term "comprises" when used in this specification and the appended claims, specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0023] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "including," "comprising," "having," and variations thereof are meant to encompass the presence of the stated feature, integer, step, operation, element, component, or group of them, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0024] As Figure 1 shown, the high-voltage overhead transmission line insulator string detection device provided by the embodiments of the application includes an unmanned aerial vehicle body 1 and an on-board data transmission module 2, an on-board insulator detection module 3, and an image acquisition and analysis module 4 carried on the unmanned aerial vehicle body 1; The control signal output end of the image acquisition and analysis module 4 is connected with the control signal input end of the unmanned aerial vehicle body 1 and the on-board insulator detection module 3, and the data output end of the on-board insulator detection module 3 is connected with the data input end of the on-board data transmission module 2. The image acquisition and analysis module 4 is used for acquiring image signals of the insulator string 5 and analyzing the image signals to output a position control signal of the unmanned aerial vehicle and an angle control signal of the on-board insulator detection module 3; the unmanned aerial vehicle body 1 is used for flying to a specified position based on the position control signal; the on-board insulator detection module 3 is used for rotating to a specified angle based on the angle control signal and detecting the insulator string 5; and the on-board data transmission module 2 is used for receiving detection data sent by the on-board insulator detection module 3 and determining a health state of the insulator string 5 based on the detection data.

[0025] In application, the detection device realizes intelligent detection of the insulator string through cooperation of multiple modules: the unmanned aerial vehicle body is used as a flight carrier to carry the on-board data transmission module, the on-board insulator detection module and the image acquisition and analysis module to form a complete system. The image acquisition and analysis module uses a multi-view vision system (including visible light and infrared sensors) to capture three-dimensional image information of the insulator string in real time, and analyzes the three-dimensional image information through a built-in robot vision algorithm to analyze spatial pose parameters of the insulator string.

[0026] The module synchronously generates double control signals: the position control signal drives the flight control system of the unmanned aerial vehicle to realize centimeter-level accurate positioning; and the angle control signal is transmitted to a limit servo of the on-board insulator detection module through a servo driving circuit, so that the detection rod always dynamically maintains an orthogonal relationship with a surface of the measured insulator. A front-end detection box of the on-board insulator detection module carries a non-contact electric field sensor array to collect surface field intensity distribution data of the insulator in a detection pose. The on-board data transmission module receives original detection data through a wireless link, executes signal demodulation and pattern recognition algorithms through an embedded processor, locates zero-value insulators based on field intensity attenuation characteristics, and generates a quantitative evaluation report. The whole system forms a closed-loop control link of visual perception-pose adjustment-data acquisition-intelligent diagnosis to realize adaptive detection of full-string types such as suspension strings and strain strings.

[0027] The embodiment of the application forms a closed-loop detection system by simultaneously controlling the position of the unmanned aerial vehicle and the angle of the detection module through the image acquisition and analysis module. The spatial pose can be cooperatively adjusted, so that the detection module always maintains the best detection posture. The visual signal directly drives the double control signal, avoiding the delay of separate control of position servo and angle adjustment in the traditional scheme, and is particularly suitable for real-time response requirements in a complex electromagnetic environment of a high-voltage line. By operating the unmanned aerial vehicle and the unmanned aerial vehicle-mounted insulator live detection device, the technical substitution of manual detection of the ultra / extra-high voltage overhead transmission line is realized, and the detection work of various string types of the multi-string insulator string of the ultra / extra-high voltage overhead transmission line can be realized under the condition that the line is not powered off. The image signal of the insulator string can be analyzed, and the angle of the airborne insulator detection module can be adjusted accordingly, so that the detection of all string types such as suspension string, tension string, single string, and multi-string can be adapted, and the safety, intelligent level, and detection efficiency of the zero-value insulator detection of the ultra / extra-high voltage overhead transmission line are improved, thereby providing protection for the essential safety evaluation of the overhead transmission line equipment by the front-line operation and maintenance unit.

[0028] In one embodiment, the airborne insulator detection module 3 includes a detection rod 31, a detection box 32, a limit steering engine 33, and a steering engine connecting rod 34. One end of the detection rod 31 is connected to the detection box 32, and the other end is connected to the free end of the limit steering engine 33. One end of the steering engine connecting rod 34 is connected to the unmanned aerial vehicle body 1, and the other end is connected to the fixed end of the limit steering engine 33. The control signal input end of the limit steering engine 33 is connected to the control signal output end of the image acquisition and analysis module 4, and the detection box 32 is in communication connection with the airborne data transmission module 2. The limit steering engine 33 is used to drive the free end to rotate around the fixed end based on the angle control signal, so that the detection rod 31 is at a specified angle. The detection box 32 is used to detect the insulator string 5.

[0029] In application, the data transmission box 22 is mainly used for measuring the zero-value parameters of the insulator. The angle of the limit steering engine can be infinitely adjusted between 0° and 90° to adapt to different states of the device or to adjust to an appropriate angle when detecting different string types of insulator strings. The fixed end (i.e., the output shaft of the limit steering engine) contains a key groove, and the connection hole at the connection between the detection rod 31 and the limit steering engine 33 (i.e., the free end) is sized to mesh with the key groove of the steering engine output shaft, so that the free end and the fixed end are rotationally matched. The fixed end is provided with a limit boss at the distal end of the key groove, which is used to limit the rotation to form a limit, so that the angle of the limit steering engine can only be adjusted between 0° and 90°.

[0030] In application, the limit steering engine output shaft and the detection rod adopt the keyway-hole meshing transmission mechanism: the output shaft is processed with a rectangular keyway, and the connecting end of the detection rod is provided with a matching rectangular hole, and the torque is transmitted without gap through transition fit. The keyway distal end is provided with a limiting boss, the boss diameter is greater than the keyway width, and a physical limiting mechanism is formed by cooperating with the shaft end threaded fastener to hard constrain the steering angle of the steering engine in the range of 0° to 90°, so as to prevent mechanical damage caused by overstroke.

[0031] In application, the PWM angle control signal output by the image acquisition and analysis module can be transmitted to the servo driver of the limit steering engine through the CAN bus. The driver is provided with a PID control algorithm, and the real-time feedback of the 17-bit absolute value encoder makes the detection rod accurately positioned to the target angle.

[0032] In application, the detection box can also be isolated from the detection rod by shock-absorbing silica gel pad, which effectively suppresses the interference of unmanned aerial vehicle vibration on the electric field measurement probe. The detection box adopts a double-layer shielding cavity structure: the inner layer is a magnetic shielding layer, and the outer layer is an aluminum alloy electrostatic shielding layer. The sensor signal line adopts a twisted shield cable, and the joint is sealed by pouring conductive glue, so that the microvolt-level field strength signal can still be accurately collected in the extra-high voltage environment.

[0033] The embodiment of the application solves the space positioning problem through the mechanical linkage design of the limit steering engine and the detection rod. The fixed end of the steering engine is connected to the unmanned aerial vehicle body to form a stable reference, and the free end drives the detection rod to accurately deflect, and the mechanical structure is simple and reliable. The design decouples the angle adjusting mechanism and the detection function module, which not only ensures the stable bearing of the detection box, but also realizes the millisecond-level angle response, and overcomes the interference of the unmanned aerial vehicle platform vibration on the precise detection.

[0034] In one embodiment, the limit steering engine 33 is used to adjust the detection rod 31 within a specified angle, and the specified angle is 0-90 degrees.

[0035] The embodiment of the application accurately covers the full-scene demand of the power transmission line through the 0-90 degree adjustment range: 0 degrees correspond to horizontal extension detection (tension side string), and 90 degrees correspond to vertical downward detection (multi-link intermediate string). The mechanical limiting design prevents overstroke damage to the equipment, and the stepless adjustment characteristic can adapt to any arc-shaped tension string. The parameter range is the optimal solution verified by engineering, which maximizes the reduction of mechanism complexity while ensuring detection coverage.

[0036] In one embodiment, the on-board data transmission module 2 includes a bracket 21 and a data transmission box 22, and the data transmission box 22 is fixed with the unmanned aerial vehicle body 1 through the bracket 21; The data transmission box 22 is in communication connection with the on-board insulator detection module 3, and is used to receive and analyze detection data to determine the health status of the insulator string 5.

[0037] In application, the bracket 21 is fixed at one end by a threaded hole with the data transmission box 22, and at the other end by a threaded hole with the hole position below the unmanned aerial vehicle body 1. The on-board data transmission module 2 is mainly used for receiving, storing and analyzing the zero value parameters of insulators.

[0038] In application, the detection box 32 in the on-board insulator detection module 3 is used for detecting the running state parameters of the insulator string, and the built-in transmission unit wirelessly transmits the detected results to the data transmission box 22 in the on-board data transmission module 2. After receiving the insulator detection data, the data transmission box 22 stores and analyzes the data locally, judges the value size by demodulating and analyzing the data waveform, and judges the health status of the insulator in real time.

[0039] The embodiment of the application realizes the double improvement of electromagnetic compatibility and mechanical stability through the modular design of the bracket and the data transmission box. The threaded connection mode effectively absorbs the take-off and landing impact load, and the embedded analysis algorithm in the data transmission box can directly process the original detection signal, reducing the amount of wireless transmission data. This structure is particularly suitable for strong electromagnetic interference in the ultra-high voltage environment, and ensures the accuracy of data demodulation.

[0040] In one embodiment, it also includes a ground terminal, which functions to display the video picture of the multi-angle high-definition pan-tilt in real time, and show the health status of the insulator judged by the data transmission box 22 during the detection process. The ground terminal includes a ground terminal data transmission module and a display screen, which can receive detection data and video signals with the on-board data transmission module 2.

[0041] In one embodiment, the image acquisition and analysis module 4 is used for: scanning the insulator string 5 to obtain an image signal of the insulator string 5; wherein the image signal includes a three-dimensional model of the insulator string 5; analyzing the three-dimensional model to identify the string type of the insulator string 5; generating an angle control signal of the on-board insulator detection module 3 according to the string type.

[0042] In application, the multi-angle high-definition pan-tilt is a comprehensive high-definition pan-tilt integrated with multi-view vision module and night vision function, which has built-in robot vision algorithm model, can identify insulator strings of various postures and accurately measure their distances, accurately identify the position of the insulator steel foot iron cap, guide the detection box to accurately reach the detection point of each insulator, and guide the rudder to adjust the detection rod to be perpendicular to the axial direction of the measured insulator string. For the case that the string type of the strain type insulator string has an arc due to gravity principle, when the detection box reaches the detection point of each insulator, the multi-angle high-definition pan-tilt measures the angle of the insulator in real time and adjusts the angle in linkage with the limit rudder.

[0043] In application, the multi-angle high-definition holder also analyzes the three-dimensional model to identify the posture of the insulator string 5, the size of the umbrella skirt steel foot iron cap in the porcelain bottle, and generates an angle control signal of the airborne insulator detection module 3 according to the string type, posture, and size information.

[0044] In application, the multi-view high-definition holder synchronously collects the stereo images of the insulator string through the multi-view vision module, and generates the depth point cloud data in combination with the pre-calibrated camera parameters. The SLAM (simultaneous localization and mapping) algorithm is used to solve the three-dimensional relative pose of the unmanned aerial vehicle body and the target insulator string in real time, and the flight instruction containing the heading angle, pitch angle, and displacement compensation amount is generated through the PID control model to drive the unmanned aerial vehicle flight control system to dynamically maintain the preset detection distance.

[0045] The embodiment of the application constructs the spatial detection path planning basis through three-dimensional modeling and string type identification. Different from the traditional two-dimensional image processing, the scheme solves the spatial topological structure of the insulator string through point cloud reconstruction, and accurately predicts the detection rod motion trajectory. For example, for V-shaped type identification of double-stranded strain insulator string, the detection order of the side string and the middle string can be automatically planned to improve the operation efficiency.

[0046] In one embodiment, the image acquisition and analysis module 4 is also used for: As shown in Figure 2 When the string type is a suspension string, the angle during detection is determined to be 0 degrees, and the corresponding angle control signal is generated; When the string type is a strain string, the angle during detection is determined based on the inclination angle of each insulator in the strain string, and the corresponding angle control signal is generated.

[0047] In application, for strain strings, there are single-stranded, double-stranded, and multi-stranded combination types, and the detection method is as follows: for single-stranded and double-stranded strings, the unmanned aerial vehicle carries the unmanned aerial vehicle detection device and the measured string is at a horizontal position for detection, at which time the limiting servo is kept at 0° position; for the side string of the multi-stranded string, the unmanned aerial vehicle carries the unmanned aerial vehicle detection device and the measured string is at a horizontal position for detection, at which time the limiting servo is kept at 0° position, and for the middle string of the multi-stranded string, the detection device carried by the unmanned aerial vehicle is directly above the measured string, at which time the limiting servo angle is dynamically adjusted so that the detection rod 31 and the measured insulator are in a vertical state.

[0048] In application, the angle control signal is used to ensure that the detection rod 31 and the measured insulator are in a vertical state during detection.

[0049] In application, as shown in Figure 3 For strain strings without gravity deformation, the angle of the insulator is 0 degrees, and the angle of the detection rod and the insulator axis is also 0 degrees when they are perpendicular. As shown in Figure 4As shown, for the tension string of gravity deformation, the angle of the insulator is no longer 0 degrees, and the angles of different insulators in the same insulator string can also be different. When detecting each insulator, the angle of the detection rod needs to be determined according to the angle of the corresponding insulator.

[0050] The suspension string of the embodiment of the application adopts a fixed angle of 0 degrees to avoid repeated calculation, and the tension string starts a high-precision angle solving module. This dynamic load distribution mechanism ensures the millimeter-level positioning accuracy of the arc segment of the tension string, and solves the problem of the detection blind area caused by gravity deformation.

[0051] In one embodiment, the image acquisition and analysis module 4 is also used to: identify the steel foot iron cap in the three-dimensional model, and determine the inclination angle of each insulator based on the position of the steel foot iron cap.

[0052] The embodiment of the application realizes sub-pixel level positioning through steel foot iron cap feature recognition. The material characteristic difference between metal parts and porcelain bottles is used to quickly lock the detection target point in a complex background. The inclination angle solving error is controlled within a small range, which is much better than the accuracy of traditional edge detection algorithms, and guarantees the orthogonal relationship between the detection box and the surface of the insulator. By maintaining the orthogonal relationship between the detection rod and the axis of the insulator in real time, it is ensured that the electric field measurement probe is always in the maximum field strength area. This method overcomes the measurement deviation caused by the pose drift of the unmanned aerial vehicle, and improves the confidence of the zero-value insulator criterion.

[0053] The control method of the insulator string detection device for high-voltage overhead transmission line provided by the application comprises: controlling the unmanned aerial vehicle body 1 to fly to the position of the insulator string 5 to be detected; obtaining the image signal of the insulator string 5, and solving the angle control signal of the airborne insulator detection module 3; in response to the angle control signal, rotating the detection rod 31 to a specified angle to detect the corresponding insulator in the insulator string 5; wherein, when the detection rod 31 is rotated to the specified angle, the detection rod 31 is perpendicular to the axis of the insulator to be detected.

[0054] In one embodiment, it also includes: The angle of the detection rod 31 is adjusted to 0 degrees before the unmanned aerial vehicle body 1 takes off and lands.

[0055] The embodiment of the application controls the detection rod at 0 degrees during the take-off and landing stages, which is convenient for the unmanned aerial vehicle to take off and land.

[0056] In one embodiment, it also includes: scanning the insulator string 5 to obtain the image signal of the insulator string 5; wherein the image signal includes a three-dimensional model of the insulator string 5; analyze the three-dimensional model to identify a string type of the insulator string 5; generate an angle control signal of the aerial insulator detection module 3 according to the string type.

[0057] In one embodiment, the angle control signal of the aerial insulator detection module 3 according to the string type includes: when the string type is a suspension string, determine the angle at the time of detection as 0 degrees, and generate a corresponding angle control signal; when the string type is a strain string, determine the angle at the time of detection based on the inclination angle of each insulator in the strain string, and generate a corresponding angle control signal.

[0058] In one embodiment, it further includes: identify the steel foot iron cap in the three-dimensional model, and determine the inclination angle of each insulator based on the position of the steel foot iron cap.

[0059] In the application, based on the pre-trained insulator string recognition model, the feature fusion of the multi-view image is carried out: first, the HOG feature of the insulator steel foot iron cap is extracted, then the string type topology is reconstructed through the point cloud segmentation algorithm, and finally the string type category (suspension / strain single / strain multiple) is determined according to the spatial vector distribution. The arc distribution of the strain string is identified by fitting a B-spline curve. For each insulator, the sub-pixel level edge detection is used to lock the center coordinates of the steel foot iron cap. The normal vector of the steel foot iron cap in the three-dimensional space is calculated through the principle of stereo vision triangulation, a local coordinate system is established combining the string type, and finally the inclination angle of each insulator relative to the direction of gravity is calculated, and the angle data is mapped to the steering engine rotation parameter in real time. The gimbal converts the inclination angle calculation result into a PWM control signal and transmits it to the limit steering engine. The keyway meshing structure of the output shaft of the steering engine ensures that the torque is transmitted to the detection rod without loss, and the mechanical constraint (0-90° adjustable range) of the end limit boss makes the detection rod accurately positioned to the target angle, maintaining the front detection box orthogonal to the surface of the measured insulator.

[0060] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0061] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A device for detecting a high-voltage overhead power transmission line insulator string, characterized by The unmanned aerial vehicle body (1) and the airborne data transmission module (2), the airborne insulator detection module (3) and the image acquisition and analysis module (4) carried on the unmanned aerial vehicle body (1); The control signal output end of the image acquisition and analysis module (4) is connected with the control signal input end of the airborne insulator detection module (3) and the unmanned aerial vehicle body (1), and the data output end of the airborne insulator detection module (3) is connected with the data input end of the airborne data transmission module (2); The image acquisition and analysis module (4) is used for acquiring image signals of the insulator string (5) and analyzing the image signals to output a position control signal of the unmanned aerial vehicle and an angle control signal of the airborne insulator detection module (3); the unmanned aerial vehicle body (1) is used for flying to a specified position based on the position control signal; the airborne insulator detection module (3) is used for rotating to a specified angle based on the angle control signal and detecting the insulator string (5); and the airborne data transmission module (2) is used for receiving detection data sent by the airborne insulator detection module (3) and determining a health state of the insulator string (5) based on the detection data.

2. The high voltage overhead transmission line insulator string detection apparatus of claim 1, wherein, The airborne insulator detection module (3) comprises a detection rod (31), a detection box (32), a limiting steering engine (33) and a steering engine connecting rod (34), one end of the detection rod (31) is connected with the detection box (32), the other end is connected with a free end of the limiting steering engine (33), one end of the steering engine connecting rod (34) is connected with the unmanned aerial vehicle body (1), and the other end is connected with a fixed end of the limiting steering engine (33); The control signal input end of the limiting steering engine (33) is connected with the control signal output end of the image acquisition and analysis module (4), and the detection box (32) is in communication connection with the airborne data transmission module (2); The limiting steering engine (33) is used for driving the free end to rotate around the fixed end based on the angle control signal, so that the detection rod (31) is at a specified angle; The detection box (32) is used for detecting the insulator string (5).

3. The high voltage overhead transmission line insulator string detection apparatus of claim 2, wherein, The limiting steering engine (33) is used for adjusting the detection rod (31) within a specified angle, and the specified angle is 0-90 degrees.

4. The high voltage overhead transmission line insulator string detection apparatus of claim 1, wherein, The airborne data transmission module (2) comprises a support piece (21) and a data transmission box (22), and the data transmission box (22) is fixed with the unmanned aerial vehicle body (1) through the support piece (21); The data transmission box (22) is in communication connection with the airborne insulator detection module (3) and is used for receiving and analyzing the detection data to determine the health state of the insulator string (5).

5. The high voltage overhead transmission line insulator string detection apparatus of claim 1 wherein, The image acquisition and analysis module (4) is used for: Scanning the insulator string (5) to obtain image signals of the insulator string (5); wherein the image signals comprise a three-dimensional model of the insulator string (5); Analyzing the three-dimensional model to identify a string type direction of the insulator string (5); Generating the angle control signal of the airborne insulator detection module (3) according to the string type direction.

6. The high voltage overhead transmission line insulator string detection apparatus of claim 5, wherein, The image acquisition and analysis module (4) is also used for: When the string type is a suspension string, the angle at the time of detection is determined as 0 degrees, and a corresponding angle control signal is generated; When the string type is a strain string, the angle at the time of detection is determined based on the inclination angle of each insulator in the strain string, and a corresponding angle control signal is generated.

7. The high voltage overhead transmission line insulator string detection apparatus of claim 6, wherein, The image acquisition and analysis module (4) is further configured to: identify the steel foot iron cap in the three-dimensional model, and determine the inclination angle of each insulator based on the position of the steel foot iron cap.

8. A control method of the high-voltage overhead transmission line insulator string detection apparatus according to any one of claims 1 to 7, characterized by, It includes: controlling the unmanned aerial vehicle body (1) to fly to the position of the insulator string (5) to be detected; acquire the image signal of the insulator string (5), and calculate the angle control signal of the airborne insulator detection module (3); in response to the angle control signal, the detection rod (31) is rotated to a specified angle to detect the corresponding insulator in the insulator string (5); wherein, when the detection rod (31) is rotated to a specified angle, the detection rod (31) is perpendicular to the axis of the insulator to be detected.

9. The control method according to claim 8, characterized by, It also includes: The angle of the detection rod (31) is adjusted to 0 degrees before the unmanned aerial vehicle body (1) takes off and lands.

10. The control method according to claim 8, characterized by, It also includes: scanning the insulator string (5) to obtain the image signal of the insulator string (5); wherein the image signal includes a three-dimensional model of the insulator string (5); analyze the three-dimensional model to identify the string type of the insulator string (5); generate an angle control signal for the airborne insulator detection module (3) according to the string type.

11. The control method according to claim 10, characterized by, The angle control signal for the airborne insulator detection module (3) according to the string type includes: When the string type is a suspension string, the angle at the time of detection is determined as 0 degrees, and a corresponding angle control signal is generated; When the string type is a strain string, the angle at the time of detection is determined based on the inclination angle of each insulator in the strain string, and a corresponding angle control signal is generated.

12. The control method according to claim 10, characterized by, It also includes: identify the steel foot iron cap in the three-dimensional model, and determine the inclination angle of each insulator based on the position of the steel foot iron cap.

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