Insulator detection method fusing electric field and discharge signal and related assembly

Abstract

The invention discloses an insulator detection method fusing an electric field and a discharge signal and a related assembly, and relates to the field of fault detection, and the method comprises the steps: obtaining the induced electromotive force of a detection device when the detection device passes through each insulator string on each tower; based on the amplitude of each induced electromotive force, determining a faulted insulator string; acquiring the induced voltage of the detection equipment when the detection equipment passes through each insulator on the faulted insulator chain; and determining the faulted insulator based on each induced voltage. When the insulator string breaks down, the amplitude of the induced electromotive force changes obviously, and the insulator string on which tower the insulator with the fault is located can be determined. The induced voltage of the insulator with the fault changes obviously, and the insulator with the fault is determined after the insulator string is positioned, so that the fault is positioned, the accident risk is effectively reduced, and the safety of the power system is ensured.

Description

Technical Field

[0001] The present invention relates to the field of fault detection, and in particular to a detection method for an insulator integrating electric field and discharge signal and related components. Background Art

[0002] Insulators play an important role in the power transmission system. However, due to the long-term operation of insulators in harsh environments with strong electric fields, strong mechanical stress, and drastic weather changes, their insulation performance may be reduced, which will eventually lead to the degradation of insulators. When the insulator deteriorates to a certain extent, it becomes a low-value insulator or a zero-value insulator. Checking and replacing deteriorated insulators in a timely manner will help effectively reduce the risk of accidents and ensure the safety of the power system. In the related technology, images of insulators are collected to determine whether the insulators are faulty. However, not all defective insulators have defects in visual images. When some insulators deteriorate, only the internal material properties change. Therefore, the insulator defect detection method based on image processing has limitations on the detection of deteriorated insulators without changes in appearance. Summary of the invention

[0003] The purpose of the present invention is to provide an insulator detection method, device and detection equipment that integrates electric field and discharge signals, so as to determine which insulator has a fault after locating the insulator string, and then locate the fault, effectively reduce the risk of accidents and ensure the safety of the power system.

[0004] In order to solve the above technical problems, the present invention provides an insulator detection method integrating electric field and discharge signal, comprising:

[0005] Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower;

[0006] determining a faulty insulator string based on the amplitude of each of the induced electromotive forces;

[0007] Obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string;

[0008] A faulty insulator is determined based on each of the induced voltages.

[0009] On the other hand, the detection device is arranged on a drone;

[0010] Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower, including:

[0011] Control the drone to carry the detection device to fly horizontally along the direction in which the poles are arranged, and to fly longitudinally along the direction in which each tower is perpendicular to the ground when passing each tower, so as to obtain the induced electromotive force when the detection device passes each insulator string on each tower;

[0012] Obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, including:

[0013] The unmanned aerial vehicle carrying the detection device is controlled to fly along the axial direction of the insulator string, and the induced voltage when the detection device passes through each insulator on the faulty insulator string is obtained.

[0014] On the other hand, obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string includes:

[0015] The induced voltage at both ends of the two-layer induction plates on the detection device when passing through each insulator on the faulty insulator string is obtained. The expression of the induced voltage is:

[0016] ;

[0017] Among them, V o1 is the induced voltage, R m is the sampling resistor, is the dielectric constant of air, E is the electric field value in space, and A is the relative equivalent area of ​​the two layers of induction plates.

[0018] On the other hand, determining a faulty insulator based on each of the induced voltages comprises:

[0019] Each of the induced voltages is normalized to obtain a normalized value, and the expression of the normalized value is:

[0020] ;

[0021] Among them, e i is the normalized value of the i-th insulator, E i is the actual value of the electric field of the ith insulator, n is the number of insulators in the insulator string, V o1i is the induced voltage of the i-th insulator, λ is the relationship between the electric field and the induced voltage;

[0022] When the normalized value of the ith insulator is less than a first preset multiple of the defect-free normalized value, it is determined that the ith insulator is faulty, and the first preset multiple is a positive number less than 1.

[0023] On the other hand, the induced electromotive force when the detection equipment passes through each insulator string on each tower is obtained, including:

[0024] The induced electromotive force generated by the ring loop in the detection device when passing through each insulator string on each tower is obtained. The expression of the induced electromotive force is:

[0025] ;

[0026] Among them, V o2 is the induced electromotive force, μ0 is the magnetic permeability of free space, is the magnetic flux density, is the effective area of ​​the annular loop.

[0027] On the other hand, determining a faulty insulator string based on the amplitude of each induced electromotive force comprises:

[0028] Obtaining the induced electromotive force corresponding to each of the insulator strings;

[0029] When the amplitude of the induced electromotive force is greater than a preset maximum amplitude, it is determined that the insulator string corresponding to the induced electromotive force with an amplitude greater than the preset maximum amplitude is faulty, and the step of obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string is entered.

[0030] On the other hand, after obtaining the induced electromotive force when the detection equipment passes through each insulator string on each tower, it also includes:

[0031] Using a high-pass filter to filter the induced electromotive force so as to eliminate the power frequency signal in the induced electromotive force;

[0032] Determining a faulty insulator string based on the amplitude of each induced electromotive force comprises:

[0033] Determine the faulty insulator string based on the amplitude of each of the induced electromotive forces filtered by the high-pass filter;

[0034] After obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, the method further includes:

[0035] Using a low frequency filter to filter the induced voltage so as to eliminate high frequency noise in the induced voltage;

[0036] Determining a faulty insulator based on each of the induced voltages comprises:

[0037] The faulty insulator is determined based on each of the induced voltages filtered by the low-frequency filter.

[0038] In order to solve the above technical problems, the present invention also provides an insulator detection device integrating electric field and discharge signal, comprising:

[0039] Memory for storing computer programs;

[0040] The processor is used to implement the steps of the above-mentioned insulator detection method integrating electric field and discharge signal when executing the computer program.

[0041] In order to solve the above technical problems, the present invention also provides a detection device integrating electric field and discharge signal, including the above detection device for insulator integrating electric field and discharge signal, and also including an electric field probe and an electromagnetic wave probe;

[0042] The electric field probe comprises two induction plates, the output end of which is connected to the processor of the insulator detection device for integrating the electric field and the discharge signal, and is used to output the induction voltage;

[0043] The electromagnetic wave probe comprises a loop antenna, the output end of which is connected to a processor of the insulator detection device for integrating electric field and discharge signal, and is used for outputting induced electromotive force.

[0044] On the other hand, it also includes a signal processing module, a signal acquisition module, a communication module and a power supply module;

[0045] The input end of the signal processing module is connected to the output end of the induction plate and the output end of the loop antenna, and the signal processing module is used to eliminate the power frequency signal in the induced electromotive force and the high-frequency noise in the induced voltage, and send the eliminated induced electromotive force and the induced voltage to the signal acquisition module;

[0046] The output end of the signal processing module is connected to the input end of the signal acquisition module, and the signal acquisition module is used to convert the eliminated induced electromotive force and the negative voltage signal in the induced voltage into a positive voltage signal;

[0047] The output end of the signal acquisition module is connected to the input end of the communication module, and the communication module is used to output the converted induced electromotive force and the induced voltage input by the signal acquisition module to the processor.

[0048] The present application provides a detection method, device and detection equipment for insulators that integrate electric field and discharge signal, which relates to the field of fault detection, including obtaining the induced electromotive force when the detection equipment passes through each insulator string on each pole tower; determining the faulty insulator string based on the amplitude of each induced electromotive force; obtaining the induced voltage when the detection equipment passes through each insulator on the faulty insulator string; and determining the faulty insulator based on each induced voltage. When a fault occurs in an insulator string, the amplitude of the induced electromotive force will change significantly, that is, it is determined which insulator string on which pole tower the faulty insulator is on. The induced voltage of the faulty insulator will change significantly, and after locating the insulator string, it is determined which specific insulator has a fault, and then the fault is located, effectively reducing the risk of accidents and ensuring the safety of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A flow chart of a detection method for an insulator integrating electric field and discharge signal provided by the present invention;

[0051] Figure 2 A schematic diagram of a detection path of a drone provided by the present invention;

[0052] Figure 3 A flow chart of another insulator detection method integrating electric field and discharge signal provided by the present invention;

[0053] Figure 4 A schematic diagram of a moving path of a drone provided by the present invention;

[0054] Figure 5 A schematic diagram of a normalized electric field of a defective insulator at position 2 provided by the present invention;

[0055] Figure 6 A schematic diagram of a normalized electric field of a defective insulator at position 3 provided by the present invention;

[0056] Figure 7 A schematic diagram of a normalized electric field of defective insulators at positions 2 and 3 provided by the present invention;

[0057] Figure 8 A schematic diagram of a normalized electric field of defective insulators at positions 3 and 4 provided by the present invention;

[0058] Fig. 9 A schematic diagram of the amplitude of a discharge signal detected by a drone located next to a defective insulator string provided by the present invention;

[0059] Fig.10 A schematic diagram of the amplitude of a discharge signal detected by a drone located next to a non-defective insulator string provided by the present invention;

[0060] Fig.11 A schematic diagram of the amplitude of a discharge signal after FFT conversion provided by the present invention;

[0061] Fig.12 A schematic structural diagram of an insulator detection device integrating electric field and discharge signal provided by the present invention;

[0062] Fig.13 A schematic diagram of the structure of a detection device integrating electric field and discharge signal provided by the present invention;

[0063] Fig.14 A physical diagram of a detection device that integrates electric field and discharge signal provided by the present invention. DETAILED DESCRIPTION

[0064] The core of the present invention is to provide an insulator detection method, device and detection equipment that integrates electric field and discharge signals. After locating the insulator string, it is determined which specific insulator has a fault, and then the fault is located, which effectively reduces the risk of accidents and ensures the safety of the power system.

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Figure 1 A flow chart of a detection method for an insulator integrating an electric field and a discharge signal provided by the present invention. The detection method for an insulator integrating an electric field and a discharge signal comprises:

[0067] S11: Obtaining the induced electromotive force when the detection equipment passes through each insulator string on each tower;

[0068] S12: determining a faulty insulator string based on the amplitudes of the induced electromotive forces;

[0069] S13: obtaining an induced voltage when the detection device passes through each insulator on the faulty insulator string;

[0070] S14: Determine the faulty insulator based on the respective induced voltages.

[0071] The sensor consists of an electric field probe, an electromagnetic wave probe, a signal processing module, a signal acquisition module, a communication module, and a power supply module, which are distributed on a PCB. The electromagnetic wave probe is used to detect the discharge signal (V o2 ), used to determine whether there are defective insulators on the tower and which string of defective insulators exists; the electric field probe is used to detect the radial electric field of the insulator in the near field (V o1 ), which is used to determine which insulators in the defective insulator string are defective; the signal processing module is used to filter, de-noise and level-raise the electric field signal and electromagnetic wave signal; the signal acquisition module is used to convert the collected analog signal into a digital signal; the communication module is used to send data to terminal devices such as the host computer; the power supply module is used to convert the battery voltage into the voltage level required by the above modules.

[0072] Therefore, when detecting faulty insulators, it is first necessary to preliminarily locate multiple insulator strings on multiple towers, that is, first determine which insulator string is faulty, and then determine which insulator or insulators in the insulator string are faulty. Specifically, when the detection equipment passes through the faulty insulator string, the amplitude of the induced electromotive force corresponding to the insulator string should increase significantly, and then the insulator string where the faulty insulator string is located can be determined. When locating the insulators in the insulator string, by obtaining the induced voltage, when the insulator fails, the induced voltage should decrease significantly, and then the faulty insulator can be determined.

[0073] The present application provides an insulator detection method that integrates electric field and discharge signal, which relates to the field of fault detection, including obtaining the induced electromotive force when the detection equipment passes through each insulator string on each pole tower; determining the faulty insulator string based on the amplitude of each induced electromotive force; obtaining the induced voltage when the detection equipment passes through each insulator on the faulty insulator string; and determining the faulty insulator based on each induced voltage. When a fault occurs in an insulator string, the amplitude of the induced electromotive force will change significantly, that is, it is determined which insulator string on which pole tower the faulty insulator is on. The induced voltage of the faulty insulator will change significantly, and after locating the insulator string, it is determined which specific insulator has a fault, and then the fault is located, effectively reducing the risk of accidents and ensuring the safety of the power system.

[0074] Based on the above embodiments:

[0075] Figure 2 A schematic diagram of a detection path of a drone provided by the present invention;

[0076] Figure 3 A flow chart of another insulator detection method integrating electric field and discharge signal provided by the present invention;

[0077] In some embodiments, the detection device is disposed on a drone;

[0078] Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower, including:

[0079] Control the drone to carry the detection equipment and fly horizontally along the direction of the pole tower arrangement, and fly vertically along the direction perpendicular to the ground when passing each tower pole, so as to obtain the induced electromotive force when the detection equipment passes each insulator string on each tower pole;

[0080] Obtain the induced voltage when the detection device passes through each insulator on the faulty insulator string, including:

[0081] The UAV carrying the detection equipment is controlled to fly along the axial direction of the insulator string to obtain the induced voltage when the detection equipment passes through each insulator on the faulty insulator string.

[0082] The first step in detecting defective insulators using a detection device is to place the detection device on a drone and use the drone to fly horizontally and vertically over the insulator strings of each tower, as shown in the figure. This stage uses the electromagnetic wave signal detection part of the detection device, which transmits the detected signal back to the ground through the communication module. By observing the strength of the discharge signal during the drone detection process, it is determined whether the insulator string is a low-quality insulator. According to the performance of the detection device, discharge signals of tens of meters can be detected. Therefore, when detecting the same tower, if there is a discharge of a defective insulator, the discharge signal will continue to be received, so the specific location of the insulator string needs to be determined based on the strength of the discharge signal.

[0083] First, the discharge signal detection mode is turned on. In this mode, the discharge signal is received by the electromagnetic wave probe. The drone equipped with the detection device is inspected along the transmission line. When the insulator discharge signal is detected when passing the tower, it is determined that the tower has defective insulators. Then the drone is controlled to inspect each insulator string in the tower in turn and record the characteristics of the discharge signal. The recorded detection signals are compared. Compared with other insulator strings, the defective insulator string has the most obvious discharge signal amplitude. If there are multiple defective insulator strings, there are multiple discharge signals that are more obvious than other insulator strings, so the defective insulator string is marked, and then the next step is to switch to the electric field detection mode to determine the specific location of the inferior insulator.

[0084] When the discharge signal is detected to determine which insulator string has a discharge signal, the following steps are performed: the detection device is switched to the electric field detection mode, the detection device carried on the drone is close to the inferior insulator string, and the drone flies along the axial direction of the ceramic insulator to measure the electric field to obtain the axial electric field value outside the insulator string. The counting rule of the insulator is from the ground end to the high voltage end.

[0085] In some embodiments, obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string includes:

[0086] The induced voltage at both ends of the two-layer induction plates on the detection device is obtained when passing through each insulator on the faulty insulator string. The expression of the induced voltage is:

[0087] ;

[0088] Among them, V o1 is the induced voltage, R m is the sampling resistor, is the dielectric constant of air, E is the electric field value in space, and A is the relative equivalent area of ​​the two layers of induction plates.

[0089] The electromagnetic wave probe is an electric small loop magnetic field probe. When the geometric size of the small loop antenna is much smaller than the working wavelength, when it is placed in the area to be measured where the magnetic field strength changes with time, the size of the magnetic flux will change with time, thereby generating an induced electromotive force in the ring loop to form an output signal.

[0090] Figure 4 A schematic diagram of a moving path of a drone provided by the present invention;

[0091] Figure 5 A schematic diagram of a normalized electric field of a defective insulator at position 2 provided by the present invention;

[0092] Figure 6 A schematic diagram of a normalized electric field of a defective insulator at position 3 provided by the present invention;

[0093] Figure 7 A schematic diagram of a normalized electric field of defective insulators at positions 2 and 3 provided by the present invention;

[0094] Figure 8 A schematic diagram of a normalized electric field of defective insulators at positions 3 and 4 provided by the present invention;

[0095] In some embodiments, determining a faulty insulator based on the respective induced voltages includes:

[0096] Each induced voltage is normalized to obtain a normalized value. The expression of the normalized value is:

[0097] ;

[0098] Among them, e i is the normalized value of the i-th insulator, E i is the actual value of the electric field of the ith insulator, n is the number of insulators in the insulator string, V o1i is the induced voltage of the i-th insulator, λ is the relationship between the electric field and the induced voltage;

[0099] When the normalized value of the ith insulator is less than a first preset multiple of the normalized value without defects, it is determined that the ith insulator is faulty, and the first preset multiple is a positive number less than 1.

[0100] Since the changing trend of the electric field information is the basis for judgment, the electric field signal is normalized.

[0101] The following experimental results are a comparison of the presence of one or two defective insulators and the absence of defective insulators, where 1, 2, 3, 4, 5, and 6 correspond to the six insulators outside the insulator string. During the experiment, the electric field sensor was moved from 1 to 6. The data after normalization is as follows: Figure 5 , 6 , 7 and 8: The above plotted axial electric field changes show that when there are defects in the insulator, the value of the axial electric field is significantly lower than that of the normal defect-free insulator (the normalized electric field value is at least reduced by 30%). Therefore, the normalized electric field value under defect-free conditions can be compared with the measured normalized electric field value. If the normalized electric field value under defect-free conditions is , the normalized electric field value in actual situation is , where n is the number of insulators, if <0.7 , it can be determined that there are defective insulators, and the serial number of the defective insulator is the corresponding n value.

[0102] Fig. 9 A schematic diagram of the amplitude of a discharge signal detected by a drone located next to a defective insulator string provided by the present invention;

[0103] Fig.10 A schematic diagram of the amplitude of a discharge signal detected by a drone located next to a non-defective insulator string provided by the present invention;

[0104] In some embodiments, obtaining the induced electromotive force when the detection device passes through each insulator string on each tower includes:

[0105] The induced electromotive force generated by the ring loop in the detection equipment when passing through each insulator string on each tower is obtained. The expression of the induced electromotive force is:

[0106] ;

[0107] Among them, V o2 is the induced electromotive force, μ0 is the magnetic permeability of free space, is the magnetic flux density, is the effective area of ​​the circular loop.

[0108] The electric field sensor probe is a D-dot probe. The electric field sensor probe is a two-layer copper-clad layer of a printed PCB. The two layers of sensing plates are marked as S1 and S2 respectively. The sensing plates are connected by a sampling resistor R m When the electric field sensor probe is placed in the electric field, according to the Gaussian theorem of electrostatic field, the voltage signal at both ends of the sensing electrode is related to the electric field in space. Fig. 9 and Fig.10 , when there is a fault, the induced electromotive force will change significantly.

[0109] Fig.11 A schematic diagram of the amplitude of a discharge signal after FFT conversion provided by the present invention;

[0110] In some embodiments, determining a faulty insulator string based on the magnitude of each induced electromotive force includes:

[0111] Obtain the induced electromotive force corresponding to each insulator string;

[0112] When the amplitude of the induced electromotive force is greater than the preset maximum amplitude, it is determined that the insulator string corresponding to the induced electromotive force with an amplitude greater than the preset maximum amplitude is faulty, and the step of obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string is entered.

[0113] The following are the detection signals in the experiment. For a clearer comparison, the discharge signals are subjected to FFT (Fast Fourier Transform) and compared. It can be seen that the discharge signal detected by the drone next to the defective insulator is much larger than the discharge signal detected by the drone next to the non-defective insulator. If there is no insulator string, the maximum amplitude of the discharge spectrum is , the maximum amplitude of the discharge signal measured in real time is ,like >5 , that is, it is determined that there is a discharge signal and that there is a defective insulator. Therefore, the amplitude characteristics of the discharge signal can be used to determine which string of insulators has a discharge signal.

[0114] In some embodiments, after obtaining the induced electromotive force when the detection device passes through each insulator string on each tower, the method further includes:

[0115] The induced electromotive force is filtered using a high-pass filter to eliminate the power frequency signal in the induced electromotive force;

[0116] The faulty insulator string is determined based on the amplitude of each induced electromotive force, including:

[0117] Determine the faulty insulator string based on the amplitude of each induced electromotive force after filtering by a high-pass filter;

[0118] After obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, the method further includes:

[0119] Use a low-frequency filter to filter along with the induced voltage so as to eliminate high-frequency noise in the induced voltage;

[0120] Determine the faulty insulator based on the individual induced voltages, including:

[0121] The faulty insulator is determined based on each induced voltage filtered by a low-frequency filter.

[0122] It should be noted that the frequency of the low-frequency filter is lower than the frequency of the high-frequency filter. The specific frequency setting can be designed according to actual needs, and this application does not make too many restrictions here.

[0123] The first step of the signal processing module is the filtering module. Since the electric field signal is an industrial frequency signal, the output voltage V of the electric field sensor probe is o1 Use a low-frequency filter to filter out high-frequency noise; the electromagnetic wave signal is a high-frequency signal, so the output voltage V of the electromagnetic wave probe o2 A high-pass filter is used to filter out the power frequency signal. In addition, since the detected signal has positive voltage and negative voltage, in order to facilitate collection, the signal after filtering is passed through a level raising circuit to raise the negative voltage signal to a positive voltage signal.

[0124] The signal acquisition module uses a single-chip microcomputer chip to convert the analog signal output by the signal processing module into a digital signal through ADC for subsequent processing.

[0125] The communication module is Lora communication, with a communication distance of several kilometers to tens of kilometers, low power consumption, suitable for battery power supply, strong anti-interference ability, and flexible network architecture configuration.

[0126] The power supply module can convert the single power supply of the lithium battery into positive and negative power supplies. In addition, it can also convert a single voltage supply into multiple types of voltage supplies by stepping up or down.

[0127] Fig.12A schematic diagram of the structure of an insulator detection device integrating electric field and discharge signal provided by the present invention, the insulator detection device integrating electric field and discharge signal comprises:

[0128] A memory 21, used for storing computer programs;

[0129] The processor 22 is used to implement the steps of the above-mentioned insulator detection method integrating electric field and discharge signal when executing the computer program.

[0130] For an introduction to the insulator detection device integrating electric field and discharge signal provided in the present application, please refer to the above-mentioned embodiments, which will not be described in detail here.

[0131] Fig.13 A schematic diagram of the structure of a detection device provided by the present invention, Fig.14 A physical diagram of a detection device provided by the present invention, the detection device includes the above-mentioned insulator detection device integrating electric field and discharge signal, and also includes an electric field probe 1 and an electromagnetic wave probe 2;

[0132] The electric field probe 1 includes two induction plates, the output end of which is connected to a processor of an insulator detection device that integrates electric field and discharge signals, and is used to output an induced voltage;

[0133] The electromagnetic wave probe 2 includes a loop antenna, the output end of which is connected to a processor of an insulator detection device that integrates electric field and discharge signal, for outputting induced electromotive force.

[0134] In some embodiments, it also includes a signal processing module 3, a signal acquisition module 4, a communication module 5 and a power supply module 6;

[0135] The input end of the signal processing module 3 is connected to the output end of the induction plate and the output end of the loop antenna. The signal processing module 3 is used to eliminate the power frequency signal in the induced electromotive force and the high-frequency noise in the induced voltage, and send the eliminated induced electromotive force and induced voltage to the signal acquisition module 4;

[0136] The output end of the signal processing module 3 is connected to the input end of the signal acquisition module 4, and the signal acquisition module 4 is used to convert the negative voltage signal in the eliminated induced electromotive force and induced voltage into a positive voltage signal;

[0137] The output end of the signal acquisition module 4 is connected to the input end of the communication module 5 , and the communication module 5 is used to output the converted induced electromotive force and induced voltage input by the signal acquisition module 4 to the processor.

[0138] For an introduction to the detection equipment provided in this application, please refer to the above embodiments, which will not be repeated here.

[0139] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0140] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0141] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A detection method for insulators integrating electric field and discharge signal, characterized in that: include: Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower; determining a faulty insulator string based on the amplitude of each of the induced electromotive forces; Obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string; A faulty insulator is determined based on each of the induced voltages.

2. The insulator detection method integrating electric field and discharge signal according to claim 1, characterized in that: The detection device is arranged on the drone; Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower, including: Control the drone to carry the detection device to fly horizontally along the direction in which the poles are arranged, and to fly longitudinally along the direction in which each tower is perpendicular to the ground when passing each tower, so as to obtain the induced electromotive force when the detection device passes each insulator string on each tower; Obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, including: The unmanned aerial vehicle carrying the detection device is controlled to fly along the axial direction of the insulator string, and the induced voltage when the detection device passes through each insulator on the faulty insulator string is obtained.

3. The insulator detection method integrating electric field and discharge signal according to claim 1, characterized in that: Obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, including: The induced voltage at both ends of the two-layer induction plates on the detection device when passing through each insulator on the faulty insulator string is obtained. The expression of the induced voltage is: ； Among them, V o1 is the induced voltage, R m is the sampling resistor, is the dielectric constant of air, E is the electric field value in space, and A is the relative equivalent area of ​​the two layers of induction plates.

4. The insulator detection method integrating electric field and discharge signal according to claim 3, characterized in that: Determining a faulty insulator based on each of the induced voltages comprises: Each of the induced voltages is normalized to obtain a normalized value, and the expression of the normalized value is: ； Among them, e i is the normalized value of the i-th insulator, E i is the actual value of the electric field of the ith insulator, n is the number of insulators in the insulator string, V o1i is the induced voltage of the i-th insulator, λ is the relationship between the electric field and the induced voltage; When the normalized value of the ith insulator is less than a first preset multiple of the defect-free normalized value, it is determined that the ith insulator is faulty, and the first preset multiple is a positive number less than 1.

5. The insulator detection method integrating electric field and discharge signal according to claim 1, characterized in that: Obtain the induced electromotive force when the detection equipment passes through each insulator string on each tower, including: The induced electromotive force generated by the ring loop in the detection device when passing through each insulator string on each tower is obtained. The expression of the induced electromotive force is: ； Among them, V o2 is the induced electromotive force, μ0 is the magnetic permeability of free space, is the magnetic flux density, is the effective area of ​​the annular loop.

6. The insulator detection method integrating electric field and discharge signal according to claim 5, characterized in that: Determining a faulty insulator string based on the amplitude of each induced electromotive force comprises: Obtaining the induced electromotive force corresponding to each of the insulator strings; When the amplitude of the induced electromotive force is greater than a preset maximum amplitude, it is determined that the insulator string corresponding to the induced electromotive force with an amplitude greater than the preset maximum amplitude is faulty, and the step of obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string is entered.

7. The insulator detection method integrating electric field and discharge signal according to any one of claims 1 to 6, characterized in that: After obtaining the induced electromotive force when the detection equipment passes through each insulator string on each tower, it also includes: Using a high-pass filter to filter the induced electromotive force so as to eliminate the power frequency signal in the induced electromotive force; Determining a faulty insulator string based on the amplitude of each induced electromotive force comprises: Determine the faulty insulator string based on the amplitude of each of the induced electromotive forces filtered by the high-pass filter; After obtaining the induced voltage when the detection device passes through each insulator on the faulty insulator string, the method further includes: Using a low frequency filter to filter the induced voltage so as to eliminate high frequency noise in the induced voltage; Determining a faulty insulator based on each of the induced voltages comprises: The faulty insulator is determined based on each of the induced voltages filtered by the low-frequency filter.

8. An insulator detection device integrating electric field and discharge signal, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the insulator detection method integrating electric field and discharge signal as described in any one of claims 1 to 7 when executing the computer program.

9. A detection device integrating electric field and discharge signal, characterized in that: The insulator detection device comprising the fusion electric field and discharge signal as claimed in claim 8, further comprising an electric field probe and an electromagnetic wave probe; The electric field probe comprises two induction plates, the output end of which is connected to the processor of the insulator detection device for integrating the electric field and the discharge signal, and is used to output the induction voltage; The electromagnetic wave probe comprises a loop antenna, the output end of which is connected to a processor of the insulator detection device for integrating electric field and discharge signal, and is used for outputting induced electromotive force.

10. The detection device for integrating electric field and discharge signal according to claim 9, characterized in that: It also includes a signal processing module, a signal acquisition module, a communication module and a power supply module; The input end of the signal processing module is connected to the output end of the induction plate and the output end of the loop antenna, and the signal processing module is used to eliminate the power frequency signal in the induced electromotive force and the high-frequency noise in the induced voltage, and send the eliminated induced electromotive force and the induced voltage to the signal acquisition module; The output end of the signal processing module is connected to the input end of the signal acquisition module, and the signal acquisition module is used to convert the eliminated induced electromotive force and the negative voltage signal in the induced voltage into a positive voltage signal; The output end of the signal acquisition module is connected to the input end of the communication module, and the communication module is used to output the converted induced electromotive force and the induced voltage input by the signal acquisition module to the processor.

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