Visual insulation pull rod for replacing 110-500kV insulator string and operation method

Abstract

The invention relates to the technical field of insulator string replacement, and provides a visual insulating pull rod for replacing a 110-500kV insulator string and an operation method, and the visual insulating pull rod can be used for replacing a 110-500kV insulator string by monitoring the tension data between a horizontal double-split conductor hook and a rainproof insulating pull rod in real time, and carrying out the preprocessing of the tension data and the overload early warning analysis of the insulating pull rod. The real-time tension value and an insulation pull rod overload early warning analysis result are sent to MR glasses, and the real-time tension value and an insulation pull rod early warning state are displayed through the MR glasses, so that the stress condition of the hot-line work tool is monitored in real time, an operator can conveniently know the stress condition of the hot-line work tool, and equipment damage and personnel injury are avoided; the rainproof insulating pull rod adopts a composite material and a silicone rubber umbrella skirt, so that the insulating property of damp in a humid environment can be improved; the real-time tension value and the early warning state of the insulating pull rod are displayed in the MR glasses, so that an operator can check conveniently, and the operation safety is improved without manually operating equipment.

Description

Technical Field

[0001] The invention relates to the technical field of insulator string replacement, in particular to a visual insulating pull rod and an operation method for replacing a 110-500kV insulator string. Background Art

[0002] 110-500kV transmission lines are high-voltage and ultra-high-voltage lines in the power network, responsible for the long-distance transmission of large-capacity electricity. 110kV lines are generally used for power supply in towns and small and medium-sized cities, while 220kV lines are suitable for larger cities and medium-distance regional power transmission. 330kV and 500kV lines are used for large-capacity power transmission over longer distances. The stability of line operation is of great significance to alleviating the contradiction between power supply and demand and ensuring safe and reliable power supply. 110-500kV transmission lines are composed of conductors, poles, insulators and grounding systems. The conductors are usually aluminum alloy or steel-core aluminum stranded wire, and the poles are steel structures to support the conductors. The main purpose of the insulator is to fix the conductors on the poles and insulate the conductors from the poles.

[0003] As the service life of transmission lines increases, problems in the operation and maintenance of transmission lines become more prominent. Insulators are exposed to ultraviolet rays, acid rain and polluted environments for a long time, and insulator materials such as ceramics and glass will gradually age, resulting in a decrease in insulation performance; insulators are subjected to wind, ice and snow loads or external impacts (such as bird activities or falling branches) and can cause mechanical damage; overvoltage events such as lightning strikes or power grid failures may cause local breakdown or flashover, weakening insulation performance, so insulator strings need to be replaced regularly. In actual operations, in order to ensure the stability of power supply, 110-500kV insulator strings need to be replaced under power.

[0004] When replacing 110-500kV insulator strings under power, the load on the insulator strings needs to be transferred. When transferring the load, the conductors and the towers need to be insulated. Although the existing live working tools have certain electrical insulation performance, they have poor moisture resistance, which affects the safety of the work. At the same time, the existing live working tools lack real-time force monitoring and early warning functions. When transferring the load on the insulator strings, the operators cannot timely know the force conditions of the live working tools, and cannot find the overload risk, resulting in equipment damage and personnel injuries.

[0005] Based on this, the present invention proposes a visualized insulating pull rod and operation method for replacing 110-500kV insulator strings to monitor the stress conditions of live working tools in real time, so that operators can understand the stress status of live working tools. According to the feedback of the stress conditions of live working tools during live working, operators can adjust operations according to the feedback information, thereby avoiding work stoppages and accidents caused by excessive force, improper use of live working tools, etc. Summary of the invention

[0006] The purpose of the present invention is to address the deficiencies of the prior art and to provide a visual insulating pull rod and operating method for replacing a 110-500kV insulator string, so as to monitor the stress conditions of live working tools in real time, so that operators can understand the stress state of live working tools. According to the feedback of the stress conditions of live working tools during live working, operators can adjust operations according to the feedback information, so as to avoid work stoppage accidents caused by excessive force, improper use of live working tools or the like.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A visual insulating pull rod for replacing a 110-500kV insulator string, comprising: a horizontal double-split conductor hook mounted on a conductor, a tension dynamometer with one end detachable from the horizontal double-split conductor hook, a rainproof insulating pull rod detachably connected to the other end of the tension dynamometer, a control terminal, and MR glasses; the vacant end of the rainproof insulating pull rod is connected to a tightening screw rod; the control terminal is respectively connected to the tension dynamometer and the rainproof insulating pull rod for communication;

[0009] The tension dynamometer comprises: a tension detection sensor, a control module, a transmission module, and a power supply module; the tension detection sensor is used to detect the tension data between the horizontal double-split wire hook and the rainproof insulating pull rod, and output the tension data to the control module; the control module packages the data output by the tension detection sensor and outputs it to the control terminal through the transmission module;

[0010] The control terminal is used to receive the tension data output by the tension dynamometer, pre-process the tension data and perform insulation rod overload warning analysis, and send the real-time tension value and insulation rod overload warning analysis results to the MR glasses;

[0011] The MR glasses display the tension data and the insulation pull rod overload warning analysis results in real time.

[0012] Preferably, a bowl-shaped groove is provided on the top of the tension dynamometer, which is clamped with a ball head provided on the rainproof insulating pull rod; a ball head is provided on the bottom of the tension dynamometer, which is clamped with a bowl-shaped groove provided on the top of the horizontal double-split conductor hook.

[0013] Preferably, the control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer, and the steps are as follows:

[0014] Step a1, define state variables;

[0015] The current tension value F is the system state, and the predicted tension value is The observed tension value is F t ;

[0016] The state model is:

[0017] F k =F k-1 +w k ;

[0018] Among them, w k is the process noise, which obeys N(0,Q);

[0019] Step a2, define the observation model;

[0020] F t =F k +v k ;

[0021] Among them, v k To measure noise, obey N(0, R);

[0022] Step a3, filtering;

[0023] Prediction stage:

[0024]

[0025] in, is the predicted tensile force value, is the covariance of the predicted tension value;

[0026] Update phase:

[0027]

[0028]

[0029] Among them, K k is the Kalman gain, which is used to balance the influence of the predicted value and the observed value; is the updated tension value; P k is the updated tension value covariance;

[0030] Get a smoothed tension value data series

[0031] Preferably, the control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer and then performs abnormal value detection. The abnormal value detection steps are as follows:

[0032] Step b1, sliding window definition: using a sliding window of length n, calculating the mean μ and standard deviation σ of the latest n filtering results;

[0033] Step b2, outlier formula;

[0034]

[0035] Step b3: Compare the absolute value of the Z value obtained in step 2 with the threshold. If the absolute value of the Z value is greater than the threshold, it is considered that the current is an outlier;

[0036] Step b4: Mark and remove outliers and fill in the window mean.

[0037] Preferably, the control terminal performs the following steps for analyzing the overload warning of the insulating pull rod:

[0038] Step c1, calculation of tension deviation;

[0039]

[0040] Among them, ΔF is the current tension value F, F threshold To set a safety threshold;

[0041] Step c2, judging the early warning state of the insulation pull rod;

[0042] The judgment rules are:

[0043] Normal state: ΔF≤0.8F threshold ;

[0044] Warning status: 0.8F threshold <ΔF≤0.9F threshold ;

[0045] Dangerous state: ΔF>0.9F threshold .

[0046] Preferably, the control terminal optimizes the accuracy of insulation pull rod overload warning analysis through Bayesian network inference, and the steps are as follows:

[0047] Step d1, establish a Bayesian network model; use the Bayesian formula to calculate the probability of the current tension overload state, the formula is:

[0048]

[0049] Among them, A represents the event that the tension value exceeds the safety threshold, B represents the event that triggers the warning signal, P(A|B) is the probability of tension overload when the warning signal is triggered, P(B|A) is the conditional probability of triggering the warning signal when the tension is overloaded, P(A) is the prior probability of tension overload, and P(B) is the probability of all warning signals occurring;

[0050] Step d2, parameter calculation and update;

[0051] Initial calculation: Through historical data statistics, the following parameters are calculated: P(A) the historical probability of tensile overload events; P(B|A) the frequency of triggering warning signals when tensile overload occurs; P(B) the total frequency of triggering warning signals, and the calculation formula is: in, A indicates that the tension is not overloaded; combined with real-time monitoring data, the values ​​of P(A), P(A|B) and P(B) are dynamically updated;

[0052] use As the triggering basis of event A, when the calculated Bayesian probability P(A|B) exceeds the preset threshold T, it is judged as an overload state and triggers a warning signal;

[0053] According to the value range of P(A|B), it is divided into the following three states:

[0054] Normal state: P(A|B)≤T1;

[0055] Warning status: T1 <P(A∣B)≤T2;

[0056] Dangerous state: P(A∣B)>T2.

[0057] Preferably, the warning state corresponds to different warning display states of the MR glasses, specifically: in normal state, a green border is displayed; in warning state, an orange border is displayed and prompt information is superimposed; in danger state, a red border is displayed and sound and vibration prompts are triggered.

[0058] A visual insulation pull rod operation method for replacing a 110-500 kV insulator string, using the visual insulation pull rod for replacing a 110-500 kV insulator string, comprising the following steps:

[0059] S1. Check whether safe working conditions are met;

[0060] S2. Prepare live working tools; operators check whether all components of live working equipment are intact;

[0061] S3. Install live working tools; hook the horizontal double-split conductor hook to the double-split conductor on the power line, connect the tension dynamometer and the rainproof insulating rod in sequence, and connect the free end of the rainproof insulating rod to the tightening screw rod;

[0062] S4. Start tension monitoring. After the live working tools are installed, the tension dynamometer detects the tension data between the horizontal double-split conductor hook and the rainproof insulating pull rod in real time, and outputs the tension data to the control module. The control module pre-processes the tension data and transmits it to the MR glasses for display. At this time, the insulator string is replaced, and the lead screw is gradually tightened to transfer the load on the insulator string. After the insulator string is subjected to the load transfer, the old insulator string is removed and replaced with a new one. The operator adjusts the operation accordingly according to the displayed tension data.

[0063] S5. After the insulator string is replaced, remove the live working tools and leave the electric field.

[0064] Preferably, when the insulator string is replaced in step S4, the control terminal receives the tension data output by the tension dynamometer, and pre-processes the tension data and performs overload warning analysis, and divides the warning status of the insulating pull rod into normal status, warning status, and dangerous status, and at the same time sends the real-time tension value and the insulating pull rod overload warning analysis result to the MR glasses; the MR glasses present the tension value and the insulating pull rod overload status to the operator in the form of a floating frame, and the operator adjusts the operation accordingly according to the information displayed by the MR glasses.

[0065] Preferably, the operator adjusts the operation accordingly according to the information displayed by the MR glasses: if the MR glasses display that the warning state of the insulation pull rod is a warning state, immediately suspend the operation, observe whether there is any improper use of the live working tools, and try to continue the operation after eliminating the improper use. If the tension value has no obvious change, continue to complete the insulator string replacement operation; if the tension value increases rapidly, re-eliminate whether there is any improper use of the live working tools; if the MR glasses display that the warning state of the insulation pull rod is a dangerous state, stop the operation immediately, and comprehensively check for hidden dangers in the operation until the MR glasses display that the warning state of the insulation pull rod is a warning state or a normal state.

[0066] The present invention discloses a visual insulating pull rod and operation method for replacing a 110-500kV insulator string, which has the following beneficial effects.

[0067] The present invention uses real-time tension data between a horizontal double-split conductor hook and a rainproof insulating pull rod, pre-processes the tension data and performs insulating pull rod overload warning analysis, sends the real-time tension value and insulating pull rod overload warning analysis result to MR glasses, and displays the real-time tension value and insulating pull rod warning status through the MR glasses to monitor the stress condition of live working tools in real time, so that operators can understand the stress condition of live working tools and avoid equipment damage and personnel injuries; the rainproof insulating pull rod adopts composite materials and silicone rubber umbrella skirts to improve the insulation performance under humid environment; by displaying the real-time tension value and insulating pull rod warning status in the MR glasses, operators can check them conveniently without manual operation of the equipment, which improves the operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a partial structural schematic diagram of the present invention.

[0069] Figure 2 It is a schematic structural diagram of the tension dynamometer of the present invention.

[0070] Figure 3 It is a schematic diagram of the connection between the rainproof insulating pull rod and the tension dynamometer of the present invention.

[0071] Figure 4 It is a schematic diagram of the connection between the horizontal double-split wire hook and the tension dynamometer of the present invention.

[0072] Figure 5 It is a flow chart of tension data transmission of the present invention.

[0073] Figure 6 The present invention discloses a visualized insulation rod pulling operation method for replacing a 110-500kV insulator string.

[0074] In the attached figure: 1-horizontal double-split wire hook; 2-rainproof insulating pull rod; 3-MR glasses; 4-tension dynamometer; 5-transmission module; 6-battery box; 7-spring; 8-battery; 9-circuit board; 10-ball head; 11-M locking pin; 12-bowl-shaped groove; 13-card slot. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0076] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0077] Example 1

[0078] Reference Figures 1 to 5A visual insulating rod for replacing a 110-500kV insulator string comprises: a horizontal double-split conductor hook 1 mounted on a conductor, a tension dynamometer 4 detachable from the horizontal double-split conductor hook 1 at one end, a rainproof insulating rod 2 detachably connected to the tension dynamometer 4 at the other end, a control terminal, and MR glasses 3; the vacant end of the rainproof insulating rod 2 is connected to a tightening screw rod; the control terminal is respectively connected to the tension dynamometer 4 and the rainproof insulating rod 2 for communication; the rainproof insulating rod 2 is made of composite material, and a silicone rubber umbrella skirt is provided on the rainproof insulating rod 2.

[0079] The tension dynamometer 4 includes: a tension detection sensor, a control module, a transmission module 5, and a power supply module. In this embodiment, the power supply module is electrically connected to the tension detection sensor, the control module, and the transmission module 5 respectively. The power supply module provides electric energy for the tension detection sensor, the control module, and the transmission module 5. The power supply module is powered by a battery 8, and the battery 8 is placed in a battery box 8. A spring 7 is provided between the battery 8 and the battery box 8. The control module and the transmission module 5 are integrated on a circuit board 9. The transmission module 5 uses a wireless transmission chip E220-400T22S to transmit data, and the control module uses an STM32F429VET6 single-chip microcomputer; the tension detection sensor is used to detect the tension data between the horizontal double-split wire hook 1 and the rainproof insulating pull rod 2, and output the tension data to the control module; the control module packages the data output by the tension detection sensor and outputs it to the control terminal through the transmission module 5. The control terminal can use a terminal device such as a laptop computer, which is not specifically limited in this embodiment;

[0080] The control terminal is used to receive the tension data output by the tension dynamometer 4, and pre-process the tension data and analyze the insulation rod overload warning. At the same time, the real-time tension value and the insulation rod overload warning analysis result are sent to the MR glasses 3. The MR glasses 3 adopt the commercially available Thunderbird Air3 smart glasses;

[0081] The MR glasses 3 display the tension data and the insulation pull rod overload warning analysis results in real time. The MR glasses 3 provide the operators with real-time tension monitoring data and the insulation pull rod overload warning analysis results, helping the operators to judge the insulation pull rod warning status in real time. The operators adjust the operations according to the feedback. In this embodiment, as an option, the MR glasses 3 have a gesture recognition function. The operators can enable / disable alarms and view historical data through gestures.

[0082] For quick installation of live working tools, please refer to Figure 3 and Figure 4Preferably, in this embodiment, a bowl-shaped groove 12 is provided on the top of the tension dynamometer 4, and the bowl-shaped groove 12 is clamped with the ball head 10 provided on the rainproof insulating pull rod 2; a ball head 10 is provided at the bottom of the tension dynamometer 4, and the ball head 10 is clamped with the bowl-shaped groove 12 provided on the top of the horizontal double-split conductor hook 1, and a penetrating clamping groove 13 is provided in the bowl-shaped groove 12 at the top of the tension dynamometer 4 and the top of the horizontal double-split conductor hook 1, and the ball head 10 is locked with the bowl-shaped groove 12 through the M locking pin 11, and the clamping groove 13 is used to fix the tail of the M locking pin 11.

[0083] Example 2

[0084] Based on Example 1, in this embodiment, the control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer 4, and the steps are as follows:

[0085] Step a1, define state variables;

[0086] The current tension value F is the system state, and the predicted tension value is The observed tension value is F t ;

[0087] The state model is:

[0088] F k =F k-1 +w k ;

[0089] Among them, w k is the process noise, which obeys N(0,Q);

[0090] Step a2, define the observation model;

[0091] F t =F k +v k ;

[0092] Among them, v k To measure noise, obey N(0, R);

[0093] Step a3, filtering;

[0094] Prediction stage:

[0095]

[0096] in, is the predicted tensile force value, is the covariance of the predicted tension value;

[0097] Update phase:

[0098]

[0099] Among them, Kk is the Kalman gain, which is used to balance the influence of the predicted value and the observed value; is the updated tension value; P k is the updated tension value covariance;

[0100] Get a smoothed tension value data series

[0101] Preferably, in this embodiment, the control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer 4 and then performs abnormal value detection. The abnormal value detection steps are as follows:

[0102] Step b1, sliding window definition: using a sliding window of length n, calculating the mean μ and standard deviation σ of the latest n filtering results;

[0103] Step b2, outlier formula;

[0104]

[0105] Step b3: Compare the absolute value of the Z value obtained in step 2 with the threshold. If the absolute value of the Z value is greater than the threshold, it is considered that the current is an outlier;

[0106] Step b4: Mark and remove outliers and fill in the window mean.

[0107] Preferably, in this embodiment, the control terminal performs the following steps for analyzing the overload warning of the insulation rod:

[0108] Step c1, calculation of tension deviation;

[0109]

[0110] Among them, ΔF is the current tension value F, F threshold The safety threshold is set;

[0111] Step c2, judging the early warning state of the insulation pull rod;

[0112] The judgment rules are:

[0113] Normal state: ΔF≤0.8F threshold ;

[0114] Warning status: 0.8F threshold <ΔF≤0.9F threshold ;

[0115] Dangerous state: ΔF>0.9F threshold .

[0116] Preferably, the warning state in this embodiment corresponds to different warning display states of the MR glasses 3, specifically: normal state, displaying a green border; warning state, displaying an orange border and superimposing prompt information; dangerous state, displaying a red border, and triggering sound and vibration prompts.

[0117] Example 3

[0118] Based on Example 1-2, in this embodiment, the control terminal optimizes the accuracy of insulation rod overload warning analysis through Bayesian network inference, and the steps are as follows:

[0119] Step d1, establish a Bayesian network model; use the Bayesian formula to calculate the probability of the current tension overload state, the formula is:

[0120]

[0121] Among them, A represents the event that the tension value exceeds the safety threshold, B represents the event that triggers the warning signal, P(A|B) is the probability of tension overload when the warning signal is triggered, P(B|A) is the conditional probability of triggering the warning signal when the tension is overloaded, P(A) is the prior probability of tension overload, and P(B) is the probability of all warning signals occurring;

[0122] Step d2, parameter calculation and update;

[0123] Initial calculation: Through historical data statistics, the following parameters are calculated: P(A) the historical probability of tension overload events; P(B|A) the frequency of triggering warning signals when tension overload occurs; P(B) the total frequency of triggering warning signals, and the calculation formula is: in, Indicates the situation that the pulling force is not overloaded; combined with real-time monitoring data, the values ​​of P(A), P(A|B) and P(B) are dynamically updated; in this embodiment, the update process of the Bayesian network parameters is further optimized through the reward function mechanism, and the reward function is: R=α·(1-|P(A|B)-Ytrue|)-β·E; where Ytrue is the actual state (0 or 1) of whether the current pulling force is overloaded; E is the count of false alarm or missed events; α and β are the weight factors of the reward item and the penalty item respectively, P(a|B) is the currently calculated overload probability, the reward function value is calculated by the matching situation of the actual warning signal and the actual overload state, and the parameter update step size is adjusted according to the reward value.

[0124] use As the triggering basis of event A, when the calculated Bayesian probability P(A|B) exceeds the preset threshold T, it is judged as an overload state and triggers a warning signal;

[0125] According to the value range of P(A|B), it is divided into the following three states:

[0126] Normal state: P(A|B)≤T1;

[0127] Warning status: T1 <P(A∣B)≤T2;

[0128] Dangerous state: P(A∣B)>T2.

[0129] Example 4

[0130] Please refer to Figure 6 Based on Embodiments 1-3, this embodiment provides a visual insulation rod operation method for replacing a 110-500kV insulator string. Using the visual insulation rod operation method for replacing a 110-500kV insulator string, the method includes the following steps:

[0131] S1. Check whether safe working conditions are met;

[0132] S2. Prepare live working tools; operators check whether all components of live working equipment are intact;

[0133] S3, install live working tools; hang the horizontal double-split conductor hook 1 on the double-split conductor on the power line, connect the tension dynamometer 4 and the rainproof insulating rod 2 in sequence, and connect the idle end of the rainproof insulating rod 2 to the tightening screw rod;

[0134] S4, start tension monitoring; after installing the live working tool, the tension dynamometer 4 detects the tension data between the horizontal double-split conductor hook 1 and the rainproof insulating rod 2 in real time, and outputs the tension data to the control module; the control module pre-processes the tension data and transmits it to the MR glasses 3 for display, at this time, the insulator string is replaced, the lead screw is gradually tightened to transfer the load on the insulator string, and after the insulator string is subjected to the load transfer, the old insulator string is removed and replaced with a new insulator string, and the operator adjusts the operation accordingly according to the displayed tension data;

[0135] Preferably, when the insulator string is replaced in step S4 of the present embodiment, the control terminal receives the tension data output by the tension dynamometer 4, pre-processes the tension data and performs overload warning analysis, divides the warning state of the insulating rod into normal state, warning state, and dangerous state, and sends the real-time tension value and the insulation rod overload warning analysis result to the MR glasses 3; the MR glasses 3 present the tension value and the insulation rod overload state to the operator in the form of a floating frame, and the operator adjusts the operation accordingly according to the information displayed by the MR glasses 3;

[0136] Preferably, in this embodiment, the operator adjusts the operation accordingly according to the information displayed by the MR glasses 3 as follows: if the MR glasses 3 display that the insulation pull rod warning state is the warning state, immediately suspend the operation, observe whether there is any improper use of the live working tools, and try to continue the operation after eliminating the improper use. If the tension value has no obvious change, continue to complete the insulator string replacement operation; if the tension value increases rapidly, eliminate again whether there is any improper use of the live working tools; if the MR glasses 3 display that the insulation pull rod warning state is a dangerous state, immediately stop the operation, and comprehensively check for hidden dangers in the operation until the MR glasses 3 display that the insulation pull rod warning state is a warning state or a normal state.

[0137] S5. After the insulator string is replaced, remove the live working tools and leave the electric field.

[0138] The above are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution may be a substitution of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A visual insulating pull rod for replacing 110-500kV insulator strings, characterized in that: include: A horizontal double-split conductor hook mounted on the conductor, a tension dynamometer with one end detachable from the horizontal double-split conductor hook, a rainproof insulating pull rod detachably connected to the other end of the tension dynamometer, a control terminal, and MR glasses; the vacant end of the rainproof insulating pull rod is connected to the tightening screw rod; the control terminal is respectively connected to the tension dynamometer and the rainproof insulating pull rod for communication; The tension dynamometer comprises: a tension detection sensor, a control module, a transmission module, and a power supply module; The tension detection sensor is used to detect the tension data between the horizontal double-split conductor hook and the rainproof insulating pull rod, and output the tension data to the control module; the control module packages the data output by the tension detection sensor and outputs it to the control terminal through the transmission module; The control terminal is used to receive the tension data output by the tension dynamometer, pre-process the tension data and perform insulation rod overload warning analysis, and send the real-time tension value and insulation rod overload warning analysis results to the MR glasses; The MR glasses display the tension data and the insulation pull rod overload warning analysis results in real time.

2. The visual insulating pull rod for replacing a 110-500kV insulator string according to claim 1, characterized in that: A bowl-shaped groove is provided on the top of the tension dynamometer, which is clamped with a ball head provided on the rainproof insulating pull rod; a ball head is provided on the bottom of the tension dynamometer, which is clamped with a bowl-shaped groove provided on the top of the horizontal double-split conductor hook.

3. The visual insulating pull rod for replacing a 110-500kV insulator string according to claim 1, characterized in that: The control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer, and the steps are as follows: Step a1, define state variables; The current tension value F is the system state, and the predicted tension value is The observed tension value is F t ; The state model is: F k =F k-1 +w k ; Among them, w k is process noise, subject to N(0,Q); Step a2, define the observation model; F t =F k +v k ; Among them, v k To measure noise, obey N(0, R); Step a3, filtering; Prediction stage: in, is the predicted tensile force value, is the covariance of the predicted tension value; Update phase: Among them, K k is the Kalman gain, which is used to balance the influence of the predicted value and the observed value; is the updated tension value; P k is the updated tension value covariance; Get a smoothed tension value data series 4. The visual insulating pull rod replacement for 110-500kV insulator string according to claim 3, characterized in that: The control terminal uses Kalman filtering to pre-process the tension data output by the tension dynamometer and then performs abnormal value detection. The abnormal value detection steps are as follows: Step b1, sliding window definition: using a sliding window of length n, calculating the mean μ and standard deviation σ of the latest n filtering results; Step b2, outlier formula; Step b3: Compare the absolute value of the Z value obtained in step 2 with the threshold. If the absolute value of the Z value is greater than the threshold, it is considered that the current is an outlier; Step b4: Mark and remove outliers and fill in the window mean.

5. The visual insulating pull rod replacement for 110-500kV insulator string according to claim 1, characterized in that: The control terminal performs the following steps to analyze the insulation rod overload warning: Step c1, calculation of tension deviation; Among them, ΔF is the current tension value F, F threshold The safety threshold is set; Step c2, judging the early warning state of the insulation pull rod; The judgment rules are: Normal state: ΔF≤0.8F threshold ; Warning status: 0.8F threshold <ΔF≤0.9F threshold ; Dangerous state: ΔF>0.9F threshold .

6. The visual insulating pull rod replacement for 110-500kV insulator string according to claim 5, characterized in that: The control terminal optimizes the accuracy of insulation rod overload warning analysis through Bayesian network inference, and the steps are as follows: Step d1, establish a Bayesian network model; use the Bayesian formula to calculate the probability of the current tension overload state, the formula is: Among them, A represents the event that the tension value exceeds the safety threshold, B represents the event that triggers the warning signal, P(A|B) is the probability of tension overload when the warning signal is triggered, P(B|A) is the conditional probability of triggering the warning signal when the tension is overloaded, P(A) is the prior probability of tension overload, and P(B) is the probability of all warning signals occurring; Step d2, parameter calculation and update; Initial calculation: Through historical data statistics, the following parameters are calculated: P(A) the historical probability of tension overload events; P(B|A) the frequency of triggering warning signals when tension overload occurs; P(B) the total frequency of triggering warning signals, and the calculation formula is: in, Indicates that the tension is not overloaded; combined with real-time monitoring data, the values ​​of P(A), P(A|B) and P(B) are dynamically updated; use As the triggering basis of event A, when the calculated Bayesian probability P(A|B) exceeds the preset threshold T, it is judged as an overload state and triggers a warning signal; According to the value range of P(A|B), it is subdivided into the following three states: Normal state: P(A|B)≤T1; Warning status: T1 <P(A∣B)≤T2; Dangerous state: P(A∣B)>T2.

7. The visual insulating pull rod replacement for 110-500kV insulator string according to claim 5, characterized in that: The warning state corresponds to different warning display states of the MR glasses, specifically: normal state, displaying a green border; warning state, displaying an orange border and superimposing prompt information; danger state, displaying a red border, and triggering sound and vibration prompts.

8. A visual insulation rod replacement method for 110-500kV insulator strings, using the visual insulation rod replacement method for 110-500kV insulator strings according to any one of claims 1 to 7, characterized in that: The steps include: S1. Check whether safe working conditions are met; S2. Prepare live working tools; operators check whether all components of live working equipment are intact; S3. Install live working tools; hook the horizontal double-split conductor hook to the double-split conductor on the power line, connect the tension dynamometer and the rainproof insulating rod in sequence, and connect the free end of the rainproof insulating rod to the tightening screw rod; S4. Start tension monitoring. After the live working tools are installed, the tension dynamometer detects the tension data between the horizontal double-split conductor hook and the rainproof insulating pull rod in real time, and outputs the tension data to the control module. The control module pre-processes the tension data and transmits it to the MR glasses for display. At this time, the insulator string is replaced, and the lead screw is gradually tightened to transfer the load on the insulator string. After the insulator string is subjected to the load transfer, the old insulator string is removed and replaced with a new one. The operator adjusts the operation accordingly according to the displayed tension data. S5. After the insulator string is replaced, remove the live working tools and leave the electric field.

9. The visual insulation rod pulling operation method for replacing a 110-500 kV insulator string according to claim 8, characterized in that: When the insulator string is replaced in step S4, the control terminal receives the tension data output by the tension dynamometer, pre-processes the tension data and performs overload warning analysis, divides the insulation rod warning state into normal state, warning state, and dangerous state, and sends the real-time tension value and insulation rod overload warning analysis result to the MR glasses; The MR glasses present the tension value and the overload status of the insulating pull rod to the operator in the form of a floating frame, and the operator adjusts the operation accordingly based on the information displayed by the MR glasses.

10. The visual insulation rod pulling operation method for replacing a 110-500 kV insulator string according to claim 9, characterized in that: The operator adjusts the operation accordingly according to the information displayed by the MR glasses as follows: if the MR glasses display that the insulation pull rod warning status is a warning status, immediately suspend the operation, observe whether there is any improper use of live working tools, and try to continue the operation after eliminating the improper use. If the tension value has no obvious change, continue to complete the insulator string replacement operation; if the tension value increases rapidly, eliminate again whether there is any improper use of live working tools; if the MR glasses display that the insulation pull rod warning status is a dangerous status, stop the operation immediately, and comprehensively check for hidden dangers in the operation until the MR glasses display that the insulation pull rod warning status is a warning status or a normal status.

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