An airborne zero-value insulator detection device and method

Abstract

The present invention discloses an airborne zero-value insulator detection device and method, which includes a detection sensor, a pod, and a handheld terminal; the detection sensor is used for ranging and detecting the spatial electric field around the insulator; the pod is internally provided with a driving device, and the output end of the driving device is connected to the detection sensor through a telescopic rod, and the telescopic rod is horizontally displaced by the driving device to adjust the detection distance of the detection sensor; the handheld terminal is communicatively connected to the detection sensor and the driving device. The present invention can be used in a hot-pluggable manner with commonly used commercial drones on the market, without the need for tower climbing operations, enabling power transmission line operation and maintenance personnel to carry out zero-value insulator detection work through simple operations without power outage, which can effectively ensure the safe and stable operation of the power system; at the same time, the device detects without power outage, ensuring the accuracy and reliability of the detection results.

Description

Technical Field

[0001] The present invention relates to the technical field of zero-value insulator detection, and in particular to an airborne zero-value insulator detection device and method. Background Art

[0002] As an important part of the power system, insulators are widely distributed at the joints of transmission lines and towers, and play the roles of supporting the transmission line and electrical insulation. Under the influence of long-term climate environment, temperature, humidity, etc., plus mechanical load, electromechanical load, and thermal and cold changes during operation, the mechanical performance and insulation performance of the insulator string will be significantly reduced, resulting in deteriorated insulators, which become important hidden dangers leading to flashover, string dropping, explosion and brittle fracture accidents. According to statistics, the annual deterioration rate of suspension insulators for power transmission and transformation is about 0.3% on average, which is equivalent to about one zero-value insulator per 220kV strain tower on average; with the increase of operation time, the deterioration problem of composite insulators is becoming more and more prominent. Therefore, it is of great significance to carry out effective regular detection of deteriorated insulators and eliminate defects in time before accidents occur.

[0003] Considering the reliability of actual engineering applications and the complexity of outdoor operating environments, at present, maintenance personnel still mainly use the insulation resistance method and the spark gap method to detect deteriorated insulators. These two traditional detection methods are both contact methods, which require power outage for operation. The operators carry instruments to climb the poles for operation, and both have the problems of large workload and dangerous work nature, and cannot meet the current needs of power grid operation units for digital intelligent operation and maintenance. Summary of the Invention

[0004] The purpose of the present invention is to provide an airborne zero-value insulator detection device and method, which can effectively ensure the safe and stable operation of the power system; at the same time, the device can detect without power outage to ensure the accuracy and reliability of the detection results.

[0005] The present invention adopts the following technical solutions to achieve the above-mentioned invention purposes:

[0006] The present invention provides an airborne zero-value insulator detection device, including:

[0007] A detection sensor, which is used for ranging and detecting the space electric field around the insulator;

[0008] A pod, which is internally provided with a driving device. The output end of the driving device is connected to the detection sensor through a telescopic rod. The telescopic rod is horizontally displaced by the driving device to adjust the detection distance of the detection sensor;

[0009] A handheld terminal, which is communicatively connected to the detection sensor and the driving device.

[0010] Further, the pod joint is provided with an adapter ring capable of supplying power to the detection sensor and the driving device.

[0011] Further, the driving device includes a servo motor and a main control module built in the pod. A roller for driving the telescopic rod to translate is sleeved on the output end of the servo motor. The power supply interface of the main control module is connected to the power supply interface of the adapter ring. The control signal I / O interface of the main control module is connected to the servo motor. The main control module is communicatively connected to the handheld terminal.

[0012] Further, the detection sensor is internally provided with an electric field probe module, a ranging sensor module, an amplification and filtering module, a wireless transparent transmission module, a single-chip microcomputer module, and a power inverter module;

[0013] The electric field probe module detects the power frequency electric field intensity and converts the power frequency electric field signal into a voltage signal;

[0014] The amplification and filtering module amplifies, follows the voltage signal, filters out interference, and then outputs it to the ADC port of the single-chip microcomputer module;

[0015] The ranging sensor module is used to convert the distance between it and the obstacle in front into an analog voltage signal and output it to the ADC port of the single-chip microcomputer module;

[0016] The single-chip microcomputer module collects the voltage input signal and the analog voltage signal at the ADC port, filters out interference from the voltage input signal again, performs analysis and processing and zero value identification, and outputs the zero value identification result and the analog voltage signal to the wireless transparent transmission module;

[0017] The wireless transparent transmission module is used to receive the zero value identification result and the analog voltage signal sent by the single-chip microcomputer module and send them to the handheld terminal;

[0018] The amplification and filtering module, the ranging sensor module, the wireless transparent transmission module, and the single-chip microcomputer module are powered by the power supply interface of the adapter ring. The power supply interface of the adapter ring provides a low-voltage DC power supply, which generates voltages of different magnitudes through the power inverter module in the detection sensor to supply power to the amplification and filtering module, the ranging sensor module, the wireless transparent transmission module, and the single-chip microcomputer module respectively.

[0019] Further, an electric field probe array is arranged on one side of the detection sensor.

[0020] Further, a ranging sensor is arranged on the same side of the detection sensor as the electric field probe array.

[0021] Further, the detection sensor is connected to the telescopic rod through an aviation plug. The power supply interface of the adapter ring is connected with a power cord extending into the telescopic rod, and one end of the power cord far from the adapter ring is connected to the aviation plug.

[0022] Further, the detection sensor is communicatively connected to the handheld terminal through an antenna.

[0023] The present invention provides an airborne zero-value insulator detection method, and the method includes:

[0024] Control the aircraft to approach the high-voltage end of the insulator string, gradually approach the high-voltage end of the insulator string, judge the distance between the aircraft and the insulator string, and keep the aircraft hovering at a set distance;

[0025] Trigger an action signal of the telescopic rod through the handheld terminal, and the telescopic rod extends uniformly;

[0026] Observe the distance value transmitted back to the handheld terminal by the detection sensor in real time. After the value is less than the effective detection distance threshold, trigger the telescopic rod to stop moving, and continue to keep the unmanned aerial vehicle hovering;

[0027] Observe the zero-value recognition result and the transmitted-back distance data of the handheld terminal, and keep the distance always less than the effective detection distance threshold during flight control;

[0028] If the handheld terminal shows the presence of a zero-value insulator, stop flying, record the position of the insulator disc corresponding to the detector, and then continue to control the unmanned aerial vehicle to translate towards the low-voltage end;

[0029] After the whole string of insulators is detected by flight, operate the unmanned aerial vehicle to return.

[0030] Further, the method includes:

[0031] If the telescopic rod still cannot reach less than the effective detection distance threshold after reaching the limit, continue to control the unmanned aerial vehicle to slowly approach the insulator. After reaching the effective detection distance, control the unmanned aerial vehicle to slowly translate to the high-voltage end of the insulator string.

[0032] The beneficial effects of the present invention are as follows:

[0033] The present invention can be used in a hot-pluggable manner with commonly used commercial unmanned aerial vehicles on the market. There is no need to climb the tower for operation, which enables the transmission line operation and maintenance personnel to carry out zero-value insulator detection work through simple operations without power outage, and can effectively ensure the safe and stable operation of the power system; at the same time, the equipment detects without power outage, ensuring the accuracy and reliability of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of an airborne zero-value insulator detection device according to an embodiment of the present invention;

[0035] Figure 2 is Figure 1 a schematic structural diagram of the detector in

[0036] Figure 3 is Figure 1 and Figure 2 a schematic working principle diagram of the detector in

[0037] Figure 4 is a schematic flowchart of an airborne zero-value insulator detection method provided according to an embodiment of the present invention. Detailed implementation manners

[0038] As Figure 1 shown, an airborne zero-value insulator detection device provided by the present invention includes a detection sensor 1, a pod 2, a telescopic rod 3, a driving device 4, an adapter ring 5, and a handheld terminal 6; the detection sensor 1 is installed at the end of the telescopic rod 3 and is used for ranging and detecting the space electric field around the insulator; the driving device 4 and the telescopic rod 3 are installed in the pod 2, and the length of the telescopic rod 3 is controlled and adjusted by the driving device 4 to achieve elongation and shortening, so as to control the detection distance; the adapter ring 5 is matched with the pod joint of the unmanned aerial vehicle and is used for fixing the pod and the fuselage of the unmanned aerial vehicle and leading out the power supply interface of the unmanned aerial vehicle, so as to supply power to the driving device 4 and the detection sensor 1, thereby reducing the overall weight of the airborne device; the handheld terminal 6 is used for controlling the telescopic rod 3, observing the distance of the detection sensor 1, and receiving the detection result.

[0039] As Figure 1 shown, the telescopic rod 3 is a cylindrical rod with a total length of about 2 meters, and its material can be, but is not limited to, carbon fiber or glass fiber with good toughness. It is installed between the servos of the driving device 4. After the driving device 4 is started, the telescopic rod 3 can translate to both sides.

[0040] As Figure 1 shown, the driving device 4 includes four servos and a main control module. The output end of the servo is sleeved with a roller for driving the telescopic rod 3 to translate. The power supply interface of the main control module is connected to the power supply interface of the adapter ring 5. The four control signal I / O interfaces of the main control module are connected to the four servos. The main control module completes communication with the handheld terminal through an antenna.

[0041] As Figure 1 shown, when the telescopic button on the interface of the handheld terminal 6 is turned on, the handheld terminal 6 sends a corresponding trigger signal to the main control module of the driving device 4. After the main control module receives the trigger signal, the four control signal I / O interfaces output positive level and negative level, thereby driving the servos to rotate forward and backward, so as to control the telescopic movement; when the telescopic stop button is pressed, the handheld terminal sends a corresponding trigger signal to the main control module of the driving device 4, and the four control signal I / O interfaces output low level. At this time, the servos stop rotating due to the loss of working voltage.

[0042] As Figure 2 shown, four electric field probe arrays 11 are arranged on the side of the detection sensor, which are used to measure the electric field distribution near a single insulator, so as to provide a basis for zero-value identification; a ranging sensor module 12 is arranged at the parallel position of the electric field probe array, which is used to measure the relative position between the probe array and the insulator string in real time, so as to ensure the effectiveness of the detection result; the detection sensor communicates with the handheld terminal through an antenna 13 to complete data transmission; the detection sensor is connected to the telescopic rod through a aviation plug 14. While keeping the detection sensor fixed, the detection sensor can be connected to the power line in the telescopic rod, so that it can be powered by the power supply interface of the adapter ring.

[0043] As Figure 3 shown, the main devices inside the detection sensor include four electric field probe modules, a ranging sensor module, four amplification and filtering modules, a wireless transparent transmission module, a single-chip microcomputer module and a power inverter module. The electric field probe module detects the power frequency electric field intensity, converts the power frequency electric field signal into a millivolt-level voltage signal, amplifies, follows the signal through the amplification and filtering module, and filters out interference, and then outputs it to the ADC port of the single-chip microcomputer module; the ranging sensor module can directly convert the distance between it and the obstacle in front into an analog voltage signal and output it to the ADC port of the single-chip microcomputer module; the single-chip microcomputer module collects the voltage input signal and analog voltage signal of the ADC port, and eliminates external interference on the voltage input signal through software filtering again, analyzes and processes the voltage input signal, and performs zero-value identification; the single-chip microcomputer module outputs the zero-value identification result and the analog voltage signal to the wireless transparent transmission module, and the wireless transparent transmission module communicates with the handheld terminal mutually, so that the detection situation can be displayed.

[0044] As Figure 3 shown, the amplification and filtering module, the ranging sensor module, the wireless transparent transmission module and the single-chip microcomputer module are powered by the power supply interface of the adapter ring. The power supply interface provides a low-voltage DC power supply, which generates voltages of different magnitudes through the power inverter module in the detection sensor, and supplies power to the amplification and filtering module, the ranging sensor module, the wireless transparent transmission module and the single-chip microcomputer module respectively.

[0045] As Figure 4 shown, the method and process based on the airborne zero-value insulator detection device are as follows:

[0046] 1. Using the built-in controller and pilot's perspective of a commercial drone, control the drone to gradually approach the high-voltage end of the insulator string, so that it gradually approaches the high-voltage end of the insulator string. Judge the distance between the plane and the insulator string by naked eyes, and keep the plane hovering when it is about 1-2 meters.

[0047] 2. The handheld terminal communicates with the driving device to trigger the telescopic rod action signal, and the telescopic rod extends uniformly.

[0048] 3. Observe the distance value transmitted back to the handheld terminal by the ranging sensor module in real time. After the value is less than the effective detection distance threshold, trigger the telescopic rod to stop moving and continue to keep the drone hovering.

[0049] 4. If the telescopic rod still cannot reach a distance less than the effective detection distance threshold after reaching the limit, continue to control the drone to slowly approach the insulator.

[0050] 5. After reaching the effective detection distance, control the drone to slowly translate to the high-voltage end of the insulator string. During this period, observe the zero-value recognition result of the handheld terminal and the transmitted distance data, and keep the distance always less than the effective detection distance threshold when controlling the flight.

[0051] 6. If a zero-value insulator appears on the handheld terminal display, stop flying, record the position of the insulator sheet corresponding to the detection sensor, and then continue to control the drone to translate to the low-voltage end.

[0052] 7. After the entire string of insulators has been detected by flying, operate the drone to return.

[0053] The method for identifying zero-value insulators adopted by the present invention is as follows: By means of a probe array, measure the electric field distribution in a small section of space that is at a certain distance from the edge of the insulator string and parallel to the central axis to identify whether there is a zero-value insulator. Among them, the four probes are arranged at equal intervals, and the total length can be 10 cm (less than the height of a single insulator). Let the electric field data measured by the four-probe array be the array E1, E2, E3, E4 in sequence, then the condition for determining a zero-value insulator is:

[0054] |E1 - E2| / E1 < 2%

[0055] |E2 - E3| / E2 < 2%

[0056] |E3 - E4| / E3 < 2%

[0057] The above is only the preferred implementation mode of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. An airborne zero-value insulator detection method, characterized in that, The method includes: Controlling a drone connected with a detection device to approach the high-voltage end of the insulator string, gradually approaching the high-voltage end of the insulator string, determining the distance between the drone and the insulator string, and keeping the plane hovering at a set distance; The detection device includes: a detection sensor; a pod with a driving device built in, and the output end of the driving device is connected to the detection sensor through a telescopic rod; a handheld terminal, which is communicatively connected to the detection sensor and the driving device; Trigger an action signal of the telescopic rod through the handheld terminal, and the telescopic rod extends uniformly; Observe the distance value transmitted back by the detection sensor to the handheld terminal in real time. After the value is less than the effective detection distance threshold, trigger the telescopic rod to stop moving and continue to keep the drone hovering; Measure the electric field distribution near the insulator through four electric field probe arrays arranged on the side of the detection sensor to identify whether there is a zero-value insulator; The four probes are arranged at equal intervals, and the total length is less than the height of a single insulator. The electric field data measured by the four probe arrays are successively the array E1, E2, E3, E4. The condition for determining a zero-value insulator is to satisfy the following formula: ； Observe the zero-value identification result and the transmitted distance data of the handheld terminal, and keep the distance always less than the effective detection distance threshold during flight control; If the handheld terminal shows a zero-value insulator, stop flying, record the position of the insulator piece corresponding to the detector, and then continue to control the drone to translate towards the low-voltage end; After the whole string of insulators is detected by flight, operate the drone to return.

2. The airborne zero-value insulator detection method according to claim 1, characterized in that, The method further includes: If the telescopic rod still cannot reach less than the effective detection distance threshold after reaching the limit, continue to control the drone to slowly approach the insulator. After reaching the effective detection distance, control the drone to slowly translate to the high-voltage end of the insulator string.

3. The airborne zero-value insulator detection method according to claim 1, characterized in that, The pod joint is provided with an adapter ring capable of supplying power to the detection sensor and the driving device.

4. The airborne zero-value insulator detection method according to claim 3, characterized in that, The driving device includes a servo motor and a main control module built in the pod. The output end of the servo motor is sleeved with a roller for driving the telescopic rod to translate. The power interface of the main control module is connected to the power supply interface of the adapter ring. The control signal I / O interface of the main control module is connected to the servo motor, and the main control module is communicatively connected to the handheld terminal.

5. The airborne zero-value insulator detection method according to claim 3, characterized in that, The detection sensor is internally provided with an electric field probe module, a ranging sensor module, an amplification and filtering module, a wireless transparent transmission module, a single-chip microcomputer module and a power inverter module; The electric field probe module detects the power frequency electric field intensity and converts the power frequency electric field signal into a voltage signal; The amplification and filtering module filters out the interference of the voltage signal and outputs it to the ADC port of the single-chip microcomputer module; The ranging sensor module is used to convert the distance between it and the obstacle in front into an analog voltage signal and output it to the ADC port of the single-chip microcomputer module; The single-chip microcomputer module collects the voltage input signal and the analog voltage signal at the ADC port. After filtering out the interference of the voltage input signal again, it performs analysis and processing and zero value identification, and outputs the zero value identification result and the analog voltage signal to the wireless transparent transmission module; The wireless transparent transmission module is used to receive the zero value identification result and the analog voltage signal transmitted by the single-chip microcomputer module and send them to the handheld terminal; The power supply interface of the adapter ring provides a low-voltage DC power supply. After passing through the power inverter module in the detection sensor, voltages of different magnitudes are generated to supply power to the amplifier and filter module, the ranging sensor module, the wireless transparent transmission module, and the single-chip microcomputer module respectively.

6. An airborne zero-value insulator detection method according to claim 5, characterized in that A ranging sensor is arranged on the same side of the electric field probe array on the detection sensor.

7. An airborne zero-value insulator detection method according to claim 3, characterized in that The detection sensor is connected to the telescopic rod through an aviation plug. The power supply interface of the adapter ring is connected with a power cord extending into the telescopic rod, and one end of the power cord far from the adapter ring is connected to the aviation plug.

8. An airborne zero-value insulator detection method according to claim 1, characterized in that The detection sensor is communicatively connected to the handheld terminal through an antenna.

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