A UAV traction insulator detection device and detection method

Abstract

The present invention provides a drone-traction insulator detection device and detection method, which belongs to the technical field of insulator detection robots. The drone-traction insulator detection device includes a detection component, a traction component and a hoisting component. Among them, the detection housing in the detection component can be set up on the insulator string to be detected for detection; the first push rod in the traction component can make the rocker rotate in the vertical plane with the connection point with the detection housing as the fulcrum; the two ends of the insulating traction rope in the hoisting component are respectively connected to the drone and the rocker, and the drone, infrared sensor and control box are all electrically connected. The insulator detection device provided by the present invention has a long battery life and can adapt to the detection of different types of insulator strings. At the same time, it adopts the mode of hoisting and traction at different positions, so that the insulator detection device can remain stable when hoisting and traction in different scenes, thereby improving the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of insulator detection robots, and in particular to an unmanned aerial vehicle traction insulator detection device and a detection method. Background Art

[0002] Insulators are important insulating support components of power grids, and they are used in large numbers. Insulator degradation poses a serious threat to the safe and stable operation of power systems. Insulator maintenance work such as zero value detection, cleaning and decontamination, and spraying of insulating materials on insulators needs to be performed frequently, and manual tower climbing is dangerous and inefficient.

[0003] Invention patent 202410237842.2 involves an insulator inspection robot based on drone hoisting. When in use, the drone will lift the n-type robot through the drone hanger at the bottom, and then bring it to the insulator at a high place. After that, the drone hanger will be unhooked from the n-type robot. Such a drone hoisting separation design can achieve the advantage of a more compact and compact overall structure. Then the n-type robot will walk on the insulating sheet, thereby performing quality inspection through the movable probe, and the n-type robot adopts a single-series walking design, which is smaller in size and lighter in weight. However, the insulator inspection robot provided by the invention has a walking mechanism, and the weight cannot be particularly light.

[0004] Invention patent 201310010428.X involves an intelligent detection robot system for insulator strings, which is used for the detection of horizontal tension double insulator strings, including a robot motion system and an information processing system. The robot motion system part includes: a mechanism connecting plate; a climbing device; a guide device for guiding the insulator string, which is arranged on both sides of the mechanism connecting plate in the direction of travel, matching the double insulator string to be detected; a detection device, which is arranged on the mechanism connecting plate; a control unit, which outputs a drive device connected to the climbing device to control the angle difference between the front and rear climbing arms; and a human-machine control terminal, which communicates with the control unit through a wireless communication unit to remotely control the climbing device. However, the robot provided by the invention is too large, and it is inconvenient to hoist it with a drone. It straddles two insulators and cannot be applied to high and low strings and non-parallel strings.

[0005] At present, most insulator inspection robots need to be installed manually by climbing towers, which poses certain risks to tower climbers and is inconvenient to install and use. Existing insulator inspection robots also have many problems, such as: they are too large to be suitable for complex and changeable application scenarios; the integration of the flight module and the inspection module causes excessive load and high energy consumption during inspection operations; the high weight places certain requirements on the model of the drone; the center of gravity is too high, the climbing stability is poor, and there is a risk of overturning. Summary of the invention

[0006] An embodiment of the present invention provides a drone-traction insulator detection device, which aims to solve the problems that the existing insulator detection device has poor endurance and climbing stability and cannot adapt to the detection of different types of insulator strings.

[0007] An embodiment of the present invention provides a UAV traction insulator detection device, comprising a detection component, a traction component and a hoisting component.

[0008] The detection assembly includes a detection housing, a detection member, an infrared sensor and a control box. The infrared sensor and the control box are both arranged in the detection housing. Two notches matching the pitch of the insulator string to be detected are provided on the side of the detection housing. There are two detection members, which are respectively arranged at the two notches of the detection housing. The detection housing can be set up on the insulator string to be detected for detection.

[0009] The traction assembly includes a first push rod, a crank, a connecting rod and a rocker. The crank and the rocker are both hinged to the top of the detection housing. The two ends of the first push rod are respectively hinged to the detection housing and the crank, and the two ends of the connecting rod are respectively hinged to the crank and the connecting rod. When the first push rod is working, the rocker can rotate in a vertical plane with the connection point with the detection housing as a fulcrum.

[0010] The lifting assembly includes a drone and an insulating traction rope, both ends of which are connected to the drone and the joystick respectively. The drone, infrared sensor and control box are all electrically connected.

[0011] In this embodiment, the detection housing in the detection assembly can be set up on the insulator string to be detected for detection; the first push rod in the traction assembly can make the rocker rotate in the vertical plane with the connection point with the detection housing as the fulcrum; the two ends of the insulating traction rope in the hoisting assembly are respectively connected to the drone and the rocker, and the drone, infrared sensor and control box are all electrically connected. The insulator detection device provided by the present invention has a long battery life and can adapt to the detection of different types of insulator strings. At the same time, it adopts the mode of hoisting and traction at different positions, so that the insulator detection device can remain stable in different hoisting and traction scenes, thereby improving the detection efficiency.

[0012] In one embodiment of the present invention, the detection member includes a detection rod, a detection rod support, a motor, a screw, an optical axis and a second push rod. The detection rod is rotatably arranged on the detection rod support. A screw is arranged at the output end of the motor. The screw and the optical axis both penetrate the detection rod support. The two ends of the second push rod are respectively rotatably arranged on the detection rod support and the detection rod. The motor can enable the detection rod to achieve horizontal movement when it is working, and the second push rod can enable the detection rod to rotate in a vertical plane with the connection point with the detection rod support as the support center.

[0013] In this embodiment, the motor can be used to move the detection rod horizontally, thereby adjusting the distance between the two detection rods to match the pitch of the insulator to be detected. The second push rod can be used to rotate the detection rod in the vertical plane with the connection point with the detection rod support as the support center, that is, the two detection rods swing inward or outward, so that they can be simultaneously overlapped with the steel caps on both sides of an insulator, thereby realizing the detection of the insulator piece.

[0014] In one embodiment of the present invention, the detection housing is n-shaped, and the edge of the detection housing is bent outward in the circumferential direction.

[0015] In this embodiment, the detection shell is set to be n-type, and the edge of the detection shell is bent outward in the circumferential direction, while ensuring the smoothness of the detection shell when it falls to the insulator string and slides back and forth on the insulator string, effectively avoiding the detection shell from getting stuck in the groove between the two insulator pieces.

[0016] In one embodiment of the present invention, a rocker support is provided on the detection housing, and the rocker can be clamped on the rocker support.

[0017] In this embodiment, a rocker support is provided on the detection housing, so that the rocker can be clamped on the rocker support, thereby increasing the stability of the rocker in a horizontal state.

[0018] In one embodiment of the present invention, a mounting hole is provided at the end of the rocker, and the insulating traction rope is connected to the mounting hole.

[0019] In this embodiment, a mounting hole is provided at the end of the rocker, and the insulating traction rope is connected to the mounting hole, so that the connection between the insulating traction rope and the end of the rocker can be more firmly established.

[0020] The unmanned aerial vehicle traction insulator detection device provided by the embodiment of the present invention can achieve the following beneficial effects:

[0021] 1. The device of the present invention has no walking mechanism and is moved by being towed by a drone, which greatly reduces the overall weight of the device and can be adapted to a variety of drone models.

[0022] 2. The device of the present invention performs single string detection and can simultaneously adapt to the detection of high and low strings, non-parallel strings and insulator strings with varying heights of engineering structures.

[0023] 3. The present invention adopts unmanned aerial vehicle traction, and the detection device itself does not need a walking mechanism, so that the power consumption of the equipment is greatly reduced and the endurance is greatly improved.

[0024] 4. The structure of the present invention adopts the mode of hoisting and traction at different traction positions, so that the insulator detection device can remain stable in different hoisting and traction scenarios.

[0025] The present invention also provides a method for detecting a UAV-traction insulator, comprising the UAV-traction insulator detection device provided in any of the aforementioned embodiments and the following steps:

[0026] S1. First, retract the first push rod to make the rocker stand upright. The drone takes off and brings the insulator detection device to the top of a string of insulators. The first push rod is located near the tower relative to the rocker. The drone is located above the first insulator near the tower and then falls vertically, so that the insulator detection device is set up on the insulator string.

[0027] S2. Extend the first push rod to its longest position, move the joystick to a horizontal position, and fly the drone to the front and top of the insulator detection device. Adjust the distance between the two detection parts according to the engineering structure height of the insulator string to complete the installation of the equipment.

[0028] S3, two detection parts detect the first insulator piece;

[0029] S4. After the first insulator piece is inspected, the UAV receives the inspection completion signal and flies forward horizontally, pulling the insulator inspection device forward. When the infrared sensor detects that the insulator inspection device moves to the second insulator, it feeds back to the control box. After receiving the in-place signal, the control box sends a stop forward signal to the UAV.

[0030] S5. After the drone stops, the insulator detection device will repeat the action of detecting the first insulator piece, and complete the detection of the second insulator piece. The above operation will be repeated for all subsequent insulators to complete the detection of the entire insulator string.

[0031] S6. After the detection is completed, retract the first push rod to make the joystick vertical, and the drone pulls the insulator detection device away from the insulator string, and then flies to the top of the second insulator string. According to steps S1 and S2, the insulator detection device is installed on the second insulator string. Repeat steps S3, S4, and S5 to complete the detection of the second insulator string. This process is repeated to finally complete the detection of all insulator strings on the entire tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic structural diagram of a drone-pulled insulator detection device provided by an embodiment of the present invention installed on an insulator string;

[0034] Figure 2 A schematic diagram of the structure of one side of the detection housing;

[0035] Figure 3 A schematic diagram of the structure for detecting the other side of the housing;

[0036] Figure 4 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0037] Figure 5 This is a structural schematic diagram of the detection status of the UAV traction insulator detection device;

[0038] Figure 6 for Figure 2 The enlarged schematic diagram of point B in the middle;

[0039] Figure 7 This is a schematic diagram of the structure of the drone being hoisted when the joystick is in the vertical state.

[0040] Icons: 10-UAV traction insulator detection device; 100-detection component; 110-detection shell; 111-notch; 113-bend; 115-rocker support; 130-detection piece; 131-detection rod; 132-detection rod support; 133-motor; 134-screw; 135-optical axis; 136-second push rod; 150-infrared sensor; 170-control box; 300-traction component; 310-first push rod; 330-crank; 350-connecting rod; 370-rocker; 371-mounting hole; 500-hoisting component; 510-UAV; 530-insulated traction rope. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example

[0043] See also Figure 1 On the one hand, the present invention provides a UAV traction insulator detection device 10, including a detection component 100, a traction component 300 and a hoisting component 500.

[0044] See also Figure 2 and Figure 3The detection component 100 includes a detection shell 110, a detection member 130, an infrared sensor 150 and a control box 170. The infrared sensor 150 and the control box 170 are both arranged in the detection shell 110. Two notches 111 matching the pitch of the insulator string to be detected are opened on the side of the detection shell 110. There are two detection members 130, and the two detection members 130 are respectively arranged at the two notches 111 of the detection shell 110.

[0045] In a specific embodiment, please refer to Figure 2 The detection housing 110 is set to be n-type, and the edge of the detection housing 110 has an outward bend 113 in the circumferential direction, while ensuring the smoothness of the detection housing 110 falling onto the insulator string and the sliding back and forth of the detection housing 110 on the insulator string, effectively avoiding the detection housing 110 from being stuck in the groove between the two insulator pieces.

[0046] See also Figure 4 In a specific embodiment, the detection member 130 includes a detection rod 131, a detection rod support 132, a motor 133, a screw 134, an optical axis 135 and a second push rod 136. The detection rod 131 is rotatably arranged on the detection rod support 132. The output end of the motor 133 is provided with a screw 134. The screw 134 and the optical axis 135 are both arranged through the detection rod support 132. The two ends of the second push rod 136 are rotatably arranged on the detection rod support 132 and the detection rod 131 respectively. The motor 133 can work to enable the detection rod 131 to achieve horizontal movement. The second push rod 136 can work to enable the detection rod 131 to rotate in a vertical plane with the connection point with the detection rod support 132 as the support center.

[0047] Specifically, the motor 133 adopts a servo motor, and the output end of the motor 133 is connected to the lead screw through a coupling. The motor 133 is fixed on the bracket of the detection housing 110, and the lead screw and the optical axis 135 are arranged in parallel at the upper and lower positions of the bracket of the detection housing 110. The lead screw passes through the threaded hole on the detection rod support 132, and the optical axis 135 passes through the through hole of the detection rod support 132. The detection rod support 132 can drive the detection rod 131 to move horizontally through the rotation of the servo motor 133. The second push rod 136 is installed on the upper mounting hole 371 of the detection rod support 132, and the detection rod 131 is installed on the lower mounting hole 371 of the detection rod support 132. The second push rod 136 is hinged to the detection rod 131. The motor 133, the lead screw 134, the optical axis 135, the detection rod support 132, the second push rod 136 and the detection rod 131 are arranged in two groups at the two notches 111 of the detection housing 110.

[0048] See also Figure 5, which is a structural diagram of the detection status of the insulator detection device. The detection housing 110 can be set up on the insulator string to be detected for detection. The two second push rods 136 are extended to drive the two detection rods 131 to swing inward, so that they are simultaneously connected to the steel caps on both sides of a piece of insulator, thereby realizing the detection of the insulator piece.

[0049] During the detection process, the infrared sensor 150 can calculate the distance that the insulator detection device needs to travel through the difference in distance between the insulator piece and the steel cap. When the insulator detection device moves to the required position, a stop signal is sent to the drone 510 through the control box 170. When the insulator piece detection at this position is completed, a travel signal is sent to the drone 510 again, and the infrared sensor 150 is used to determine the position where the insulator detection device needs to stop.

[0050] See also Figure 6 The traction assembly 300 includes a first push rod 310, a crank 330, a connecting rod 350 and a rocker 370. The crank 330 and the rocker 370 are both hinged to the top of the detection housing 110. The two ends of the first push rod 310 are respectively hinged to the detection housing 110 and the crank 330, and the two ends of the connecting rod 350 are respectively hinged to the crank 330 and the connecting rod 350. When the first push rod 310 works, the rocker 370 can rotate in a vertical plane with the connection point with the detection housing 110 as a fulcrum.

[0051] Specifically, three mounting holes 371 are arranged above the detection housing 110. The leftmost mounting hole 371 is used to mount the first push rod 310. The middle mounting hole 371 is hinged to the crank 330. The crank 330 is hinged to the connecting rod 350. The connecting rod 350 is hinged to the rocker 370. The lower end of the rocker 370 is hinged to the rightmost mounting hole 371 of the detection housing 110. The crank 330, the connecting rod 350, the rocker 370 and the detection housing 110 constitute a crank 330 rocker 370 mechanism. The first push rod 310 is hinged to the middle mounting hole 371 of the crank 330. When the first push rod 310 is retracted to the shortest position, the rocker 370 rotates to an upright position. Figure 7 As shown, the insulator detection device is in the hoisting state at this time; when the first push rod 310 is in the longest extended position, the rocker 370 rotates to the horizontal state as shown in FIG. Figure 1 , at this time it is in the detection state of the insulator detection device.

[0052] See also Figure 7 The hoisting assembly 500 includes a drone 510 and an insulating traction rope 530. The two ends of the insulating traction rope 530 are respectively connected to the drone 510 and the joystick 370. The drone 510, the infrared sensor 150 and the control box 170 are all electrically connected.

[0053] When the first push rod 310 is retracted to the shortest position, the rocker 370 rotates to an upright state, and the insulator detection device is in a hoisting state. When the drone 510 pulls the insulator detection device through the insulating traction rope 530, the pulling position is at the center above the insulator detection device, and the insulator detection device can be hoisted more stably. When the first push rod 310 is extended to the longest position, the rocker 370 rotates to a horizontal state. Figure 1 At this time, the insulator detection device is in the detection state, and the force point of the insulator detection device is at the front side of the device. When the insulator detection device is towed by the drone 510, the force in the forward direction is mostly, and it is easier to slide forward. In addition, the towing center of gravity is low, and the insulator detection device will not be overturned by the towing.

[0054] In a specific embodiment, please refer to Figure 6 The detection housing 110 is provided with a rocker support 115, and the rocker 370 can be clamped on the rocker support 115, which can increase the stability of the rocker 370 in a horizontal state. Figure 6 Another specific implementation is to open a mounting hole 371 at the end of the rocker 370 for connecting the insulating traction rope 530, so that the connection between the insulating traction rope 530 and the end of the rocker 370 can be more firmly established.

[0055] On the other hand, the present invention provides a method for detecting traction insulators of a drone 510, which requires the use of the above-mentioned drone traction insulator detection device 10 and the following steps:

[0056] S1. First, retract the first push rod 310 to make the rocker 370 stand upright, and the drone 510 takes off and brings the insulator detection device to the top of a string of insulators, so that the first push rod 310 is located near the tower relative to the rocker 370. The drone 510 is located just above the first insulator on the near-tower side and then falls vertically, so that the insulator detection device is set up on the insulator string;

[0057] S2, extend the first push rod 310 to its longest position, make the rocker 370 to a horizontal position, fly the drone 510 to the front and upper part of the insulator detection device, adjust the distance between the two detection members 130 according to the engineering structure height of the insulator string, and complete the installation of the equipment;

[0058] S3, two detection components 130 detect the first insulator piece;

[0059] S4, after the first insulator piece is inspected, the UAV 510 receives the inspection completion signal and flies forward horizontally, pulling the insulator inspection device forward. When the infrared sensor 150 detects that the insulator inspection device moves to the second insulator piece, it feeds back to the control box 170. After receiving the in-place signal, the control box 170 sends a stop forward signal to the UAV 510;

[0060] S5. After the drone 510 stops, the insulator detection device will repeat the action of detecting the first insulator piece, and complete the detection of the second insulator piece. The above operation is repeated for all subsequent insulators to complete the detection of the entire insulator string.

[0061] S6. After the detection is completed, retract the first push rod 310 to make the rocker 370 vertical, and the drone 510 pulls the insulator detection device away from the insulator string, and then flies to the top of the second insulator string, and installs the insulator detection device on the second insulator string according to steps S1 and S2. Repeat steps S3, S4, and S5 to complete the detection of the second insulator string, and so on to finally complete the detection of all insulator strings on the entire tower.

[0062] Specifically, the insulator detection device is arranged on the horizontal ground, one end of the insulating traction rope 530 is connected to the bottom of the drone 510, and the other end is connected to the mounting hole 371 of the rocker 370 on the upper side of the insulator detection device, and then the first push rod 310 is operated to be retracted to the shortest, and the rocker 370 is in an upright state. The drone 510 takes off vertically to take the insulator detection device off the ground and flies to the top of a string of insulators. The position and direction of the drone 510 are adjusted so that the first push rod 310 of the insulator detection device is on the near-tower side relative to the rocker 370, and the drone 510 is directly above the first insulator on the near-tower side. At this time, it falls vertically. Since there are outward bends 113 around the outer shell of the detection device, even if there is a small deviation during the falling process of the drone 510, the insulator detection device will pass through the outward bends 113 around the periphery and slide smoothly to the lowest position.

[0063] After installation, the first push rod 310 is extended to the longest position, the push rod drives the rocker 370 to the horizontal position, and the drone 510 flies to the front and top of the insulator detection device. The distance between the two detection rods 131 can be adjusted by controlling the motor 133 according to the engineering structure height of the insulator string. After the distance is adjusted, the installation of the equipment is completed.

[0064] At this time, the two second push rods 136 are controlled to extend at the same time, which can drive the two detection rods 131 to pass through the two gaps 111 and overlap the steel caps at both ends of an insulator. After 3 seconds, the two electric push rods are shortened at the same time to drive the two detection rods 131 to leave the steel caps at both ends of the insulator. At this time, the detection of the first insulator is achieved. After the first insulator is detected, the drone 510 receives a detection completion signal and flies forward horizontally, pulling the insulator detection device forward. When the infrared sensor 150 detects that the insulator detection device moves to the second insulator, it will feedback to the control box 170. After receiving the in-place signal, the control box 170 will send a stop forward signal to the drone 510, so that the drone 510 will stop moving forward and hover in place.

[0065] After the drone 510 stops, the insulator detection device will repeat the action of detecting the steel caps on both sides of the first insulator piece, and after the repetition is completed, the detection work of the second insulator piece is completed. All subsequent insulators repeat the above operation to complete the detection work of the entire insulator string.

[0066] When a whole string of insulator strings is inspected, the first push rod 310 is retracted to the shortest, driving the rocker 370 in a vertical position, and the drone 510 is vertically raised to pull the insulator detection device away from the insulator string, and then flies to the top of the second string of insulator strings and installs the insulator detection device on the second string of insulator strings according to the above installation process, and then repeats the inspection process of the first string to complete the inspection process of the second string of insulator strings, and so on to complete the inspection of all insulator strings on the entire tower.

[0067] It should be noted that the specific model and specifications of the motor 133 need to be selected and determined based on the actual specifications of the device, and the specific selection calculation method adopts the existing technology in the field, so it will not be described in detail.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drone traction insulator detection device, characterized in that: include A detection component, the detection component comprises a detection housing, a detection member, an infrared sensor and a control box, the infrared sensor and the control box are both arranged in the detection housing, the side of the detection housing is provided with two notches matching the pitch of the insulator string to be detected, there are two detection members, the two detection members are respectively arranged at the two notches of the detection housing, and the detection housing can be set up on the insulator string to be detected for detection; A traction assembly, the traction assembly comprising a first push rod, a crank, a connecting rod and a rocker, the crank and the rocker are both hinged to the top of the detection housing, the two ends of the first push rod are respectively hinged to the detection housing and the crank, the two ends of the connecting rod are respectively hinged to the crank and the connecting rod, and the first push rod can work to make the rocker rotate in a vertical plane with the connection point with the detection housing as a fulcrum; A hoisting assembly, the hoisting assembly includes a drone and an insulating traction rope, the two ends of the insulating traction rope are respectively connected to the drone and the joystick, and the drone, the infrared sensor and the control box are all electrically connected.

2. The unmanned aerial vehicle traction insulator detection device according to claim 1 is characterized in that: The detection member includes a detection rod, a detection rod support, a motor, a lead screw, an optical axis and a second push rod. The detection rod is rotatably arranged on the detection rod support. The lead screw is arranged at the output end of the motor. The lead screw and the optical axis both penetrate the detection rod support. The two ends of the second push rod are rotatably arranged on the detection rod support and the detection rod respectively. The motor can enable the detection rod to achieve horizontal movement when working, and the second push rod can enable the detection rod to rotate in a vertical plane with the connection point with the detection rod support as the support center when working.

3. The unmanned aerial vehicle traction insulator detection device according to claim 1 is characterized in that: The detection shell is n-shaped, and the edge of the detection shell is bent outward in the circumferential direction.

4. The unmanned aerial vehicle traction insulator detection device according to claim 1 is characterized in that: The detection housing is provided with a rocker support, and the rocker can be clamped on the rocker support.

5. The unmanned aerial vehicle traction insulator detection device according to claim 1 is characterized in that: The end of the rocker is provided with a mounting hole, and the insulating traction rope is connected to the mounting hole.

6. A method for detecting traction insulators using an unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle traction insulator detection device according to any one of claims 1 to 5 and the following steps are adopted: S1. First, the first push rod is retracted to make the rocker stand upright. The drone takes off and brings the insulator detection device to the top of a string of insulators, so that the first push rod is located near the tower relative to the rocker. The drone is located just above the first insulator on the near-tower side and then falls vertically, so that the insulator detection device is set up on the insulator string. S2, extending the first push rod to its longest position, making the rocker to a horizontal position, flying the drone to the front and above the insulator detection device, adjusting the distance between the two detection components according to the engineering structure height of the insulator string, and completing the installation of the equipment; S3, the two detection components detect the first insulator sheet; S4. After the first insulator piece is inspected, the UAV receives the inspection completion signal and flies forward horizontally, pulling the insulator inspection device forward. When the infrared sensor detects that the insulator inspection device moves to the second insulator, it feeds back to the control box. After receiving the in-place signal, the control box sends a stop forward signal to the UAV. S5. After the drone stops, the insulator detection device will repeat the action of detecting the first insulator piece, and complete the detection of the second insulator piece. The above operation will be repeated for all subsequent insulators to complete the detection of the entire insulator string. S6. After the detection is completed, retract the first push rod to make the joystick vertical, and the drone pulls the insulator detection device away from the insulator string, and then flies to the top of the second insulator string. According to steps S1 and S2, the insulator detection device is installed on the second insulator string. Repeat steps S3, S4, and S5 to complete the detection of the second insulator string. This process is repeated to finally complete the detection of all insulator strings on the entire tower.

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