Insulator contamination online monitoring device

Abstract

The present invention relates to an online monitoring device for insulator contamination, comprising an unmanned aerial vehicle (UAV), a mounting mechanism, and a boom platform fixed to the mounting mechanism. The mounting mechanism comprises a fixed plate, a carrying plate, and a transverse movement mechanism. A lifting mechanism is disposed between the fixed plate and the transverse movement mechanism. The lifting mechanism drives the transverse movement mechanism to vertically elevate and lower, while the transverse movement mechanism drives the carrying plate to horizontally move. The transverse movement mechanism extends between the two booms of the UAV. The present invention can efficiently and high-quality acquire hyperspectral images of insulators. Furthermore, based on the application of hyperspectral imaging technology in detecting insulator contamination levels and identifying and analyzing contamination components, it can accurately identify insulator contamination characteristics.

Description

Technical Field

[0001] The present invention relates to an online monitoring device for insulator contamination, and in particular to an online monitoring device for insulator contamination based on an unmanned aerial vehicle (UAV) mounted hyperspectral camera for online acquisition of insulator hyperspectral images. Background Art

[0002] Key to ensuring the safe and stable operation of power systems (EPS) lies in online monitoring of transmission line insulator contamination levels to prevent flashovers. These flashovers typically result from the accumulation of contaminants on the insulator surface. Under humid conditions, these contaminants form a conductive layer, seriously endangering power grid safety. Traditional contamination detection methods, including manual inspection and offline sampling and analysis, suffer from inefficiency, lack of real-time performance, and susceptibility to human intervention. Therefore, they are unable to meet the demands of modern intelligent and automated power grids.

[0003] Hyperspectral imaging technology combines the advantages of spectroscopy and imaging techniques. While acquiring image information of target objects, it also provides rich spectral data, covering the spectral range from visible light to infrared and even wider, with extremely high spectral resolution. The integration of these spectral characteristics enables hyperspectral images to precisely reflect the microscopic characteristics of substances, including chemical composition and physical state, providing strong technical support for material identification and quantitative analysis. Given the unique advantages of hyperspectral image recognition technology, monitoring the degree of insulator contamination based on this technology is gaining increasing application. Hyperspectral imaging equipment is used to conduct online monitoring of transmission line insulators, acquiring real-time hyperspectral image data of the insulator surface. Subsequently, advanced image processing and spectral analysis algorithms are used to analyze the hyperspectral images and extract the spectral characteristics of contaminants on the insulator surface, enabling identification of contamination types and quantitative assessment of contamination levels.

[0004] Prior art typically uses drones equipped with hyperspectral cameras to capture objects or subjects to be inspected, thereby acquiring the required hyperspectral images. Examples include the Chinese utility model patent for a lightweight, push-broom hyperspectral imager mounted on a drone (CN216349116U), the Chinese invention patent for a drone-mounted hyperspectral imaging detection system (CN114332656A), and the Chinese invention patent for a remote sensing device and method for identifying lakes and wetlands based on drone-mounted hyperspectral imaging (CN116310266B). Using drones to capture images in open areas is easy, but power systems are complex due to the large number of insulators installed in various locations and configurations. High-voltage transmission towers often have numerous insulator strings, and the high-voltage lines crisscrossing the towers create a complex environment. In these situations, capturing images of the entire surface of an insulator using a drone is often difficult. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an on-line monitoring device for the contamination degree of an insulator.

[0006] In order to solve the above problems, the technical solution adopted by the present invention is:

[0007] An on-line monitoring device for insulator contamination, the key of which is that it includes:

[0008] UAV, wherein the UAV is a multi-rotor UAV;

[0009] A suspension mechanism for mounting a hyperspectral camera, the suspension mechanism comprising a fixed plate fixedly connected to the bottom of the UAV, a carrying plate, and a transverse movement mechanism; a lifting mechanism disposed between the fixed plate and the transverse movement mechanism, the lifting mechanism driving the transverse movement mechanism to vertically lift and lower; the carrying plate disposed on the transverse movement mechanism, the transverse movement mechanism driving the carrying plate to horizontally move; the transverse movement mechanism extending between the two cantilevers of the UAV;

[0010] The upper end of the boom platform is fixedly connected to the bottom of the carrying plate and moves vertically and horizontally with the carrying plate. The hyperspectral camera is set on the boom platform.

[0011] As an embodiment of the present invention, a support leg is provided under the fuselage of the drone, and a horizontal portion extending laterally is provided at the end of the support leg. When the lifting mechanism drives the transverse movement mechanism to the lowest point, the transverse movement mechanism overlaps the horizontal portion.

[0012] As an embodiment of the present invention, an opening is provided between two horizontal portions of a support leg located on the same side of the drone, and the opening is used to enable the boom head to move to the outside of the support leg.

[0013] As an embodiment of the present invention, the lifting mechanism includes a lifting motor fixed on the fixed plate, a winding wheel connected to the lifting motor, and four lifting ropes, one end of the four lifting ropes is respectively connected to the four corners of the carrying plate, and the other end is connected to the winding wheel through a rope path arranged on the carrying plate.

[0014] As an embodiment of the present invention, vertically downward columns are fixedly provided at the four corners of the fixing plate, and the columns are hollow structures. The hanging rope passes through the columns and is connected to the carrying plate.

[0015] As an embodiment of the present invention, an electromagnet for adsorbing the mounting plate is fixedly provided at the bottom end of the column.

[0016] As an embodiment of the present invention, the lifting mechanism also includes two support plates for fixing the transverse movement mechanism and two support links respectively arranged on both sides of the fixed plate, one end of the support link is hinged to one side of the fixed plate, and the other end is slidingly connected to the support plate on the corresponding side, and the two support links are cross-arranged.

[0017] As an embodiment of the present invention, a horizontally extending guide groove is provided on the side of the support plate, and an end shaft is provided at each end of the support link, one end shaft is hinged to the fixed plate, and the other end shaft is placed in the guide groove.

[0018] As an embodiment of the present invention, the transverse movement mechanism includes a linear module and a linear guide rail, the sliders of the linear module and the linear guide rail are fixedly connected to the carrying plate, and the linear module drives the carrying plate to move horizontally.

[0019] As an embodiment of the present invention, a flat overlapping portion is provided on the horizontal portion of the support leg, and an electromagnet for adsorbing the transverse movement mechanism is provided on the overlapping portion.

[0020] The beneficial effects of adopting the above technical solution are:

[0021] The insulator contamination online monitoring device provided by the present invention uses a drone equipped with a hyperspectral camera to collect hyperspectral images of insulators at high altitudes. Compared with fixed image acquisition devices, it has greater freedom and can collect images of insulators in different positions. In addition, due to the provision of a lifting mechanism and a horizontal movement mechanism, the hyperspectral camera can be driven to move within a certain space. As the hyperspectral camera descends and moves horizontally, it can move away from the drone body, avoiding interference from the drone body to the greatest extent when taking images. In particular, when taking upward-looking images of insulators, a more ideal position and angle can be found, which greatly improves the acquisition efficiency of hyperspectral images and improves the device's adaptability to different environments. Compared with the prior art method of suspending a mechanical arm below the drone, the suspension mechanism in this application has the advantages of a reasonable structure, controllable weight, and ideal displacement adjustment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 It is a structural schematic diagram of the suspension mechanism of the present invention.

[0024] Figure 3 It is a structural schematic diagram of the support connecting rod of the present invention.

[0025] Figure 4 It is a side structural schematic diagram of the lifting mechanism in the suspension mechanism of the present invention.

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the lifting mechanism in the suspension mechanism of the present invention.

[0027] Figure 6 It is a schematic diagram of the structure of the present invention in a usage state.

[0028] Figure 7 It is a structural schematic diagram of an embodiment of the mounting plate of the present invention.

[0029] Figure 8 It is a structural schematic diagram of another embodiment of the transverse movement mechanism of the present invention.

[0030] Among them: 1 drone, 1-1 leg, 1-2 horizontal part, 1-3 overlap part, 1-4 opening, 1-5 cantilever;

[0031] 2 suspension mechanism, 2-1 fixing plate, 2-2 carrying plate, 2-3 lifting motor, 2-4 linear module, 2-5 linear guide rail, 2-6 support plate, 2-7 guide groove, 2-8 supporting connecting rod, 2-9 column, 2-10 electromagnet, 2-11 winding wheel, 2-12 hanging rope, 2-13 end shaft, 2-14 bearing, 2-15 bushing, 2-16 positioning hole;

[0032] 2-17 crossbeam, 2-18 pulley, 2-19 timing belt, 2-20 counterweight;

[0033] 3-jib gimbal, 3-1 camera mount, 3-2 first connecting arm, 3-3 horizontal rotation motor, 3-4 second connecting arm, 3-5 vertical rotation motor;

[0034] 4. Hyperspectral camera. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clear, the invention is clearly and completely described below in conjunction with specific embodiments.

[0036] like Figure 1 The device for online monitoring of insulator contamination levels shown in the figure includes an unmanned aerial vehicle (UAV) 1, a suspension mechanism 2, and a boom platform 3 secured to the suspension mechanism. The UAV 1 is a multi-rotor drone, preferably a quadcopter or hexacopter. This embodiment employs a quadcopter. The angle between the two booms 1-5 on the quadcopter is 90 degrees, creating a large clearance and minimizing obstruction to the hyperspectral camera 4 below.

[0037] The suspension mechanism 2 is used to mount the hyperspectral camera 4. Figure 1 and Figure 2As shown, the suspension mechanism 2 includes a fixing plate 2-1 fixedly connected to the bottom of the drone 1, a carrying plate 2-2 and a transverse movement mechanism. The fixing plate 2-1 is fixedly connected to the bottom of the drone 1 by bolts.

[0038] A lifting mechanism is provided between the fixed plate 2-1 and the transverse mechanism, and the lifting mechanism drives the transverse mechanism to lift and lower vertically. The carrying plate 2-2 is provided on the transverse mechanism, and the carrying plate 2-2 and the transverse mechanism are controlled by the lifting mechanism to lift and lower synchronously.

[0039] The traverse mechanism drives the carrying plate 2-2 to move horizontally. The traverse mechanism extends between the two cantilevers 1-5 of the drone 1 and is parallel to the angle bisector between the two cantilevers 1-5 of the drone 1. The hyperspectral camera 4 moves horizontally as the carrying plate 2-2 is driven by the traverse mechanism, with its movement trajectory vertically coinciding with the angle bisector between the two cantilevers 1-5 of the drone 1. Placing the hyperspectral camera 4 exactly between the two cantilevers 1-5 provides ample space for upward-looking image capture, avoiding obstruction by the cantilevers and wings.

[0040] like Figure 1 As shown, in this embodiment, the upper end of the boom platform 3 is fixedly connected to the bottom center area of ​​the mounting plate 2-2, and moves vertically and horizontally with the mounting plate 2-2. The hyperspectral camera 4 is set on the boom platform 3. The boom platform 3 includes a camera base 3-1, a first connecting arm 3-2, a horizontal rotation motor 3-3, a second connecting arm 3-4, and a vertical rotation motor 3-5. One end of the first connecting arm 3-2 is fixedly connected to the top center of the camera base 3-1, and the other end is connected to the vertical rotation motor 3-5. One end of the second connecting arm 3-4 is connected to the vertical rotation motor 3-5, and the other end is connected to the horizontal rotation motor 3-3. The horizontal rotation motor 3-3 is fixedly set on the mounting plate 2-2. The hyperspectral camera 4 is fixedly set in the camera base 3-1. The horizontal rotation motor 3-3 drives the boom head 3 to drive the hyperspectral camera 4 to rotate horizontally, and the vertical rotation motor 3-5 drives the camera mount 3-1 to drive the hyperspectral camera 4 to rotate in the vertical direction to adjust the pitch angle to achieve shooting at a downward and upward angle.

[0041] like Figure 1As shown, the drone 1 is provided with legs 1-1 below its fuselage, each with a laterally extending horizontal portion 1-2 at its end. In this embodiment, a set of legs 1-1 is provided on either side of the bottom of the drone 1, with the two sets of legs 1-1 arranged symmetrically. Each set of legs 1-1 includes two symmetrically arranged legs. The legs are generally L-shaped, with the vertical sections extending obliquely outward and the horizontal sections extending horizontally inward. The oblique outward extension of the vertical sections allows the horizontal sections at the bottom ends of the legs 1-1 to define a larger contour. When the lifting mechanism drives the traversing mechanism to its lowest point, the traversing mechanism overlaps the horizontal portion 1-2. The legs 1-1 serve as the support structure for the traversing mechanism and the boom head 3. Compared to a suspended boom head or a suspended manipulator, this structure offers greater stability, preventing significant shaking and potentially producing higher-quality hyperspectral images. A shock-absorbing structure can also be provided on the boom head 3 to reduce vibration transmitted from the drone to the camera.

[0042] like Figure 1 As shown, an opening 1-4 is provided between the two horizontal portions 1-2 of the legs 1-1 on the same side of the drone 1. This opening 1-4 allows the boom platform 3 to move outside of the legs 1-1. In the prior art, the legs on one side of the drone 1-1 are typically closed, integral units. In this embodiment, these legs are configured as two independent legs 1-1 with an opening 1-4 between them. This opening 1-4 provides space for the boom platform 3, preventing it from being obstructed by the legs 1-1 as it moves outward with the traversing mechanism. This allows the hyperspectral camera 4 to be moved further away from the drone body, providing a wider field of view.

[0043] like Figure 4 and Figure 5 As shown, the lifting mechanism includes a lifting motor 2-3 fixed on the fixed plate 2-1, a winding wheel 2-11 connected to the lifting motor 2-3, and four suspension ropes 2-12. One end of the four suspension ropes 2-12 is connected to the four corners of the carrying plate 2-2 respectively, and the other end is connected to the suspension wheel 2-11 through a rope path provided on the carrying plate 2-2. The four corners of the fixed plate 2-1 are fixedly provided with vertically downward columns 2-9. The columns 2-9 are hollow structures. The suspension ropes 2-12 pass through the columns 2-9 and are connected to the carrying plate 2-2. The bottom end of the column 2-9 is fixedly provided with an electromagnet 2-10 for adsorbing the carrying plate 2-2. The rope path can be a hole provided on the carrying plate 2-2, or it can be grooved on its path and the suspension ropes can be confined in the groove with a cover plate or a clip.

[0044] The column 2-9 supports the carrying plate 2-2, maintaining a fixed distance from the fixed plate 2-1 when in the top position. The hollow tubular shape of the column 2-9 reduces weight and provides a path for the vertically downward lifting rope. The center of the electromagnet 2-10 also has a through hole for the rope to pass through. When the lifting mechanism drives the carrying plate 2-2 downward, the electromagnet 2-10 loses power, releasing the restraint on the carrying plate 2-2. The lifting motor 2-3 then activates and releases the rope 2-12. Gravity then causes the carrying plate 2-2, the boom head 3, and the hyperspectral camera 4 to descend. The speed at which the hyperspectral camera 4 descends depends on the speed at which the lifting motor 2-3 releases the rope 2-12. If the carrying plate 2-2 moves horizontally, the lifting motor 2-3 continues to release the rope 2-12. It can be seen that the lifting rope 2-12 is used to control the lifting of the carrying plate 2-2, the boom platform 3 and the hyperspectral camera 4. On the one hand, the lifting rope 2-12 has a simple structure and a small weight, which reduces the load of the drone. On the other hand, the lifting rope 2-12 is flexible and can facilitate the lateral movement of the carrying plate 2-2.

[0045] As another embodiment, the hanging point of the hanging rope 2-12 can also be set on the transverse movement mechanism. In this way, when the carrying plate 2-2 moves horizontally, it is no longer affected and constrained by the hanging rope 2-12.

[0046] like Figure 2 and Figure 6 As shown, the lifting mechanism also includes two support plates 2-6 for fixing the transverse movement mechanism and two support links 2-8 respectively arranged on both sides of the fixed plate 2-1. One end of the support link 2-8 is hinged to one side of the fixed plate 2-1, and the other end is slidably connected to the support plate 2-6 on the corresponding side. The two support links 2-8 are arranged crosswise. A horizontally extending guide groove 2-7 is provided on the side of the support plate 2-6. An end shaft 2-13 is provided at each end of the support link 2-8, one of which is hinged to the fixed plate 2-1, and the other end shaft 2-13 is placed in the guide groove 2-7. For details, see Figure 3 and Figure 4 As shown, the side of the fixed plate 2-1 is provided with a positioning hole 2-16. The end shaft 2-13 at the upper end of the support link 2-8 engages with the positioning hole 2-16, with a bearing 2-14 disposed therebetween. A bushing 2-15 is mounted on the end shaft 2-13 at the lower end of the support link 2-8 to reduce frictional resistance between the end shaft 2-13 and the guide groove 2-7. When the traverse mechanism moves vertically up and down, the support link 2-8 moves accordingly, preventing the traverse mechanism from swinging uncontrollably, which could cause the camera to become unstable and prevent high-quality images from being captured.

[0047] As another embodiment, the lifting mechanism can also use a motor-driven screw pair, where the screw pair is connected to the support plate 2-6 or the traverse mechanism. Although this provides better structural stability, the weight of the overall structure will be greatly increased, which will increase the load on the drone, requiring a higher-power drone or significantly reducing the drone's flight time.

[0048] like Figure 2 and Figure 7 As shown, the transverse movement mechanism includes a linear module 2-4 and a linear guide 2-5. The sliders of the linear module 2-4 and the linear guide 2-5 are fixedly connected to the carrier plate 2-2, and the linear module 2-4 drives the carrier plate 2-2 to move horizontally. The linear module 2-4 provides the power, and the linear guide 2-5 cooperates with the linear module 2-4 to ensure smooth movement of the carrier plate 2-2. It is understood that it is also feasible to replace the linear guide 2-5 with a linear module. However, the linear guide 2-5 has a simpler structure and is lighter in weight.

[0049] like Figure 8 As shown, as another embodiment, the transverse movement mechanism includes two parallel beams 2-17. The beams 2-17 are hollow square tubes with pulleys 2-18 at each end. The two pulleys are connected by a synchronous belt 2-19. One of the pulleys 2-18 is connected to a transverse movement drive motor (not shown). The pulleys in the two beams 2-17 are synchronized and linked. The carrying plate 2-2 is connected to the synchronous belt via a connector. The movement of the synchronous belt can drive the carrying plate 2-2 to move left and right. As a further improvement, the carrying plate 2-2 is connected to the upper half of the synchronous belt via a connector, and the counterweight 2-20 is connected to the lower half of the synchronous belt via a connector. In this way, the carrying plate 2-2 and the counterweight 2-20 always move in opposite directions. When the carrying plate 2-2 moves away from the drone 1, the counterweight 2-20 also moves in the opposite direction. This can offset the center of gravity shift of the drone 1 caused by the carrying plate and the load on it, helping to maintain the stability of the drone. The connector is connected to the synchronous belt via a slot provided on the beam 2-17.

[0050] like Figure 1 As shown, in this embodiment, a flat overlapping portion 1-3 is provided on the horizontal portion 1-2 of the support leg 1-1, and an electromagnet (not shown in the figure) for adsorbing the transverse movement mechanism is provided on the overlapping portion 1-3. When the transverse movement mechanism falls on the overlapping portion 1-3, the electromagnet on the overlapping portion 1-3 is energized to adsorb the transverse movement mechanism to prevent it from shaking and maintain stability.

[0051] When using the insulator contamination online monitoring device described in this embodiment, when the insulator environment is relatively complex and the hyperspectral camera 4 cannot obtain a relatively ideal shooting angle, especially the upward viewing angle, the electromagnet 2-10 loses power, so that the carrying plate 2-2 releases the magnetic adsorption, and the lifting motor 2-3 works at the same time, releasing the suspension rope 2-12, and the carrying plate 2-2, the lateral movement mechanism, the boom platform 3 and the hyperspectral camera 4 slowly descend under the force of gravity. At the same time, the supporting connecting rod 2-18 maintains the overall stability to avoid shaking. As the height of the hyperspectral camera 4 decreases, the distance between it and the fuselage of the drone becomes larger and larger, and the upward viewing field obtained by the hyperspectral camera 4 will be larger. In order to avoid the carrying plate 2-2 affecting the upward viewing field of the hyperspectral camera 4, such as Figure 7 As shown, the mounting plate 2 - 2 is arranged in an “I” shape, which not only prevents the mounting plate 2 - 2 from blocking the hyperspectral camera 4 , but also reduces the weight of the device.

[0052] When the traversing mechanism reaches its lowest point, its ends overlap the overlapping portions 1-3 of the drone's legs 1-1. Simultaneously, the electromagnets on the overlapping portions 1-3 are energized, attracting the traversing mechanism. If the hyperspectral camera 4 still cannot achieve the desired angle, the traversing mechanism can continue to operate, while the lifting motor 2-3 continues to release the suspension ropes, moving the hyperspectral camera 4 away from the drone's fuselage until it achieves the desired angle. The four suspension ropes are wound around a reel for synchronized retraction and release. The upper ends of the four suspension ropes can be joined together and connected to the reel via a single suspension rope. The suspension ropes are preferably thin steel wire ropes. To prevent the leg 1-1 from obstructing the hyperspectral camera 4's continued movement when it approaches the leg 1-1, an opening 1-4 is provided between the two horizontal portions 1-2 of the leg 1-1 on the same side of the drone 1, eliminating any obstructions in its path.

[0053] like Figure 6 As shown in FIG, when the hyperspectral camera 4 moves to the edge of the transverse movement mechanism, it rotates upward under the action of the vertical rotation motor 3-5 to form an upward viewing angle. Figure 1 and Figure 6 As shown, the length of the illustrated transverse movement mechanism is only one embodiment. In order to obtain a larger shooting angle and field of view adjustment, the transverse movement mechanism can have a longer length, that is, it can extend a certain length to the outside of the support leg as needed.

[0054] The online insulator contamination monitoring device provided in this embodiment can efficiently acquire hyperspectral images of insulators from different viewing angles in complex environments. These images are then transmitted to an analysis system via a wireless transmission module or, after capture, via wired transmission for insulator contamination analysis. The analysis system can also utilize an established hyperspectral image database of insulator contamination and an insulator contamination component identification model to accurately identify insulator contamination characteristics.

[0055] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An on-line monitoring device for insulator contamination, characterized in that: It includes: UAV (1), wherein the UAV (1) is a multi-rotor UAV; A suspension mechanism (2) for mounting a hyperspectral camera (4), the suspension mechanism (2) comprising a fixing plate (2-1) for fixed connection to the bottom of the UAV (1), a carrying plate (2-2) and a transverse movement mechanism, a lifting mechanism being provided between the fixing plate (2-1) and the transverse movement mechanism, the lifting mechanism driving the transverse movement mechanism to vertically lift and lower, the carrying plate (2-2) being provided on the transverse movement mechanism, the transverse movement mechanism driving the carrying plate (2-2) to horizontally move; an extension direction of the transverse movement mechanism being located between the two cantilevers of the UAV (1); A boom platform (3) having an upper end fixedly connected to the bottom of the carrying plate (2-2) and moving vertically and horizontally with the carrying plate (2-2), wherein the hyperspectral camera (4) is arranged on the boom platform (3); A support leg (1-1) is provided below the fuselage of the drone (1), and a horizontal portion (1-2) extending laterally is provided at the end of the support leg; when the lifting mechanism drives the transverse movement mechanism to descend to the lowest point, the transverse movement mechanism overlaps the horizontal portion (1-2); An opening (1-4) is provided between two horizontal portions (1-2) of the supporting legs (1-1) located on the same side of the UAV (1), and the opening (1-4) is used to enable the boom platform (3) to move to the outside of the supporting legs (1-1); The lifting mechanism comprises a lifting motor (2-3) fixed on the fixed plate (2-1), a winding wheel (2-11) connected to the lifting motor (2-3), and four suspension ropes (2-12), one end of the four suspension ropes (2-12) being respectively connected to the four corners of the carrying plate (2-2), and the other end being connected to the winding wheel (2-11) via a rope path provided on the carrying plate (2-2); Vertically downward columns (2-9) are fixedly provided at the four corners of the fixed plate (2-1); the columns (2-9) are hollow structures; the suspension ropes (2-12) pass through the columns (2-9) and are connected to the carrying plate (2-2); An electromagnet (2-10) for adsorbing the carrying plate (2-2) is fixedly provided at the bottom end of the column (2-9); A flat overlapping portion (1-3) is provided on the horizontal portion (1-2) of the supporting leg (1-1), and an electromagnet for adsorbing the transverse movement mechanism is provided on the overlapping portion (1-3).

2. The insulator contamination online monitoring device according to claim 1, characterized in that: The lifting mechanism further comprises two support plates (2-6) for fixing the transverse movement mechanism and two support connecting rods (2-8) respectively arranged on both sides of the fixed plate (2-1), one end of the support connecting rod (2-8) being hinged to one side of the fixed plate (2-1), and the other end being slidably connected to the support plate (2-6) on the corresponding side, and the two support connecting rods (2-8) being arranged crosswise.

3. The insulator contamination online monitoring device according to claim 2, characterized in that: A horizontally extending guide groove (2-7) is provided on the side of the support plate (2-6), and an end shaft (2-13) is provided at each end of the support connecting rod (2-8), one end shaft (2-13) is hinged to the fixed plate (2-1), and the other end shaft (2-13) is placed in the guide groove (2-7).

4. The insulator contamination online monitoring device according to claim 1, characterized in that: The transverse movement mechanism comprises a linear module (2-4) and a linear guide rail (2-5); the sliders of the linear module (2-4) and the linear guide rail (2-5) are fixedly connected to the carrying plate (2-2); and the linear module (2-4) drives the carrying plate (2-2) to move horizontally.

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