Deteriorated insulator detection equipment, method and device based on three-dimensional radial electric field trend

Abstract

The invention discloses a deteriorated insulator detection device, method and device based on a three-dimensional radial electric field trend. Relates to the field of power equipment, solves the problem of angle limitation of detection of degraded insulators, and provides a controller for controlling flight equipment to fly along an axis to ensure that a voltage signal acquired by a three-dimensional electric field sensor is matched with actual electric field distribution of an insulator string, so as to meet detection requirements of insulator strings with different inclination angles. The three-dimensional electric field sensor collects an electric field signal and converts the electric field signal into a voltage signal, and the controller receives the voltage signal sent by the three-dimensional electric field sensor and judges whether a deteriorated insulator exists in the insulator string. Through non-contact detection, the problems of potential safety hazards and low efficiency in a traditional detection method are avoided, and the accuracy and safety of detection are improved. And the workload of manual climbing and measurement is reduced. Power failure detection is not needed, and the influence and risk on power grid operation in the detection process are reduced.

Description

Technical Field

[0001] The present application relates to the field of power equipment, and in particular to a deteriorated insulator detection device, method and apparatus based on three-dimensional radial electric field trend. Background Art

[0002] Insulators play a vital role in providing insulation and support for transmission lines. The operating status of insulators is closely related to the safety and reliability of the power grid. However, insulators will gradually age and their insulation resistance values ​​will decrease during long-term operation. These insulators with insulation resistance values ​​significantly lower than the standard value are called low-value or zero-value insulators. This seriously affects the reliability and safety of the power grid.

[0003] Degraded insulator detection can be divided into two categories: live line detection and power outage detection. Live line detection allows the transmission line to detect degraded insulators while supplying energy, which is more practical in actual transmission projects. The traditional distribution voltage detection method measures the voltage of each insulator to evaluate its operating status, but this method requires detection workers to climb to the vicinity of the insulator and obtain the distributed voltage of each insulator through the measuring device, which has the problems of low efficiency and high safety hazards. The method of measuring the electric field characteristics around the insulator to identify the insulator state is usually to detect the axial electric field strength of the insulator through three electric field probe electrodes from top to bottom, and to determine whether there is a zero-value insulator by the law of the electric field strength of the three electrodes. Due to the distribution characteristics of the array probe, it can only detect a single-dimensional electric field, so the device can only be used to detect insulator strings distributed vertically or horizontally to the ground plane.

[0004] It can be seen that how to solve the angle limitation problem of detecting deteriorated insulators is a technical problem that needs to be solved urgently by people in this field. Summary of the invention

[0005] The purpose of the present application is to provide a deteriorated insulator detection device, method and apparatus based on a three-dimensional radial electric field trend to solve the problem of angle limitation in detecting deteriorated insulators.

[0006] In order to solve the above technical problems, the present application provides a deteriorated insulator detection device based on three-dimensional radial electric field trend, including: a flying device, a three-dimensional electric field sensor, and a controller;

[0007] The three-dimensional electric field sensor is mounted on the flying device; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flying device by signal;

[0008] The controller controls the flying device to fly along the axis of the insulator string, receives the voltage signal sent by the three-dimensional electric field sensor, and determines whether there is a voltage signal that meets the sudden drop condition based on the voltage signal of each insulator in the insulator string to determine whether there is a degraded insulator.

[0009] As an optional solution, in the above-mentioned deteriorated insulator detection device based on three-dimensional radial electric field trend, the three-dimensional electric field sensor includes: six electrode sheets;

[0010] Every two of the electrode sheets are arranged opposite to each other, and the six electrode sheets are in a cubic structure; each group of the electrode sheets is used to measure the electric field strength in the x direction, the y direction and the z direction respectively;

[0011] The controller controls the flying device to fly along the axis of the insulator string so that any group of the electrode sheets is located on the axis of the insulator string.

[0012] As an optional solution, in the above-mentioned deteriorated insulator detection device based on three-dimensional radial electric field trend, the flight device includes an autonomous navigation module;

[0013] The autonomous navigation module receives the flight instructions or real-time instructions sent by the controller to adjust the flight attitude and position.

[0014] As an optional solution, in the above-mentioned deteriorated insulator detection device based on three-dimensional radial electric field trend, the flying device includes a drone, and a camera is installed on the drone;

[0015] The controller controls the camera to shoot video and obtain and store video data.

[0016] In order to solve the above technical problems, the present application also provides a deteriorated insulator detection method based on a three-dimensional radial electric field trend, which is applied to a deteriorated insulator detection device based on a three-dimensional radial electric field trend. The deteriorated insulator detection device based on a three-dimensional radial electric field trend comprises: a flight device, a three-dimensional electric field sensor, and a controller; the flight device is equipped with the three-dimensional electric field sensor; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal;

[0017] The method comprises:

[0018] Controlling the flying device to fly along the axis of the insulator string;

[0019] Receiving a voltage signal sent by the three-dimensional electric field sensor;

[0020] Determining whether there is a voltage signal that meets a sudden drop condition according to the voltage signals of each insulator in the insulator string;

[0021] If so, it is determined that there is a deteriorated insulator.

[0022] As an optional solution, in the above-mentioned deteriorated insulator detection method based on three-dimensional radial electric field trend, the three-dimensional electric field sensor includes: six electrode sheets; every two of the electrode sheets are arranged opposite to each other, and the six electrode sheets are in a cubic structure; each group of the electrode sheets is used to measure the electric field strength in the x direction, the y direction and the z direction respectively;

[0023] Correspondingly, receiving the voltage signal sent by the three-dimensional electric field sensor includes:

[0024] If the insulator string is distributed in the yz plane, the output voltage of a group of the electrode sheets located in the y direction and the output voltage of a group of the electrode sheets located in the z direction are obtained;

[0025] If the insulator strings are distributed in the xy plane, then the output voltage of a group of the electrode sheets located in the x direction and the output voltage of a group of the electrode sheets located in the y direction are obtained;

[0026] If the insulator strings are distributed in the xz plane, the output voltage of a group of the electrode sheets located in the x direction and the output voltage of a group of the electrode sheets located in the z direction are obtained.

[0027] As an optional solution, in the above-mentioned degraded insulator detection method based on the three-dimensional radial electric field trend, determining whether there is a degraded insulator according to the change rule of the voltage signal of each insulator in the insulator string includes:

[0028] If the insulator string is distributed in the yz plane, the radial electric field of the insulator is obtained according to the first formula and the output voltages in the y direction and the z direction;

[0029] If the insulator string is distributed in the xy plane, the radial electric field of the insulator is obtained according to the second formula and the output voltages in the x direction and the y direction;

[0030] If the insulator string is distributed in the xz plane, the radial electric field of the insulator is obtained according to the third formula and the output voltages in the x direction and the z direction;

[0031] Among them, the first formula is: ;

[0032] The second formula is: ;

[0033] The third formula is: ;

[0034] In the formula, represents the output voltage in the x direction, represents the output voltage in the y direction, represents the output voltage in the y direction; represents the radial electric field when the insulator string is distributed in the yz plane; represents the radial electric field when the insulator string is distributed in the xy plane; represents the radial electric field when the insulator string is distributed in the xz plane;

[0035] Determine whether there is a radial electric field ;

[0036] If yes, it is determined that there is a voltage signal that meets the sudden drop condition, and the insulator marked with serial number k is a deteriorated insulator;

[0037] If not, it is determined that there is no voltage signal satisfying the sudden drop condition.

[0038] As an optional solution, in the above-mentioned deteriorated insulator detection method based on the three-dimensional radial electric field trend, it is determined whether there is a Previously included:

[0039] Determine whether the radial electric field corresponding to the first insulator and the last insulator is less than a preset threshold;

[0040] If so, the corresponding insulator is marked as a degraded insulator.

[0041] As an optional solution, in the above-mentioned deteriorated insulator detection method based on three-dimensional radial electric field trend, obtaining the output voltage of a group of electrode sheets in any direction includes:

[0042] Obtaining electric field values ​​of two electrode sheets of a group of electrode sheets when the electrode sheets pass through the insulator;

[0043] According to the fourth formula, the output voltage is obtained from the electric field value:

[0044] The fourth formula is: ;

[0045] in, represents the output voltage, R m Represents the sampling resistor, represents the dielectric constant of air, E represents the electric field value in space, and A represents the relative equivalent area of ​​the two electrode sheets.

[0046] As an optional solution, in the above-mentioned deteriorated insulator detection method based on three-dimensional radial electric field trend, controlling the flying device to fly along the axis of the insulator string includes:

[0047] Acquiring positioning information and posture information of the insulator string;

[0048] Generate a flight instruction according to the positioning information and the attitude information;

[0049] The flight device is controlled to fly according to the flight instruction so that any group of the electrode sheets is located on the axis of the insulator string.

[0050] In order to solve the above technical problems, the present application also provides a deteriorated insulator detection device based on a three-dimensional radial electric field trend, which is applied to a deteriorated insulator detection device based on a three-dimensional radial electric field trend. The deteriorated insulator detection device based on a three-dimensional radial electric field trend comprises: a flight device, a three-dimensional electric field sensor, and a controller; the flight device is equipped with the three-dimensional electric field sensor; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal;

[0051] The device comprises:

[0052] A flight control module, used for controlling the flight device to fly along the axis of the insulator string;

[0053] A receiving module, used for receiving a voltage signal sent by the three-dimensional electric field sensor;

[0054] A judgment module, used to judge whether there is a voltage signal that meets the sudden drop condition according to the voltage signals of each insulator in the insulator string; if so, triggering a fault determination module;

[0055] The fault determination module is used to determine the presence of a degraded insulator.

[0056] The deteriorated insulator detection device based on the three-dimensional radial electric field trend provided by the present application, the controller controls the flying device to fly along the axis, ensures that the voltage signal obtained by the three-dimensional electric field sensor matches the actual electric field distribution of the insulator string, and makes the flying device fly along the axis regardless of the insulator string at any inclination angle, so as to meet the detection requirements of the insulator string with different inclination angles, and converts the electric field signal collected by the three-dimensional electric field sensor into a voltage signal, and the controller receives the voltage signal sent by the three-dimensional electric field sensor to determine whether there is a deteriorated insulator in the insulator string. The present application adopts non-contact detection to avoid the safety hazards and low efficiency problems in the traditional detection method, and improves the accuracy and safety of the detection. Reduces the workload of manual climbing and measurement. And no power outage detection is required, which reduces the impact and risk on the operation of the power grid during the detection process. Through the three-dimensional electric field sensor and the law of change of the electric field signal, the deteriorated insulator can be accurately identified, the possibility of misjudgment and missed judgment is reduced, and the reliability of the detection is improved.

[0057] In addition, the present application also provides a method and a device, which correspond to the above-mentioned deteriorated insulator detection equipment based on three-dimensional radial electric field trend, and have the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 A schematic diagram of a deteriorated insulator detection device based on a three-dimensional radial electric field trend provided in an embodiment of the present application;

[0060] Figure 2 An insulator string equivalent circuit model provided in an embodiment of the present application;

[0061] Figure 3 A schematic diagram of the radial electric field detection principle of an insulator provided in an embodiment of the present application;

[0062] Figure 4 A detection schematic diagram of a deteriorated insulator detection device based on a three-dimensional radial electric field trend provided in an embodiment of the present application;

[0063] Figure 5 A flowchart of a deteriorated insulator detection method based on a three-dimensional radial electric field trend provided in an embodiment of the present application;

[0064] Figure 6 A structural diagram of a deteriorated insulator detection device based on three-dimensional radial electric field trend provided in an embodiment of the present application.

[0065] Reference numerals:

[0066] 11-flight equipment; 12-three-dimensional electric field sensor; 13-controller. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0068] The core of this application is to provide a deteriorated insulator detection device, method and apparatus based on three-dimensional radial electric field trend.

[0069] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] Degraded insulator detection can be divided into two categories: live line detection and power outage detection. Live line detection allows the transmission line to detect degraded insulators while supplying energy, which is more practical in actual power transmission projects. The traditional distribution voltage detection method measures the voltage of each insulator to evaluate its operating status, but this method requires detection workers to climb near the insulator and obtain the distributed voltage of each insulator through the measuring device, which has the problems of low efficiency and high safety hazards. Another common method is the infrared image detection method, which evaluates whether the insulator is faulty by taking infrared images of the insulator and performing post-processing and identification detection. However, the detection accuracy of this method is greatly affected by the environment. At the same time, there is no observable external degradation after some insulators deteriorate, and there is a detection blind spot. Due to the gradient relationship between the electric field and voltage, the electric field can be measured by a contactless induction method. The voltage detection method is replaced by measuring the electric field distribution of the insulator, and the insulator status is identified by measuring the electric field characteristics around the insulator. However, there are a large number of non-horizontally distributed / vertically distributed insulator strings on the transmission line towers, and the existing method that only uses a single-dimensional electric field as the basis for judgment cannot be used for the detection of this type of deteriorated insulator strings.

[0071] To solve the above problems, this embodiment provides a deteriorated insulator detection device based on a three-dimensional radial electric field trend. Figure 1 A schematic diagram of a deteriorated insulator detection device based on a three-dimensional radial electric field trend provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, it includes: a flight device 11, a three-dimensional electric field sensor 12, and a controller 13;

[0072] The flying device 11 is equipped with a three-dimensional electric field sensor 12; the three-dimensional electric field sensor 12 is connected to a controller 13 by signals, and the controller 13 is connected to the flying device 11 by signals;

[0073] The controller 13 controls the flying device 11 to fly along the axis of the insulator string, receives the voltage signal sent by the three-dimensional electric field sensor 12, and determines whether there is a voltage signal that meets the sudden drop condition based on the voltage signal of each insulator in the insulator string to determine whether there is a degraded insulator.

[0074] Figure 2 An insulator string equivalent circuit model provided in the embodiment of the present application is as follows: Figure 2 As shown, when the surface of the insulator string is dry, free of dirt, and has good insulation performance, its own resistance is infinite, and the insulator string can be equivalent to a pure capacitor chain. The equivalent circuit diagram of the insulator to the tower and the conductor is as follows. They represent the capacitance of the insulator to the ground, to itself, and to the line, respectively. When an insulator deteriorates, its own capacitance will decrease or even become short-circuited, causing the voltage borne by the deteriorated insulator to drop significantly. The AC voltage of the line will be redistributed, which will cause changes in the distributed electric field around the insulator. Therefore, the radial electric field characteristics of the deteriorated insulator can be detected by an electric field sensor to determine its insulation performance, thus achieving non-contact detection of inferior insulators.

[0075] Figure 3 A schematic diagram of the radial electric field detection principle of an insulator provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the differential probe is used to sense the electric field, including metal electrode sheet 1 and metal electrode sheet 2. If the electric field strength changes with time, the induced charge will also change. The sampling resistor R m connected, the current generated by the changing charge will flow through the sampling resistor R m , and a pressure drop occurs across it.

[0076] In this embodiment, the flying device 11 is used to carry other detection components and fly along the axis of the insulator string to achieve non-contact detection. It is preferably a small remote-controlled aircraft, such as a drone, which has flexibility and efficiency. For example, a four-rotor drone has the characteristics of hovering, stable flight, and easy operation.

[0077] The three-dimensional electric field sensor 12 can be in any form, such as a spherical electric field sensor, which can realize electric field measurement in space. In a feasible solution, it is composed of three pairs of mutually perpendicular electrode pairs, which are used to measure the electric field in the three directions of x, y, and z respectively. This design enables the sensor to measure the radial electric field of the insulator string in any distribution state.

[0078] In this embodiment, the controller 13 is also used to receive and process voltage data. In practical applications, this part of the functional equipment can be separated and a signal processing module can be set to receive the voltage signal sent by the three-dimensional electric field sensor 12 and calculate the electric field strength of each insulator in the insulator string according to the voltage signal. This module can process complex electric field data and extract useful information. The signal processing module can be a circuit board that integrates an analog-to-digital converter, a microprocessor and a memory, which can process electric field data in real time and store the results.

[0079] The controller 13 controls the flight trajectory of the flying device 11 and determines whether there is a degraded insulator according to the electric field strength variation law provided by the signal processing module. The controller 13 may be an embedded system, such as a controller of a digital signal processing technology (DSP).

[0080] This embodiment is applicable to the detection of insulator strings at various distribution angles, including but not limited to vertical, horizontal, and non-horizontal / non-vertical distribution insulator strings. It is particularly applicable to live detection of high-voltage transmission lines, and can improve detection efficiency and accuracy while ensuring safety.

[0081] The law of electric field strength variation refers to the law that the electric field strength of each insulator in the insulator string varies with position. When there is a degraded insulator, its electric field strength will drop significantly, forming an obvious law of variation. Assuming that there are 10 insulators in the insulator string, the electric field strength data measured by the three-dimensional electric field sensor 12 is processed by the signal processing module, and it is found that the electric field strength of the fifth insulator is significantly lower than that of other insulators, and is lower than the preset threshold value, then the controller 13 determines that the fifth insulator is a degraded insulator.

[0082] The controller 13 is connected to the flying device 11 through wireless signals, such as remote control signals, global positioning system (GPS) signals, etc., or wired signal connections. The controller 13 controls the flight path and speed of the flying device 11 by sending instructions to ensure that the three-dimensional electric field sensor 12 can accurately fly along the axis of the insulator string. The controller 13 controls the flying device 11 to fly along the axis of the insulator string, which can be a uniform speed flight or a preset trajectory.

[0083] The controller 13 filters, amplifies, and performs analog-to-digital conversion on the received voltage signal to obtain accurate electric field strength data. In complex environments (such as strong winds and heavy rain), it may be necessary to equip the flight equipment 11 with additional stabilization devices or protective covers to ensure the smooth progress of the detection process.

[0084] The controller 13 can determine whether there is a degraded insulator by using a preset algorithm or threshold value according to the variation law of the electric field strength.

[0085] Through the deteriorated insulator detection device based on the three-dimensional radial electric field trend provided by the embodiment of the present application, the controller 13 controls the flying device 11 to fly along the axis to meet the detection requirements of the insulator strings with different inclination angles, and the electric field signal is collected by the three-dimensional electric field sensor 12. The controller 13 receives the voltage signal sent by the three-dimensional electric field sensor 12, and analyzes the change law of the voltage signal through the built-in algorithm to determine whether there are deteriorated insulators in the insulator string. The non-contact detection adopted in the present application avoids the safety hazards and low efficiency problems in the traditional detection method, and improves the accuracy and safety of the detection. The workload of manual climbing and measurement is reduced. And there is no need for power outage detection, which reduces the impact and risk on the operation of the power grid during the detection process. Through the three-dimensional electric field sensor 12 and advanced signal processing technology, the deteriorated insulator can be accurately identified, the possibility of misjudgment and missed judgment is reduced, and the reliability of detection is improved.

[0086] According to the above embodiment, in a specific embodiment, in the above deteriorated insulator detection device based on three-dimensional radial electric field trend, the three-dimensional electric field sensor 12 includes: six electrode sheets;

[0087] Every two electrodes are arranged opposite to each other, and the six electrodes are in a cubic structure; each group of electrodes is used to measure the electric field strength in the x direction, y direction and z direction respectively;

[0088] The controller 13 controls the flying device 11 to fly along the axis of the insulator string so that any group of electrode sheets is located on the axis of the insulator string.

[0089] Figure 4 A detection schematic diagram of a deteriorated insulator detection device based on a three-dimensional radial electric field trend provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the three-dimensional electric field sensor 12 includes six electrode sheets, each two of which are arranged opposite to each other to form a cubic structure. Each group of electrode sheets is used to measure the electric field strength in the x direction, y direction and z direction respectively. This three-dimensional layout enables the sensor to fully sense the electric field distribution around the insulator string.

[0090] The controller 13 controls the flying device 11 to fly along the axis of the insulator string, ensuring that the axis of the insulator string is located in any coordinate plane (such as the xy plane, the yz plane or the xz plane). Only the electric field information in the other two directions needs to be measured, which helps to simplify the measurement and calculation process of the electric field strength. , Used to measure the electric field in the x direction, Used to measure the electric field in the y direction, It is used to measure the electric field in the z direction. The three-dimensional electric field sensor 12 can determine the output voltage according to the change of the electric field.

[0091] When the electric field strength of an insulator is significantly lower than that of the surrounding insulators, it can be determined to be a degraded insulator. Since the output voltage is proportional to the electric field strength, the presence of a degraded insulator can be determined based on the change pattern of the output voltage.

[0092] Regardless of the angle at which the insulator string is distributed, the controller 13 can make the axis of the insulator string located in any coordinate system plane, thereby ensuring the smooth progress of the measurement process. This design enhances the universality of the equipment, enabling it to cope with various complex detection environments. The use of drones equipped with detection devices for flight detection greatly reduces the workload of manual climbing and measurement, and improves detection efficiency.

[0093] According to the above embodiment, in a specific embodiment, the above-mentioned deteriorated insulator detection device based on three-dimensional radial electric field trend, the deteriorated insulator detection device based on three-dimensional radial electric field trend, the flight device 11 includes an autonomous navigation module;

[0094] The autonomous navigation module receives the flight instructions or real-time instructions sent by the controller 13 to adjust the flight attitude and position.

[0095] The autonomous navigation module can receive flight instructions or real-time instructions from the controller 13. According to the received instructions, the autonomous navigation module can accurately adjust the flight attitude and position of the flying device 11. For example, during the detection process, when the controller 13 detects that the flight altitude or direction needs to be adjusted to better capture the electric field data, the autonomous navigation module will immediately respond and perform the corresponding adjustment operation. Specifically, the autonomous navigation module controls the flying device 11 to maintain parallel flight along the axis of the insulator string.

[0096] The controller 13 can plan the flight path and detection points according to the detection task. The autonomous navigation module controls the flight device 11 to autonomously fly to the specified position according to the planning of the controller 13. The three-dimensional electric field sensor 12 collects the electric field data around the insulator string in real time during the flight. The controller 13 receives and analyzes the electric field data to determine whether the insulator is degraded.

[0097] During the detection process, if the controller 13 finds that the flight attitude or position needs to be adjusted to obtain more accurate data, it will send real-time instructions to the autonomous navigation module, which will immediately respond and perform the adjustment operation.

[0098] The autonomous navigation module enables the flight device 11 to fly and adjust its attitude autonomously, reducing manual intervention and improving detection efficiency. By adjusting the flight attitude and position through real-time instructions, the device can better adapt to the complex and changing detection environment and ensure the smooth progress of the detection task. The combination of precise flight control and data acquisition improves the accuracy of deteriorated insulator detection based on the three-dimensional radial electric field trend.

[0099] This embodiment further improves the automation level and detection performance of the deteriorated insulator detection equipment based on the three-dimensional radial electric field trend by introducing an autonomous navigation module.

[0100] According to the above embodiment, in a specific embodiment, the above deteriorated insulator detection device based on three-dimensional radial electric field trend, the flying device 11 includes a drone, and a camera is installed on the drone;

[0101] The controller 13 controls the camera to shoot video, and obtains and stores video data.

[0102] As a flight platform, it is equipped with core components such as a three-dimensional electric field sensor 12, a camera and a controller 13. The drone needs to have stable flight capabilities and be suitable for complex environments such as high-voltage transmission lines. The camera is installed on the drone to capture video data of the insulator string in real time. The camera can use high-resolution optical equipment and support image stabilization and dynamic focus functions to ensure video clarity.

[0103] The controller 13 is integrated in the drone or the ground end, and is responsible for controlling the start and stop of the camera, adjusting shooting parameters (such as focal length and resolution), and storing video data locally or in the cloud.

[0104] The camera assists the drone in locating the insulator string through video streaming, ensuring that the three-dimensional electric field sensor 12 flies along the insulator axis. The video data and electric field strength data are recorded synchronously for later comparative analysis. For example, if the electric field strength of an insulator is abnormal, its appearance can be checked by video playback to see if it is cracked, dirty or damaged. The video data is transmitted to the ground end through the wireless communication module, or directly stored in the local storage of the drone, supporting offline analysis and fault tracing.

[0105] The electric field strength data is combined with the video data to improve the accuracy of the deteriorated insulator detection based on the 3D radial electric field trend. For example, the abnormal electric field area can be verified by video to see if it is caused by mechanical damage or contamination.

[0106] The specific camera supports dynamic adjustment of shooting angle, which is suitable for vertical, horizontal or inclined distribution of insulator strings, expanding the application scenarios of the equipment.

[0107] The controller 13 plans the flight path, the drone flies along the axis of the insulator string, the camera starts shooting synchronously, the three-dimensional electric field sensor 12 measures the electric field strength, and the camera records the appearance of the insulator. The two data are aligned through timestamps. If the controller 13 detects an abnormal electric field, it can instruct the drone to hover and adjust the camera focus to take a close-up shot of the suspected deteriorated insulator. After the video and electric field data are stored, the characteristics of the deteriorated insulator can also be identified through machine learning algorithms to assist in generating a test report.

[0108] The embodiment of the present application also provides a deteriorated insulator detection method based on a three-dimensional radial electric field trend, which is applied to a deteriorated insulator detection device based on a three-dimensional radial electric field trend. The deteriorated insulator detection device based on a three-dimensional radial electric field trend includes: a flight device 11, a three-dimensional electric field sensor 12, and a controller 13; the flight device 11 is equipped with a three-dimensional electric field sensor 12; the three-dimensional electric field sensor 12 is connected to the controller 13 by signal, and the controller 13 is connected to the flight device 11 by signal;

[0109] Figure 5 A flowchart of a deteriorated insulator detection method based on a three-dimensional radial electric field trend is provided in an embodiment of the present application, such as Figure 5 As shown, the method includes:

[0110] S11: Control the flying device to fly along the axis of the insulator string;

[0111] S12: receiving a voltage signal sent by the three-dimensional electric field sensor;

[0112] S13: judging whether there is a voltage signal satisfying a sudden drop condition according to the voltage signals of each insulator in the insulator string;

[0113] S14: If yes, it is determined that there is a degraded insulator.

[0114] Step S11 controls the flying device 11 to fly along the axis of the insulator string, specifically a drone. The drone can be equipped with an autonomous navigation module, and sends real-time instructions through the controller 13 to adjust the flight attitude (such as altitude and speed). The flying device 11 receives the flight instructions sent by the controller 13 through the autonomous navigation module, accurately controls the flight attitude and position, and ensures that the three-dimensional electric field sensor 12 can be stably aligned with the axis of the insulator string. If the insulator string is horizontally or tilted, the drone can adjust the extension direction of the telescopic detection mechanism to keep the axis aligned. By flying along the axis of the insulator string, it can ensure that the voltage signal obtained by the three-dimensional electric field sensor 12 matches the actual electric field distribution of the insulator string, thereby improving the accuracy of detection.

[0115] In step S12, during the flight of the flying device 11 along the axis of the insulator string, the sensor collects electric field data in real time and converts it into a voltage signal.

[0116] Step S13: After the controller 13 receives the voltage signal from the three-dimensional electric field sensor 12, it analyzes and processes these signals. It is determined whether there is a voltage signal that meets the sudden drop condition. The present embodiment does not limit the specific content of the sudden drop condition, which may be a reduction ratio or a smaller threshold. By comparing the change trend of the voltage signal at each insulator position, it is identified whether there are insulators with significantly reduced voltages. These insulators are likely to be degraded zero-value or low-value insulators. When there are zero-value or low-value insulators in the insulator string, since its own capacitance is significantly reduced or even close to a short-circuit state, the insulator is almost not subjected to voltage, so the electric field strength around it will be significantly reduced. The controller 13 determines the degradation state of the insulator by detecting the significant change in the electric field strength. Degradation detection can be achieved without direct contact with the insulator, which has the advantages of high efficiency, safety, and contactlessness. At the same time, through the application of the three-dimensional electric field sensor 12, it is possible to overcome the limitations of the traditional one-dimensional electric field detection method when the insulator string is not horizontally / vertically distributed, and improve the universality and accuracy of the detection.

[0117] The deteriorated insulator detection method based on the three-dimensional radial electric field trend of this embodiment uses a flying device 11 equipped with a three-dimensional electric field sensor 12 to fly along the axis of the insulator string, collect three-dimensional electric field data around the insulator string in real time, and determine whether there are deteriorated insulators based on the change law of the voltage signal. This method has the advantages of high efficiency, safety, and contactlessness, can overcome the limitations of traditional detection methods, and is suitable for the detection of insulator strings in various distribution states. Through the application of the autonomous navigation module, the flying device 11 can accurately control the flight attitude and position to ensure the accuracy and reliability of the detection. At the same time, the application of the three-dimensional electric field sensor 12 enables the method to effectively detect when the insulator string is not horizontally / vertically distributed, thereby improving the universality and accuracy of the detection.

[0118] If the distribution plane of the insulator string is unknown, omnidirectional electrodes can be used to synchronously collect data (three groups of electrodes, x, y, and z), and then the controller 13 algorithm is used to screen the principal component direction (such as principal component analysis), but the amount of data processing will increase. In order to reduce data calculation, in a specific embodiment, in the above-mentioned deteriorated insulator detection method based on the three-dimensional radial electric field trend, the three-dimensional electric field sensor includes: six electrode sheets; every two of the electrode sheets are arranged opposite to each other, and the six electrode sheets are a cubic structure; each group of the electrode sheets is used to measure the electric field strength in the x direction, the y direction, and the z direction respectively; correspondingly, receiving the voltage signal sent by the three-dimensional electric field sensor 12, including:

[0119] If the insulator string is distributed in the yz plane, the output voltage of a group of electrode sheets located in the y direction and the output voltage of a group of electrode sheets located in the z direction are obtained;

[0120] If the insulator strings are distributed in the xy plane, the output voltage of a group of electrode sheets located in the x direction and the output voltage of a group of electrode sheets located in the y direction are obtained;

[0121] If the insulator strings are distributed in the xz plane, the output voltage of a group of electrode sheets located in the x direction and the output voltage of a group of electrode sheets located in the z direction are obtained.

[0122] According to the above embodiment, if the insulator string is distributed in the yz plane, the output voltage of the electrode sheet in the y direction and the z direction is obtained, and the axis of the insulator string in the yz plane is perpendicular to the electrode sheet in the yz direction (assuming longitudinal distribution), the components of the electric field in the y and z directions are dominant, and the component in the x direction can be ignored. Similarly, if the insulator string is distributed in the xy plane, the component in the z direction is small and can be ignored; if the insulator string is distributed in the xz plane, the component in the y direction is small and can be ignored.

[0123] The output voltage of the electrode sheet is linearly related to the electric field strength. If an insulator deteriorates (zero value or low value), its electric field strength will be significantly reduced (due to reduced capacitance or short circuit), resulting in abnormal output voltage at the corresponding position. If the voltage signal of an insulator is significantly lower than that of the adjacent insulator (such as a drop of more than 30%), it is judged to be deteriorated.

[0124] Furthermore, in the above-mentioned deteriorated insulator detection method based on the three-dimensional radial electric field trend, judging whether there is a voltage signal that meets the sudden drop condition according to the voltage signal of each insulator in the insulator string includes:

[0125] If the insulator string is distributed in the yz plane, the radial electric field of the insulator is obtained according to the first formula and the output voltages in the y and z directions;

[0126] If the insulator string is distributed in the xy plane, the radial electric field of the insulator is obtained according to the second formula and the output voltages in the x and y directions;

[0127] If the insulator string is distributed in the xz plane, the radial electric field of the insulator is obtained according to the third formula and the output voltages in the x and z directions;

[0128] Among them, the first formula is: ;

[0129] The second formula is: ;

[0130] The third formula is: ;

[0131] In the formula, represents the output voltage in the x direction, represents the output voltage in the y direction, represents the output voltage in the y direction; represents the radial electric field when the insulator string is distributed in the yz plane; represents the radial electric field when the insulator string is distributed in the xy plane; represents the radial electric field when the insulator string is distributed in the xz plane;

[0132] The radial electric field of each insulator in the insulator string from the line to the ground is sorted as , where A represents the insulator string distribution plane, and m represents the number of insulators;

[0133] Determine whether there is a radial electric field ;

[0134] If yes, it is determined that there is a voltage signal that meets the sudden drop condition, and the insulator marked with serial number k is a deteriorated insulator;

[0135] If not, it is determined that there is no voltage signal satisfying the sudden drop condition.

[0136] This embodiment provides a solution for calculating the radial electric field. If the insulator string is distributed in the yz plane, the electric field is mainly distributed along the y (horizontal) and z (vertical) directions, and the radial electric field strength is the vector sum of these two directions. Similarly, the radial electric field in the other two states can be obtained.

[0137] The radial electric fields of the insulators in the insulator string from the line to the ground are sorted. In actual scenarios, the electric field size may increase or decrease, but it changes monotonically under normal conditions. When a piece of insulator deteriorates (such as zero-value or low-value insulators), its capacitance is significantly reduced and it bears almost no voltage, causing the electric field strength around it to drop sharply. Therefore, if it is necessary to determine whether there are deteriorated insulators, it is necessary to determine whether there are insulators with mutations. By determining whether there are deteriorated insulators in the radial electric field, That is, if the electric field strength at position k is determined to be a local minimum, the insulator is judged to be a degraded insulator.

[0138] In addition, the above judgment omits the judgment condition of the insulators at both ends. In a specific embodiment, it is judged whether there is a radial electric field. Previously included:

[0139] Determine whether the radial electric field corresponding to the first insulator and the last insulator is less than a preset threshold;

[0140] If so, the corresponding insulator is marked as a degraded insulator.

[0141] Before determining whether there is a local minimum in the middle insulator, it is necessary to first detect whether the radial electric field of the first insulator (high-voltage end) and the last insulator (ground end) is less than a preset threshold. The preset threshold can be set according to the electric field strength range of a normal insulator, and this embodiment does not impose any specific restrictions.

[0142] If the radial electric field of the head end insulator is less than the preset threshold, it is marked as the head end deteriorated insulator. If the radial electric field of the end insulator is less than the preset threshold, it is marked as the end deteriorated insulator. This embodiment improves the full position identification logic of the deteriorated insulator by combining the head and tail threshold determination with the middle local minimum detection.

[0143] Furthermore, in the above-mentioned deteriorated insulator detection method based on three-dimensional radial electric field trend, obtaining the output voltage of a group of electrode sheets in any direction includes:

[0144] Obtain the electric field values ​​of two electrode sheets when a set of electrode sheets pass through an insulator;

[0145] According to the fourth formula, the electric field value is used to obtain the output voltage:

[0146] The fourth formula is: ;

[0147] in, Represents the output voltage, R m Represents the sampling resistor, represents the dielectric constant of air, E represents the electric field value in space, and A represents the relative equivalent area of ​​the two electrode sheets.

[0148] In this embodiment, the three-dimensional electric field sensor 12 captures the spatial electric field changes through the electrode sheet and converts it into a measurable voltage signal. The fourth formula shows that the output voltage is converted from the displacement current generated by the electrode sheet in the time-varying electric field through the sampling resistor, and its essence is the integral effect of the time change rate of the electric field on the equivalent area of ​​the electrode.

[0149] When the three-dimensional electric field sensor 12 flies close to the insulator, the electrode sheets are exposed to the time-varying electric field. Each group of electrode sheets (such as the y direction and the z direction) is measured by differential measurement to obtain the instantaneous electric field strength E at its location. The time rate of change of the electric field is calculated by discrete time differentiation, and numerical integration is performed on the equivalent area of ​​the electrode to obtain the output voltage.

[0150] Furthermore, in the above-mentioned deteriorated insulator detection method based on three-dimensional radial electric field trend, controlling the flying device to fly along the axis of the insulator string includes:

[0151] Obtain the positioning information and attitude information of the insulator string;

[0152] Generate flight instructions based on positioning information and attitude information;

[0153] The flight equipment is controlled to fly according to the flight instructions so that any set of electrode sheets is located on the axis of the insulator string.

[0154] Controlling the flight equipment to fly along the axis of the insulator string requires a combination of positioning information fusion and dynamic attitude adjustment to ensure that the electric field sensor electrode is accurately aligned with the axis.

[0155] The infrared camera or laser radar carried by the drone can be used to identify the end points of the insulator string (high voltage end and ground end) to generate three-dimensional coordinate data. If the insulator string has been entered into the Geographic Information System (GIS) of the power grid, its spatial coordinates (latitude, longitude, altitude) can be directly used as the reference.

[0156] In addition, the attitude information refers to the direction or tilt angle of the insulator string itself. Through inertial measurement unit (IMU), visual assisted positioning and other means, the attitude change of the insulator string can be monitored in real time to ensure the alignment of the flight device 11 with the axis of the insulator string.

[0157] After obtaining the positioning and attitude information of the insulator string, the flight control system will calculate the flight path and attitude adjustment strategy that the flight device 11 needs to take based on this information. The generation of flight instructions needs to consider multiple factors, such as flight speed, flight altitude, obstacle avoidance strategy, etc., to ensure that the flight device 11 can fly safely and accurately along the axis of the insulator string.

[0158] After receiving the flight instruction, the flight device 11 will perform corresponding flight actions, such as adjusting the flight direction, altitude and speed. During this process, the flight control system will continuously monitor the actual flight status of the flight device 11 and compare it with the preset flight instruction to ensure that the flight device 11 can always fly above or near the axis of the insulator string. In particular, by accurately controlling the flight attitude and position of the flight device 11, it can be ensured that any set of electrode sheets can be accurately located on the axis of the insulator string, thereby achieving effective detection of the insulator string.

[0159] In the above embodiments, the deteriorated insulator detection method based on the three-dimensional radial electric field trend is described in detail. The present application also provides a corresponding embodiment of the deteriorated insulator detection device based on the three-dimensional radial electric field trend.

[0160] From the perspective of functional modules, Figure 6 A structural diagram of a deteriorated insulator detection device based on a three-dimensional radial electric field trend provided in an embodiment of the present application, such as Figure 6 As shown, a deteriorated insulator detection device based on a three-dimensional radial electric field trend is applied to a deteriorated insulator detection device based on a three-dimensional radial electric field trend. The deteriorated insulator detection device based on a three-dimensional radial electric field trend comprises: a flight device, a three-dimensional electric field sensor, and a controller; the flight device is equipped with a three-dimensional electric field sensor; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal;

[0161] The device includes:

[0162] A flight control module 21, used to control the flight device to fly along the axis of the insulator string;

[0163] A receiving module 22, used for receiving a voltage signal sent by a three-dimensional electric field sensor;

[0164] A judging module 23 is used to judge whether there is a voltage signal that meets the sudden drop condition according to the voltage signals of each insulator in the insulator string; if so, triggering a fault determining module 24;

[0165] The fault determination module 24 is used to determine the presence of degraded insulators.

[0166] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0167] The above is a detailed introduction to the deteriorated insulator detection equipment, method and device based on the three-dimensional radial electric field trend provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can refer to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0168] 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.

Claims

1. A deteriorated insulator detection device based on three-dimensional radial electric field trend, characterized in that: include: Flight equipment, three-dimensional electric field sensors, and controllers; The three-dimensional electric field sensor is mounted on the flying device; The three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal; The controller controls the flying device to fly along the axis of the insulator string, receives the voltage signal sent by the three-dimensional electric field sensor, and determines whether there is a voltage signal that meets the sudden drop condition based on the voltage signal of each insulator in the insulator string to determine whether there is a degraded insulator.

2. The deteriorated insulator detection device based on three-dimensional radial electric field trend according to claim 1 is characterized in that: The three-dimensional electric field sensor comprises: six electrode sheets; Every two of the electrode sheets are arranged opposite to each other, and the six electrode sheets are in a cubic structure; each group of the electrode sheets is used to measure the electric field strength in the x direction, the y direction and the z direction respectively; The controller controls the flying device to fly along the axis of the insulator string so that any group of the electrode sheets is located on the axis of the insulator string.

3. The deteriorated insulator detection device based on three-dimensional radial electric field trend according to claim 1 is characterized in that: The flight equipment includes an autonomous navigation module; The autonomous navigation module receives the flight instructions or real-time instructions sent by the controller to adjust the flight attitude and position.

4. The deteriorated insulator detection device based on three-dimensional radial electric field trend according to claim 1, characterized in that: The flying device includes a drone, and a camera is installed on the drone; The controller controls the camera to shoot video and obtain and store video data.

5. A method for detecting deteriorated insulators based on three-dimensional radial electric field trend, characterized in that: Applicable to a deteriorated insulator detection device based on a three-dimensional radial electric field trend, the deteriorated insulator detection device based on a three-dimensional radial electric field trend comprises: a flight device, a three-dimensional electric field sensor, and a controller; the flight device is equipped with the three-dimensional electric field sensor; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal; The method comprises: Controlling the flying device to fly along the axis of the insulator string; Receiving a voltage signal sent by the three-dimensional electric field sensor; Determining whether there is a voltage signal that meets a sudden drop condition according to the voltage signals of each insulator in the insulator string; If so, it is determined that there is a deteriorated insulator.

6. The deteriorated insulator detection method based on three-dimensional radial electric field trend according to claim 5 is characterized in that: The three-dimensional electric field sensor comprises: six electrode sheets; every two of the electrode sheets are arranged opposite to each other, and the six electrode sheets are in a cubic structure; each group of the electrode sheets is used to measure the electric field strength in the x direction, the y direction and the z direction respectively; Correspondingly, receiving the voltage signal sent by the three-dimensional electric field sensor includes: If the insulator string is distributed in the yz plane, the output voltage of a group of the electrode sheets located in the y direction and the output voltage of a group of the electrode sheets located in the z direction are obtained; If the insulator strings are distributed in the xy plane, then the output voltage of a group of the electrode sheets located in the x direction and the output voltage of a group of the electrode sheets located in the y direction are obtained; If the insulator strings are distributed in the xz plane, the output voltage of a group of the electrode sheets located in the x direction and the output voltage of a group of the electrode sheets located in the z direction are obtained.

7. The deteriorated insulator detection method based on three-dimensional radial electric field trend according to claim 6 is characterized in that: Judging whether there is a voltage signal satisfying a sudden drop condition according to the voltage signal of each insulator in the insulator string includes: If the insulator string is distributed in the yz plane, the radial electric field of the insulator is obtained according to the first formula and the output voltages in the y direction and the z direction; If the insulator string is distributed in the xy plane, the radial electric field of the insulator is obtained according to the second formula and the output voltages in the x direction and the y direction; If the insulator string is distributed in the xz plane, the radial electric field of the insulator is obtained according to the third formula and the output voltages in the x direction and the z direction; Among them, the first formula is: ; The second formula is: ; The third formula is: ; In the formula, represents the output voltage in the x direction, represents the output voltage in the y direction, represents the output voltage in the y direction; represents the radial electric field when the insulator string is distributed in the yz plane; represents the radial electric field when the insulator string is distributed in the xy plane; represents the radial electric field when the insulator string is distributed in the xz plane; The radial electric field of each insulator in the insulator string from the line to the ground is sorted as follows: , where A represents the insulator string distribution plane, and m represents the number of insulators; Determine whether there is a radial electric field ; If yes, it is determined that there is a voltage signal that meets the sudden drop condition, and the insulator marked with serial number k is a deteriorated insulator; If not, it is determined that there is no voltage signal satisfying the sudden drop condition.

8. The deteriorated insulator detection method based on three-dimensional radial electric field trend according to claim 7 is characterized in that: Determine whether there is a radial electric field Previously included: Determine whether the radial electric field corresponding to the first insulator and the last insulator is less than a preset threshold; If so, the corresponding insulator is marked as a degraded insulator.

9. The deteriorated insulator detection method based on three-dimensional radial electric field trend according to claim 6, characterized in that: Obtaining the output voltage of a group of electrode sheets in any direction includes: Obtaining electric field values ​​of two electrode sheets of a group of electrode sheets when the electrode sheets pass through the insulator; According to the fourth formula, the output voltage is obtained from the electric field value: The fourth formula is: ; in, represents the output voltage, R m Represents the sampling resistor, represents the dielectric constant of air, E represents the electric field value in space, and A represents the relative equivalent area of ​​the two electrode sheets.

10. The deteriorated insulator detection method based on three-dimensional radial electric field trend according to claim 6, characterized in that: Controlling the flying device to fly along the axis of the insulator string includes: Acquiring positioning information and posture information of the insulator string; Generate a flight instruction according to the positioning information and the attitude information; The flight device is controlled to fly according to the flight instruction so that any group of the electrode sheets is located on the axis of the insulator string.

11. A deteriorated insulator detection device based on three-dimensional radial electric field trend, characterized in that: Applicable to a deteriorated insulator detection device based on a three-dimensional radial electric field trend, the deteriorated insulator detection device based on a three-dimensional radial electric field trend comprises: a flight device, a three-dimensional electric field sensor, and a controller; the flight device is equipped with the three-dimensional electric field sensor; the three-dimensional electric field sensor is connected to the controller by signal, and the controller is connected to the flight device by signal; The device comprises: A flight control module, used for controlling the flight device to fly along the axis of the insulator string; A receiving module, used for receiving a voltage signal sent by the three-dimensional electric field sensor; A judgment module, used to judge whether there is a voltage signal that meets the sudden drop condition according to the voltage signals of each insulator in the insulator string; if so, triggering a fault determination module; The fault determination module is used to determine the presence of a degraded insulator.

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