Cable insulation recovery operation system and method based on unmanned aerial vehicle mounting

Abstract

The invention relates to the technical field of electric power facility maintenance, in particular to a cable insulation recovery operation system and method based on unmanned aerial vehicle mounting, a pair of metal probes are connected to a structural frame of an existing insulation recovery tool, the metal probes are obliquely arranged, and the other ends of the metal probes point to the space below the insulation recovery tool; the control unit is provided with a main control module in communication connection with the cable position detection probe, the cable position detection probe comprises a cable position detection circuit connected with the metal probes, and when the two metal probes simultaneously fall at conductor exposed positions of a cable damage position, the cable position detection circuit is short-circuited and sends out a signal; the method determines that the insulation recovery tool arrives at the operation position, cooperates with a plurality of sensors to achieve detection of the position, posture and pressing force of the tool in the operation process, corrects the position of the tool through the unmanned aerial vehicle, controls the motion state of the push rod to adjust the posture and pressing force of the tool, and improves the efficiency and success rate of insulation recovery operation.

Description

Technical Field

[0001] The present invention relates to the technical field of power facility maintenance, and in particular to a cable insulation restoration operation system and method based on drone mounting. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] When the insulation layer of a cable is damaged, the damaged part of the cable needs to be insulated and restored. However, the cable is often damaged when it is energized, and it is difficult to disconnect the power in a short time to replace the insulation layer. The only way to restore the insulation is to wrap one or more layers of insulating material around the damaged part. In addition, metal wire clamps are mostly used in fire-connection operations (electrical work without power outages). The wire clamps are insulated with insulating sheaths, but the insulating sheaths may fall off after long-term operation, exposing the metal wire clamps and posing safety hazards. The above two methods of insulation treatment require manual participation, which is dangerous.

[0004] In response to the above problems, the prior art ZL202410381117.2 discloses an insulation recovery tool for drone mounting, which provides a method of using a drone to carry the insulation recovery tool and fly it to the damaged cable. Four independently controlled push rods drive the insulators to approach each other, clamp and wrap the damaged part of the cable from different directions to achieve insulation recovery.

[0005] In the above-mentioned prior art, operators are required to remotely control the drone carrying the insulation restoration tool on the ground to perform insulation restoration operations. However, due to the lack of reliable observation and detection means on the tool, it is very difficult to mount the tool on the overhead wire through the drone, and it is difficult to accurately find the operation position. Multiple adjustments are required, the operation time is long, and the success rate is low.

[0006] Secondly, due to the different diameters of overhead cables, the deviation between the maximum diameter and the minimum diameter exceeds 1 times. The tool only uses two sets of push rod actions to compact the insulating film. For cables of different specifications, the operating results vary greatly, which may cause the film on small-diameter cables to not be firmly adhered, causing safety hazards.

[0007] In addition, since the four push rods and their driving mechanisms in the tool are controlled independently, when the movement speeds of the two push rods in the same group are uneven, the insulation restoration tool will be tilted, resulting in the operation results not meeting the requirements, and even the insulation film falling off and the failure of the insulation restoration operation. Summary of the invention

[0008] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a cable insulation restoration operation system and method based on drone mounting. On the basis of the existing insulation restoration tools, a pair of metal probes and multiple sensors are added. The data transmitted by the metal probes and each sensor are used to realize real-time detection of the position, posture, and clamping force of the tool during the operation, and feedback is given to the control unit according to the status detected by the sensor. Then, the position of the tool can be corrected by adjusting the drone, and the movement state of the four push rods can be controlled to adjust the posture and clamping force of the tool, thereby improving the efficiency of the insulation restoration operation and ensuring the reliability and consistency of the operation effect.

[0009] In order to achieve the above object, the present invention adopts the following technical embodiments: A first aspect of the present invention provides a cable insulation restoration operation system based on drone mounting, comprising an insulation restoration tool and a control unit detachably connected to the drone; The insulation restoration tool is used to drive the corresponding insulation fixing body to move toward the cable through multiple push rods, and clamp and wrap the damaged part of the cable from different directions to achieve insulation restoration. The insulation restoration tool has two sets of side plates arranged in parallel, and the two side plates are connected by a structural frame; the structural frame is connected to one end of the metal probe, and the other end of the metal probe points to the space below the insulation restoration tool. There are at least two metal probes and they are all arranged obliquely; The control unit is used to control the UAV to mount the insulation restoration tool to the damaged part of the cable, and perform the insulation restoration operation by controlling the actions of multiple push rods; the control unit has a main control module that is communicatively connected to the cable position detection probe, and the cable position detection probe includes a cable position detection circuit connected to a metal probe. When the two metal probes fall on the exposed conductor position of the damaged cable at the same time, the cable position detection circuit short-circuits and sends a signal to confirm that the insulation restoration tool has reached the operating position.

[0010] Furthermore, the cable position detection circuit is specifically as follows: when any one of the two metal probes is not in contact with the bare conductor leakage position at the damaged part of the cable, the corresponding probe is in a disconnected state, the input end is grounded through a resistor, and the main control module detects a voltage of 0 from the output end VO; when the two probes simultaneously contact the bare conductor leakage position at the damaged part of the cable, the input voltage VCC is conducted through the resistor and the probes, the main control module detects a voltage from the output end VO, determines that the probe is at the bare conductor leakage position at the damaged part of the cable, and determines that the area between the two probes is the operating position.

[0011] Further, the cable position detection circuit includes a detection probe A and a detection probe B; The detection probe A is connected to the capacitor C1 and the resistor R1 respectively, the other end of the capacitor C1 is grounded, the other end of the resistor R1 is connected to the capacitor C2 and then to the ground, and the power supply VCC is connected between the resistor R1 and the capacitor C2; The detection probe B is respectively connected to the resistor R2 and the capacitor C3, the other end of the resistor R2 is respectively connected to the resistor R3, the capacitor C4 and the resistor R5, the other end of the capacitor C3 and the other end of the resistor R5 are both grounded, the other end of the resistor R3 is respectively connected to the capacitor C5 and the third end of the operational amplifier, the other end of the capacitor C4 is respectively connected to the first end and the second end of the operational amplifier, the other end of the capacitor C5 is grounded, the operational amplifier is respectively connected to the ground end and the power supply VCC end, the first end of the operational amplifier is connected to the resistor R4 and then connected to the main control module and the capacitor C6, and the other end of the capacitor C6 is grounded.

[0012] Furthermore, the bottoms of the two side panels have a herringbone-shaped opening, which forms a guide structure after being connected to the structural frame.

[0013] Furthermore, a position detection sensor is provided at the bottom end of the herringbone opening of each side panel for detecting whether the cable has entered the clamping area inside the insulation recovery tool, and all the position detection sensors are communicatively connected with the main control module.

[0014] Furthermore, an image acquisition module is provided at the bottom surface below the top geometric center of the structural frame. The lens of the image acquisition module faces the space below the insulation restoration tool and is used to obtain image information of the cable entering the internal clamping area of ​​the insulation restoration tool. The image acquisition module is communicatively connected with the main control module.

[0015] Furthermore, a posture detection sensor is provided on the upper surface of the top of the structural frame for detecting the posture of the insulation recovery tool when it is mounted on the cable, and the posture detection sensor is communicatively connected with the main control module.

[0016] Furthermore, the main control module controls the movement speed of the corresponding push rod through the corresponding push rod driving module according to the posture change obtained by the posture detection sensor, so that the insulation recovery tool maintains a stable state during operation.

[0017] Furthermore, the insulating fixed body includes a clamping plate and a sponge body. A pressure sensor arranged in a horizontal direction is provided on the surface of the clamping plate. The pressure sensor is located between the sponge body and the clamping plate. Three equally spaced pressure collection points are evenly arranged on the surface of each pressure sensor. The average value of the data obtained from the three pressure collection points is used as the pressure value obtained by the corresponding pressure sensor.

[0018] Furthermore, the pressure sensor realizes data collection through a bridge circuit, which includes a resistor Rx and an adjustable resistor R10 respectively connected to the power supply VCC terminal, the other end of the resistor Rx is connected in series with a resistor R8 and then grounded, the adjustable end of the adjustable resistor R10 is connected in series with a resistor R11 and then grounded, the adjustable end of the adjustable resistor R10 is also connected to a resistor R12, the resistor R12 is respectively connected to the second end of the operational amplifier and the resistor R14, the other end of the resistor R14 is respectively connected to the first end of the operational amplifier and the resistor R13, the other end of the resistor R13 is respectively connected to the output terminal V1 and the capacitor C7, and the other end of the capacitor C7 is grounded; after the resistor R9 is connected in series between the resistor Rx and the resistor R8, the resistor R6 and the third end of the operational amplifier are respectively connected, the other end of the resistor R6 is grounded, and the operational amplifier is respectively connected to the power supply VCC terminal and the ground terminal.

[0019] Furthermore, Rx is the resistance of the pressure sensor, which forms a bridge circuit with the adjustable resistor R10 and resistors R8 and R11; before performing insulation recovery, the adjustable resistor R10 is adjusted so that when the pressure is 0, the output voltage V1=0; when the resistance Rx changes, the bridge is no longer balanced and the output voltage V1 changes, and the value of the resistance Rx is calculated by obtaining the value of V1, and the pressure value output by the pressure sensor is calculated based on the fact that the sensor resistance is inversely proportional to the pressure.

[0020] A second aspect of the present invention provides a cable insulation restoration method based on drone mounting, including mounting of an insulation restoration tool and insulation restoration operation, wherein the mounting process of the insulation restoration tool includes the following steps: An insulator is pre-connected to the insulation restoration tool, the UAV and the insulation restoration tool are connected via an insulating rope, and the UAV is controlled to carry the insulation restoration tool and lift it to the space above the overhead cable; Adjust the position of the drone along the plane where the cables are located, obtain the horizontal position of the overhead cables relative to the insulation restoration tool through the image acquisition module, and determine the operating position of the overhead cables and the conductors that are exposed due to insulation damage; Control the drone to descend, adjust the deflection angle of the drone around the vertical axis to make the cable parallel to the insulation recovery tool, and adjust the horizontal position so that the two metal probes of the insulation recovery tool are connected to the overhead cable. When the cable position detection circuit sends a short-circuit signal, the insulation recovery tool is positioned at the operating position. The drone is controlled to continue to descend, and the cable is guided by the metal probe to enter the clamping area of ​​the tool; When the in-position sensors on the two sets of side panels send signals at the same time, the cable has entered the top of the clamping area and the insulation restoration operation begins.

[0021] Furthermore, the process of insulation restoration operation includes the following steps: When the cable has entered the top of the clamping area, wait for a set period of time; Control two push rods to move synchronously relative to each other to press the insulator for the first time. During this period, according to the change of the inclination angle obtained by the attitude sensor, adjust the movement speed of the corresponding push rod to keep the insulation recovery tool in a horizontal state; Obtain the pressure value of the push rod corresponding to the insulating fixed body, and control the movement speed of the corresponding push rod to gradually decrease according to the change of the difference between the obtained pressure value and the set pressure limit value, until the push rod stops moving when the difference is 0; After waiting for the set time, the push rods are reset and another set of push rods are controlled to perform the clamping action. After all the push rods are reset, the insulation restoration operation is completed, and the drone is controlled to carry the insulation restoration tool to fly away from the cable and prepare for the next operation.

[0022] Furthermore, wait for a set time period, specifically: if the signal of one of the in-place sensors disappears during the waiting process, the timing is restarted; if the signal of one of the in-place sensors disappears and is not restored before the end of the waiting, the position of the insulation restoration tool is readjusted by the drone; if the signals of the two in-place sensors do not disappear during the waiting period, the insulation restoration operation is started.

[0023] Furthermore, according to the inclination change obtained by the attitude sensor, the action speed of the corresponding push rod is adjusted so that the insulation recovery tool maintains a horizontal state, specifically: The cable laying direction is the x-axis direction, and the angle γ around the x-axis direction is the inclination change obtained by the attitude sensor; When the inclination angle γ is greater than 0, that is, the tool deflects counterclockwise around the guide wire, the action speed of the first push rod is reduced and the action speed of the second push rod is increased; When the inclination angle γ is less than 0, that is, the tool deflects clockwise around the guide wire, the action speed of the first push rod is increased and the action speed of the second push rod is reduced; The first push rod and the second push rod are respectively located on the left and right sides of the cable and are at the same height.

[0024] Furthermore, the action speed of the corresponding push rod is adjusted as shown in the following formula: Speed ​​deviation: ΔV=k1*γ, k1 is the proportional coefficient; First push rod speed: V1=V0-ΔV, V0 is the given standard speed; Second push rod speed: V2=V0+ΔV.

[0025] Furthermore, the pressure value of the push rod corresponding to the insulating fixed body is obtained, and the action speed of the corresponding push rod is controlled to gradually decrease according to the change of the difference between the obtained pressure value and the set pressure limit value, until the push rod stops moving when the difference is 0. Specifically, the pressure sensor output pressure value F is calculated. xThe difference between the pressure value and the given pressure value F0, as the difference decreases, the push rod speed continues to decrease until the push rod stops moving when the difference is 0; the speed of the push rod x: V x =k2*(F0-F x ), k2 is the proportionality coefficient.

[0026] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects: 1. A pair of metal probes are added to the structure of the existing insulation restoration tool. On the one hand, during the descent of the drone, the cable is guided into the internal clamping area of ​​the insulation restoration tool by setting the inclination angle of the metal probes; on the other hand, when the two metal probes fall on the exposed conductor position of the damaged cable at the same time, the cable position detection circuit short-circuits and sends a signal, determining the area between the two metal probes as the operating position, so that the control unit can control the drone to descend and perform insulation restoration operations according to the area, helping ground operators to accurately find the damaged cable insulation and the location where insulation restoration operations need to be performed.

[0027] 2. An image acquisition module is added to the structure of the existing insulation restoration tool. When the UAV is hoisted and mounted, the image of the overhead cable position is obtained. In conjunction with the metal probe, it is convenient for the staff to accurately place the tool on the overhead cable, thereby reducing the difficulty of mounting the insulation restoration tool on the wire and improving the efficiency and accuracy of tool mounting.

[0028] 3. An in-place detection sensor is set at the bottom of the herringbone openings of the two side panels of the existing insulation restoration tool to detect whether the cable has reliably entered the clamping area inside the tool. After ensuring that the cable has entered the clamping area, the insulation restoration operation is performed, thereby increasing the success rate of the insulation restoration operation.

[0029] 4. An attitude detection sensor is added to the existing insulation restoration tool to detect the attitude of the insulation restoration tool when it is mounted on the cable, and to control the push rod movement speed during the insulation restoration action, so that the tool always remains horizontal during operation. The angle deviation detected by the attitude sensor controls the movement speed of each push rod, so that the tool remains stable on the wire, avoiding operation failures and unsatisfactory insulation restoration effects caused by tool tilt, and improving the success rate of the operation.

[0030] 5. For each push rod, a pressure sensor is installed in the corresponding insulating fixed body. The speed and position of the push rod feeding are controlled by presetting the clamping force to ensure that the clamping force for cables of various specifications can reach the set value, thereby ensuring the insulation recovery effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 A schematic diagram of the structure of the insulation recovery tool and the drone provided in one or more embodiments of the present invention; Figure 2 A schematic diagram of the bottom structure of an insulation recovery tool provided by one or more embodiments of the present invention; Figure 3 A schematic diagram of the structure of a drive assembly of an insulation recovery tool provided by one or more embodiments of the present invention; Figure 4 A schematic diagram of the relative positions of push rods in a drive assembly provided for one or more embodiments of the present invention; Figure 5 A schematic diagram of control coordinates when the insulation recovery tool provided by one or more embodiments of the present invention is mounted on a cable; Figure 6 A schematic diagram of mounting an insulation recovery tool provided by one or more embodiments of the present invention on a cable; Figure 7 A schematic diagram of the effect of performing insulation restoration on a cable provided by one or more embodiments of the present invention; Figure 8 A schematic diagram of the architecture of a control unit in a cable insulation recovery system provided by one or more embodiments of the present invention; Fig. 9 A schematic diagram of the principle of short circuit detection by a probe provided by one or more embodiments of the present invention; Fig.10 A schematic diagram of the principle of pressure signal acquisition provided for one or more embodiments of the present invention; Fig.11 A schematic diagram of the principle of an abnormal unlocking control module provided by one or more embodiments of the present invention.

[0033] In the figure: 1. Insulating rope; 2. Insulating protective shell; 3. Driving assembly; 4. Metal probe; 5. Lithium battery; 6. Switch button; 7. Wiring structure A; 8. In-position sensor; 9. Wiring structure B; 10. Wiring structure C; 11. Image acquisition module; 12. Sponge; 13. Insulating fixed body A; 14. Push rod A; 15. Push rod C; 16. Push rod fixing seat; 17. Insulating fixed body B; 18. Pressure sensor; 19. Insulating fixed body C; 20. Insulating fixed body D; 21. Ejector pin; 22. Push rod D; 23. Push rod B; 24. Posture detection sensor; 25. Electromagnetic lock. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0036] As introduced in the background technology, the prior art ZL202410381117.2 discloses an insulation recovery tool for drone mounting. In actual application, it relies on remote control operation by on-site workers. Since the work site is far from the ground and there is a lack of effective detection means, it is very difficult to mount the tool on the overhead wire through the drone, and it is difficult to accurately find the work position, requiring multiple adjustments. Also due to the lack of detection means, the four independently controlled push rods are prone to unbalanced movement speeds during operation, causing the tool to tilt and affecting the fixing effect of the insulator.

[0037] Therefore, the following embodiments provide a cable insulation restoration operation system and method based on drone mounting. On the basis of the existing insulation restoration tools, a pair of metal probes and multiple sensors are added. The data transmitted by the metal probes and each sensor are used to realize real-time detection of the position, posture, and clamping force of the tool during the operation, and feedback is given to the control unit based on the status detected by the sensor. Then, the position of the tool can be corrected by adjusting the drone, and the movement state of the four push rods can be controlled to adjust the posture and clamping force of the tool, thereby improving the efficiency of the insulation restoration operation and ensuring the reliability and consistency of the operation effect.

[0038] Embodiment 1: The cable insulation restoration operation system based on drone mounting includes an insulation restoration tool and a control unit; wherein the structure and technical principle of the insulation restoration tool are consistent with the prior art ZL202410381117.2, such as Figure 1 As shown, it includes two groups of side panels arranged in parallel, and the two side panels are connected by a structural frame to form the main structure of the tool. The two side panels are provided with lifting rings at the top for connecting with the drone through an insulating rope 1.

[0039] like Figure 1 As shown, an edge protection shell 2 is connected to the structural frame to protect internal components.

[0040] like Figure 1 As shown, the structural frame is connected to a driving assembly 3, which pushes the corresponding insulator toward the cable through a connecting rod structure, thereby clamping and wrapping the damaged part of the cable in different directions.

[0041] like Figure 1As shown, a battery is provided on the structural frame 3 to provide a power source for the driving component 3 , and the battery may be a lithium battery 5 .

[0042] like Figure 1 As shown, the structural frame 3 is provided with a switch button 6 for controlling the opening and closing of the entire tool.

[0043] like Figure 2 As shown, the structural frame 3 has a wiring structure A7, a wiring structure B9 and a wiring structure C10 for accommodating the control cables to pass through. The specific structural type is not limited, and the control cables can be fixed by the structural frame 3.

[0044] like Figure 2 As shown, an image acquisition module is provided on the top and bottom surface of the structural frame, and the lens of the image acquisition module faces the lower space, which is used to obtain image information of the insulator moving toward the cable. In this embodiment, the image acquisition module 11 can be an observation camera, which is installed at the center position above the insulation recovery tool, and the lens faces downward, and is used to observe the position of the overhead cable when the drone is hoisted and mounted, so that the staff can place the tool accurately on the overhead cable.

[0045] like Figure 1 As shown, the bottom of the two side panels has a "human" shaped opening, and a guide structure is formed after connecting the structural frame, which is used to make the area of ​​the cable to be repaired fall into the "human" shaped opening when the drone carrying the tool falls. A pair of metal probes 4 are provided on one of the legs of the "human" shaped guide structure in the structural frame, and the metal probes 4 are used for auxiliary guidance. After the cable position is determined by the image acquisition module 11, the drone is controlled to descend, and the metal probes are carried on the wire to prevent the tool from swinging; on the other hand, it has the function of detecting the working position, and the position of the exposed point of the wire is detected by the detection circuit carried by the metal probe.

[0046] In this embodiment, two metal probes 4 are arranged side by side, and the plane formed is at an angle of 100 degrees to the bottom surface of the insulating protective shell 2 (i.e., the horizontal plane). The inclination direction is the same as the direction of one of the legs of the "human" shaped guide structure of the side panel. The straight-line distance between the two metal probes 4 is 80 mm, and the vertical length of the two metal probes 4 is 180 mm, so that the detectable length range is 180 mm. The metal probe is cylindrical and made of copper, and has good conductivity; one end is an external thread structure, which is matched with the internal thread structure on the structural frame to fix the metal probe 4 to the bottom surface of the edge protective shell 2.

[0047] Regarding the guiding function: during the operation of the insulation restoration tool, the end positions of the two metal probes 4 are mounted on the cable to prevent the tool from swinging under the drive of the drone. The drone drives the tool to move along the cable laying direction (i.e., the front and rear direction). When the two metal probes 4 fall on the metal exposed position of the overhead insulated conductor at the same time, the carried detection circuit is turned on and sends a signal, thereby determining that this position is the working position; the drone is controlled to descend to a certain height, and the cable is guided to slide into the opening of the two side panels through the inclination angle of the metal probe 4. The drone continues to descend, and uses the herringbone opening on the side panel to guide the cable into the clamping area inside the tool.

[0048] like Figure 2 As shown, the in-place detection sensor 8 is located at the bottom end of the herringbone opening of the side panel, and is used to detect whether the cable has reliably entered the clamping area inside the tool. The in-place detection sensor 8 is not limited to a specific type and can be a distance sensor.

[0049] The driving assembly 3 includes two sets of push rods arranged in parallel, each set of push rods has two push rods, and each push rod drives the corresponding insulating fixed body together with the insulator to move and clamp through the corresponding connecting rod mechanism. Figure 3 and Figure 4 As shown, the driving assembly 3 includes two groups of push rods arranged in parallel, each group of push rods has two push rods, wherein push rod A14 and push rod C15 form one group, and push rod B23 and push rod D22 form another group. Taking push rod A14 as an example, push rod A14 is connected to push rod fixing seat 16 and arranged in a vertical direction, and push rod A14 is connected to insulating fixing body A13 through a corresponding connecting rod mechanism. During insulation recovery, an insulator is arranged on the surface of insulating fixing body A13, and multiple insulating fixing bodies with insulators move toward the cable from different directions under the drive of their respective push rods and connecting rod mechanisms, and the insulator is fixed at the insulation damage of the cable in a clamping and fixing manner to achieve insulation recovery.

[0050] In this embodiment, push rod A14 is connected to insulating fixed body A13 through a corresponding connecting rod mechanism, push rod C15 is connected to insulating fixed body B17 through a corresponding connecting rod mechanism, push rod D22 is connected to insulating fixed body C19 through a corresponding connecting rod mechanism, and push rod B23 is connected to insulating fixed body D20 through a corresponding connecting rod mechanism.

[0051] All insulating fixtures have the same structure, such as Figure 3 As shown, it includes a fixing plate and a sponge body 12. The surface of the fixing plate is provided with a strip pressure sensor 18 arranged in the horizontal direction. The pressure sensor 18 is located between the sponge body and the fixing plate. Three rubber pads are evenly arranged on the surface of each pressure sensor to form three equally spaced pressure points, which is convenient for balanced force during work clamping and ensures that the pressure value detected when the insulating fixing body is clamped during work is accurate.

[0052] like Figure 5 As shown, a posture detection sensor 24 is provided on the upper surface of the top of the structural frame, which is used to detect the posture of the insulation recovery tool when it is mounted on the cable. The angle changes of the X, Y and Z axes are obtained by the posture detection sensor 24, and then the movement speed of the four groups of push rods is controlled to keep the tool in a horizontal state at all times during operation.

[0053] like Figure 5 As shown, if the insulation restoration tool gets stuck or cannot be detached from the cable during the insulation restoration operation, in order to avoid damage to the drone, the electromagnetic lock 25 can be opened by wireless control to separate the drone and the insulation restoration tool, thereby protecting the drone and the cable.

[0054] The tool is hoisted by a drone onto the overhead line where insulation restoration is to be performed, and the insulation restoration tool performs the insulation restoration operation, achieving the inherent safety of live insulation restoration operations; each insulating fixture is driven by a corresponding push rod, and the area to be repaired is clamped from one direction through the opposite-side movement of two groups of insulating fixtures.

[0055] Before the operation, an insulator (such as curable insulating glue) is attached to two diagonal insulating fixing bodies, and the insulating glue is fixed by the ejector pin 21 to prevent the insulating glue from falling off, for example, attaching it to the insulating fixing body A and the insulating fixing body D.

[0056] Use the drone to carry the tool to the work site, descend to the set height, perform the clamping action, and drive the push rod to clamp the opposite sides of the insulation fixture A and the insulation fixture D. Through the attitude sensor, control the push rod speed to keep the insulation recovery tool in a horizontal state, such as Figure 6 shown.

[0057] After a few seconds of controlled clamping, the push rod drives the insulating fixing body A and the insulating fixing body D to open, so that the curable insulating glue is adhered to the overhead line.

[0058] At this time, the curable insulating adhesive adhered to the overhead line is in a rectangular adhesion state, such as Figure 7 As shown, there are problems of weak adhesion and poor aesthetics, which do not meet the insulation restoration requirements. After the insulation fixture A and the insulation fixture D are opened, the insulation fixture B and the insulation fixture C are clamped and loosened under the action of the push rod, pressing the rectangular edge onto the overhead line to achieve cylindrical coating of the insulation glue; thus completing the insulation restoration operation, the drone lifts the tool away from the overhead line.

[0059] Based on the existing insulation restoration tool, this embodiment adds an image acquisition module 11, a position sensor 8 and a pressure sensor 18 at a specific position, and a pair of metal probes 4 (two in total) are provided on one of the legs of the "human" shaped guide structure in the structural frame. One end of the metal probe 4 is connected to the structural frame, and the other end is suspended in the air and arranged at a set angle. When the metal probe 4 simultaneously contacts the metal bare leakage position falling on the overhead insulated wire, the detection circuits corresponding to the two probes trigger a short circuit, thereby determining that this position is the working position.

[0060] The image acquisition module is installed at the center of the insulation restoration tool. It is used to obtain images of the position of the overhead cable when the UAV is hoisted and mounted, so that the staff can accurately place the tool on the overhead cable. The image acquisition module can be a camera, a camera, or any device that can acquire images. The image acquisition module reduces the difficulty of mounting the insulation restoration tool on the wire and improves the efficiency and accuracy of tool mounting.

[0061] The in-place detection sensor is installed at the bottom end of the opening of the "human" shaped guide structure to detect whether the cable has reliably entered the clamping area inside the tool.

[0062] The posture detection sensor is used to detect the posture of the insulation restoration tool when it is mounted on the cable, thereby controlling the speed of the push rod and keeping the tool horizontal during operation. The angle deviation detected by the posture sensor controls the movement speed of each push rod, so that the tool remains stable on the wire, avoiding operation failures and unsatisfactory insulation restoration effects caused by tool tilt, and improving the success rate of the operation.

[0063] The pressure sensor is installed between the sponge body and the fixing plate. Three rubber pads are evenly placed on each pressure sensor to form three average pressure points, which is convenient for balanced force during work clamping and ensures that the pressure value detected during work clamping of the insulating fixing body is accurate.

[0064] like Figure 8 As shown, the control unit includes a remote control and a main control module that realize communication connection through a communication module. The main control module obtains the status information of the insulation recovery tool during operation through an image acquisition module (an observation camera in this embodiment), a posture detection sensor, an in-place detection sensor, a cable position detection probe and a pressure acquisition module, and controls the corresponding push rod to perform the insulation recovery action through the push rod drive module. The main control module is also communicated with the abnormal unlocking control module.

[0065] It also has a power module: it provides power for each module in the tool, and has functions such as reverse connection protection, short circuit protection, voltage monitoring, and low voltage protection.

[0066] The main control module is the core control module of the UAV insulation restoration tool. It is used to detect the sensor status such as attitude, pressure, and position, and coordinate the control of the actions of the four push rods according to the sensor status to complete the insulation restoration operation.

[0067] Communication module, in this example, the Zigbee communication module and the WiFi Halow communication module are arranged in parallel to form a dual-backup communication module to communicate with the remote controller, thereby realizing remote control of the tool, as well as feedback and display of the tool status. The dual-backup communication method improves the reliability of communication and avoids uncontrollable tools due to communication failures.

[0068] Image acquisition module: installed in the center above the insulation restoration tool, used to observe the position of the overhead cable when the drone is hoisted and mounted, so that the staff can accurately place the tool on the overhead cable. The data of the image acquisition module is transmitted to the remote control through the WiFi Halow image transmission module, and the real-time picture of the image acquisition module can be displayed on the remote control. WiFi Halow is a long-distance, high-speed data transmission protocol with a working frequency band of 900MHz. Its advantages are long transmission distance and small data delay, which is conducive to the observation of the operation process of the system.

[0069] The cable position detection probe, including the metal probe 4 on the insulation recovery tool and the corresponding cable position detection circuit, has two functions. On the one hand, it has a structural guiding function. After the cable position is determined by the image acquisition module, the drone is controlled to descend and the metal probe 4 is carried on the conductor. At this time, the drone continues to descend and can guide the cable to fall into the "human" shaped opening structure of the side panel through the inclination angle of the probe, thereby guiding the cable into the internal clamping area of ​​the insulation recovery tool.

[0070] On the other hand, it has the function of detecting the working position. The probe is a metal structure and has two probes. When the probe is mounted on the conductor, the working position of the tool along the conductor direction may deviate. At this time, the position of the insulation restoration tool can be adjusted by moving the drone forward and backward along the conductor direction. When the two metal probes fall on the metal exposed position of the overhead insulated conductor at the same time, the two probes are short-circuited, causing the cable position detection circuit to send a signal, thereby determining that this position is the working position. At this time, the drone can be controlled to descend and further carry out the insulation restoration operation.

[0071] The detection principle of two probe short circuit is as follows Fig. 9As shown, the detection probe A is respectively connected to the capacitor C1 and the resistor R1, the other end of the capacitor C1 is grounded, the other end of the resistor R1 is connected to the capacitor C2 and then to the ground end, and the power supply VCC is connected between the resistor R1 and the capacitor C2. The detection probe B is respectively connected to the resistor R2 and the capacitor C3, the other end of the resistor R2 is respectively connected to the resistor R3, the capacitor C4 and the resistor R5, the other end of the capacitor C3 and the other end of the resistor R5 are both grounded, the other end of the resistor R3 is respectively connected to the capacitor C5 and the third end of the operational amplifier, the other end of the capacitor C4 is respectively connected to the first end and the second end of the operational amplifier, the other end of the capacitor C5 is grounded, the operational amplifier is respectively connected to the ground end and the power supply VCC end, the first end of the operational amplifier is connected to the resistor R4 and then connected to the main control module and the capacitor C6, and the other end of the capacitor C6 is grounded.

[0072] When the two metal probes are not in the correct position, the two probes are in a disconnected state, and the input end of the detection circuit is grounded through R5, so the voltage detected by the main control module from VO is 0. When the two probes touch the bare leakage position of the overhead cable at the same time, the two probes are short-circuited or have a small resistance. At this time, the input voltage VCC is turned on through resistors R1, probes, R2 and R5. At this time, the main control module can detect the voltage from the output end VO, thereby judging that the probes are in the correct position. In the circuit, capacitors C1 and C3 are used to filter the AC signal in the line. The second-order filter network composed of R2, R3, C4, and C5 can filter the detection signal to ensure that the output signal is stable and will not be interfered by the high-voltage discharge signal caused by cable insulation damage.

[0073] In-place detection sensor: There are 2 in total, installed on the two side panels of the tool, corresponding to the left in-place detection sensor and the right in-place detection sensor. When the distance between the cable and the in-place detection sensor is less than the set value, a high-level signal is output to detect whether the cable has reliably entered the clamping area inside the tool. When both sensors have stable signals at the same time, the cable is considered in place and insulation restoration work can be started; if one of the sensors has no signal, the tool may be tilted along the direction of the wire, and the drone needs to lift the tool again and place it again until both sensors have signals at the same time. The in-place sensor can be a photoelectric switch, a proximity switch, a laser beam sensor, or a pull-up encoder.

[0074] Attitude detection sensor: used to detect the attitude of the insulation restoration tool when it is mounted on the cable. The sensor can output the inclination angle in three axes, where the x-axis is defined along the wire, the y-axis is perpendicular to the horizontal direction of the wire, and the z-axis (up and down direction) is perpendicular to the ground. The angle deviation around the x-axis will affect the effect of the insulation restoration operation. The speed variables of the four push rods can be adjusted in real time according to the angle deviation to keep the tool balanced around the x-axis. The deviation around the y-axis will affect the status of the two in-place sensors. By observing the y-axis angle deviation, the drone can be guided to place the tool accurately on the wire. Due to the limitation of the cable, the deviation in the z-axis direction can be ignored.

[0075] Pressure sensors: There are 4 in total, corresponding to the compression force transmitted by the 4 push rods through the corresponding connecting rod mechanism. Three rubber pads are evenly placed on each pressure sensor to form three average pressure points. By collecting the pressure values ​​of the four pressure sensors in real time, the feed stroke of the push rod is controlled to ensure that all cable specifications can reach the preset pressure value, ensuring the reliability and consistency of the insulation recovery effect. The pressure sensor is a resistance strain type principle. The greater the pressure, the smaller the sensor resistance.

[0076] Pressure acquisition is done by Fig.10 The bridge circuit shown in the figure includes a resistor Rx and a resistor R10 respectively connected to the power supply VCC terminal, the other end of the resistor Rx is connected in series with a resistor R8 and then grounded, the adjustable end of the resistor R10 is connected in series with a resistor R11 and then grounded, the adjustable end of the resistor R10 is also connected to a resistor R12, the resistor R12 is respectively connected to the second end of the operational amplifier and the resistor R14, the other end of the resistor R14 is respectively connected to the first end of the operational amplifier and the resistor R13, the other end of the resistor R13 is respectively connected to the output terminal V1 and the capacitor C7, and the other end of the capacitor C7 is grounded; after the resistor R9 is connected in series between the resistor Rx and the resistor R8, the resistor R6 and the third end of the operational amplifier are respectively connected, the other end of the resistor R6 is grounded, and the operational amplifier is respectively connected to the power supply VCC terminal and the ground terminal.

[0077] Among them, Rx is the resistance of the pressure sensor, which forms a bridge circuit with the adjustable resistor R10 and resistors R8 and R11. Before use, adjust the adjustable resistor R10 so that when the pressure is 0, the output voltage V1 = 0. When the resistance Rx changes, the bridge is no longer balanced and the output voltage V1 changes. Therefore, the resistance Rx can be calculated by obtaining the value of V1. Since the sensor resistance is inversely proportional to the pressure, the pressure value of the pressure sensor can be calculated.

[0078] Abnormal unlocking control module: When an abnormality occurs during the operation, the module controls the electromagnetic lock to open and trip the drone, removes the restrictions of the insulation recovery tool on the drone, and avoids the drone crash. The abnormal unlocking control module is implemented through two backup control circuits, one of which is controlled by the main control module and the other is directly controlled by the WiFi Halow communication module to prevent the drone from being unable to unlock due to an abnormality in one of the communication channels.

[0079] Control principle Fig.11 As shown. The diode D2 corresponding to the standby control circuit and the diode D1 corresponding to the main control module control circuit are both connected to one end of the resistor R1, the other end of the resistor R1 is connected to the base of the transistor Q2, the collector of the transistor Q2 is grounded, the emitter of the transistor Q2 is connected in series with the resistor R3 and the resistor R2 and then grounded, the gate of the MOS tube Q1 is connected between the resistor R3 and the resistor R2, the source of the MOS tube Q1 is connected to the power supply VCC terminal, the drain of the MOS tube Q1 is connected to the electromagnetic lock, and the electromagnetic lock is grounded.

[0080] Push rod drive module: contains 4 independent drive circuits, which control the speed and position of 4 push rods respectively. By adjusting the speed of two push rods in a group, the posture of the tool around the x-axis can be adjusted, and by adjusting the feed position of each push rod, the clamping force can be adjusted.

[0081] Embodiment 2: The cable insulation restoration operation method based on drone mounting is divided into two parts: tool mounting and insulation restoration operation. The tool mounting process enables the tool to be reliably placed on the cable and adjusted to the correct working position; the insulation restoration operation process mainly realizes the insulation restoration of bare cables and ensures that the tool posture is stable and the operation effect is reliable and consistent during the operation.

[0082] The mounting process of the insulation restoration tool includes the following steps: Step 1: Install an insulator (such as insulating film) on the tool, connect the tool to the drone through an insulating rope, and remotely control the drone to lift the tool above the overhead cable; Step 2: Adjust the position of the drone along the x-axis and y-axis directions, and observe the overhead cables through the image acquisition module until the overhead cables and the exposed operation positions are observed from the image acquisition module; Step 3: Control the drone to descend, and adjust the deflection angle of the drone around the z-axis to make the cable parallel to the tool, and adjust the position in the y-axis direction so that the two metal probes of the tool overlap the overhead cable; Step 4: Adjust the drone along the x-axis until the two metal probes are detected to be short-circuited. At this time, the working tool is accurately positioned at the working position; Step 5: Control the drone to continue descending, and guide the cable into the clamping area of ​​the tool through two metal probes; Step 6: When the two in-place sensors detect signals at the same time, it is determined that the cable has reliably entered the top of the clamping area, and the insulation restoration operation can be started at this time.

[0083] The process of insulation restoration work includes the following steps: Step 1: Delay for a period of time to wait for the signals of the two in-place sensors to stabilize. If one of the sensor signals fluctuates during the delay, restart the timing; if one of the sensor signals disappears and does not recover before the delay ends, readjust the tool position through the drone; if the two sensor signals remain stable, start the insulation restoration operation.

[0084] Step 2: Control two push rods to move synchronously relative to each other to compress the insulating film for the first time, for example, control push rod A and push rod B. At the same time, collect the pressure sensor values ​​of the corresponding insulating fixed bodies, for example, collect the pressure sensor values ​​of insulating fixed body A and insulating fixed body D. If both pressure values ​​are 0, it indicates that the tool is in motion. At this time, collect the inclination angle of the attitude sensor, and adjust the movement speed of push rod A and push rod B according to the deviation of the angle γ around the x-axis direction to keep the tool stable.

[0085] The specific method is as follows: when the inclination angle γ is greater than 0, that is, the tool deflects counterclockwise around the wire, the movement speed of push rod A is reduced and the movement speed of push rod B is increased; when the inclination angle γ is less than 0, that is, the tool deflects clockwise around the wire, the movement speed of push rod A is increased and the movement speed of push rod B is reduced.

[0086] The calculation method is as follows: Speed ​​deviation: ΔV=k1*γ, k1 is the proportional coefficient; Push rod A speed: V1=V0-ΔV, V0 is the given standard speed; Push rod B speed: V2=V0+ΔV.

[0087] Step 3: If the pressure sensor value detected for the insulating fixed body A and the insulating fixed body D is greater than 0, it indicates that the pressing process is in progress. At this time, the tool posture detection and adjustment process is stopped, and the push rod speed is adjusted by pressure changes until the push rod is stopped after the set pressing force is reached. The specific method is: calculate the difference between the pressure value Fx output by the pressure sensor and the given pressure value F0, and continue to reduce the push rod speed as the difference decreases until the push rod stops moving when the difference is 0. The calculation method is as follows: Push rod x speed: Vx=k2*(F0-Fx), k2 is the proportional coefficient.

[0088] Step 4: When the pressure sensor values ​​of the insulating fixture A and the insulating fixture D reach the set values, and the push rod A and the push rod B stop moving, wait for a while to allow the insulating film to be firmly attached.

[0089] Step 5: Open push rod A and push rod B. During the opening process, control the speed of the two push rods according to the method in step 2 to keep the tool stable.

[0090] Step 6: When push rod A and push rod B are fully opened, repeat the method of step 2, step 3, step 4, and step 5 to control push rod C and push rod D to move synchronously relative to each other, and compress the insulating film for the second time from the other opposite side.

[0091] Step 7: When all push rods are opened, the insulation restoration work is completed. At this time, the drone control tool can be used to fly away from the cable and prepare for the next operation.

[0092] On the basis of the existing insulation restoration tools, a pair of metal probes and multiple sensors are added. The data transmitted by the metal probes and each sensor is used to realize real-time detection of the position, posture, and clamping force of the tool during the operation, and the status detected by the sensor is fed back to the control unit. Then, the position of the tool can be corrected by adjusting the drone, and the movement state of the four push rods can be controlled to adjust the posture and clamping force of the tool, thereby improving the efficiency of the insulation restoration operation and ensuring the reliability and consistency of the operation results.

[0093] The above description is only a preferred embodiment of the present invention and is 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. The cable insulation restoration system based on drone mounting is characterized by: including an insulation restoration tool and a control unit detachably connected to the drone; The insulation restoration tool is used to drive the corresponding insulation fixing body to move toward the cable through multiple push rods, and clamp and wrap the damaged part of the cable from different directions to achieve insulation restoration. The insulation restoration tool has two sets of side plates arranged in parallel, and the two side plates are connected by a structural frame; the structural frame is connected to one end of the metal probe, and the other end of the metal probe points to the space below the insulation restoration tool. There are at least two metal probes and they are all arranged obliquely; The control unit is used to control the UAV to mount the insulation restoration tool to the damaged part of the cable, and perform the insulation restoration operation by controlling the actions of multiple push rods; the control unit has a main control module that is communicatively connected to the cable position detection probe, and the cable position detection probe includes a cable position detection circuit connected to a metal probe. When the two metal probes fall on the exposed conductor position of the damaged cable at the same time, the cable position detection circuit short-circuits and sends a signal to confirm that the insulation restoration tool has reached the operating position.

2. The cable insulation restoration system based on drone mounting as claimed in claim 1, characterized in that: The cable position detection circuit is specifically as follows: when any one of the two metal probes is not in contact with the bare conductor leakage position at the damaged cable, the corresponding probe is in a disconnected state, the input end is grounded through a resistor, and the main control module detects a voltage of 0 from the output end VO; when the two probes simultaneously contact the bare conductor leakage position at the damaged cable, the input voltage VCC is conducted through the resistor and the probes, the main control module detects a voltage from the output end VO, determines that the probe is at the bare conductor leakage position at the damaged cable, and determines that the area between the two probes is the operating position.

3. The cable insulation restoration system based on drone mounting as claimed in claim 1, characterized in that: The cable position detection circuit comprises a detection probe A and a detection probe B; The detection probe A is connected to the capacitor C1 and the resistor R1 respectively, the other end of the capacitor C1 is grounded, the other end of the resistor R1 is connected to the capacitor C2 and then to the ground, and the power supply VCC is connected between the resistor R1 and the capacitor C2; The detection probe B is respectively connected to the resistor R2 and the capacitor C3, the other end of the resistor R2 is respectively connected to the resistor R3, the capacitor C4 and the resistor R5, the other end of the capacitor C3 and the other end of the resistor R5 are both grounded, the other end of the resistor R3 is respectively connected to the capacitor C5 and the third end of the operational amplifier, the other end of the capacitor C4 is respectively connected to the first end and the second end of the operational amplifier, the other end of the capacitor C5 is grounded, the operational amplifier is respectively connected to the ground end and the power supply VCC end, the first end of the operational amplifier is connected to the resistor R4 and then connected to the main control module and the capacitor C6, and the other end of the capacitor C6 is grounded.

4. The cable insulation restoration system based on drone mounting as claimed in claim 1, characterized in that: The bottom of the two side panels has a "human" shaped opening, which forms a guide structure after being connected to the structural frame; The bottom end of the herringbone opening of each side panel is provided with an in-place detection sensor for detecting whether the cable enters the clamping area inside the insulation restoration tool. All in-place detection sensors are communicatively connected with the main control module.

5. The cable insulation restoration system based on drone mounting as claimed in claim 1, characterized in that: An image acquisition module is provided at the bottom surface below the top geometric center of the structural frame, and the lens of the image acquisition module faces the space below the insulation restoration tool, and is used to obtain image information of the cable entering the internal clamping area of ​​the insulation restoration tool. The image acquisition module is communicatively connected with the main control module; A posture detection sensor is provided on the upper surface of the top of the structural frame, which is used to detect the posture of the insulation recovery tool when it is mounted on the cable. The posture detection sensor is communicatively connected with the main control module.

6. The cable insulation restoration system based on drone mounting as claimed in claim 1, characterized in that: The insulating fixed body includes a clamping plate and a sponge body. A pressure sensor arranged in a horizontal direction is provided on the surface of the clamping plate. The pressure sensor is located between the sponge body and the clamping plate. Three equally spaced pressure collection points are evenly arranged on the surface of each pressure sensor. The average value of the data obtained from the three pressure collection points is used as the pressure value obtained by the corresponding pressure sensor.

7. The cable insulation restoration system based on drone mounting as claimed in claim 6, characterized in that: The pressure sensor realizes pressure signal acquisition through a bridge circuit. The bridge circuit includes a resistor Rx and an adjustable resistor R10 respectively connected to the power supply VCC terminal. The other end of the resistor Rx is connected in series with a resistor R8 and then grounded. The adjustable end of the adjustable resistor R10 is connected in series with a resistor R11 and then grounded. The adjustable end of the adjustable resistor R10 is also connected to a resistor R12. The resistor R12 is respectively connected to the second end of the operational amplifier and the resistor R14. The other end of the resistor R14 is respectively connected to the first end of the operational amplifier and the resistor R13. The other end of the resistor R13 is respectively connected to the output terminal V1 and the capacitor C7. The other end of the capacitor C7 is grounded. After the resistor R9 is connected in series between the resistor Rx and the resistor R8, the resistor R6 and the third end of the operational amplifier are respectively connected. The other end of the resistor R6 is grounded. The operational amplifier is respectively connected to the power supply VCC terminal and the ground terminal. The resistor Rx is the resistance of the pressure sensor, and forms a bridge circuit with the adjustable resistor R10 and the resistors R8 and R11; before performing insulation recovery, the adjustable resistor R10 is adjusted so that when the pressure is 0, the output voltage V1=0; when the resistance Rx changes, the bridge is no longer balanced and the output voltage V1 changes, and the value of the resistor Rx is calculated by obtaining the value of V1, and the pressure value output by the pressure sensor is calculated based on the fact that the sensor resistance is inversely proportional to the pressure.

8. A cable insulation restoration method based on drone mounting, characterized in that: The operation system according to any one of claims 1 to 7 is used for implementation, including mounting of the insulation restoration tool and insulation restoration operation, wherein the mounting process of the insulation restoration tool includes the following steps: An insulator is pre-connected to the insulation restoration tool, the UAV and the insulation restoration tool are connected via an insulating rope, and the UAV is controlled to carry the insulation restoration tool and lift it to the space above the overhead cable; Adjust the position of the drone along the plane where the cables are located, obtain the horizontal position of the overhead cables relative to the insulation restoration tool through the image acquisition module, and determine the operating position of the overhead cables and the conductors that are exposed due to insulation damage; Control the drone to descend, adjust the deflection angle of the drone around the vertical axis to make the cable parallel to the insulation recovery tool, and adjust the horizontal position so that the two metal probes of the insulation recovery tool are connected to the overhead cable. When the cable position detection circuit sends a short-circuit signal, the insulation recovery tool is positioned at the operating position. The drone is controlled to continue to descend, and the cable is guided by the metal probe to enter the clamping area of ​​the tool; When the in-position sensors on the two sets of side panels send signals at the same time, the cable has entered the top of the clamping area and the insulation restoration operation begins.

9. The cable insulation restoration method based on drone mounting as claimed in claim 8, characterized in that: The process of insulation restoration work includes the following steps: When the cable has entered the top of the clamping area, wait for a set period of time; Control two push rods to move synchronously relative to each other to press the insulator for the first time. During this period, according to the change of the inclination angle obtained by the attitude sensor, adjust the movement speed of the corresponding push rod to keep the insulation recovery tool in a horizontal state; Obtain the pressure value of the push rod corresponding to the insulating fixed body, and control the movement speed of the corresponding push rod to gradually decrease according to the change of the difference between the obtained pressure value and the set pressure limit value, until the push rod stops moving when the difference is 0; After waiting for the set time, the push rods are reset and another set of push rods are controlled to perform the clamping action. After all the push rods are reset, the insulation restoration operation is completed, and the drone is controlled to carry the insulation restoration tool to fly away from the cable and prepare for the next operation.

10. The cable insulation restoration method based on drone mounting as claimed in claim 9, characterized in that: When the cable has entered the top of the clamping area, wait for the set time period. Specifically, if the signal of one of the in-place sensors disappears during the waiting process, the timing is restarted; if the signal of one of the in-place sensors disappears and is not restored before the end of the waiting period, the position of the insulation recovery tool is readjusted by the drone; if the signals of the two in-place sensors do not disappear during the waiting period, the insulation recovery operation is started.

11. The cable insulation restoration method based on drone mounting as claimed in claim 9, characterized in that: According to the inclination change obtained by the attitude sensor, adjust the action speed of the corresponding push rod to keep the insulation recovery tool in a horizontal state, specifically: The cable laying direction is the x-axis direction, and the angle γ around the x-axis direction is the inclination change obtained by the attitude sensor; When the inclination angle γ is greater than 0, that is, the tool deflects counterclockwise around the guide wire, the action speed of the first push rod is reduced and the action speed of the second push rod is increased; When the inclination angle γ is less than 0, that is, the tool deflects clockwise around the guide wire, the action speed of the first push rod is increased and the action speed of the second push rod is reduced; The first push rod and the second push rod are respectively located on the left and right sides of the cable and are at the same height.

12. The cable insulation restoration method based on drone mounting as claimed in claim 11, characterized in that: Adjust the action speed of the corresponding push rod as shown below: Speed ​​deviation: ΔV=k1*γ, k1 is the proportional coefficient; First push rod speed: V1=V0-ΔV, V0 is the given standard speed; Second push rod speed: V2=V0+ΔV.

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