Unmanned aerial vehicle carried ultrahigh frequency partial discharge detection system and detection method

Abstract

The invention relates to the technical field of power equipment detection, and discloses an unmanned aerial vehicle-mounted ultrahigh frequency partial discharge detection system and detection method, and the system comprises an unmanned aerial vehicle-mounted unit, a partial discharge detection unit, and a handheld signal receiving and analysis terminal. The partial discharge detection unit is used for collecting and processing ultrahigh-frequency partial discharge signals generated by partial discharge of the high-voltage electrical equipment, and is also used for sending the processed signals to the unmanned aerial vehicle carrying unit; the unmanned aerial vehicle carrying unit is used for carrying the partial discharge detection unit and is also used for sending a signal processed by the partial discharge detection unit to the handheld signal receiving and analyzing terminal; the handheld signal receiving and analyzing terminal is used for communicating with the unmanned aerial vehicle carrying unit and obtaining an ultrahigh-frequency partial discharge detection result based on a communication result; the problems that an existing unmanned aerial vehicle detection system is low in complex environment adaptability and communication is prone to being interfered by electromagnetic waves are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment detection, and in particular to an ultra-high frequency partial discharge detection system and a detection method carried by an unmanned aerial vehicle. Background Art

[0002] During long-term operation, substation equipment is susceptible to various influences and is prone to insulation degradation, resulting in partial discharge inside the equipment. This partial discharge will generate electromagnetic waves up to several GHz. When partial discharge occurs inside the equipment, the relevant information of partial discharge of the equipment can be obtained by detecting the UHF signal, so as to achieve the purpose of rapid diagnosis of equipment defects.

[0003] The UHF method is an important detection technology for abnormal discharge diagnosis of substation equipment. It is mainly used in partial discharge detection of equipment such as main transformers, GIS and high-voltage switchgear. At present, when conducting UHF detection, people need to carry instruments to detect high-voltage equipment in the station. Since the staff stand on the ground during the detection process, the UHF signal attenuation is large and there are blind spots in the detection, which often makes it difficult to find defects. Secondly, the voltage of substation equipment is high, and there are great personal safety hazards when the staff carry the equipment close. In ultra-high and ultra-high voltage substations, there are cases where drones are used to carry UHF detection systems. However, conventional drone detection needs to meet the carrying requirements of UHF detection systems, and its drones are large in size. Since conventional substation equipment is closely arranged and the safety distance is limited, large drones are difficult to adapt to the complex substation environment during detection. Moreover, since partial discharge inside the equipment will generate electromagnetic waves, conventional drone detection will be interfered by electromagnetic waves during communication. It can be seen that the existing drone detection system has the problems of low adaptability to complex environments and easy interference of electromagnetic waves in communication. Summary of the invention

[0004] The present invention provides a UHF partial discharge detection system and a detection method carried by an unmanned aerial vehicle, so as to solve the problems that the existing unmanned aerial vehicle detection system has low adaptability to complex environments and is easily interfered with by electromagnetic waves in communication.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] In a first aspect, the present invention provides a UHF partial discharge detection system carried by an unmanned aerial vehicle, comprising: an unmanned aerial vehicle carrying unit, a partial discharge detection unit, and a handheld signal receiving and analyzing terminal;

[0007] The partial discharge detection unit is used to collect and process ultra-high frequency partial discharge signals generated by partial discharge of high-voltage electrical equipment, and is also used to send the processed signals to the UAV carrying unit;

[0008] The drone-mounted unit is used to carry a partial discharge detection unit, and is also used to send the signal processed by the partial discharge detection unit to the handheld signal receiving and analyzing terminal;

[0009] The handheld signal receiving and analyzing terminal is used to communicate with the UAV carrying unit and obtain the detection result of ultra-high frequency partial discharge based on the communication result.

[0010] Optionally, the local detection unit includes: a UHF antenna, a channel conditioning module, a high-speed data acquisition unit and a processing and analysis unit;

[0011] The UHF antenna is used to receive electromagnetic wave signals radiated outwards from the fault point of the electrical equipment due to partial discharge;

[0012] The channel conditioning module is used to filter and amplify the received electromagnetic wave signal;

[0013] The high-speed data acquisition unit is used to perform digital-to-analog conversion on the amplified data;

[0014] The processing and analysis unit is used to analyze and process the digital signal after the digital-to-analog conversion, and send the processed signal to the drone carrying unit.

[0015] Optionally, the channel conditioning module includes: a high-pass filter, a low-pass filter, a resistor attenuation network and a gain-adjustable amplifier circuit, and the high-pass filter, the low-pass filter, the resistor attenuation network and the gain-adjustable amplifier circuit are connected in sequence.

[0016] Optionally, the high-pass filter includes capacitors C1, C2, C3 and inductors L3, L4, capacitors C1, C2, C3 are connected in series at the signal input end in sequence, one end of the inductor L3 is located between capacitors C1 and C2, and the other end is connected to the negative input end of the high-pass filter, one end of the inductor L4 is located between capacitors C2 and C3, and the other end is connected to the negative input end of the high-pass filter, one end of the resistor R1 is connected to the output end of the high-pass filter, and the other end is connected to the input end of the low-pass filter.

[0017] Optionally, the low-pass filter includes capacitors C4, C5, C6 and inductors L1 and L2, inductors L1 and L2 are connected in series at the input end of the low-pass filter, one end of capacitor C4 is located between resistor R1 and inductor L1, and the other end is connected to the negative input end of the low-pass filter, one end of capacitor C5 is located between inductor L1 and inductor L2, and the other end is connected to the negative input end of the low-pass filter, one end of capacitor C6 is connected to the other end of inductor L2, and the other end is connected to the negative input end of the low-pass filter.

[0018] Optionally, the UHF antenna, channel conditioning module, high-speed data acquisition unit and processing and analysis unit are all installed on a shell, the UHF antenna is located at the bottom of the shell, and the channel conditioning module, the high-speed data acquisition unit and processing and analysis unit are located inside the shell.

[0019] Optionally, the processing and analysis unit includes: a UHF interference signal collection and identification module and a UHF signal processing module;

[0020] The UHF interference signal collection and identification module is used to collect and organize the UHF electromagnetic signals around the device under test within the radius of the device under test according to the voltage level of the device under test, and filter out the UHF interference signals by a clustering method;

[0021] The UHF signal processing module is used to perform time difference analysis on the UHF signal from which the UHF interference signal has been filtered out, and to perform charting and / or graphical processing on the analyzed data.

[0022] Optionally, the drone-mounted unit includes: a drone unit, a camera, and a control and communication unit;

[0023] The drone unit is used to carry a partial discharge detection unit to detect the device under test;

[0024] The camera is used to obtain image information of the device under test and its surroundings, and send the image information to the control communication unit;

[0025] The control communication unit is used to receive the signal processed by the partial discharge detection unit and the image signal acquired by the camera, and send the signal processed by the partial discharge detection unit and the image signal acquired by the camera to the handheld signal receiving and analysis terminal, and is also used to receive control information sent by the handheld signal receiving and analysis terminal, and control the motion trajectory of the drone unit according to the control signal.

[0026] Optionally, the partial discharge detection unit and the camera are both communicatively connected to the control communication unit via a wired connection.

[0027] In a second aspect, an embodiment of the present application provides a method for detecting ultra-high frequency partial discharge carried by a drone, characterized in that the method comprises:

[0028] The UAV-mounted unit carries a partial discharge detection unit and approaches the device under test. After approaching the device under test, the partial discharge detection unit detects the ultra-high frequency partial discharge signal generated by the partial discharge of the device under test;

[0029] When the UHF PD detection unit detects the UHF PD signal, it processes the UHF PD signal. At this time, the camera collects images of the device under test and the surrounding area of ​​the device under test to obtain corresponding image information.

[0030] The UAV-mounted unit sends the processed UHF partial discharge signal and the corresponding image information to the handheld signal receiving and analysis terminal, and the handheld signal receiving and analysis terminal generates a detection result based on the processed UHF partial discharge signal and the corresponding image information.

[0031] Beneficial effects:

[0032] The UHF partial discharge detection system carried by the UAV provided by the present invention has high scalability, can carry multiple sensors, and integrate multiple detection methods including partial discharge detection and video imaging; the device adopts a non-contact detection method, is light in weight, and is fully adapted to the UAV operating platform, with a high degree of integration, convenient operation, and safety and reliability; the device has high detection sensitivity, and can effectively diagnose faults such as internal discharge, suspended discharge, and tip discharge of substation equipment, and determine the fault location; it is adaptable to complex interference environments, suppresses various external interferences through multiple anti-interference means, improves the signal-to-noise ratio, and effectively improves the accuracy and sensitivity of partial discharge monitoring and detection, and can solve the problems of large signal attenuation and blind spots in traditional ground detection; the device obtains partial discharge data wirelessly, and quickly and accurately determines the location and shape of partial discharge fault points. state, and combines video imaging technology to take photos of defect points for evidence collection, which is convenient for subsequent fault handling; it has amplitude detection, phase spectrum detection, pulse spectrum detection and waveform spectrum detection functions, and has PRPD and PRPS spectrum functions; the device integrates partial discharge signals and temperature signals, which can provide a strong basis for the refined inspection and maintenance of equipment, eliminate equipment accidents in the bud in time, and effectively avoid accidents caused by equipment abnormalities; the ultra-high frequency partial discharge detection device adopts a fully sealed multi-cavity shielding design, has strong electromagnetic compatibility and anti-interference ability, and is equipped with analog digital hybrid filtering function, which can filter out a variety of interference signals to ensure the accuracy of monitoring data in a strong interference environment; the device signal transmission is integrated into the UAV flight control system, which increases the transmission distance and expands the inspection range compared to wireless transmission. The signal display interface is integrated into the flight controller operation interface, which reduces the cumbersomeness of user operation compared to the flat panel display. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural schematic diagram of a UHF partial discharge detection system carried by a UAV according to a preferred embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the three-dimensional structure of a partial discharge detection unit according to a preferred embodiment of the present invention;

[0035] Figure 3It is a structural block diagram of a partial discharge detection unit according to a preferred embodiment of the present invention;

[0036] Figure 4 A block diagram of the principle of a high-pass filter and a low-pass filter according to a preferred embodiment of the present invention;

[0037] Figure 5 A schematic diagram of a resistor attenuation network circuit according to a preferred embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a preventive conditioning unit circuit according to a preferred embodiment of the present invention;

[0039] Figure 7 A circuit diagram of a UHF partial discharge sensor signal acquisition, processing and transmission module according to a preferred embodiment of the present invention;

[0040] Figure 8 This is a flow chart of ultra-high frequency local amplifier data processing according to a preferred embodiment of the present invention;

[0041] Among them, 1. Partial discharge detection unit; 11. UHF antenna; 12. Channel conditioning module; 13. High-speed data acquisition unit; 14. Processing and analysis unit; 15. Shell; 2. UAV carrying unit; 3. Handheld signal receiving and analysis terminal. DETAILED DESCRIPTION

[0042] The technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are only 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.

[0043] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0044] See also Figure 1-8The embodiment of the present application provides a UHF partial discharge detection system carried by a drone, which is mainly composed of a drone-mounted unit 2, a partial discharge detection unit 1, and a handheld signal receiving and analyzing terminal 3. The partial discharge detection unit 1 is installed above the drone-mounted unit 2, and is mainly used to receive and collect electromagnetic wave signals generated by partial discharge of high-voltage electrical equipment, and at the same time process the collected electromagnetic wave signals and transmit them to the drone-mounted unit 2; the handheld signal receiving and analyzing terminal 3 is used to receive and display the partial discharge signals emitted by the drone-mounted unit 2.

[0045] The UHF partial discharge detection system based on a drone of the present invention realizes the detection of partial discharge at the fault point by carrying a partial discharge detection unit 1 on the drone, thereby discovering insulation defects of high-voltage equipment, and is easy to operate and highly safe; through the cooperation of the partial discharge detection unit 1 and the handheld signal receiving and analysis terminal 3 unit, the fault point can be displayed in the image, the detection accuracy is high and the display is more intuitive, thereby facilitating subsequent fault processing.

[0046] The drone flies in a safe area within the station and stays at key parts of the electrical equipment in the substation. Once partial discharge occurs on the surface of the electrical equipment, the UHF detection device installed at the bottom of the drone receives the UHF partial discharge high-frequency signal. The partial discharge detection unit 1 processes the partial discharge signal and transmits the data to the data analysis terminal via wireless transmission. The data analysis terminal counts and records various partial discharge signal types, discharge amplitudes, discharge times, fault severity and other partial discharge indicator parameters.

[0047] The UAV is equipped with a UHF sensor that couples UHF pulse signals, the frequency of which can be as high as several GHz. The detection frequency range is 300MHz-2000MHz, with high sensitivity and certain directionality, and the positioning effect is more obvious. The schematic diagram is as follows Figure 7 As shown, the UHF antenna 11 couples the electromagnetic wave signal radiated outward by local discharge from the fault point, and the channel conditioning module 12 filters, amplifies, and detects the high-frequency signal. The conditioned analog signal is converted into a digital signal by the signal acquisition, processing, and transmission module. The digital signal is wirelessly transmitted by the communication unit, and the handheld terminal receives the UHF wireless signal and the wireless image signal of the camera module.

[0048] like Figure 3 As shown, the partial discharge detection unit 1 includes a UHF antenna 11, a channel conditioning module 12, a high-speed data acquisition unit 13 and a processing and analysis unit 14;

[0049] The UHF antenna 11 is used to couple the electromagnetic wave signal radiated outward due to local discharge at the fault point of the electrical equipment. The channel conditioning module 12 is used to filter and amplify the electromagnetic wave signal. The high-speed data acquisition module is used to perform analog-to-digital conversion on the amplified data. The processing and analysis module is used to analyze and process the digital signal and transmit the analyzed signal to the drone carrying unit 2.

[0050] The channel regulation module and the channel conditioning module 12 include a high-pass filter, a low-pass filter, a resistor attenuation network and a gain-adjustable amplifier circuit; the high-pass filter, the low-pass filter, the resistor attenuation network and the gain-adjustable amplifier circuit are connected in sequence.

[0051] Specifically, the high-pass filter frequency band is 300 MHz, and the low-pass filter frequency band is 2000 MHz. Figure 4 As shown: the high-pass filter includes capacitors C1, C2, C3 and inductors L3, L4; the capacitors C1, C2, C3 are connected in series to the signal input end in sequence; one end of the inductor L3 is located between the capacitors C1 and C2, and the other end is connected to the negative input end of the high-pass filter; one end of the inductor L4 is located between the capacitors C2 and C3, and the other end is connected to the negative input end of the high-pass filter;

[0052] One end of the resistor R1 is connected to the output end of the high-pass filter, and the other end is connected to the input end of the low-pass filter.

[0053] The low-pass filter includes capacitors C4, C5, C6 and inductors L1 and L2. Inductors L1 and L2 are connected in series at the input end of the low-pass filter. One end of capacitor C4 is located between resistor R1 and inductor L1, and the other end is connected to the negative input end of the band-pass filter; one end of capacitor C5 is located between inductor L1 and inductor L2, and the other end is connected to the negative input end of the band-pass filter; one end of capacitor C6 is connected to the other end of inductor L2, and one end is connected to the negative input end of the band-pass filter.

[0054] like Figure 5 As shown, resistors R2 to R15 and relays JD1 to JD4 together form an adjustable resistance attenuation network, with optional attenuation of 20dB, 40dB, 60dB, 80dB, and 100dB. The control relay selects the attenuator combination mode, and the attenuation network ensures that the signal is not saturated. The attenuated signal is input to the gain-adjustable amplifier.

[0055] like Figure 6 As shown, operational amplifiers U1, U2, U3, U4 and resistors R16, R17, R18, R19, R20, R21 together constitute an operational amplifier conditioning unit. The single-stage amplification factor of U1, U2, U3 operational amplifiers is 40dB, and different amplification gains can be selected in conjunction with the resistor attenuation network. U4 serves as a follower circuit to ensure impedance matching of the back-end signal.

[0056] like Figures 2-3 As shown, Figure 3 The medium and ultra-high frequency antenna 11, the channel conditioning module 12, the data acquisition module, and the processing and analysis module are all installed on a shell 15. The ultra-high frequency antenna 11 is located at the bottom of the shell 15, and the channel conditioning module, the data acquisition module, and the processing and analysis module are located inside the shell 15.

[0057] The high-speed acquisition module can ensure accurate data acquisition, and the processing and analysis unit 14 obtains data analysis data. The handheld terminal has amplitude detection, phase spectrum detection, pulse spectrum detection and waveform spectrum detection functions, PRPD and PRPS spectrum functions, and fault type identification functions.

[0058] The processing and analysis module is composed of U1 advanced microcontroller, power supply and other peripheral circuits. The power supply supplies power to the channel conditioning module 12 and the signal acquisition, processing and transmission module. The microcontroller U1 converts the analog signal conditioned by the channel conditioning module 12 into a digital signal. The digital signal is sent to the communication unit through the communication interface, and the drone sends it wirelessly to the handheld signal receiving and analysis terminal 3 unit.

[0059] In a specific embodiment, the handheld signal receiving and analysis terminal 3 unit has amplitude detection, phase spectrum detection, pulse spectrum detection and waveform spectrum detection functions, and also has PRPD and PRPS spectrum functions, and fault type identification functions. The handheld signal receiving and analysis terminal 3 unit obtains partial discharge data and fault point images wirelessly, and quickly and accurately determines the location, morphology and fault type of the partial discharge fault point.

[0060] In a specific embodiment, the partial discharge detection unit 1 is installed on the drone-mounted unit 2 by screws, and the collected signal is sent to the drone-mounted unit 2 by wired connection, and then transmitted back to the handheld signal receiving and analysis terminal 3 by the drone-mounted unit 2 using its own control communication unit, thereby avoiding electromagnetic wave interference generated by the device under test when performing close-range signal transmission around the device under test.

[0061] In a specific embodiment, the data acquisition module 24 is an advanced microcontroller U1, and the microcontroller U1 converts the analog signal conditioned by the channel conditioning module 1223 into a digital signal, and the digital signal is transmitted to the drone carrying unit 2 via the serial port.

[0062] like Figure 7-Figure 8As shown, the analog signal conditioned by the channel conditioning module 1223 is connected to the 27# pin (ADC12_IN9) of the microcontroller, and the microcontroller ADC converts the analog signal conditioned by the channel conditioning module 1223 into a digital signal. The ADC resolution of the microcontroller is 12 bits, and the conditioned analog signal can be collected at a sampling rate of 2MHz, which can ensure the accuracy of data collection. The digitally processed data information is stored in the storage unit of the microcontroller. The 16 (USART2_TX) and 17 (USART2_RX) pins of the microcontroller are respectively connected to the serial port in the drone carrying unit 2 for serial communication. The drone carrying unit 2 transmits the stored digitized UHF signal and the flight position of the drone wirelessly, and the signal receiving and analyzing terminal 4 obtains the spatial position and partial discharge data of the drone in a wireless manner. Through the UHF interference signal collection and identification algorithm, the UHF signal result of filtering out the existing interference signal is obtained, and then through the UHF signal processing algorithm, considering the attenuation factors such as time difference and space, the location, shape and fault type of the partial discharge fault point are quickly and accurately determined.

[0063] The embodiment of the present application also provides a method for detecting ultra-high frequency partial discharge carried by a drone, characterized in that the method comprises:

[0064] The UAV carrying unit 2 carries the partial discharge detection unit 1 and approaches the device under test. After approaching the device under test, the partial discharge detection unit 1 detects the ultra-high frequency partial discharge signal generated by the partial discharge of the device under test;

[0065] When the UHF PD detection unit 1 detects the UHF PD signal, it processes the UHF PD signal. At this time, the camera collects images of the device under test and the surroundings of the device under test to obtain corresponding image information;

[0066] The drone-mounted unit 2 sends the processed UHF partial discharge signal and the corresponding image information to the handheld signal receiving and analyzing terminal 3, and the handheld signal receiving and analyzing terminal 3 generates a detection result based on the processed UHF partial discharge signal and the corresponding image information.

[0067] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A UHF partial discharge detection system carried by an unmanned aerial vehicle, characterized in that: include: UAV-mounted unit, partial discharge detection unit, and handheld signal receiving and analysis terminal; The partial discharge detection unit is used to collect and process ultra-high frequency partial discharge signals generated by partial discharge of high-voltage electrical equipment, and is also used to send the processed signals to the UAV carrying unit; The drone-mounted unit is used to carry a partial discharge detection unit, and is also used to send the signal processed by the partial discharge detection unit to the handheld signal receiving and analyzing terminal; The handheld signal receiving and analyzing terminal is used to communicate with the UAV carrying unit and obtain the detection result of ultra-high frequency partial discharge based on the communication result.

2. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 1, characterized in that: The local detection unit includes: a UHF antenna, a channel conditioning module, a high-speed data acquisition unit and a processing and analysis unit; The UHF antenna is used to receive electromagnetic wave signals radiated outwards from the fault point of the electrical equipment due to partial discharge; The channel conditioning module is used to filter and amplify the received electromagnetic wave signal; The high-speed data acquisition unit is used to perform digital-to-analog conversion on the amplified data; The processing and analysis unit is used to analyze and process the digital signal after the digital-to-analog conversion, and send the processed signal to the drone carrying unit.

3. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 2, characterized in that: The channel conditioning module includes: a high-pass filter, a low-pass filter, a resistor attenuation network and a gain-adjustable amplifier circuit, and the high-pass filter, the low-pass filter, the resistor attenuation network and the gain-adjustable amplifier circuit are connected in sequence.

4. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 3, characterized in that: The high-pass filter includes capacitors C1, C2, C3 and inductors L3, L4. The capacitors C1, C2, and C3 are connected in series at the signal input end in sequence. One end of the inductor L3 is located between the capacitors C1 and C2, and the other end is connected to the negative input end of the high-pass filter. One end of the inductor L4 is located between the capacitors C2 and C3, and the other end is connected to the negative input end of the high-pass filter. One end of the resistor R1 is connected to the output end of the high-pass filter, and the other end is connected to the input end of the low-pass filter.

5. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 3, characterized in that: The low-pass filter includes capacitors C4, C5, C6 and inductors L1 and L2. Inductors L1 and L2 are connected in series at the input end of the low-pass filter. One end of capacitor C4 is located between resistor R1 and inductor L1, and the other end is connected to the negative input end of the low-pass filter. One end of capacitor C5 is located between inductor L1 and inductor L2, and the other end is connected to the negative input end of the low-pass filter. One end of capacitor C6 is connected to the other end of inductor L2, and the other end is connected to the negative input end of the low-pass filter.

6. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 2, characterized in that: The UHF antenna, channel conditioning module, high-speed data acquisition unit and processing and analysis unit are all installed on a shell, the UHF antenna is located at the bottom of the shell, and the channel conditioning module, high-speed data acquisition unit and processing and analysis unit are located inside the shell.

7. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 2, characterized in that: The processing and analysis unit includes: a UHF interference signal collection and identification module and a UHF signal processing module; The UHF interference signal collection and identification module is used to collect and organize the UHF electromagnetic signals around the device under test within the radius of the device under test according to the voltage level of the device under test, and filter out the UHF interference signals by a clustering method; The UHF signal processing module is used to perform time difference analysis on the UHF signal from which the UHF interference signal has been filtered out, and to perform charting and / or graphical processing on the analyzed data.

8. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 1, characterized in that: The drone carrying unit includes: a drone unit, a camera, and a control and communication unit; The drone unit is used to carry a partial discharge detection unit to detect the device under test; The camera is used to obtain image information of the device under test and its surroundings, and send the image information to the control communication unit; The control communication unit is used to receive the signal processed by the partial discharge detection unit and the image signal acquired by the camera, and send the signal processed by the partial discharge detection unit and the image signal acquired by the camera to the handheld signal receiving and analysis terminal, and is also used to receive control information sent by the handheld signal receiving and analysis terminal, and control the motion trajectory of the drone unit according to the control signal.

9. The UHF partial discharge detection system carried by an unmanned aerial vehicle according to claim 8, characterized in that: The partial discharge detection unit and the camera are both connected to the control communication unit in a wired manner.

10. A method for detecting ultra-high frequency partial discharge carried by an unmanned aerial vehicle, characterized in that: The method comprises: The UAV-mounted unit carries a partial discharge detection unit and approaches the device under test. After approaching the device under test, the partial discharge detection unit detects the ultra-high frequency partial discharge signal generated by the partial discharge of the device under test; When the UHF PD detection unit detects the UHF PD signal, it processes the UHF PD signal. At this time, the camera collects images of the device under test and the surrounding area of ​​the device under test to obtain corresponding image information. The UAV-mounted unit sends the processed UHF partial discharge signal and the corresponding image information to the handheld signal receiving and analysis terminal, and the handheld signal receiving and analysis terminal generates a detection result based on the processed UHF partial discharge signal and the corresponding image information.

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