Method and device for electrified cleaning of power line insulator based on unmanned aerial vehicle

Abstract

The invention discloses a power line insulator live-line cleaning method and device based on an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle live-line cleaning. And re-checking and confirming that the made safety measures are complete and the safety fence arranged in the operation area meets the requirement, carrying out trial spraying in a proper open area, and carrying out visible light appearance checking and infrared temperature measurement detection on the pre-cleaning equipment by using the unmanned aerial vehicle so as to carry out cleaning operation. According to the method, the steps are complete, which steps and what matter needing attention are needed when the unmanned aerial vehicle is used for cleaning the insulation equipment are determined, and the safety in the electrified cleaning process is ensured; by means of the cleaning device, the unmanned aerial vehicle carries the cleaning agent storage module, the high-pressure water cleaning machine and the remote control insulation water spray gun to conduct electrified water cleaning on the insulation equipment, and compared with manual cleaning, the cleaning device has the advantages of being flexible in operation, high in safety, low in cost and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of drone cleaning, and in particular to a method and device for live cleaning of power line insulators based on drones. Background Art

[0002] The Kashgar region is adjacent to the Taklimakan Desert and has frequent seasonal sandstorms. In recent years, there have been many flashover accidents caused by artificial rainfall or snowfall after sandstorms, resulting in large-scale power outages and seriously affecting the stability of power supply.

[0003] As the power supply security tasks undertaken by Kashgar are becoming increasingly heavy, the reliability requirements for power grid power supply are also increasing, and the improvement of anti-pollution flashover capabilities has become particularly urgent. However, the manual water flushing method currently used in most areas after power outages has many limitations, such as low work efficiency and high safety risks, and also increases the duration and number of non-fault power outages, further reducing the reliability of power supply.

[0004] Although some areas have tried manual live water flushing methods using insulated boom trucks and extended insulated spray guns for cleaning, this method also faces many challenges, including high space requirements for the work site, requiring operators to have a high level of skills, complex equipment transfer, low work efficiency, and greater safety risks during the operation.

[0005] Therefore, it is necessary to design a method and device for live cleaning of power line insulators based on drones to solve the above problems. Summary of the invention

[0006] The technical problem to be solved by the present invention is to solve the deficiencies in the prior art and to design a new method and device for live cleaning of power line insulators based on drones to solve the current problems of low cleaning efficiency of insulating equipment and greater safety risks during operation. The new method for live cleaning of power line insulators based on drones has perfect steps and guides staff to complete the cleaning of insulating equipment through drones. The device for live cleaning of power line insulators based on drones has a perfect structure and has cleaning and detection functions. It can clean while detecting. One device can clean the insulating equipment with high efficiency. The cleaning efficiency is improved by combining the live cleaning method for power line insulators based on drones. The cleaning method can be remotely adjusted according to the contaminants on the surface of the insulating equipment to ensure clean cleaning and the cleanliness of the insulating equipment.

[0007] The solution adopted by the present invention to solve the technical problem is:

[0008] A method for live cleaning of power line insulators based on drones.

[0009] The following steps are involved:

[0010] Step S1: Prepare work arrangements,

[0011] According to the work plan, organize staff to conduct on-site inspections, fill in safety measures and other safety precautions, clearly record the insulation equipment that does not meet the cleaning conditions, and determine the staff according to the difficulty of on-site operations.

[0012] Fill out and issue the work ticket according to the requirements of the "Work Ticket Implementation Rules".

[0013] Prepare safety tools, materials and cleaning equipment,

[0014] Understand the on-site meteorological conditions and determine whether they meet the requirements of relevant regulations for non-stop flushing operations;

[0015] Step S2: Re-inspection by the person in charge of the work,

[0016] Check the line names and double numbers,

[0017] Check whether the on-site environment meets the requirements for non-stop cleaning operations.

[0018] Check whether the line equipment and devices meet the requirements of non-stop operation, clarify the cleaning scope of the insulation equipment, and clearly mark and exclude the insulation equipment that does not meet the requirements of non-stop washing.

[0019] Check whether the meteorological conditions meet the requirements for live working.

[0020] Check whether the safety measures listed in the work ticket in step S1 are complete, and add safety technical measures if necessary;

[0021] Step S3: Arrange the work site,

[0022] Necessary safety fences and related warning signs are set up at the work site.

[0023] Arrange safety tools, materials and cleaning equipment in a safe and orderly manner as required;

[0024] Step S4: Safety tools, materials and cleaning equipment inspection,

[0025] Check the appearance of the cleaning equipment. The cleaning equipment should be free of deformation and damage, and the basic operation should be flexible.

[0026] Safety tools should be fully qualified.

[0027] Check whether the quantity and type of materials are appropriate;

[0028] Step S5: Check again and confirm that the safety measures are complete and the safety fences set up in the working area meet the requirements;

[0029] Step S6: After the drone takes off, test spraying is performed in a suitable open area.

[0030] The test spraying area should be selected in an area where the surrounding environment and people in the space below are not affected by the spraying cleaning agent.

[0031] The pressure and direction of the drone spray should ensure that the insulation is thoroughly cleaned while avoiding physical damage to the insulation material;

[0032] Step S7: Use a drone to perform visible light appearance inspection and infrared temperature measurement on the pre-cleaning equipment.

[0033] Insulation equipment with obvious visible cracks should not be cleaned without power outage.

[0034] Equipment with abnormal temperature should not be cleaned without power outage;

[0035] Step S8: Perform cleaning operation.

[0036] The cleaning process includes the following steps:

[0037] Fly to the operation point according to the preset route;

[0038] Adjust the height and attitude of the drone to ensure that the high-voltage nozzle is aimed at the insulation equipment;

[0039] Start the cleaning system of the cleaning machine and flush the insulating equipment according to the established pressure and flow. During the flushing process, the aerial supervisor monitors the flushing operation in real time and promptly reminds and stops any abnormalities.

[0040] As a preferred embodiment of the present invention, the cleaning process in step S8 includes the following precautions:

[0041] The floor should be washed piece by piece from bottom to top, leaving no dead corners, first washing the downwind side and then the upwind side;

[0042] During the flushing process, pay attention to infrared imaging and handle any abnormalities promptly;

[0043] During the cleaning process, be sure to keep a safe distance from the insulating equipment being washed and surrounding objects;

[0044] If there is important equipment or special protection required under the working airspace, reliable materials should be used for shielding and protection;

[0045] The staff stood on the upwind side to operate and wore masks.

[0046] As a preferred embodiment of the present invention, it also includes step S9 and step S10.

[0047] Step S9:

[0048] After the cleaning is completed, the person in charge of the work will conduct a comprehensive cleanliness inspection and record the cleaning effect, specifically record the problems found during the process, and adjust the cleaning parameters or the position of the drone according to the inspection results.

[0049] After cleaning, the cleaned insulating equipment is left with clear reagents and the surface of the insulating equipment is bright or has no residual stains, which means it is clean. Monitor the cleaned equipment on site for 15 minutes, and clear the site if there is no abnormality. After 12 hours after the operation is completed, conduct a special inspection of the cleaned equipment.

[0050] Record the on-site environmental conditions or special contamination problems. After the operation is completed, special supplementary cleaning will be carried out uniformly using the insulating rod method;

[0051] Step S10:

[0052] After the operation is completed, the drone and supporting equipment will be stored in the storage box, and the site will be inspected and cleaned, and the site will be evacuated after there is no residue left.

[0053] As a preferred implementation of the present invention, the method further comprises step S11:

[0054] If a detergent or battery power alarm is detected during the cleaning process, the aircraft should return to the base in a timely manner to refill or replace the cleaning fluid while ensuring safety. Gloves should be worn when adding the cleaning fluid.

[0055] As a preferred embodiment of the present invention, the weather conditions in step S1 that do not meet safety regulations include:

[0056] Wind speed greater than 8m / S, humidity greater than 80%, temperature below 0 degrees Celsius, lightning, snow, hail, rain, fog or other adverse weather conditions.

[0057] As a preferred embodiment of the present invention, in step S6, the vertical distance between the take-off point of the drone and the conductor should not be less than 8 meters, and there should be no obstructions within a radius of 6 meters from the take-off point. After the drone is lifted to the corresponding height of the tower, it flies towards the tower.

[0058] As a preferred embodiment of the present invention, the safety tools in step S1 include a safety fence, a fire extinguisher and a covering blanket;

[0059] Materials include live cleaning agent and fuel;

[0060] The cleaning tool includes a drone, a fuel fast-charge charger and a spare fast-charge battery.

[0061] A live cleaning device for power line insulators based on drones.

[0062] It is characterized in that

[0063] It includes the drone body, remote control device, cleaning device and monitoring device.

[0064] The cleaning device and the monitoring device are both arranged on the drone body.

[0065] The cleaning device comprises a control module, a cleaning agent storage module and a cleaning module.

[0066] The cleaning module is connected to the control module.

[0067] The control module is wirelessly connected to the remote control device.

[0068] The cleaning agent storage module is provided with cleaning agent.

[0069] The monitoring device is used to monitor the insulation equipment, obtain the detected temperature information and / or image information, and analyze the insulation equipment body information and the foreign matter information on the surface thereof.

[0070] As a preferred embodiment of the present invention, the monitoring device comprises an infrared imaging device and a visible light camera.

[0071] The cleaning module comprises a high-pressure water cleaning machine and a remote-controlled insulated water spray gun.

[0072] As a preferred embodiment of the present invention, it also includes a position acquisition module, which is used to obtain the position of the next insulating equipment that needs to be cleaned after the drone completes cleaning the insulating equipment.

[0073] Compared with the prior art, the present invention has the following beneficial effects:

[0074] 1. The method for live cleaning of power line insulators based on drones of the present invention has complete steps. The staff conducts on-site surveys and re-surveys, arranges the work site, conducts test spraying, detects insulating equipment and performs cleaning operations. It clarifies the steps required for using drones to clean insulating equipment and what precautions are required to ensure safety during the live cleaning process.

[0075] At the same time, with the help of the drone-based power line insulator live cleaning device, the insulating equipment is cleaned with live water by using the drone equipped with a cleaning agent storage module, a high-pressure water cleaning machine and a remote-controlled insulating water spray gun. Compared with manual cleaning, it has the advantages of flexible operation, high safety and low cost.

[0076] It solves the problems of time-consuming and labor-intensive manual obstacle removal, incomplete demolition, and power outages that reduce the stability of power grid operation. It has the advantages of simple operation, low cost, and maintaining the safety of power grid operation and maintenance personnel. At the same time, it has a higher cleaning efficiency for insulating equipment.

[0077] 2. The present invention provides a live cleaning device for power line insulators based on a drone, which is provided with an infrared imaging device and a visible light camera. When the drone is in the air, visual information in front of the drone is obtained from the visible light camera carried on the drone, and the trajectory of the water flow curve is predicted and displayed in real time according to the spray bar angle in the visual information, which can well assist the staff to hover the drone in a suitable position and clean the insulating equipment.

[0078] 3. The drone-based live cleaning device for power line insulators of the present invention is provided with an infrared imaging device, which monitors the insulating equipment and takes timely measures when abnormal local heating problems are found. If necessary, the operation is stopped immediately to ensure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 This is a schematic diagram of the steps of the drone-based live cleaning method for power line insulators proposed in the present invention. DETAILED DESCRIPTION

[0080] The specific implementation of the present invention is described below in conjunction with the accompanying drawings and embodiments:

[0081] It should be noted that the structures, colors, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0082] The present invention provides a method for live cleaning of power line insulators based on an unmanned aerial vehicle, comprising the following steps:

[0083] Step S1: Prepare work arrangements,

[0084] According to the work plan, organize staff to conduct on-site surveys, fill in safety measures and other safety precautions, clearly record insulators that are not suitable for cleaning, and determine staff based on the difficulty of on-site operations;

[0085] Fill in and issue the work ticket according to the requirements of the "Work Ticket Implementation Rules";

[0086] Prepare safety tools, materials and cleaning equipment. Safety tools include safety fences, fire extinguishers and blankets; materials include live cleaning agents and fuel; cleaning equipment includes drones, fuel fast-charging chargers and spare fast-charging batteries;

[0087] Understand the on-site meteorological conditions and determine whether they meet the requirements of relevant regulations for power-off flushing operations. Weather conditions that do not meet safety regulations include: when the wind speed is greater than 8m / S, the humidity is greater than 80%, and the temperature is below 0 degrees Celsius, it is not suitable for power-on flushing operations; if there is lightning, snow, hail, rain, fog or other adverse weather, power-off flushing operations should not be carried out. If the weather changes and the operating conditions are not met, the person in charge of the work should immediately order the operators to stop the operation and restore the line status.

[0088] The above-mentioned staff include work supervisors, aerial monitoring pilots, cleaning drone pilots and ground support personnel, and the division of labor among the staff is shown in Table 1.

[0089] Table 1 Staff division of labor

[0090]

[0091]

[0092] Step S2: Re-inspection by the person in charge of the work,

[0093] Check line names and double numbers;

[0094] Check whether the on-site environment meets the requirements for non-power-off cleaning operations;

[0095] Check whether the line equipment and devices meet the requirements of non-stop operation, clarify the scope of cleaning equipment, and clearly mark and exclude the insulating equipment that does not meet the requirements of non-stop washing;

[0096] Check whether the meteorological conditions meet the requirements for live working;

[0097] Check whether the safety measures listed in the work ticket in step S1 are complete, and add safety technical measures if necessary.

[0098] Step S3: Arrange the work site,

[0099] Necessary safety fences and relevant warning signs should be set up at the work site. If there are important equipment or special protection required under the working airspace, reliable materials should be used for shielding and protection;

[0100] Safety tools, materials and cleaning equipment should be arranged in a safe and orderly manner as required.

[0101] Step S4: Safety tools, materials and cleaning equipment inspection,

[0102] Check the appearance of the cleaning equipment. The cleaning equipment should be free of deformation and damage, and the basic operation should be flexible.

[0103] Safety tools should be fully qualified;

[0104] Check whether the material quantity and model are appropriate.

[0105] Step S5: Check and confirm again that the safety measures are complete and the safety fences set up in the operation area meet the requirements. Specifically, the safety fences set up below the operation area should ensure that there are no personnel or vehicles within the range of cleaning liquid dripping, drone takeoff and landing, or malfunction falling during the cleaning operation, so as not to be affected by the operation.

[0106] At the same time, the setting of safety measures should also fully consider the actual on-site working environment and meteorological environment, and make flexible and reasonable arrangements.

[0107] Step S6: After the drone takes off, test spraying is carried out in a suitable open area to confirm that the equipment can be operated reliably and flexibly.

[0108] The test spraying area should be selected in an area where the surrounding environment and people in the space below are not affected by the spraying cleaning agent.

[0109] The pressure and direction of the drone spray should ensure that the insulation is thoroughly cleaned while avoiding physical damage to the insulation material.

[0110] Among them, the vertical distance between the drone's take-off point and the wire should not be less than 8 meters, and there should be no obstructions within a 6-meter radius of the take-off point. After reaching the corresponding height of the tower, it should fly towards the tower.

[0111] Step S7: Use a drone to perform visible light appearance inspection and infrared temperature measurement on the pre-cleaning equipment. If insulation equipment has obvious visible cracks, it should not be cleaned without power outages. If equipment has abnormal temperatures, it should not be cleaned without power outages.

[0112] Step S8: Perform cleaning operations. During the operation, the minimum distance between the operating tool, i.e., the drone, and the insulating equipment should be greater than or equal to 0.7 meters to prevent equipment failure caused by insufficient safety distance.

[0113] The cleaning process includes the following steps:

[0114] Fly to the operation point according to the preset route;

[0115] Adjust the height and attitude of the drone to ensure that the high-voltage nozzle is aimed at the insulation equipment;

[0116] Start the cleaning system of the drone and flush the insulating equipment according to the established pressure and flow. During the flushing process, the aerial guardian monitors the flushing operation and the status of the insulating equipment in real time, and promptly issues reminders and stops any abnormalities.

[0117] For insulating equipment with a lot of dust accumulation, a single atomization method can be used for flushing by remotely adjusting the water pressure of the remote-controlled insulating water spray gun; for salt-alkali crystallization solidification or other solidified attachments with high viscosity, high-pressure water column flushing can be performed first, and then water mist flushing can be performed by remotely adjusting the water pressure of the remote-controlled insulating water spray gun.

[0118] Among them, during the cleaning operation in step S8, the following precautions are included:

[0119] The floor should be washed piece by piece from bottom to top, leaving no dead corners, first washing the downwind side and then the upwind side;

[0120] During the flushing process, pay attention to infrared imaging and handle any abnormalities promptly;

[0121] During the cleaning process, be sure to keep a safe distance from the insulating equipment being washed and surrounding objects;

[0122] If there is important equipment or special protection required under the working airspace, reliable materials should be used for shielding and protection;

[0123] The staff stood on the upwind side to operate and wore masks.

[0124] When the staff investigated the actual situation on site, they found that the insulation equipment formed a sewage flow during operation and the surface leakage current increased. The following protective measures were required:

[0125] 1. Flush from bottom to top in strict accordance with the order required by the flushing method technical specifications.

[0126] 2. Plan the flight route and flushing angle before flushing, and test and adjust the spray gun pressure and direction.

[0127] 3. Try to avoid splashing liquid onto nearby equipment to prevent flashover of nearby insulators in the splashing liquid mist.

[0128] 4. Pay attention to the liquid flow and infrared monitoring data during operation, and deal with any abnormalities in a timely manner.

[0129] In addition to the above necessary fixing steps, the following steps can be added according to the actual situation on site:

[0130] Specifically, it includes step S9 and step S10,

[0131] Step S9:

[0132] After the cleaning is completed, the person in charge of the work will conduct a comprehensive cleanliness inspection and record the cleaning effect, specifically record the problems found during the process, and adjust the cleaning parameters or the position of the drone according to the inspection results.

[0133] After cleaning, the cleaned insulating equipment is left with clear reagents and the surface of the insulating equipment is bright or has no residual stains, which means it is clean. Monitor the cleaned equipment on site for 15 minutes, and clear the site if there is no abnormality. After 12 hours after the operation is completed, conduct a special inspection of the cleaned equipment.

[0134] Record any deficiencies due to on-site environmental conditions or special contamination issues. After the operation is completed, special supplementary cleaning will be carried out using the insulating rod method to ensure that the insulating equipment is clean.

[0135] Step S10:

[0136] After the operation is completed, the work leader organizes the team members to clean up the tools and the site, put the drone and supporting equipment in the storage box, and inspect and clean the site. After there is no residue left, the site is evacuated. Personnel are prohibited from staying alone at the site or returning to the work site.

[0137] Also comprising step S11:

[0138] During the cleaning process, pay attention to the remaining amount of detergent and battery. If you find an alarm for detergent or battery power, return to the destination in time to replenish or replace it while ensuring safety. The replaced battery should be charged in time to ensure battery life and continuity of work. Wear gloves when adding cleaning fluid.

[0139] A live cleaning device for power line insulators based on drones.

[0140] It includes the drone body, remote control device, cleaning device and monitoring device.

[0141] The cleaning device and monitoring device are both installed on the drone body.

[0142] The cleaning device includes a control module, a cleaning agent storage module and a cleaning module.

[0143] The cleaning module is connected with the control module.

[0144] The control module and remote control are wirelessly connected.

[0145] The cleaning agent storage module is provided with cleaning agent, and the cleaning machine is stored in the cleaning agent storage module to supply cleaning materials to the remote-controlled insulated water spray gun.

[0146] As another embodiment of the present invention, the cleaning agent in the cleaning agent storage module can be replaced with tap water or a special fire extinguishing agent to assist in firefighting and rescue in high-rise buildings.

[0147] The monitoring device is used to monitor the insulation equipment, obtain the detected temperature information and / or image information, and analyze the insulation equipment body information and the foreign matter information on its surface.

[0148] The drone is equipped with a cleaning agent storage module, a high-pressure water cleaning machine, a remote-controlled insulating water spray gun, an infrared imaging device, and a visible light camera. The cleaning agent storage module, the high-pressure water cleaning machine, and the remote-controlled insulating water spray gun can be used to remotely clean the dust on the surface of the live power line insulation equipment or the oil stains on the equipment surface.

[0149] The infrared imaging device enables the drone to view infrared images before, during and after live water cleaning operations, assisting in leakage current monitoring.

[0150] Visible light cameras are used in conjunction with infrared imaging devices to monitor the operation dynamics in real time throughout the entire process. Timely measures can be taken for any local abnormal heating problems detected by the infrared imaging device before or during the operation. If necessary, the operation can be stopped immediately to ensure safety. Comparative analysis of image data detected by visible light cameras before or after the operation can be carried out to carry out auxiliary acceptance.

[0151] Among them, the remote-controlled insulated water spray gun has the function of adjusting the atomizing spray gun pressure on demand and supports the adjustment of the nozzle direction to ensure the cleaning needs in different usage scenarios.

[0152] The drone-based power line insulator live cleaning device also includes a position acquisition module, which is used to obtain the position of the next insulating device to be cleaned after the drone completes cleaning the insulating device. When the drone completes cleaning the insulating device corresponding to the specified position, the position acquisition module obtains the position of the next insulating device, so that the drone can fly to the position of the next insulating device after cleaning the previous insulating device, obtain the environmental information of the position of the next insulating device, and clean the next insulating device.

[0153] The drone and its components are fully insulated to avoid mechanical failures that could cause the drone to collide with wires and cause electrical short circuit accidents, ensuring that the drone will not cause short circuits or other problems during operation.

[0154] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of the present invention.

[0155] Many other changes and modifications can be made without departing from the concept and scope of the present invention. It should be understood that the present invention is not limited to a specific embodiment, and any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the actual protection scope of the present invention shall be subject to the protection scope protected by the claims.

Claims

1. A method for live cleaning of power line insulators based on drones. It is characterized in that The following steps are involved: Step S1: Prepare work arrangements, According to the work plan, organize staff to conduct on-site inspections, fill in safety measures and other safety precautions, clearly record the insulation equipment that does not meet the cleaning conditions, and determine the staff according to the difficulty of on-site operations. Fill out and issue the work ticket according to the requirements of the "Work Ticket Implementation Rules". Prepare safety tools, materials and cleaning equipment, Understand the on-site meteorological conditions and determine whether they meet the requirements of relevant regulations for non-stop flushing operations; Step S2: Re-inspection by the person in charge of the work, Check the line names and double numbers, Check whether the on-site environment meets the requirements for non-stop cleaning operations. Check whether the line equipment and devices meet the requirements of non-stop operation, clarify the cleaning scope of the insulation equipment, and clearly mark and exclude the insulation equipment that does not meet the requirements of non-stop washing. Check whether the meteorological conditions meet the requirements for live working. Check whether the safety measures listed in the work ticket in step S1 are complete, and add safety technical measures if necessary; Step S3: Arrange the work site, Necessary safety fences and related warning signs are set up at the work site. Arrange safety tools, materials and cleaning equipment in a safe and orderly manner as required; Step S4: Safety tools, materials and cleaning equipment inspection, Check the appearance of the cleaning equipment. The cleaning equipment should be free of deformation and damage, and the basic operation should be flexible. Safety tools should be fully qualified. Check whether the quantity and type of materials are appropriate; Step S5: Check again and confirm that the safety measures are complete and the safety fences set up in the working area meet the requirements; Step S6: After the drone takes off, test spraying is performed in a suitable open area. The test spraying area should be selected in an area where the surrounding environment and people in the space below are not affected by the spraying cleaning agent. The pressure and direction of the drone spray should ensure that the insulation is thoroughly cleaned while avoiding physical damage to the insulation material; Step S7: Use a drone to perform visible light appearance inspection and infrared temperature measurement on the pre-cleaning equipment. Insulation equipment with obvious visible cracks should not be cleaned without power outage. Equipment with abnormal temperature should not be cleaned without power outage; Step S8: Perform cleaning operation. The cleaning process includes the following steps: Fly to the operation point according to the preset route; Adjust the height and attitude of the drone to ensure that the high-voltage nozzle is aimed at the insulation equipment; Start the cleaning system of the cleaning machine and flush the insulating equipment according to the established pressure and flow. During the flushing process, the aerial supervisor monitors the flushing operation in real time and promptly reminds and stops any abnormalities.

2. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that During the cleaning process in step S8, the following precautions are included: The floor should be washed piece by piece from bottom to top, leaving no dead corners, first washing the downwind side and then the upwind side; During the flushing process, pay attention to infrared imaging and handle any abnormalities promptly; During the cleaning process, be sure to keep a safe distance from the insulating equipment being washed and surrounding objects; If there is important equipment or special protection required under the working airspace, reliable materials should be used for shielding and protection; The staff stood on the upwind side to operate and wore masks.

3. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that Also comprising step S9 and step S10, Step S9: After the cleaning is completed, the person in charge of the work will conduct a comprehensive cleanliness inspection and record the cleaning effect, specifically record the problems found during the process, and adjust the cleaning parameters or the position of the drone according to the inspection results. After cleaning, the cleaned insulating equipment is left with clear reagents and the surface of the insulating equipment is bright or has no residual stains, which means it is clean. Monitor the cleaned equipment on site for 15 minutes, and clear the site if there is no abnormality. After 12 hours after the operation is completed, conduct a special inspection of the cleaned equipment. Record the on-site environmental conditions or special contamination problems. After the operation is completed, special supplementary cleaning will be carried out uniformly using the insulating rod method; Step S10: After the operation is completed, the drone and supporting equipment will be stored in the storage box, and the site will be inspected and cleaned, and the site will be evacuated after no debris is left.

4. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that Also comprising step S11: If a detergent or battery power alarm is detected during the cleaning process, the aircraft should return to the base in a timely manner to refill or replace the cleaning fluid while ensuring safety. Gloves should be worn when adding the cleaning fluid.

5. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that The weather conditions in step S1 that do not meet safety requirements include: Wind speed greater than 8m / S, humidity greater than 80%, temperature below 0 degrees Celsius, lightning, snow, hail, rain, fog or other adverse weather conditions.

6. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that In step S6, the vertical distance between the take-off point of the drone and the conductor should not be less than 8 meters, and there should be no obstructions within a radius of 6 meters from the take-off point. After the drone is lifted to the corresponding height of the tower, it will fly towards the tower.

7. The method for live cleaning of power line insulators based on drones as claimed in claim 1, It is characterized in that The safety tools in step S1 include safety fences, fire extinguishers and cover blankets; Materials include live cleaning agents and fuel; The cleaning tool includes a drone, a fuel fast-charge charger and a spare fast-charge battery.

8. A live cleaning device for power line insulators based on drones, Using the method as described in any one of claims 1 to 7, It is characterized in that It includes the drone body, remote control device, cleaning device and monitoring device. The cleaning device and the monitoring device are both arranged on the drone body. The cleaning device comprises a control module, a cleaning agent storage module and a cleaning module. The cleaning module is connected to the control module. The control module is wirelessly connected to the remote control device. The cleaning agent storage module is provided with cleaning agent. The monitoring device is used to monitor the insulation equipment, obtain the detected temperature information and / or image information, and analyze the insulation equipment body information and the foreign matter information on the surface thereof.

9. The power line insulator live cleaning device based on a drone as claimed in claim 8, It is characterized in that The monitoring device comprises an infrared imaging device and a visible light camera, The cleaning module comprises a high-pressure water cleaning machine and a remote-controlled insulated water spray gun.

10. The power line insulator live cleaning device based on a drone as claimed in claim 9, It is characterized in that It also includes a position acquisition module, which is used to obtain the position of the next insulating equipment that needs to be cleaned after the drone completes cleaning the insulating equipment.

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