A high-voltage wire insulator coating thickness measuring device and a method of using the same

Abstract

The application discloses a high-voltage wire insulator coating thickness measuring device and a use method thereof, relates to the technical field of high-voltage electric maintenance detection, and comprises a carrier device, wherein a thickness measuring module is fixedly installed at the bottom of the outer surface of the carrier device. In the application, the space information establishing module, the space information acquiring module and the insulator standard sample are compared, thereby realizing comparative detection of the coating thickness, obtaining the actual thickness value of the current insulator, replacing the traditional direct measurement method, avoiding inaccurate measurement caused by non-perpendicular initial selection of the fitting angle or damage of the insulator caused by overfitting, and simultaneously avoiding the fact that the surface of the coating is not flat, has unevenness or a curved surface, and the three-dimensional data acquisition can accurately record the form and structure of the coating surface, avoids omission and misjudgment, and in combination with the visual presentation of the three-dimensional data, the characteristics of the coating surface can be directly observed and analyzed.

Description

Technical Field

[0001] This invention relates to the field of high-voltage electrical maintenance and testing technology, specifically to a device for measuring the coating thickness of high-voltage line insulators and its usage method. Background Technology

[0002] An insulator is a device installed between different conductors and grounding components, capable of withstanding mechanical stress. Insulators come in many types and shapes. Although different types of insulators vary considerably in structure and appearance, they all consist of two main parts: an insulating element and a grounding element. An insulator is a special insulating control that plays a crucial role in [the process of transmission / delay]. In the early days, insulators were mostly used for [specific applications]. Gradually, their development led to the use of disc-shaped insulators hanging at one end of high-voltage power line towers to increase creepage distance. These are typically made of glass or ceramic and are called insulators. The insulator coating is a protective layer covering the insulator's outer shell.

[0003] However, in existing technologies, when maintaining insulators, it is necessary to ensure that the thickness of the insulator surface coating is within a safe range. For example, Chinese patent application CN113739727A discloses a method for using a high-voltage line insulator coating thickness measuring device, which measures the thickness of the insulator coating using an ultrasonic thickness gauge probe. The specific operation steps are as follows: Step 1: Start the system and run the remote-controlled trolley; Step 2: The operator moves the remote-controlled trolley to the detection point, activates the electromagnetic brake device, and fixes the trolley in the designated position; Step 3: The camera takes pictures of the insulator, transmits the pictures to the terminal control device in real time, and compares and processes the pictures; Step 4: The operator decides whether to clean the insulator based on the pictures; Step 5: After confirming that the insulator's appearance is fine, the ultrasonic thickness gauge is activated to measure the thickness of the insulator coating, and the measurement result is transmitted to the terminal control device; Step 6: The operation is completed, and the remote-controlled trolley returns. This invention has the advantages of high detection efficiency and high detection accuracy. It can better utilize modern technology to replace high-risk work.

[0004] While the above solutions have the advantages mentioned above, they also have disadvantages: traditional insulator thickness measurement methods, including those in the above technical solutions, all employ direct measurement. This method involves placing a coating thickness measuring instrument on the coating surface and directly measuring the coating thickness through contact or non-contact means. Although this method is simple and direct, it requires ensuring the perpendicularity between the thickness measuring instrument and the insulator coating surface. Since the insulator surface is not planar, the thickness measuring instrument needs to be measured at multiple points and effectively adhered to the coating surface; otherwise, the measurement accuracy will be affected. This places strict requirements on the specifications of the thickness measuring instrument, making actual measurement difficult and potentially damaging to the insulator surface. Summary of the Invention

[0005] The purpose of this invention is to solve the problem of directly measuring coating thickness in the prior art. Although such methods are simple and direct, they require ensuring the perpendicularity between the thickness measuring instrument and the coating surface of the insulator. Since the surface of the insulator is not planar, the thickness measuring instrument not only needs to be measured at multiple points, but also needs to be effectively attached to the coating surface. Otherwise, the measurement accuracy will be affected. This places strict requirements on the specifications of the thickness measuring instrument, making actual measurement difficult and easily causing damage to the surface of the insulator.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a high-voltage line insulator coating thickness measurement device, comprising a carrier device, wherein a thickness measurement module is fixedly installed on the bottom of the outer surface of the carrier device, the thickness measurement module comprising a measurement area division module, a flight monitoring module, a spatial information acquisition module, a spatial information establishment module, an information comparison module, and an information clarification module, wherein the output end of the measurement area division module is signal-connected to the input end of the flight monitoring module via a wireless local area network, the input ends of the spatial information acquisition module, the spatial information establishment module, and the information comparison module are electrically connected to the output end of the flight monitoring module via wires, the output end of the spatial information acquisition module is bidirectionally electrically connected to the input end of the spatial information establishment module via wires, the output end of the spatial information establishment module is bidirectionally electrically connected to the input end of the information comparison module via wires, and the output end of the information clarification module is bidirectionally electrically connected to the input end of the spatial information acquisition module via wires.

[0007] In a preferred embodiment, the spatial information establishment module includes a sample parameter import module, a geographic coordinate module, a geodetic coordinate module, a three-dimensional information establishment module, and an insulator area information establishment module. The output end of the sample parameter import module is electrically connected to the input end of the three-dimensional information establishment module via a wire, and the output end of the geographic coordinate module is electrically connected to the input end of the three-dimensional information establishment module via a wire.

[0008] In a preferred embodiment, the output terminal of the geographic coordinate module is bidirectionally electrically connected to the input terminal of the geodetic coordinate module via a wire, and the output terminal of the geodetic coordinate module is electrically connected to the input terminal of the insulator area information establishment module via a wire.

[0009] In a preferred embodiment, the output end of the three-dimensional information establishment module is bidirectionally electrically connected to the input end of the insulator region information establishment module via a wire. The information clarification module includes a global illumination image comparison module, a body clarification module, a morning fog clarification module, a data transmission module, a single-frame and multi-frame processing module, an image reconstruction module, a Retinex image enhancement module, an ambient light and transmittance comparison module, a scene depth monitoring module, and a fusion clarification module.

[0010] In a preferred embodiment, the input terminals of the body sharpening module and the morning fog sharpening module are electrically connected to the output terminal of the global illumination image comparison module via wires, and the input terminals of the single-frame, multi-frame processing module and the image reconstruction module are electrically connected to the output terminal of the body sharpening module via wires.

[0011] In a preferred embodiment, the input terminals of the ambient light, transmittance comparison module, and scene depth monitoring module are electrically connected to the output terminal of the morning fog clearing module via wires, and the output terminals of the Retinex image enhancement module and the fusion clearing module are electrically connected to the input terminal of the data transmission module via wires.

[0012] As a preferred embodiment, the triangulation formula for the spatial information of the insulator by the three-dimensional information establishment module is: S H =|Z A -Z B |; In the formula, S H S D S L These represent the perpendicular distance, horizontal distance, and slant distance between two points, respectively.

[0013] In a preferred embodiment, the conversion formula from the geodetic coordinate module to the geographic coordinate module is as follows: In the formula, B, L, and H represent the latitude, longitude, and elevation of the point, respectively; N is the radius of the geocentric circle; e is the flattening of the ellipsoid; and a and b are the major and minor axes of the Earth's ellipsoid, respectively.

[0014] As a preferred embodiment, the expression formula for the degraded dust and fog image by the morning fog clearing module is: I(x,y)=J(x,y)t(x,y)+A[1-t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light.

[0015] The present invention also provides a method for using a high-voltage line insulator coating thickness measuring device, comprising the following steps:

[0016] Step 1: Using the open-source Cesium platform as the main framework, establish 3D data for insulators and their surface coatings. The carrier device is a multi-rotor UAV equipped with a thickness measurement module. First, the location of insulators in the test area is manually planned using a region division module, and the flight path is positioned. Then, the UAV, carrying a flight monitoring module, performs post-inspection of the insulator surface coating. The flight monitoring module is connected to a spatial information acquisition module, a spatial information establishment module, and an information comparison module. The global illumination image comparison module distinguishes whether morning fog cleaning or body cleaning is needed for the insulator surface. Surface clearing processing and regional insulator 3D information establishment are then performed. A geographic coordinate module and a spatial geodetic coordinate module are established in the GIS. The insulator 3D information establishment is divided into two steps: first, the insulator inspection area information and the corresponding insulator standard samples are presented in the GIS. Secondly, the flight monitoring module, equipped with a high-precision area array CMOS camera and an infrared camera, scans the detailed points on the surface of the insulator and then presents them in the GIS, thereby realizing the information establishment of the three-dimensional information establishment module for the insulator. Since the three-dimensional information establishment in the GIS first differentiates the regional information, the device and method are more suitable for large-area batch detection, greatly improving the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat, but has unevenness or curvature. Through the acquisition of three-dimensional data, the morphology and structure of the coating surface can be accurately recorded, avoiding omissions and misjudgments. With the visualization of three-dimensional data, the characteristics of the coating surface, such as cracks, oxidation, and corrosion, can be observed and analyzed intuitively, thereby better understanding the properties and quality of the coating surface.

[0017] Step 2: Establish geographic coordinate module and spatial geodetic coordinate module in GIS. The establishment of 3D information for insulators is divided into two steps. First, the insulator detection area information and the corresponding standard insulator samples are presented in GIS. Second, the detailed points on the surface of the insulator are scanned by a high-precision area array CMOS camera and an infrared camera through a flight monitoring module, and then presented in GIS. This realizes the establishment of information for the 3D information module of the insulator. Since the 3D information establishment in GIS first differentiates the regional information, this device and method are more suitable for large-area batch detection, which greatly improves the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat, but has unevenness or curvature. Through 3D data acquisition, the morphology and structure of the coating surface can be accurately recorded to avoid omissions and misjudgments. With the visualization of 3D data, the characteristics of the coating surface, such as cracks, oxidation, and corrosion, can be observed and analyzed intuitively, so as to better understand the properties and quality of the coating surface.

[0018] Step 3: In addition, the surface cleaning of the insulators includes surface cleaning of the insulators, and surface cleaning for foggy weather, wherein the surface cleaning of the insulators is performed.

[0019] The 3D information for foggy weather is built upon the aforementioned GIS parameter transformation, incorporating image methods that address atmospheric scattering models. In other words, it involves analyzing the ambient light received during insulator imaging and considering the image degradation process caused by fog. The defogging approach compensates for the attenuation energy of reflected light and eliminates the portion of ambient light involved in the imaging, thereby restoring a clear image. When light reflected from objects in the scene reaches the imaging plane, it consists of two parts: attenuated reflected light from the object and scattered light from suspended particles. The imaging process follows a traditional imaging mode: the drone observes through suspended particles under ambient light. The degraded dust and fog image can be represented as I(x,y)=J(x,y)t(x,y)+A[1-t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light, which is often taken as a globally constant value in outdoor atmospheric environments. If the ambient light value matrix A and the transmittance matrix t in the model are estimated, the restored image J can be obtained. The transmittance in the atmospheric scattering model is related to the atmospheric scattering coefficient and the scene depth, and is expressed as t(x,y)=e -βd(x,y) , where β is the atmospheric scattering coefficient and d(x,y) is the scene depth;

[0020] Step 4: Under the condition of uniform dust and fog distribution, β is a constant value. However, the dust and fog medium distribution in the work area scanned by the UAV may be uneven, and the atmospheric scattering coefficient is different at different locations. The dust and fog concentration is low far from the work area, so it can be assumed that the medium is uniformly distributed. Based on the above characteristics of dust and fog distribution, the image is divided into dense fog area and non-dense fog area. The model area parameters are obtained according to different assumptions. After fusion, the global ambient light value matrix A and the transmittance matrix t are obtained, thereby achieving surface sharpening for foggy weather. The surface sharpening of the insulator uses the Retinex image enhancement module for Retinex enhancement processing. Combined with the single-frame and multi-frame processing modules and the image reconstruction module, the real shot of the UAV and the 3D information are processed in single-frame and multi-frame. The sharpened information is transmitted to the spatial information establishment module through the data transmission module. The advantage of multiple frames is that each frame image can provide different valuable information. The surface of the insulator is sharpened through super-resolution reconstruction, image fusion, image averaging and noise reduction.

[0021] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0022] 1. This invention differs from traditional insulator coating thickness detection methods. It compares the coating thickness with a standard insulator sample using a spatial information establishment module, a spatial information acquisition module, and the sample itself. This allows for comparative detection of the actual thickness of the insulator, replacing the traditional direct measurement method. This avoids inaccuracies caused by non-perpendicular initial contact angles or damage to the insulator due to over-contact. Furthermore, since the coating surface is not flat and may have unevenness or curvature, the 3D data acquisition accurately records the morphology and structure of the coating surface, preventing omissions and misjudgments. Combined with the visualization of the 3D data, surface characteristics such as cracks, oxidation, and corrosion can be intuitively observed and analyzed, leading to a better understanding of the coating surface's properties and quality. This solves the problem of direct coating thickness measurement in existing technologies. While such methods are simple and direct, they require ensuring the perpendicularity between the thickness measuring instrument and the insulator coating surface. Because the insulator surface is non-planar, the thickness measuring instrument needs to be measured at multiple points and effectively contacted with the coating surface; otherwise, measurement accuracy will be affected. This places strict requirements on the thickness measuring instrument specifications, making actual measurement difficult and prone to damaging the insulator surface.

[0023] 2. This invention replaces traditional thickness measuring instruments by establishing three-dimensional information, which can additionally present the wear and cracking of the insulator surface. At the same time, since the three-dimensional information establishment within the GIS first differentiates the regional information, the device and method are more suitable for large-area batch testing, greatly improving the efficiency of insulator thickness testing.

[0024] 3. In this invention, the three-dimensional information of insulator thickness is established by using a high-precision area array CMOS camera and an infrared camera mounted on a UAV instead of the wheeled vehicle in the above-mentioned scheme. The three-dimensional information of the insulator is established through a spatial information establishment module, which is more suitable for high-altitude operations and has a wider range of environmental adaptability.

[0025] 4. This invention addresses the issue of surface cleaning of insulators, which differs from traditional physical cleaning. It utilizes an information clarification module to perform Retinex enhancement processing on the surface information of insulators. Combined with real-time footage from a drone and 3D information, single-frame and multi-frame processing is performed to achieve surface clarity of the insulators. This reduces the potential scouring damage to the insulator surface caused by high-pressure water jets and minimizes the weight load on the drone.

[0026] 5. This invention addresses the potential impact of dust and fog on high-altitude insulator thickness detection. Through the combined use of single-frame and multi-frame processing modules and an image reconstruction module, and by analyzing the ambient light received during insulator imaging and considering the degradation process of foggy images, the attenuation energy of reflected light is compensated, eliminating the portion of ambient light involved in imaging, thereby recovering a clear image. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the external structure of the flight device for a high-voltage line insulator coating thickness measuring device and its usage method according to the present invention.

[0028] Figure 2 This is a system diagram of the thickness measuring module of a high-voltage line insulator coating thickness measuring device and its usage method according to the present invention.

[0029] Figure 3 This is a system diagram of the spatial information establishment module of a high-voltage line insulator coating thickness measuring device and its usage method according to the present invention;

[0030] Figure 4 This is a system diagram of the information clarification module of a high-voltage line insulator coating thickness measuring device and its usage method according to the present invention;

[0031] In the picture:

[0032] 1. Carrier equipment; 2. Thickness measurement module; 100. Measured area division module; 200. Flight monitoring module; 300. Spatial information acquisition module; 400. Spatial information establishment module; 500. Information comparison module; 600. Information clarification module; 401. Sample parameter import module; 402. Geographic coordinate module; 403. Geodetic coordinate module; 404. 3D information establishment module; 405. Insulator area information establishment module; 601. Global illumination image comparison module; 602. Body clarification module; 621. Single frame and multi-frame processing module; 622. Image reconstruction module; 623. Retinex image enhancement module; 603. Morning fog clarification module; 631. Ambient light and transmittance comparison module; 632. Scene depth monitoring module; 633. Fusion clarification module; 604. Data transmission module. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figure 1-4This invention provides a technical solution: a high-voltage line insulator coating thickness measurement device, comprising a carrier device 1, a thickness measurement module 2 fixedly installed on the bottom of the outer surface of the carrier device 1, the thickness measurement module 2 comprising a test area division module 100, a flight monitoring module 200, a spatial information acquisition module 300, a spatial information establishment module 400, an information comparison module 500, and an information clarification module 600, the output end of the test area division module 100 being signal-connected to the input end of the flight monitoring module 200 via a wireless local area network, the spatial information acquisition module 300, the spatial information establishment module 400, and the... The input terminal of the information comparison module 500 is electrically connected to the output terminal of the flight monitoring module 200 via wires. The output terminal of the spatial information acquisition module 300 is bidirectionally electrically connected to the input terminal of the spatial information establishment module 400 via wires. The output terminal of the spatial information establishment module 400 is bidirectionally electrically connected to the input terminal of the information comparison module 500 via wires. The output terminal of the information clarification module 600 is bidirectionally electrically connected to the input terminal of the spatial information acquisition module 300 via wires. Using the open-source Cesium platform as the main framework, three-dimensional data of the insulator and the insulator surface coating are established. The carrier device 1 uses a multi-rotor UAV equipped with a thickness measurement module 2. First, the position of the insulator in the test area is planned manually through the test area division module 100, and the flight route is located. Then, the UAV is controlled to carry the flight monitoring module 200 to perform post-inspection on the coating of the insulator surface. The flight monitoring module 200 is connected to the spatial information acquisition module 300, the spatial information establishment module 400, and the information comparison module 500 respectively. The global illumination image comparison module 601 distinguishes whether the insulator surface needs to be cleaned by morning fog or body cleaning. Then, surface clearing processing and regional insulator three-dimensional information establishment are performed.

[0035] In the GIS, a geographic coordinate module (402) and a spatial geodetic coordinate module (403) are established. The geographic coordinate module (402) references the WGS84 ellipsoid and the National 200 coordinate system ellipsoid to describe the specific parameters of a point in the actual geographic coordinate system, i.e., the surface of the insulator. The coordinates are represented by a pair of binary pairs (L, B) expressing longitude and latitude. The origin of the spatial geodetic coordinate module (403) is the center of the reference ellipsoid. The X-axis points to the intersection of the prime meridian and the equator; the Y-axis lies on the equatorial plane, forming a 90° angle with the X-axis in a right-handed system; and the Z-axis aligns with the ellipsoid's rotation axis, pointing towards the North Pole of the reference ellipsoid. A point in space is determined using a triple (X, Y, Z). In the GIS system, the following conversion formula is used to convert the data from the geographic coordinate system to the spatial geodetic coordinate module (403) for rendering: In the formula, B, L, and H represent the latitude, longitude, and elevation of the point, respectively; N is the radius of the circumpolar region; e is the flattening of the ellipsoid; and a and b are the semi-major and semi-minor axes of the Earth's ellipsoid, respectively. Spatial transformation of the insulator surface includes distance measurement, area measurement, and triangulation. Distance and area measurements describe the information of the data in a two-dimensional plane, while the three-dimensional information establishment module 404, i.e., triangulation, is specifically for three-dimensional data. The measurement information includes vertical distance, horizontal distance, and slope distance. The vertical distance represents the difference in height between two points, the horizontal distance represents the distance between the two points projected onto the horizontal ground, and the slope distance represents the distance between the two points in three-dimensional space. Let the spatial coordinates of point A be (X... A ,Y A Z A The spatial coordinates of point B are (X... A ,Y B Z B If ), then the trigonometric measurement between two points can be expressed as follows: S H =|Z A -Z B |; In the formula, S H S D S L These represent the vertical distance, horizontal distance, and slant distance between two points, respectively, to achieve spatial transformation of the insulator surface. Then, by comparing the measured insulator parameters with the parameters of the insulator standard sample, the thickness of the coating on the insulator surface is obtained. The parameters of the insulator standard sample here include the parameters of the insulator itself and the parameters of the insulator with the corresponding coating.

[0036] In short, the establishment of 3D information for insulators involves two steps. First, the information of the insulator detection area and the corresponding standard insulator samples are presented in the GIS. Second, the flight monitoring module 200, equipped with a high-precision area array CMOS camera and an infrared camera, scans the detailed points on the insulator surface and presents them in the GIS. This achieves the establishment of information for the 3D information establishment module 404. Since the 3D information establishment within the GIS first differentiates the regional information, this device and method are more suitable for large-area batch testing, greatly improving the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat, but has unevenness or curvature. Through 3D data acquisition, the morphology and structure of the coating surface can be accurately recorded, avoiding omissions and misjudgments. Combined with the visualization of 3D data, the characteristics of the coating surface, such as cracks, oxidation, and corrosion, can be observed and analyzed intuitively, thereby better understanding the properties and quality of the coating surface.

[0037] In addition, the surface cleaning of insulators includes surface clearing of insulators, as well as surface clearing for foggy weather, with surface clearing of insulators being an example.

[0038] The 3D information for foggy weather is built upon the aforementioned GIS parameter transformation, incorporating image methods that address atmospheric scattering models. In other words, it involves analyzing the ambient light received during insulator imaging and considering the image degradation process caused by fog. The defogging approach compensates for the attenuation energy of reflected light and eliminates the portion of ambient light involved in the imaging, thereby restoring a clear image. When light reflected from objects in the scene reaches the imaging plane, it consists of two parts: attenuated reflected light from the object and scattered light from suspended particles. The imaging process follows a traditional imaging mode: the drone observes through suspended particles under ambient light. The degraded dust and fog image can be represented as I(x,y)=J(x,y)t(x,y)+A[1-t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light, which is often taken as a globally constant value in outdoor atmospheric environments. If the ambient light value matrix A and the transmittance matrix t in the model are estimated, the restored image J can be obtained. The transmittance in the atmospheric scattering model is related to the atmospheric scattering coefficient and the scene depth, and is expressed as t(x,y)=e -βd(x,y) , where β is the atmospheric scattering coefficient and d(x,y) is the scene depth.

[0039] Under the condition of uniform dust and fog distribution, β is a constant value. However, the dust and fog medium distribution in the work area scanned by the UAV may be uneven, and the atmospheric scattering coefficient is different at different locations. The dust and fog concentration is low far from the work area, so it can be assumed that the medium is uniformly distributed. Based on the above characteristics of dust and fog distribution, the image is divided into dense fog area and non-dense fog area. The model area parameters are obtained according to different assumptions. After fusion, the global ambient light value matrix A and the transmittance matrix t are obtained, thereby achieving surface sharpening for foggy weather. The surface sharpening of the insulator is performed by Retinex image enhancement module 623. In conjunction with single-frame and multi-frame processing module 621 and image reconstruction module 622, single-frame and multi-frame processing is performed on the actual shot of the UAV and the three-dimensional information. The sharpened information is transmitted to spatial information establishment module 400 through data transmission module 604. The advantage of multiple frames is that each frame image can provide different valuable information. The surface of the insulator is sharpened through super-resolution reconstruction, image fusion, image averaging and noise reduction.

[0040] Please see Figure 1-4The spatial information establishment module 400 includes a sample parameter import module 401, a geographic coordinate module 402, a geodetic coordinate module 403, a three-dimensional information establishment module 404, and an insulator area information establishment module 405. The output end of the sample parameter import module 401 is electrically connected to the input end of the three-dimensional information establishment module 404 via a wire, and the output end of the geographic coordinate module 402 is electrically connected to the input end of the three-dimensional information establishment module 404 via a wire.

[0041] Please see Figure 1-4 The output of the geographic coordinate module 402 is bidirectionally electrically connected to the input of the geodetic coordinate module 403 via a wire, and the output of the geodetic coordinate module 403 is electrically connected to the input of the insulator area information establishment module 405 via a wire.

[0042] Please see Figure 1-4 The output of the three-dimensional information establishment module 404 is bidirectionally electrically connected to the input of the insulator area information establishment module 405 via a wire. The information clarification module 600 includes a global illumination image comparison module 601, a body clarification module 602, a morning fog clarification module 603, a data transmission module 604, a single frame and multi-frame processing module 621, an image reconstruction module 622, a Retinex image enhancement module 623, an ambient light and transmittance comparison module 631, a scene depth monitoring module 632, and a fusion clarification module 633.

[0043] Please see Figure 1-4 The input terminals of the body sharpening module 602 and the morning fog sharpening module 603 are electrically connected to the output terminal of the global illumination image comparison module 601 via wires, and the input terminals of the single-frame and multi-frame processing module 621 and the image reconstruction module 622 are electrically connected to the output terminal of the body sharpening module 602 via wires.

[0044] Please see Figure 1-4 The input terminals of the ambient light and transmittance comparison module 631 and the scene depth monitoring module 632 are electrically connected to the output terminals of the morning fog clearing module 603 via wires, and the output terminals of the Retinex image enhancement module 623 and the fusion clearing module 633 are electrically connected to the input terminals of the data transmission module 604 via wires.

[0045] Please see Figure 1-4 The triangulation formula for the spatial information of the insulator by the three-dimensional information establishment module 404 is: S H =|Z A -Z B |; In the formula, S H S D SL These represent the perpendicular distance, horizontal distance, and slant distance between two points, respectively.

[0046] Please see Figure 1-4 The conversion formula between the geodetic coordinate module 403 and the geographic coordinate module 402 is as follows: In the formula, B, L, and H represent the latitude, longitude, and elevation of the point, respectively; N is the radius of the geocentric circle; e is the flattening of the ellipsoid; and a and b are the major and minor axes of the Earth's ellipsoid, respectively.

[0047] Please see Figure 1-4 The expression formula for the degraded dust and fog image by the morning fog clearing module 603 is: I(x,y)=J(x,y)t(x,y)+A[1-t(x,y)], where I(x,y) is the image collected under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light.

[0048] This invention also discloses a method for using a high-voltage line insulator coating thickness measuring device, specifically including the following steps:

[0049] Step 1: Using the open-source Cesium platform as the main framework, establish 3D data of the insulator and its surface coating. The carrier device 1 is a multi-rotor UAV equipped with a thickness measurement module 2. First, the location of the insulators in the test area is manually planned and the flight path is positioned using the test area division module 100. Then, the UAV, carrying a flight monitoring module 200, performs post-inspection of the insulator surface coating. The flight monitoring module 200 is connected to a spatial information acquisition module 300, a spatial information establishment module 400, and an information comparison module 500. The global illumination image comparison module 601 distinguishes whether morning fog cleaning or body cleaning is needed for the insulator surface. Surface clearing processing and regional insulator 3D information establishment are then performed. A geographic coordinate module 402 and a spatial geodetic coordinate module 403 are established in the GIS coordinate system. The insulator 3D information establishment is divided into two steps: first, the insulator inspection area information and the insulator standard sample are... The corresponding product is presented in GIS. Secondly, the flight monitoring module 200, equipped with a high-precision area array CMOS camera and an infrared camera, scans the detailed points on the surface of the insulator and then presents them in GIS. This realizes the information establishment of the three-dimensional information establishment module 404 for the insulator. Since the three-dimensional information establishment in GIS first differentiates the regional information, this device and method are more suitable for large-area batch detection, which greatly improves the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat and has unevenness or curvature. Through the acquisition of three-dimensional data, the morphology and structure of the coating surface can be accurately recorded to avoid omissions and misjudgments. With the visualization of three-dimensional data, the characteristics of the coating surface, such as cracks, oxidation, and corrosion, can be observed and analyzed intuitively, so as to better understand the properties and quality of the coating surface.

[0050] Step 2: Establish geographic coordinate module 402 and spatial geodetic coordinate module 403 in the GIS coordinate system. The establishment of the three-dimensional information of the insulator is divided into two steps. First, the information of the insulator detection area and the corresponding standard insulator samples are presented in the GIS. Second, the flight monitoring module 200, equipped with a high-precision area array CMOS camera and an infrared camera, scans the detailed points on the surface of the insulator and presents them in the GIS. This realizes the establishment of information for the three-dimensional information establishment module 404 of the insulator. Since the three-dimensional information establishment in the GIS first differentiates the regional information, the device and method are more suitable for large-area batch detection, which greatly improves the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat and has unevenness or curvature. Through the acquisition of three-dimensional data, the morphology and structure of the coating surface can be accurately recorded to avoid omissions and misjudgments. With the visualization of the three-dimensional data, the characteristics of the coating surface, such as cracks, oxidation, and corrosion, can be observed and analyzed intuitively, so as to better understand the properties and quality of the coating surface.

[0051] Step 3: In addition, the surface cleaning of the insulators includes surface cleaning of the insulators, and surface cleaning for foggy weather, wherein the surface cleaning of the insulators is performed.

[0052] The 3D information for foggy weather is built upon the aforementioned GIS parameter transformation, incorporating image methods that address atmospheric scattering models. In other words, it involves analyzing the ambient light received during insulator imaging and considering the image degradation process caused by fog. The defogging approach compensates for the attenuation energy of reflected light and eliminates the portion of ambient light involved in the imaging, thereby restoring a clear image. When light reflected from objects in the scene reaches the imaging plane, it consists of two parts: attenuated reflected light from the object and scattered light from suspended particles. The imaging process follows a traditional imaging mode: the drone observes through suspended particles under ambient light. The degraded dust and fog image can be represented as I(x,y)=J(x,y)t(x,y)+A[1-t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light, which is often taken as a globally constant value in outdoor atmospheric environments. If the ambient light value matrix A and the transmittance matrix t in the model are estimated, the restored image J can be obtained. The transmittance in the atmospheric scattering model is related to the atmospheric scattering coefficient and the scene depth, and is expressed as t(x,y)=e -βd(x,y) , where β is the atmospheric scattering coefficient and d(x,y) is the scene depth;

[0053] Step 4: Under the condition of uniform dust and fog distribution, β is a constant value. However, the dust and fog medium distribution in the work area scanned by the UAV may be uneven, and the atmospheric scattering coefficient is different at different locations. The dust and fog concentration is low far from the work area, so it can be assumed that the medium is uniformly distributed. Based on the above characteristics of dust and fog distribution, the image is divided into dense fog area and non-dense fog area. The model area parameters are obtained based on different assumptions. After fusion, the global ambient light value matrix A and the transmittance matrix t are obtained, thereby achieving surface clarity for foggy weather. The surface clarity of the insulator is achieved by using the Retinex image enhancement module 623 for Retinex enhancement processing, combined with the single-frame and multi-frame processing module 621 and the image reconstruction module 622 to perform single-frame and multi-frame processing on the actual shot and 3D information of the UAV. The cleared information is transmitted to the spatial information establishment module 400 through the data transmission module 604. The advantage of multiple frames is that each frame image can provide different valuable information. The surface of the insulator is cleared through super-resolution reconstruction, image fusion, image averaging and noise reduction.

[0054] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for measuring the coating thickness of high-voltage line insulators, comprising a carrier device (1), characterized in that, A thickness measurement module (2) is fixedly installed on the bottom of the outer surface of the carrier device (1). The thickness measurement module (2) includes a measurement area division module (100), a flight monitoring module (200), a spatial information acquisition module (300), a spatial information establishment module (400), an information comparison module (500), and an information clarification module (600). The output end of the measurement area division module (100) is connected to the input end of the flight monitoring module (200) via a wireless local area network. The spatial information acquisition module (300) and the spatial information establishment module (400) are also connected to the input end of the flight monitoring module (200). The input terminals of the (400) and the information comparison module (500) are electrically connected to the output terminal of the flight monitoring module (200) via wires, respectively. The output terminal of the spatial information acquisition module (300) is bidirectionally electrically connected to the input terminal of the spatial information establishment module (400) via wires. The output terminal of the spatial information establishment module (400) is bidirectionally electrically connected to the input terminal of the information comparison module (500) via wires. The output terminal of the information clarification module (600) is bidirectionally electrically connected to the input terminal of the spatial information acquisition module (300) via wires. The spatial information establishment module (400) includes a sample parameter import module (401), a geographic coordinate module (402), a geodetic coordinate module (403), a three-dimensional information establishment module (404), and an insulator area information establishment module (405). The output end of the sample parameter import module (401) is electrically connected to the input end of the three-dimensional information establishment module (404) via a wire, and the output end of the geographic coordinate module (402) is electrically connected to the input end of the three-dimensional information establishment module (404) via a wire. The output end of the three-dimensional information establishment module (404) is bidirectionally electrically connected to the input end of the insulator area information establishment module (405) via a wire. The information clarification module (600) includes a global illumination image comparison module (601), a body clarification module (602), a morning fog clarification module (603), a data transmission module (604), a single frame and multi-frame processing module (621), an image reconstruction module (622), a Retinex image enhancement module (623), an ambient light and transmittance comparison module (631), a scene depth monitoring module (632), and a fusion clarification module (633). The triangulation formula for the spatial information of the insulator, as described in the three-dimensional information establishment module (404), is as follows: S H =Z A -Z B ; In the formula, S H S D S L These represent the perpendicular distance, horizontal distance, and slant distance between two points, respectively. The conversion formula between the geodetic coordinate module (403) and the geographic coordinate module (402) is as follows: In the formula, B, L, and H represent the latitude, longitude, and elevation of the point, respectively; N is the radius of the zonal circle; e is the flattening of the ellipsoid; and a and b are the semi-major and semi-minor axes of the Earth's ellipsoid, respectively. The expression formula for the degraded dust and fog image by the morning fog clearing module (603) is: I(x,y)=J(x,y)t(x,y)+A[1 t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light.

2. The high-voltage line insulator coating thickness measuring device according to claim 1, characterized in that: The output of the geographic coordinate module (402) is bidirectionally electrically connected to the input of the geodetic coordinate module (403) via a wire, and the output of the geodetic coordinate module (403) is electrically connected to the input of the insulator area information establishment module (405) via a wire.

3. The high-voltage line insulator coating thickness measuring device according to claim 1, characterized in that: The input terminals of the body sharpening module (602) and the morning fog sharpening module (603) are electrically connected to the output terminal of the global illumination image comparison module (601) via wires, and the input terminals of the single-frame and multi-frame processing module (621) and the image reconstruction module (622) are electrically connected to the output terminal of the body sharpening module (602) via wires.

4. The high-voltage line insulator coating thickness measuring device according to claim 3, characterized in that: The input terminals of the ambient light and transmittance comparison module (631) and the scene depth monitoring module (632) are electrically connected to the output terminal of the morning fog clearing module (603) via wires, and the output terminals of the Retinex image enhancement module (623) and the fusion clearing module (633) are electrically connected to the input terminal of the data transmission module (604) via wires.

5. A method for using a high-voltage line insulator coating thickness measuring device, characterized in that, The high-voltage line insulator coating thickness measuring device according to any one of claims 1-4 includes the following steps: S1. Using the open-source Cesium platform as the main framework, three-dimensional data of insulators and their surface coatings are established. The carrier device (1) is a multi-rotor UAV equipped with a thickness measurement module (2). First, the location of the insulators in the area to be measured is planned manually through the area division module (100), and the flight route is located. Then, the UAV is operated to carry the flight monitoring module (200) to perform subsequent detection on the surface coating of the insulators. The flight monitoring module (200) is connected to the spatial information acquisition module (300), the spatial information establishment module (400), and the information comparison module (500). The global illumination image comparison module (601) is used to distinguish whether the surface of the insulator needs to be cleared by morning fog or by body clearing. Then, surface clearing processing and regional insulator three-dimensional information establishment are performed. In the GIS coordinate system, the geographic coordinate module (402) and the geodetic coordinate module (403) are established. The establishment of three-dimensional information of insulators is divided into two steps. First, the information of the insulator detection area and the corresponding standard sample of insulator are presented in GIS. Second, the detailed points of the insulator surface are scanned by the flight monitoring module (200) equipped with a high-precision area array CMOS camera and an infrared camera, and then presented in GIS. This realizes the establishment of information for the three-dimensional information establishment module (404) of insulators. Since the three-dimensional information establishment in GIS first differentiates the regional information, the device and method are more suitable for large-area batch detection, which greatly improves the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat and has unevenness or curvature. Through the acquisition of three-dimensional data, the shape and structure of the coating surface can be accurately recorded to avoid omissions and misjudgments. With the visualization of three-dimensional data, the characteristics of the coating surface can be observed and analyzed intuitively, so as to better understand the properties and quality of the coating surface. S2. In the GIS, a geographic coordinate module (402) and a geodetic coordinate module (403) are established. The three-dimensional information of the insulator is established in two steps. First, the information of the insulator detection area and the corresponding standard sample of the insulator are presented in the GIS. Second, the detailed points of the insulator surface are scanned by the flight monitoring module (200) equipped with a high-precision area array CMOS camera and an infrared camera, and then presented in the GIS. This realizes the information establishment of the three-dimensional information establishment module (404) of the insulator. Since the three-dimensional information establishment in the GIS first differentiates the regional information, the device and method are more suitable for large-area batch detection, which greatly improves the efficiency of insulator thickness detection. At the same time, the surface of the coating is not flat and has unevenness or curvature. Through the acquisition of three-dimensional data, the shape and structure of the coating surface can be accurately recorded to avoid omissions and misjudgments. With the visualization of three-dimensional data, the characteristics of the coating surface can be observed and analyzed intuitively, so as to better understand the properties and quality of the coating surface. S3. In addition, the surface cleaning of the insulator includes the surface clearing of the insulator and the surface clearing for foggy weather. Among them, the surface clearing of the insulator is... The three-dimensional information for foggy weather is built on the above GIS parameter transformation, and an image method for dealing with atmospheric scattering model is added. In other words, it is an analysis of the ambient light received during the imaging process of insulators, and combined with the process of foggy image degradation. The defogging idea is to compensate for the attenuation energy of reflected light and eliminate the part of ambient light participating in the imaging, thereby restoring a clear image. When the reflected light of objects in the scene reaches the imaging plane, it includes two parts: one is the attenuated reflected light of the object; the other is the scattered light of the suspended particles on the surrounding light. The imaging process is the traditional imaging mode: the UAV observes through the suspended particles under ambient light. The degraded dust and fog image can be represented as I(x,y)=J(x,y)t(x,y)+A[1] [t(x,y)], where I(x,y) is the image acquired under dust and fog conditions, J(x,y) is the restored image, t(x,y) is the transmittance, and A is the ambient light, which is often taken as a globally constant value in outdoor atmospheric environments. If the ambient light value matrix A and the transmittance matrix t in the model are estimated, the restored image J can be obtained. The transmittance in the atmospheric scattering model is related to the atmospheric scattering coefficient and the scene depth, and is expressed as t(x,y) = e -βd(x,y) , where β is the atmospheric scattering coefficient and d(x,y) is the scene depth; S4. Under the condition of uniform dust and fog distribution, β is a constant value. However, the dust and fog medium distribution in the work area scanned by the UAV may be uneven, and the atmospheric scattering coefficients are different at different locations. The dust and fog concentration is low far from the work area. It can be assumed that the medium is uniformly distributed. Based on the above characteristics of dust and fog distribution, the image is divided into dense fog area and non-dense fog area. The model area parameters are obtained based on different assumptions. After fusion, the global ambient light value matrix A and the transmittance matrix t are obtained. Then, the surface is cleared for foggy weather. The surface of the insulator is cleared by using the Retinex image enhancement module (623) for Retinex enhancement processing. With the single frame and multi-frame processing module (621) and the image reconstruction module (622), the UAV's real shot and three-dimensional information are processed in single frame and multi-frame. The cleared information is transmitted to the spatial information establishment module (400) through the data transmission module (604). The advantage of multi-frame is that each frame image can provide different valuable information. The surface of the insulator is cleared by super-resolution reconstruction, image fusion, image averaging and noise elimination.

Images