Unmanned aerial vehicle contact type electricity testing method for high-voltage line

Abstract

The invention discloses an unmanned aerial vehicle contact type electricity testing method for a high-voltage line, and the method effectively improves the contact firmness with the high-voltage line in an electricity testing process through the design of double electricity testing assemblies and the monitoring of a gyroscope, and can better solve a problem that the contact is not firm in an original problem. The gyroscope is used for monitoring the contact angle and stability of the electricity testing soft body and the high-voltage line, it is ensured that the contact angle is consistent and stable, and the contact firmness is further enhanced. Moreover, multiple measurements are carried out through the two independent electricity testing modules, so that the number and diversity of data sources are increased, and the accuracy and reliability of measurement results are improved. And the ground terminal carries out fusion processing and weighted average on a plurality of measurement values, so that errors can be further reduced, and the accuracy of a comprehensive electricity testing result is improved. Therefore, the technical problems of infirm contact and low electricity testing accuracy of a contact type unmanned aerial vehicle electricity testing scheme in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of electrical testing technology, and in particular to a drone contact electrical testing method for high-voltage lines. Background Art

[0002] High-voltage transmission line inspection is a vital part of power maintenance, which involves regular and systematic inspection and monitoring of transmission lines. The purpose of this process is to promptly discover and eliminate potential hidden dangers in the line to ensure that the line equipment can operate continuously and stably. The inspection work covers a wide range of aspects, including the appearance of the line equipment, the tightness of the mechanical connection, the insulation status, etc., and also requires careful observation and recording of the environment around the line.

[0003] Through inspection work, we can keenly capture abnormal conditions of line equipment, thereby effectively reducing the probability of failure and providing a solid guarantee for the safe and stable operation of the power grid. As an important part of inspection work, electrical testing plays a pivotal role. It uses specific testing equipment and methods to accurately measure and evaluate the electrical parameters of high-voltage transmission lines, such as voltage, current, insulation resistance, etc., to ensure that the operating status of the line always meets the established standards and requirements.

[0004] However, the existing contact-type UAV electrical testing solution faces some urgent problems. This solution uses a contact-type electrical testing device suspended from a drone to hang the flexible metal body of the electrical tester on the conductor to be tested to achieve contact-type electrical testing. However, this method has obvious disadvantages: on the one hand, the hanging contact method is easily disturbed by external factors, such as wind, which causes the connection between the electrical tester and the conductor to be tested to be disconnected, thereby affecting the accuracy and reliability of the electrical testing. On the other hand, due to the close distance between the drone and the high-voltage line, the high-intensity electromagnetic interference generated by the high-voltage line will have an adverse effect on the hovering accuracy of the drone, further increasing the risk of disconnection between the electrical tester and the conductor to be tested.

[0005] In addition, the existing contact drone power inspection solution also has the problem of a single data source. It only uses one power inspection module for measurement, which undoubtedly limits the accuracy and comprehensiveness of the measurement results. Therefore, in response to the above technical problems, a more effective and reliable solution is urgently needed to improve the efficiency and safety of high-voltage transmission line inspection operations. Summary of the invention

[0006] The embodiment of the present disclosure provides a drone contact-type electrical testing method for high-voltage lines, so as to at least solve the technical problems of the existing drone contact-type electrical testing solutions, such as weak contact and low electrical testing accuracy.

[0007] According to an embodiment of the present disclosure, a drone contact type electrical testing method for high-voltage lines is provided. 1. A drone contact type electrical testing method for high-voltage lines is characterized by comprising:

[0008] The remote-controlled drone is controlled to fly to a preset height directly above the high-voltage line to be tested and hover according to a preset flight path; wherein the drone is equipped with an electrical testing device, which includes two electrical testing components arranged in a mirror-symmetrical manner in the vertical direction, and the upper and lower parts of the two electrical testing components are connected and separated by a controllable electromagnet structure; the middle part of each electrical testing component is divided into a first area and a second area in the horizontal direction, the first area is a solid structure, and the second area is an open cavity, and the second area is used to place the electrical testing software and a driving component that drives the electrical testing software to move in the horizontal direction; the electrical testing software includes a conductive software body, a gyroscope located at the upper and lower parts of the software body, and an electrical testing module and a transmitting module located at the lower part of the software body;

[0009] Lowering the drone until the high-voltage line is between the two electrical inspection components and is at the same height as the middle of the software body; controlling the electromagnet structure to close the two electrical inspection components;

[0010] Control two driving components to drive two electrical testing software to approach and contact the high voltage. When the readings of all gyroscopes located on the two software bodies meet the preset conditions and the contact angles of the two electrical testing software and the high voltage line are consistent, stop the control; read the first values ​​of the two electrical testing modules, and when the difference between the two first values ​​is lower than the preset threshold, send the two first values ​​to the ground terminal through the corresponding transmitting module; wherein, when the absolute values ​​of the gyroscope readings located on the upper part of the two software bodies are the same and the absolute values ​​of the gyroscope readings located on the lower part of the two software bodies are the same, it proves that the contact angles of the two electrical testing software and the high voltage line are consistent;

[0011] Control the driving component to change the contact angle between the two electrical testing software and the high voltage electricity, and stop the control when the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the first angle, and the contact angle between the second electrical testing software and the high voltage line is the second angle; read the second values ​​of the two electrical testing modules, and send the two second values ​​to the ground terminal through the corresponding transmitting module; wherein the first angle and the second angle are inconsistent;

[0012] Control the driving component to further change the contact angle between the two electrical testing software and the high voltage, and stop the control when the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the second angle, and the contact angle between the second electrical testing software and the high voltage line is the first angle; read the third values ​​of the two electrical testing modules, and send the two third values ​​to the ground terminal through the corresponding transmitting modules;

[0013] The ground terminal determines the comprehensive electrical test result of the high-voltage line according to the two first values, the two second values ​​and the two third values ​​through the following steps: fusing the two first values ​​to obtain a first fused measurement value; fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value; and weighted averaging the first fused measurement value and the second fused measurement value to obtain the comprehensive electrical test result of the high-voltage line.

[0014] Optionally, the electromagnet structure includes two electromagnets, positioning holes and positioning pins used in conjunction with each other, wherein the two electromagnets are respectively installed at corresponding positions of the two electrical testing components, and the positioning holes and the positioning pins are respectively arranged at corresponding parts of the two electrical testing components, so as to achieve alignment and connection under the action of the two electromagnets.

[0015] Optionally, a conductive track is arranged inside each electrical testing component, wherein the two ends of the conductive track of one electrical testing component are connected to two positioning holes arranged at the upper part and the lower part of the electrical testing component, and the two ends of the conductive track of the other electrical testing component are connected to two positioning pins arranged at the upper part and the lower part of the electrical testing component; and a path verifier is arranged on the conductive track of one of the electrical testing components; when the two electrical testing components are closed by the electromagnet structure, the two conductive tracks are connected to form a path, and whether the path is conductive is verified by the path verifier.

[0016] Optionally, pressure sensors are respectively arranged on the upper and lower parts of one of the electrical testing components; the UAV contact electrical testing method further comprises:

[0017] Read the measured values ​​of two pressure sensors;

[0018] Determine whether the two electrical testing software are in contact with the high-voltage line according to the measured values ​​read;

[0019] After the two power-testing softwares are in contact with the high-voltage line, the fluctuation of the measured values ​​is monitored, and the stability of the connection between the two power-testing softwares and the high-voltage line is determined according to the fluctuation;

[0020] When the two electrical testing softwares are in contact with the high-voltage wire, the difference between the measured values ​​of the two pressure sensors is calculated, and whether the high-voltage wire is deformed is determined based on the difference.

[0021] Optionally, the fusing the two first values ​​to obtain a first fused measurement value includes:

[0022] estimating the true value of the high voltage line based on prior knowledge;

[0023] Based on the true value and the two first values, a likelihood function is established:

[0024] P(value1_A|x_true)=N(value1_A;x_true,σ_A 2 )

[0025] P(value1_B|x_true)=N(value1_B;x_true,σ_B 2 )

[0026] Wherein, value1_A and value1_B are the two first values; x_true is the true value; N(μ,σ 2 ) means the mean is μ and the variance is σ 2 Gaussian distribution, σ_A and σ_B are the measurement errors of the two electrical inspection modules;

[0027] Use Bayes' theorem to update the estimate of the true value of the high-voltage line, that is, calculate the posterior probability distribution through the following formula:

[0028]

[0029] Wherein, P(x_true|value1_A,value1_B) is the joint probability of the two first values, and P(x_true) is the prior probability, which represents the estimation of the true value before the two first values ​​are available;

[0030] The mean of the posterior probability distribution is calculated by the following formula to obtain the first fusion measurement value:

[0031]

[0032] Wherein, μ_posterior is the first fusion measurement value; value1_A and value1_B are the two first values; σ_A 2 and σ_B 2 is the variance of the measurement errors of the two electrical inspection modules.

[0033] Optionally, the fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value includes:

[0034] Based on the two second values, the first initial fusion value is calculated by the following formula:

[0035] m a =f(zm1,(1-z)m2,g)

[0036] Based on the two third values, the second initial fusion value is calculated by the following formula:

[0037] m b =f((1-z)m1,zm2,g)

[0038] Based on the first initial fusion value and the second initial fusion value, the second fusion measurement value is calculated by the following formula:

[0039] m=sm a +(1-s)m b

[0040] Among them, m a is the first initial fusion value, m b is the second initial fusion value, f(*) is the fusion function, z is the weight coefficient, g is the material parameter of the electrical testing software, m1 and m2 are the two second numerical values, m is the second fusion measurement value, and s is the trust weight of the two electrical testing modules.

[0041] The electrical inspection device of the present application includes two mirror-symmetrical electrical inspection components, which are connected and separated by a controllable electromagnet structure. The middle part of each electrical inspection component is designed as an open cavity for placing the electrical inspection software and the drive component. The electrical inspection software includes a conductive software body, a gyroscope, an electrical inspection module and a transmitting module. The two electrical inspection components are closed by the electromagnet structure, which increases the contact area and stability with the high-voltage line and reduces the risk of disconnection due to external factors (such as wind blowing, drone shaking). The contact angle and stability of the electrical inspection software and the high-voltage line are monitored by a gyroscope to ensure that the contact angle is consistent and stable, further enhancing the firmness of the contact. In addition, multiple measurements are performed through two independent electrical inspection modules, which increases the number and diversity of data sources and improves the accuracy and reliability of the measurement results. The ground terminal performs fusion processing and weighted averaging of multiple measurement values, which can further reduce errors and improve the accuracy of the comprehensive electrical inspection results. Thereby solving the technical problems of the contact-type UAV electrical inspection scheme in the prior art, that is, the contact is not firm and the electrical inspection accuracy is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0043] Figure 1 It is a structural schematic diagram for implementing the drone contact electrical testing device described in Example 1 of the present application. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0046] like Figure 1 As shown, this embodiment provides a drone contact type electrical testing device for high-voltage lines, including: a drone 100 and an electrical testing device mounted under the drone 100. The electrical testing device includes two electrical testing components 210 and 220 arranged in a mirror-symmetrical manner in the vertical direction, and the upper and lower parts of the electrical testing components 210 and 220 are connected and separated by a controllable electromagnet structure. The middle part of the electrical testing components 210 and 220 is divided into a first area and a second area in the horizontal direction, the first area is a solid structure, and the second area is an open cavity.

[0047] The electrical test device can be detachably mounted under the drone 100 via an insulating rod or insulating rope, which is convenient for removal and replacement. One end of the insulating rod or insulating rope is connected to the electrical test device, and the other end is fixed to the mounting system of the drone 100 via a connector.

[0048] It should be noted that the total weight of the electrical test device meets the maximum load requirement of the drone 100. Therefore, when selecting and designing the electrical test device, the present application fully considers the maximum load capacity of the drone 100 and takes corresponding measures to reduce the total weight of the electrical test device. At the same time, strict verification and testing are also carried out to ensure that the combination of the electrical test device and the drone meets safety requirements.

[0049] It should also be noted that when powered on, the electromagnet structure can generate sufficient suction to ensure that the electrical inspection components 210 and 220 can be tightly and firmly connected when needed. This tight connection not only enhances the stability and reliability of the electrical inspection process, but also effectively prevents the accidental separation of the electrical inspection components due to external factors (such as wind, vibration, etc.), thereby ensuring the safety and continuity of the electrical inspection operation. After the electrical inspection operation is completed, the power supply of the electromagnet structure is disconnected, and the electromagnetic force disappears immediately, and the electrical inspection components 210 and 220 can be easily separated, which provides great convenience for subsequent storage, maintenance or replacement.

[0050] Continue as Figure 1 As shown, the second area in the middle of the power testing component 210 is used to place the power testing software 211 and a driving component for driving the power testing software to move in the horizontal direction, and the driving component includes a first motor 2121, a first screw 2122, a first slider 2123, a first slide rail 2124, a second motor 2125, a second screw 2126, a second slider 2127, and a second slide rail 2128. Among them, the upper end of the power testing software 211 is set on the first slide rail 2124 through the first slider 2123, and the first slider 2123 is connected to the first motor 2121 through the first screw 2122. The first motor 2121 is used to provide power to the first slider 2123 so that the first slider 2123 moves on the first slide rail 2124. The lower end of the electrical testing software 211 is disposed on the second slide rail 2128 via the second slider 2127. The second slider 2127 is connected to the second motor 2125 via the second screw 2126. The second motor 2125 is used to provide power to the second slider 2127 so that the second slider 2127 moves on the second slide rail 2128. Moreover, under the joint action of the first motor 2121 and the second motor 2125, the electrical testing software 211 can move in the horizontal direction along the first slide rail 2124 and the second slide rail 2128.

[0051] The second area in the middle of the power testing component 220 is used to place the power testing software 221 and a driving component for driving the power testing software to move in the horizontal direction, and the driving component includes a third motor 2221, a third screw 2222, a third slider 2223, a third slide rail 2224, a fourth motor 2225, a fourth screw 2226, a fourth slider 2227, and a fourth slide rail 2228. The upper end of the power testing software 221 is arranged on the third slide rail 2224 through the third slider 2223, and the third slider 2223 is connected to the third motor 2221 through the third screw 2222, and the third motor 2221 is used to provide power to the third slider 2223 so that the third slider 2223 moves on the third slide rail 2224. The lower end of the power testing software 221 is disposed on the fourth slide rail 2228 via the fourth slider 2227. The fourth slider 2227 is connected to the fourth motor 2225 via the fourth screw 2226. The fourth motor 2225 is used to provide power to the fourth slider 2227 so that the fourth slider 2227 moves on the fourth slide rail 2228. Moreover, under the joint action of the third motor 2221 and the fourth motor 2225, the power testing software 221 can move in the horizontal direction along the third slide rail 2224 and the fourth slide rail 2228.

[0052] The electrical testing software 211 includes a conductive first software body 2111, a first gyroscope 2112 located at the upper part and a second gyroscope 2113 located at the lower part of the second software body, a first electrical testing module 2114 located at the lower part of the first software body 2111, and a transmitting module (not shown in the figure).

[0053] The electrical testing software 221 includes a conductive second software body 2211, a third gyroscope 2212 located at the upper part and a fourth gyroscope 2213 located at the lower part of the second software body 2211, a second electrical testing module 2214 located at the lower part of the software body 2211, and a transmitting module (not shown in the figure).

[0054] Optionally, the electromagnet structure located on the upper part of the two electrical testing components includes a first electromagnet 231, a second electromagnet 232, and a first positioning hole 233 and a first positioning pin 234 used in conjunction with each other, wherein the first electromagnet 231 and the second electromagnet 232 are fixedly installed at corresponding positions of the electrical testing component 210 and the electrical testing component 220, respectively, and the first positioning hole 233 and the first positioning pin 234 are respectively arranged at corresponding parts of the electrical testing component 210 and the electrical testing component 220, so as to achieve alignment and connection under the action of the first electromagnet 231 and the second electromagnet 232. The electromagnet structure located at the bottom of the two electrical testing components includes a third electromagnet 241, a fourth electromagnet 242, and a second positioning hole 243 and a second positioning pin 244 used in conjunction with each other, wherein the third electromagnet 241 and the fourth electromagnet 242 are fixedly installed at the corresponding positions of the electrical testing component 210 and the electrical testing component 220, respectively, and the second positioning hole 243 and the second positioning pin 244 are respectively arranged at the corresponding parts of the electrical testing component 210 and the electrical testing component 220, so as to achieve alignment and connection under the action of the third electromagnet 241 and the fourth electromagnet 242.

[0055] Optionally, a first conductive track 250 is provided inside the electrical inspection component 210, and two ends of the first conductive track 250 are connected to the first positioning hole 233 and the second positioning hole 243. A second conductive track 260 is provided inside the electrical inspection component 220, and two ends of the second conductive track 260 are connected to the first positioning pin 234 and the second positioning pin 244. In addition, a path verifier 270 is provided on the first conductive track 250. When the two electrical inspection components are closed by the electromagnet structure, the first conductive track 250 and the second conductive track 260 are connected to form a path, and the path verifier 270 verifies whether the path is conductive.

[0056] Optionally, a first pressure sensor 280 and a second pressure sensor 290 are respectively disposed on the upper part and the lower part of the electrical detection assembly 210 .

[0057] Optionally, the electrical testing device includes a first limiting plate 2129 disposed on the side of the middle portion of the electrical testing component 210 and a second limiting plate 2229 disposed on the side of the middle portion of the electrical testing component 220 .

[0058] This embodiment provides a drone contact electricity testing method for high-voltage lines, including:

[0059] Step 1: Remotely operate the drone 100 according to a preset flight path, and control the drone 100 to fly to a preset height directly above the high-voltage line to be tested and hover; wherein the drone is equipped with a test device, and the structure of the test device is as shown above.

[0060] Specifically, before remotely operating the drone 100 to fly, the following preparations are usually required:

[0061] (1) Before takeoff, the drone is accurately calibrated with GPS to ensure the accuracy of the flight path.

[0062] (2) Pre-test the electrical testing device, including electromagnet attraction test, conductive track path verification, gyroscope sensitivity calibration, etc.

[0063] (3) Obtain key information such as the voltage level, line material, and line direction of the high-voltage line through the ground control system to provide reference for UAV flight and electrical testing operations.

[0064] (4) Set the preset reading range of each gyroscope, including the minimum value ωmin and the maximum value ωmax.

[0065] After that, the drone is controlled to fly precisely to a certain height above the high-voltage line according to the preset flight path. The relative position of the drone and the high-voltage line is monitored in real time through sensors such as cameras or lidar to ensure safety during the descent.

[0066] Step 2: lower the drone 100 until the high-voltage line is between the two electrical test components 210 and 220 and is at the same height as the middle of the software bodies 211 and 221; control the electromagnet structure to close the two electrical test components 210 and 220;

[0067] Specifically, the drone 100 slowly descends until the electrical testing software (using a new type of high-conductivity, high-elasticity material) is at the same height as the high-voltage line and is located in the middle of the two electrical testing modules. The electromagnet switch is turned on to make the electromagnets on both sides attract each other and close the electrical testing module. Verify whether the conductive track forms a path. If it is in a path state, proceed to the next measurement, otherwise perform fault inspection.

[0068] Step 3: Control two driving components to drive two electrical testing software (the first electrical testing software 211 and the second electrical testing software 221) to approach and contact the high voltage. When the readings of all gyroscopes located on the two software bodies meet the preset conditions and the contact angles of the two electrical testing software and the high voltage line are consistent, stop the control; read the first values ​​of the two electrical testing modules (the first electrical testing module 2114 and the second electrical testing module 2214). When the difference between the two first values ​​is lower than the preset threshold, send the two first values ​​to the ground terminal through the corresponding transmitting module; wherein, when the absolute values ​​of the readings of the gyroscopes (the first gyroscope 2112 and the third gyroscope 2212) located on the upper part of the two software bodies are the same and the absolute values ​​of the readings of the gyroscopes (the second gyroscope 2113 and the fourth gyroscope 2213) located on the lower part of the two software bodies are the same, it proves that the contact angles of the two electrical testing software and the high voltage line are consistent;

[0069] Specifically, four motors (first motor 2121, second motor 2125, third motor 2221, fourth motor 2225) are started to drive the sliders (first slider 2123, second slider 2127, third slider 2223, fourth slider 2227) and two electrical testing software to move toward the middle until the two electrical testing software are in contact with the high-voltage line. The contact angles of the two electrical testing software and the high-voltage line are monitored in real time by four gyroscopes (first gyroscope 2112, third gyroscope 2212, second gyroscope 2113, and fourth gyroscope 2213), and the motor speed is adjusted to make the contact angle reach the optimal state. Among them, the readings of all gyroscopes need to meet the preset range (ωmin<ωa,ωb<ωmax), where ωa and ωb are the gyroscope readings of the two electrical testing software respectively.

[0070] When the absolute values ​​of the gyroscope readings located at the upper part of the two software bodies are the same and the absolute values ​​of the gyroscope readings located at the lower part of the two software bodies are the same, it proves that the contact angles of the two electrical testing software bodies with the high-voltage line are consistent, and then the movement of the two software bodies is stopped. Read the first values ​​of the two electrical testing modules, and when the difference between the two first values ​​is lower than the preset threshold, the two first values ​​are sent to the ground terminal (not shown in the figure) through the corresponding transmission module.

[0071] It should be noted that the present application can add shielding sleeves, such as metal sleeves or sleeves made of electromagnetic shielding materials, to the outside of electronic components such as the electrical testing module, the driving module and the transmitting module. These sleeves can form a closed electromagnetic shielding environment, effectively isolating the strong electromagnetic field generated by the high-voltage wires, thereby reducing the impact of electromagnetic interference on the performance of these electronic components.

[0072] In addition, considering that the software body usually contacts the high-voltage wire in its central area, in order to minimize the potential interference of the electromagnetic field generated by the high-voltage wire on the electronic components such as the electric detection module, the driving module and the transmitting module, the present application deliberately arranges these key electronic components at the upper or lower part of the software body away from the contact area. This layout strategy aims to reduce the direct impact of the electromagnetic field by increasing the physical distance between the electronic components and the high-voltage wire, thereby improving the stability and reliability of the electronic components.

[0073] Step 4: Control the driving component to change the contact angle between the two electrical testing software and the high voltage electricity. When the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the first angle, and the contact angle between the second electrical testing software and the high voltage line is the second angle, stop the control; read the second values ​​of the two electrical testing modules, and send the two second values ​​to the ground terminal through the corresponding transmitting module; wherein the first angle and the second angle are inconsistent;

[0074] Specifically, when the contact angles of the two electrical testing software and the high-voltage line are consistent, the applicant takes into account that the electrical testing software is usually in the shape of a spring or a flexible conductive material. When the spring shape contacts the high-voltage line, it is difficult to ensure good contact. The measurement conditions of contacting one wire and contacting multiple wires may be different, and the contact effect of the flexible material with the high-voltage line will vary greatly in different deformation ranges. To avoid the above situation, the applicant further performs measurements at different angles, that is, controls the driving component to change the contact angles of the two electrical testing software and the high-voltage electricity, so that the contact angle of the first electrical testing software and the high-voltage line is the first angle, and the contact angle of the second electrical testing software and the high-voltage line is the second angle, then stops control; reads the second values ​​of the two electrical testing modules, and sends the two second values ​​to the ground terminal through the corresponding transmitting module; wherein, the first angle and the second angle are inconsistent.

[0075] Step 5: Control the driving component to further change the contact angle between the two electrical testing software and the high voltage electricity. When the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the second angle, and the contact angle between the second electrical testing software and the high voltage line is the first angle, stop the control; read the third values ​​of the two electrical testing modules, and send the two third values ​​to the ground terminal through the corresponding transmitting modules;

[0076] Specifically, in measurements at different angles, since the two electrical testing components contact the high-voltage line at different angles, there are certain differences in their measurement data. In order to utilize the measurement results at different angles, a set of associated control group data is required. Therefore, the driving component continues to be controlled to further change the contact angle between the two electrical testing software and the high voltage, so that the contact angle between the first electrical testing software and the high-voltage line is the second angle, and the contact angle between the second electrical testing software and the high-voltage line is the first angle, and then the control is stopped; the third values ​​of the two electrical testing modules are read, and the two third values ​​are sent to the ground terminal through the corresponding transmitting module.

[0077] In this way, two sets of measurement data at different angles were obtained, which can be used as associated control group data for comparison and analysis.

[0078] Step six: The ground terminal determines the comprehensive electrical test result of the high-voltage line according to the two first values, the two second values ​​and the two third values ​​through the following steps: fusing the two first values ​​to obtain a first fused measurement value; fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value; and taking a weighted average of the first fused measurement value and the second fused measurement value to obtain the comprehensive electrical test result of the high-voltage line.

[0079] Optionally, the two first values ​​may be different due to measurement errors, equipment differences, and other factors. In order to merge the two values, it is necessary to estimate the true value of the high-voltage line based on prior knowledge; based on the true value and the two first values, establish a likelihood function:

[0080] P(value1_A|x_true)=N(value1_A;x_true,σ_A 2 )

[0081] P(value1_B|x_true)=N(value1_B;x_true,σ_B 2 )

[0082] Wherein, value1_A and value1_B are the two first values; x_true is the true value; N(μ,σ 2 ) means the mean is μ and the variance is σ 2 Gaussian distribution, σ_A and σ_B are the measurement errors of the two electrical inspection modules;

[0083] Use Bayes' theorem to update the estimate of the true value of the high-voltage line, that is, calculate the posterior probability distribution through the following formula:

[0084]

[0085] Wherein, P(x_true|value1_A,value1_B) is the joint probability of the two first values, and P(x_true) is the prior probability, which represents the estimation of the true value before the two first values ​​are available;

[0086] The mean of the posterior probability distribution is calculated by the following formula to obtain the first fusion measurement value:

[0087]

[0088] Wherein, μ_posterior is the first fusion measurement value; value1_A and value1_B are the two first values; σ_A 2 and σ_B 2 is the variance of the measurement errors of the two electrical inspection modules.

[0089] Optionally, the fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value includes: calculating a first initial fused value based on the two second values ​​by using the following formula:

[0090] m a =f(zm1,(1-z)m2,g)

[0091] Based on the two third values, the second initial fusion value is calculated by the following formula:

[0092] m b =f((1-z)m1,zm2,g)

[0093] Based on the first initial fusion value and the second initial fusion value, the second fusion measurement value is calculated by the following formula:

[0094] m=sm a +(1-s)m b

[0095] Among them, m a is the first initial fusion value, m b is the second initial fusion value, f(*) is the fusion function, z is the weight coefficient, g is the material parameter of the electrical testing software, m1 and m2 are the two second numerical values, m is the second fusion measurement value, and s is the trust weight of the two electrical testing modules.

[0096] Optionally, the drone contact electrical testing method also includes: reading the measurement values ​​of two pressure sensors; judging whether the two electrical testing software are in contact with the high-voltage line based on the read measurement values; when the two electrical testing software are in contact with the high-voltage line, monitoring the fluctuation of the measurement values, and judging the stability of the connection between the two electrical testing software and the high-voltage line based on the fluctuation; when the two electrical testing software are in contact with the high-voltage line, calculating the difference between the measurement values ​​of the two pressure sensors, and judging whether the high-voltage line is deformed based on the difference.

[0097] Specifically, the pressure sensors configured on the upper and lower sides of the electrical test device can set corresponding parameters according to the different specifications of the high-voltage wires. For example, for thicker high-voltage wires, a larger pressure value can be set, and for thinner high-voltage wires, a smaller pressure value is set. These sensors are not only used to determine whether the electrical test software is in close contact with the wires, but also to monitor the pressure fluctuations to evaluate the stability of the connections on both sides, and whether there are external factors such as wind blowing that interfere with the measurement. In addition, by comparing the difference between the upper and lower pressure sensors, the difference in force on the wires in the upper and lower directions can be determined. If the difference is too large, it indicates uneven force, which may not be conducive to accurate measurement. At the same time, the pressure value also determines the degree of wrapping of the wire by the software. The ideal situation is that the wrapping degree on the upper and lower sides remains consistent.

[0098] Furthermore, the two pressure sensors can also provide important information about the shape of the wires. In the early stages of a serious fault (such as a break) in a high-voltage line, the wires tend to deform, for example, the upper part becomes thicker and the lower part becomes thinner. At this time, the sensor will show that the pressure in the upper part increases, while the pressure in the lower part decreases. Such data can not only help us determine whether the wires are energized, but also reveal the changes in the shape of the wires, providing strong support for timely detection and troubleshooting.

[0099] In addition, during the electrical testing process, the working status of the drone and the electrical testing device can be monitored in real time. If an abnormality or failure is found, the alarm mechanism will be triggered immediately and corresponding emergency measures will be taken.

[0100] Through the above complex design, the reliability and accuracy of the UAV contact electrical testing method can be significantly improved, while its adaptability to different environments and conditions can be enhanced.

[0101] In summary, the electrical inspection device of the present application includes two mirror-symmetrical electrical inspection components, which are connected and separated by a controllable electromagnet structure. The middle part of each electrical inspection component is designed as an open cavity for placing the electrical inspection software and the drive component. The electrical inspection software includes a conductive software body, a gyroscope, an electrical inspection module and a transmitting module. The two electrical inspection components are closed by the electromagnet structure, which increases the contact area and stability with the high-voltage line and reduces the risk of disconnection due to external factors (such as wind blowing, drone shaking). The contact angle and stability of the electrical inspection software and the high-voltage line are monitored by a gyroscope to ensure that the contact angle is consistent and stable, further enhancing the firmness of the contact. In addition, multiple measurements are performed through two independent electrical inspection modules, which increases the number and diversity of data sources and improves the accuracy and reliability of the measurement results. The ground terminal performs fusion processing and weighted averaging of multiple measurement values, which can further reduce errors and improve the accuracy of the comprehensive electrical inspection results. Thereby solving the technical problems of weak contact and low electrical inspection accuracy in the contact-type UAV electrical inspection scheme in the prior art.

[0102] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drone contact electricity testing method for high-voltage lines, characterized in that: include: The remote-controlled drone is controlled to fly to a preset height directly above the high-voltage line to be tested and hover according to a preset flight path; wherein the drone is equipped with an electrical testing device, which includes two electrical testing components arranged in a mirror-symmetrical manner in the vertical direction, and the upper and lower parts of the two electrical testing components are connected and separated by a controllable electromagnet structure; the middle part of each electrical testing component is divided into a first area and a second area in the horizontal direction, the first area is a solid structure, and the second area is an open cavity, and the second area is used to place the electrical testing software and a driving component that drives the electrical testing software to move in the horizontal direction; the electrical testing software includes a conductive software body, a gyroscope located at the upper and lower parts of the software body, and an electrical testing module and a transmitting module located at the lower part of the software body; Lowering the drone until the high-voltage line is between the two electrical inspection components and is at the same height as the middle of the software body; controlling the electromagnet structure to close the two electrical inspection components; Control two driving components to drive two electrical testing software to approach and contact the high voltage. When the readings of all gyroscopes located on the two software bodies meet the preset conditions and the contact angles of the two electrical testing software and the high voltage line are consistent, stop the control; read the first values ​​of the two electrical testing modules, and when the difference between the two first values ​​is lower than the preset threshold, send the two first values ​​to the ground terminal through the corresponding transmitting module; wherein, when the absolute values ​​of the gyroscope readings located on the upper part of the two software bodies are the same and the absolute values ​​of the gyroscope readings located on the lower part of the two software bodies are the same, it proves that the contact angles of the two electrical testing software and the high voltage line are consistent; Control the driving component to change the contact angle between the two electrical testing software and the high voltage electricity, and stop the control when the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the first angle, and the contact angle between the second electrical testing software and the high voltage line is the second angle; read the second values ​​of the two electrical testing modules, and send the two second values ​​to the ground terminal through the corresponding transmitting module; wherein the first angle and the second angle are inconsistent; Control the driving component to further change the contact angle between the two electrical testing software and the high voltage, and stop the control when the readings of all gyroscopes located on the two software bodies meet the preset conditions, and the contact angle between the first electrical testing software and the high voltage line is the second angle, and the contact angle between the second electrical testing software and the high voltage line is the first angle; read the third values ​​of the two electrical testing modules, and send the two third values ​​to the ground terminal through the corresponding transmitting modules; The ground terminal determines the comprehensive electrical test result of the high-voltage line according to the two first values, the two second values ​​and the two third values ​​through the following steps: fusing the two first values ​​to obtain a first fused measurement value; fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value; and weighted averaging the first fused measurement value and the second fused measurement value to obtain the comprehensive electrical test result of the high-voltage line.

2. The method according to claim 1, characterized in that The electromagnet structure includes two electromagnets, positioning holes and positioning pins used in conjunction with each other, wherein the two electromagnets are respectively installed at corresponding positions of the two electrical testing components, and the positioning holes and the positioning pins are respectively arranged at corresponding parts of the two electrical testing components, so as to achieve alignment and connection under the action of the two electromagnets.

3. The method according to claim 2, characterized in that A conductive track is arranged inside each electrical testing component, wherein the two ends of the conductive track of one electrical testing component are connected to two positioning holes arranged at the upper part and the lower part of the electrical testing component, and the two ends of the conductive track of the other electrical testing component are connected to two positioning pins arranged at the upper part and the lower part of the electrical testing component; and a path verifier is arranged on the conductive track of one of the electrical testing components; when the two electrical testing components are closed by the electromagnet structure, the two conductive tracks are connected to form a path, and whether the path is conductive is verified by the path verifier.

4. The method according to claim 1, characterized in that: Pressure sensors are respectively arranged on the upper and lower parts of one of the electrical testing components; the contact electrical testing method for the drone also includes: Read the measured values ​​of two pressure sensors; Determine whether the two electrical testing software are in contact with the high-voltage line according to the measured values ​​read; After the two power-testing softwares are in contact with the high-voltage line, the fluctuation of the measured values ​​is monitored, and the stability of the connection between the two power-testing softwares and the high-voltage line is determined according to the fluctuation; When the two electrical testing softwares are in contact with the high-voltage wire, the difference between the measured values ​​of the two pressure sensors is calculated, and whether the high-voltage wire is deformed is determined based on the difference.

5. The method according to claim 1, characterized in that The fusing the two first values ​​to obtain a first fused measurement value includes: estimating the true value of the high voltage line based on prior knowledge; Based on the true value and the two first values, a likelihood function is established: P(value1_A|x_true)=N(value1_A;x_true,σ_A 2 ) P(value1_B|x_true)=N(value1_B;x_true,σ_B 2 ) Wherein, value1_A and value1_B are the two first values; x_true is the true value; N(μ,σ 2 ) means the mean is μ and the variance is σ 2 Gaussian distribution, σ_A and σ_B are the measurement errors of the two electrical inspection modules; Use Bayes' theorem to update the estimate of the true value of the high-voltage line, that is, calculate the posterior probability distribution through the following formula: Wherein, P(x_true|value1_A,value1_B) is the joint probability of the two first values, and P(x_true) is the prior probability, which represents the estimation of the true value before the two first values ​​are available; The mean of the posterior probability distribution is calculated by the following formula to obtain the first fusion measurement value: Wherein, μ_posterior is the first fusion measurement value; value1_A and value1_B are the two first values; σ_A 2 and σ_B 2 is the variance of the measurement errors of the two electrical inspection modules.

6. The method according to claim 1, characterized in that The fusing the two second values ​​and the two third values ​​to obtain a second fused measurement value includes: Based on the two second values, the first initial fusion value is calculated by the following formula: m a =f(zm1,(1-z)m2,g) Based on the two third values, the second initial fusion value is calculated by the following formula: m b =f((1-z)m1,zm2,g) Based on the first initial fusion value and the second initial fusion value, the second fusion measurement value is calculated by the following formula: m=sm a +(1-s)m b Among them, m a is the first initial fusion value, m b is the second initial fusion value, f(*) is the fusion function, z is the weight coefficient, g is the material parameter of the electrical testing software, m1 and m2 are the two second numerical values, m is the second fusion measurement value, and s is the trust weight of the two electrical testing modules.

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