Detection device for ceramic insulator in high-voltage environment and control method of detection device

Abstract

The invention relates to the technical field of high-voltage equipment detection, and particularly discloses a detection device for a ceramic insulator in a high-voltage environment and a control method of the detection device.The detection device comprises a plurality of single detection modules, and each single detection module comprises an arc-shaped connecting part, an overturning part, a three-dimensional ultrasonic information collecting device and a wireless transmission device; the wireless transmission device is used for wirelessly transmitting three-dimensional ultrasonic information to terminal equipment arranged outside the safety distance of the ceramic insulator, the detection device is modularly designed to adapt to ceramic insulators of different sizes, stable clamping and axial rotation are achieved through the limiting driving structure, wireless data transmission is supported, and the detection device is convenient to use. According to the ceramic insulator detection device, an operator is ensured to be out of a safe distance, the risk of electric shock of the detector due to a high-voltage environment is avoided, a limiting driving structure is arranged to drive the single detection modules to integrally move up and down through rotation, detection of a plurality of grooves of a ceramic insulator is further realized, and manual movement of the detection device is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage equipment detection, and in particular to a detection device for ceramic insulators under high-voltage conditions and a control method for the detection device. Background Art

[0002] With the continuous changes in electricity technology and the continuous increase in electricity demand, the requirements for power transmission are also increasing. However, large-scale power transmission cannot be carried out by direct transmission, which will lead to a sharp increase in electricity consumption and an increase in transmission safety risks. Therefore, technicians optimize power transmission by configuring substations.

[0003] During the operation of the substation, ceramic insulators are needed to ensure the safety and reliability of the substation, so the safety of ceramic insulators is extremely important. Since ceramic insulators are mainly used in high-voltage environments, the high-voltage environment refers to the power transmission or equipment operation area in the substation where there is an extremely high voltage (usually 10 kilovolts to hundreds of kilovolts), and this environment has a strong electric field and a high potential difference, that is, the voltage difference between the conductors can be tens of thousands to millions of volts. When unprotected personnel come into contact with it, the body may withstand a voltage thousands of times higher than the safety threshold. Therefore, during the detection and maintenance process, the substation is often required to be powered off, which leads to changes in the grid load and the impact on user electricity consumption, which cannot meet actual needs. Therefore, people expect to be able to detect it without power outages, but there is a greater risk of electric shock in high-voltage environments, which poses a challenge to existing detection technologies and detection methods.

[0004] On the other hand, among the existing ceramic insulator detection technologies, ultrasonic detection is a commonly used method. However, the existing ultrasonic detection method has high professional requirements on the operators and requires the application of coupling agent during detection. At the same time, the detection efficiency is low and cannot meet actual needs. Summary of the invention

[0005] In order to overcome the above-mentioned technical problems existing in the prior art, an embodiment of the present invention provides a detection device for ceramic insulators under high voltage environment. It can adapt to ceramic insulators of different sizes through modular design, realize stable clamping and axial rotation by using a limit drive structure, and support wireless data transmission to ensure that the operator is at a safe distance, thereby avoiding the risk of electric shock for the detection personnel due to the high voltage environment.

[0006] In order to achieve the above object, an embodiment of the present invention provides a detection device for a ceramic insulator under a high voltage environment, wherein the ceramic insulator comprises a plurality of sheds, and a groove is formed between adjacent sheds. The detection device comprises a plurality of single-unit detection modules, each of which is detachably snap-connected, and all the single-unit detection modules are connected to form a ring surrounding the groove. The single-unit detection module comprises:

[0007] The arc-shaped connecting part comprises a connecting arm and a connecting shaft connected to each other;

[0008] The flipping part comprises a flipping structure and N limit drive structures evenly arranged along the circumference of the flipping structure, wherein in a use state, two of the N limit drive structures are located on the same vertical line and are respectively engaged with adjacent sheds, wherein N is a positive integer greater than 2, the flipping structure is axially connected to the connecting shaft and rotates coaxially with the connecting shaft, and the limit drive structure is used to drive the flipping part to rotate along the axial direction of the ceramic insulator;

[0009] A three-dimensional ultrasonic information acquisition device is arranged on the connecting shaft, and a through hole corresponding to the three-dimensional ultrasonic information acquisition device is opened on the flip structure. The three-dimensional ultrasonic information acquisition device is arranged opposite to the groove and is used to collect three-dimensional ultrasonic information of the groove;

[0010] A wireless transmission device is arranged on the arc-shaped connecting portion and is electrically connected to the three-dimensional ultrasonic information acquisition device, and is used to wirelessly transmit the three-dimensional ultrasonic information to a terminal device, and the terminal device is arranged outside a safe distance of the ceramic insulator.

[0011] Preferably, the connecting arm includes a first arm connected to one end of the connecting shaft and a second arm connected to the other end of the connecting shaft, a connecting female head is arranged at the end of the first arm, and a connecting sub-head is arranged at the end of the second arm, and the connecting female head and the connecting sub-head are respectively used for snap-connecting with the corresponding connecting sub-head and the corresponding connecting female head of other detection modules.

[0012] Existing detection devices for ceramic insulators in high-voltage environments are usually of fixed size, that is, a detection device is usually only applicable to a specific type of ceramic insulator and cannot be adaptively adjusted for different types of ceramic insulators.

[0013] The embodiment of the present invention arranges a connecting female head at the end of the first arm away from the connecting shaft and a connecting sub-head at the end of the second arm of the paddle away from the connecting shaft, and then engages the connecting female head and the connecting sub-head with the corresponding connecting sub-head and the corresponding connecting female head of other detection modules respectively, thereby forming a ring for detecting ceramic insulators. Such a design enables the detection device in the embodiment of the present invention to control the size of the ring by controlling the number of connections of the single detection modules, that is, it can be adaptively adjusted according to different models of ceramic insulators, and the connection and removal of the detection device are greatly reduced through the engaging connection of the connecting female head and the connecting sub-head.

[0014] Preferably, a retractable protruding component is provided at the end of the connecting female head, and the retractable protruding component performs a corresponding extension operation / contraction operation according to a control instruction, and a concave hole corresponding to the retractable protruding component is provided at the end of the connecting sub-head.

[0015] Preferably, the flip structure comprises a flip driving device connected to the connecting shaft, a shell is arranged outside the flip driving device, the shape of the shell matches the shape of the first arm and the second arm, and N flip arms corresponding to the limit driving structure are arranged on the shell;

[0016] The position-limiting driving structure comprises a connecting frame connected to the flip arm and a rotating device connected to the connecting frame. In a use state, the two rotating devices used are located within the projection range of the umbrella skirt.

[0017] Preferably, the flip arm is axially connected to the connecting frame, an axial driving device is arranged between the connecting frame and the flip arm, and the axial driving device is used to drive the connecting frame to flip axially;

[0018] The rotating device comprises an omnidirectional wheel and a rotating driving component;

[0019] The omnidirectional wheel is a Mecanum wheel.

[0020] Preferably, the three-dimensional ultrasound information acquisition device is electrically connected to the three-dimensional ultrasound information collection device, and the three-dimensional ultrasound information acquisition device is an air-coupled three-dimensional ultrasound probe.

[0021] Accordingly, the present invention also provides a control method for a detection device, the control method comprising:

[0022] Determine the number of monomer detection modules required to be configured for the current ceramic insulator, and surround the corresponding number of monomer detection modules in the initial groove of the current ceramic insulator;

[0023] In response to the engagement instruction, the flipping part of the detection device is controlled to engage with the upper and lower sheds of the initial groove, and the flipping part fixes the detection device in the vertical direction;

[0024] Controlling the detection device to rotate around the initial groove to perform a three-dimensional ultrasonic acquisition action and obtain corresponding three-dimensional ultrasonic acquisition information;

[0025] Controlling the flipping structure to perform the umbrella skirt flipping action to move to the next groove;

[0026] The next groove is taken as a new initial groove, and the corresponding three-dimensional ultrasonic acquisition action is performed until the three-dimensional ultrasonic acquisition action for all grooves is completed.

[0027] Preferably, the control method further includes:

[0028] After a corresponding number of single-unit detection modules are arranged around the initial groove, controlling the flip structure to perform a shaking action;

[0029] Acquiring vibration information of the detection device under the shaking action;

[0030] Determining whether the detection device is stably clamped based on the vibration information;

[0031] If the detection device is not clamped stably, a corresponding alarm message is output and the operation is stopped.

[0032] Preferably, the detection device further comprises a three-dimensional ultrasonic information acquisition device arranged opposite to the initial groove, the flipping part comprises a plurality of limit drive structures, and the flipping part of the control device is engaged with the upper and lower sheds of the initial groove, comprising:

[0033] Controlling the turning part to rotate so as to fit and fix the first limit driving structure to the surface of the lower umbrella skirt;

[0034] Controlling the second position-limiting driving structure directly above the first position-limiting driving structure to flip, so as to fit and fix the second position-limiting driving structure to the surface of the upper shed;

[0035] Acquiring initial acquisition information of the three-dimensional ultrasound information acquisition device;

[0036] Determining a position deviation between the three-dimensional ultrasonic information acquisition device and the initial groove based on the initial acquisition information;

[0037] The first position-limiting driving structure and the second position-limiting driving structure are controlled to perform posture control based on the position deviation.

[0038] Preferably, controlling the flip structure to perform the umbrella skirt flipping action to move to the next groove includes:

[0039] Controlling the first position-limiting driving structure to flip, so as to release the fitting and fixing state between the first position-limiting driving structure and the lower umbrella skirt;

[0040] Acquire the angle between the first limit driving structure and the second limit driving structure;

[0041] Based on the angle, the flip structure is controlled to perform a shed flipping action to move to a next groove;

[0042] The third position-limiting driving structure directly above the second position-limiting driving structure is controlled to flip, so as to fit and fix the third position-limiting driving structure to the surface of the upper umbrella skirt of the next groove.

[0043] Through the technical solution provided by the present invention, the present invention has at least the following technical effects:

[0044] The detection device is modularly designed to adapt to ceramic insulators of different sizes, and a limit drive structure is used to achieve stable clamping and axial rotation, and wireless data transmission is supported to ensure that the operator is at a safe distance, thereby avoiding the risk of electric shock to the detection personnel due to the high-voltage environment. In addition, by setting N limit drive structures (N is a positive integer greater than 2), the limit drive structure can drive the single-unit detection module to move up and down as a whole through rotation, thereby realizing the detection of multiple grooves of the ceramic insulator, thereby avoiding artificial movement of the detection device, and improving the applicability of the single-unit detection module in the embodiment of the present invention.

[0045] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0047] Figure 1 It is a structural schematic diagram of a single-unit detection module in a detection device for ceramic insulators under high voltage environment provided by an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of the overall structure of a detection device for ceramic insulators under high voltage environment provided by an embodiment of the present invention;

[0049] Figure 3 yes Figure 2 An enlarged structural diagram of A in the overall structural diagram of a monitoring device for ceramic insulators under high voltage environment is provided;

[0050] Figure 4 It is a schematic diagram of a specific implementation flow of a control method for a detection device provided by an embodiment of the present invention.

[0051] Description of Reference Numerals

[0052] 1-connecting arm, 2-flipping structure, 3-limiting driving structure, 4-three-dimensional ultrasonic information acquisition device, 5-connecting sub-head, 6-connecting female head, 7-retractable protruding part, 8-concave hole, 9-flipping arm, 10-connecting frame, 11-rotating device. DETAILED DESCRIPTION

[0053] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0054] The term "multiple" in the embodiments of the present invention refers to two or more than two. In view of this, in the embodiments of the present invention, "multiple" can also be understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, it should be understood that in the description of the embodiments of the present invention, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0055] See also Figure 1-Figure 3 An embodiment of the present invention provides a detection device for a ceramic insulator under a high voltage environment, wherein the ceramic insulator comprises a plurality of sheds, and grooves are formed between adjacent sheds. The detection device comprises a plurality of single-body detection modules, each of which is detachably snap-connected, and all single-body detection modules are connected to form a ring surrounding the groove. The single-body detection module comprises: an arc-shaped connection portion, comprising a connecting arm 1 and a connecting shaft connected to each other; a flip portion, comprising a flip structure 2 and N limit drive structures 3 uniformly arranged along the circumference of the flip structure 2. In a use state, two of the N limit drive structures 3 are located on the same vertical line and are snap-connected with adjacent sheds, respectively, and N is greater than 2, the flip structure 2 is axially connected to the connecting shaft and rotates coaxially with the connecting shaft, the limit drive structure 3 is used to drive the flip part to rotate along the axial direction of the ceramic insulator; a three-dimensional ultrasonic information acquisition device 4 is arranged on the connecting shaft, a through hole corresponding to the three-dimensional ultrasonic information acquisition device 4 is opened on the flip structure 2, the three-dimensional ultrasonic information acquisition device 4 is arranged opposite to the groove, and is used to collect three-dimensional ultrasonic information of the groove; a wireless transmission device is arranged on the arc-shaped connecting part and electrically connected to the three-dimensional ultrasonic information acquisition device 4, and is used to wirelessly transmit the three-dimensional ultrasonic information to a terminal device, and the terminal device is arranged outside the safe distance of the ceramic insulator.

[0056] The inspection of ceramic insulators in existing high-voltage environments usually needs to be done manually. In order to protect the personal safety of the inspectors, the substation often needs to be powered off, which leads to changes in the grid load and affects user electricity consumption, and cannot meet actual needs. Therefore, people hope to be able to inspect them without cutting off the power supply, but there is a greater risk of electric shock in high-voltage environments.

[0057] The embodiment of the present invention adapts to ceramic insulators of different sizes through modular design, uses a limit drive structure 3 to achieve stable clamping and axial rotation, and supports wireless data transmission. The terminal device is located outside a safe distance to ensure that the operator is outside a safe distance, thereby avoiding the risk of electric shock to the inspector due to the high-voltage environment. In addition, by setting N limit drive structures 3 (N is a positive integer greater than 2), the limit drive structure 3 can drive the entire single detection module to move up and down through rotation, thereby realizing the detection of multiple grooves of the ceramic insulator, thereby avoiding the manual movement of the detection device, and improving the applicability of the single detection module in the embodiment of the present invention. In addition, a three-dimensional ultrasonic information acquisition device 4 is used to scan the groove directly without contacting the surface of the insulator to avoid damage to the brittle ceramic material. The detection device is set as a circular ring structure as a whole, so that the ultrasonic probe can scan 360° around the groove to ensure that there is no detection blind spot.

[0058] In an embodiment of the present invention, the connecting arm 1 includes a first arm connected to one end of the connecting shaft and a second arm connected to the other end of the connecting shaft. A connecting female head 6 is provided at the end of the first arm, and a connecting sub-head 5 is provided at the end of the second arm. The connecting female head 6 and the connecting sub-head 5 are respectively used for snap-connecting with the corresponding connecting sub-head 5 and the corresponding connecting female head 6 of other detection modules.

[0059] In an embodiment of the present invention, a retractable protruding component 7 is provided at the end of the connecting female head 6, and the retractable protruding component 7 performs a corresponding extension operation / contraction operation according to a control instruction. A concave hole 8 corresponding to the retractable protruding component 7 is provided at the end of the connecting sub-head 5.

[0060] Since the size specifications of ceramic insulators in different application scenarios are different, in order to further improve the compatibility and application scope of the detection device, a modular design is adopted to meet the detection needs of ceramic insulators of different sizes and specifications in various scenarios.

[0061] In the embodiment of the present invention, a connecting female head 6 is arranged at one end of the first arm away from the connecting shaft, and a connecting sub-head 5 is arranged at one end of the second arm of the paddle away from the connecting shaft, and then the connecting female head 6 and the connecting sub-head are respectively snap-connected with the corresponding connecting sub-head 5 and the corresponding connecting female head 6 of other detection modules, thereby forming a circular ring for detecting ceramic insulators. Such a design enables the detection device in the embodiment of the present invention to control the size of the circular ring by controlling the number of connections of the single detection modules, that is, it can be adaptively adjusted according to different types of ceramic insulators, and the snap-connection of the connecting female head 6 and the connecting sub-head 5 greatly reduces the time spent on connection and removal of the detection device, and the retractable protruding part 7 is automatically locked / released through electromagnetic or hydraulic control to ensure that the connection between modules is firm and avoid loosening due to vibration.

[0062] In an embodiment of the present invention, the flip structure 2 includes a flip drive device connected to the connecting shaft, a shell is arranged outside the flip drive device, the outer shape of the shell is matched with the outer shapes of the first arm and the second arm, and N flip arms 9 corresponding to the limit drive structure 3 are arranged on the shell; the limit drive structure 3 includes a connecting frame 10 connected to the flip arm 9 and a rotating device 11 connected to the connecting frame 10. When in use, the two rotating devices 11 used are located within the projection range of the umbrella skirt.

[0063] The housing is provided to protect the internal driving mechanism from dust and moisture corrosion in the high-pressure environment, thereby extending the service life of the device. By limiting the two rotating devices 11 used in the use state to be located within the projection range of the umbrella skirt, it can effectively ensure that the detection device is supported by the umbrella skirt during use and will not loosen or fall, ensuring sufficient use safety and detection reliability.

[0064] In an embodiment of the present invention, the flip arm 9 is axially connected to the connecting frame 10, an axial driving device is arranged between the connecting frame 10 and the flip arm, and the axial driving device is used to drive the connecting frame 10 to flip axially; the rotating device 11 includes an omnidirectional wheel and a rotating driving component; the omnidirectional wheel is a Mecanum wheel.

[0065] The inclination angle of the limit drive structure 3 can be adjusted by the axial drive device, so that the omnidirectional wheel fits closely to the curved surface of the umbrella skirt, thereby ensuring the stability of the detection device as a whole during use, avoiding looseness, etc., and being able to adapt to different umbrella skirt inclination angles, thereby enhancing the overall applicability of the detection device. By using the Mecanum wheel to support lateral, longitudinal and rotational movements, it is possible to achieve omnidirectional movement by setting only one drive device on each limit drive structure, reducing the difficulty of hardware design and space occupation; at the same time, the micron-level displacement adjustment of the detection device on the umbrella skirt surface ensures that the ultrasonic probe is aligned with the center of the groove, ensuring the accuracy of the detection result, and the distributed contact design of the Mecanum wheel disperses the pressure of the weight of the detection device on the umbrella skirt, avoiding local stress concentration and damage to the umbrella skirt.

[0066] In the embodiment of the present invention, the three-dimensional ultrasonic information acquisition device 4 is electrically connected to the three-dimensional ultrasonic information collection device, and the three-dimensional ultrasonic information acquisition device 4 is an air-coupled three-dimensional ultrasonic probe.

[0067] Compared with the existing three-dimensional ultrasonic sensor, which needs to use coupling agent and ensure that the probe and the detection object are in close contact in order to achieve accurate and reliable three-dimensional detection, the embodiment of the present invention uses an air-coupled probe that does not require coupling agent and can achieve accurate information collection without contacting the surface of the detection object. It can effectively overcome the defect that the coupling degree between the probe and the detection object of the existing three-dimensional ultrasonic sensor has a huge impact on the detection accuracy and detection effect. It only needs to face the air-coupled probe towards the detection object to achieve high-precision detection effect within a certain range.

[0068] A control method for a detection device provided by an embodiment of the present invention is described below with reference to the accompanying drawings.

[0069] See also Figure 4 Based on the same inventive concept, an embodiment of the present invention provides a control method for a detection device, the control method comprising:

[0070] Determine the number of monomer detection modules required to be configured for the current ceramic insulator, and surround the corresponding number of monomer detection modules in the initial groove of the current ceramic insulator; in response to the engagement instruction, control the flipping part of the detection device to engage with the upper and lower sheds of the initial groove, and the flipping part fixes the detection device in the vertical direction; control the detection device to rotate around the initial groove to perform a three-dimensional ultrasonic acquisition action and obtain corresponding three-dimensional ultrasonic acquisition information; control the flip structure 2 to perform the shed flipping action to move to the next groove; use the next groove as a new initial groove, and perform the corresponding three-dimensional ultrasonic acquisition action until the three-dimensional ultrasonic acquisition action for all grooves is completed.

[0071] The single monitoring module is assembled and controlled by a preset program to position, scan and move the air-coupled probe to the groove, which reduces manual intervention and improves detection efficiency. The monitoring device is gradually moved from the initial groove to all grooves to ensure detection coverage and avoid missed detection.

[0072] In an embodiment of the present invention, the control method further includes:

[0073] After a corresponding number of single-unit detection modules are arranged in the initial groove, the flip structure 2 is controlled to perform a shaking action; vibration information of the detection device under the shaking action is obtained; based on the vibration information, it is determined whether the detection device is clamped stably; if the detection device is not clamped stably, a corresponding alarm message is output and the operation is stopped.

[0074] By actively applying vibration to the detection device and monitoring the response, it is possible to effectively verify whether the detection device is firmly fixed, prevent distortion of detection data or equipment falling due to looseness. If the vibration exceeds the limit, an alarm will be immediately sounded and the machine will be shut down to prevent the detection device from continuing to detect in an unreliable state, reducing the risk of accidents and ensuring the reliability and accuracy of the detection data.

[0075] In an embodiment of the present invention, the detection device further includes a three-dimensional ultrasonic information acquisition device 4 arranged opposite to the initial groove, the flipping portion includes a plurality of limit drive structures 3, and the flipping portion of the control device is engaged with the upper and lower sheds of the initial groove, including:

[0076] Control the rotation of the flipping part to fit and fix the first limit drive structure 3 to the surface of the lower umbrella skirt; control the flipping of the second limit drive structure directly above the first limit drive structure to fit and fix the second limit drive structure to the surface of the upper umbrella skirt; obtain the initial acquisition information of the three-dimensional ultrasonic information acquisition device 4; determine the position deviation between the three-dimensional ultrasonic information acquisition device 4 and the initial groove based on the initial acquisition information; and control the first limit drive structure 3 and the second limit drive structure 3 to perform posture control based on the position deviation.

[0077] In case of uneven shed surface or tilted installation of air coupling probe, the posture deviation is automatically compensated through the coordinated adjustment of the upper and lower limit structures, the position deviation is calculated in real time based on the initial ultrasonic data, and the position of the air coupling probe is adjusted through the limit drive structure 3 to ensure the detection accuracy.

[0078] In an embodiment of the present invention, controlling the flip structure 2 to perform the umbrella skirt flipping action to move to the next groove includes:

[0079] Control the first limit drive structure to flip so as to release the fitting and fixing state between the first limit drive structure and the lower umbrella skirt; obtain the angle between the first limit drive structure and the second limit drive structure; control the flip structure 2 to perform the umbrella skirt flipping action based on the angle to move to the next groove; control the third limit drive structure directly above the second limit drive structure to flip so as to fit and fix the third limit drive structure to the surface of the upper umbrella skirt of the next groove

[0080] By releasing the Mecanum wheel of the lower shed of the current groove to retract, and using the Mecanum wheel of the upper shed of the current groove as a fulcrum to flip to the next groove, the detection device can be continuously climbed in the axial direction of the insulator, and the flipping angle is calculated based on the angle between the limit structures to ensure that the moving path accurately matches the shed spacing to avoid collision or excessive displacement.

[0081] In a possible implementation, a control method for a detection device specifically includes:

[0082] The number of monomer detection modules to be configured is calculated based on the current ceramic insulator diameter and the arc length of the monomer detection module, and then the corresponding number of monomer detection modules are arranged around the initial groove of the current ceramic insulator; the protruding part of the connecting female head 6 is controlled to extend and insert into the concave hole 8 of the connecting sub-head 5 of the adjacent module, thereby forming a closed loop, and then the flip part is controlled to drive the Mecanum wheel to contact the surfaces of the upper and lower umbrella skirts of the initial groove; the position deviation between the three-dimensional ultrasonic information acquisition device 4 and the initial groove is obtained, and the first limit drive structure 3 and the second limit drive structure 3 are controlled to perform posture control based on the position deviation; the angle is adjusted through the axial drive device so that the Mecanum wheel is closely fitted with the surfaces of the upper and lower umbrella skirts of the initial groove, thereby forming a vertical clamping; the flip part is controlled to perform a shaking action to simulate external interference, and the vibration is monitored by the acceleration sensor Attenuation curve, if the echo parameter change after vibration is less than the threshold, it is judged that the clamping is stable, otherwise, the calibration process is re-performed; then the air coupling probe rotates around the initial groove, and performs a three-dimensional ultrasonic acquisition action to obtain corresponding three-dimensional ultrasonic acquisition information, and then the acquired three-dimensional ultrasonic information is transmitted to the terminal device by wireless; after the three-dimensional ultrasonic acquisition action of the initial groove is completed, the Mecanum wheel of the lower shed of the initial groove is retracted, and the flip part rotates upward with the connecting shaft as the center of the circle, and the Mecanum wheel of the upper shed of the initial groove is used as the fulcrum, until the other Mecanum wheel contacts the upper shed of the next groove of the initial groove, and then vertical clamping is performed again, and the next groove is used as a new initial groove, and the corresponding posture control and three-dimensional ultrasonic acquisition action are performed again until the three-dimensional ultrasonic acquisition action for all grooves is completed.

[0083] The above describes in detail the optional implementation modes of the embodiments of the present invention in combination with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0084] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0085] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0086] In addition, various implementations of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A detection device for a ceramic insulator under a high voltage environment, wherein the ceramic insulator comprises a plurality of sheds, and grooves are formed between adjacent sheds, characterized in that: The detection device comprises a plurality of single-unit detection modules, each of which is detachably snap-connected, and all the single-unit detection modules are connected to form a ring surrounding the groove, and the single-unit detection module comprises: The arc-shaped connecting part comprises a connecting arm and a connecting shaft connected to each other; The flipping part comprises a flipping structure and N limit drive structures evenly arranged along the circumference of the flipping structure, wherein in a use state, two of the N limit drive structures are located on the same vertical line and are respectively engaged with adjacent sheds, wherein N is a positive integer greater than 2, the flipping structure is axially connected to the connecting shaft and rotates coaxially with the connecting shaft, and the limit drive structure is used to drive the flipping part to rotate along the axial direction of the ceramic insulator; A three-dimensional ultrasonic information acquisition device is arranged on the connecting shaft, and a through hole corresponding to the three-dimensional ultrasonic information acquisition device is opened on the flip structure. The three-dimensional ultrasonic information acquisition device is arranged opposite to the groove and is used to collect three-dimensional ultrasonic information of the groove; A wireless transmission device is arranged on the arc-shaped connecting portion and is electrically connected to the three-dimensional ultrasonic information acquisition device, and is used to wirelessly transmit the three-dimensional ultrasonic information to a terminal device, and the terminal device is arranged outside a safe distance of the ceramic insulator.

2. The detection device according to claim 1, characterized in that: The connecting arm includes a first arm connected to one end of the connecting shaft and a second arm connected to the other end of the connecting shaft. A connecting female head is arranged at the end of the first arm, and a connecting sub-head is arranged at the end of the second arm. The connecting female head and the connecting sub-head are respectively used for snap-connecting with the corresponding connecting sub-head and the corresponding connecting female head of other detection modules.

3. The detection device according to claim 2, characterized in that: A retractable protruding component is arranged at the end of the connecting female head, and the retractable protruding component performs a corresponding extension operation / contraction operation according to a control instruction, and a concave hole corresponding to the retractable protruding component is arranged at the end of the connecting sub-head.

4. The detection device according to claim 2, characterized in that: The flip structure comprises a flip driving device connected to the connecting shaft, a shell is arranged outside the flip driving device, the shape of the shell matches the shape of the first arm and the second arm, and N flip arms corresponding to the limit driving structure are arranged on the shell; The limit drive structure comprises a connecting frame connected to the flip arm and a rotating device connected to the connecting frame. In a use state, the two rotating devices used are located within the projection range of the umbrella skirt.

5. The detection device according to claim 4, characterized in that: The flip arm is axially connected to the connecting frame, an axial driving device is arranged between the connecting frame and the flip arm, and the axial driving device is used to drive the connecting frame to flip axially; The rotating device comprises an omnidirectional wheel and a rotating driving component; The omnidirectional wheel is a Mecanum wheel.

6. The detection device according to claim 1, characterized in that: The three-dimensional ultrasonic information acquisition device is electrically connected to the three-dimensional ultrasonic information collection device, and the three-dimensional ultrasonic information acquisition device is an air-coupled three-dimensional ultrasonic probe.

7. A control method for a detection device, characterized in that: Applied to the detection device according to any one of claims 1 to 6, the detection device comprises a plurality of single detection modules, and the control method comprises: Determine the number of monomer detection modules required to be configured for the current ceramic insulator, and surround the corresponding number of monomer detection modules in the initial groove of the current ceramic insulator; In response to the engagement instruction, the flipping part of the detection device is controlled to engage with the upper and lower sheds of the initial groove, and the flipping part fixes the detection device in the vertical direction; Controlling the detection device to rotate around the initial groove to perform a three-dimensional ultrasonic acquisition action and obtain corresponding three-dimensional ultrasonic acquisition information; Controlling the flipping structure to perform the umbrella skirt flipping action to move to the next groove; The next groove is taken as a new initial groove, and the corresponding three-dimensional ultrasonic acquisition action is performed until the three-dimensional ultrasonic acquisition action for all grooves is completed.

8. The control method according to claim 7, characterized in that: The control method further comprises: After a corresponding number of single-unit detection modules are arranged around the initial groove, controlling the flip structure to perform a shaking action; Acquiring vibration information of the detection device under the shaking action; Determining whether the detection device is stably clamped based on the vibration information; If the detection device is not clamped stably, a corresponding alarm message is output and the operation is stopped.

9. The control method according to claim 7, characterized in that: The detection device further includes a three-dimensional ultrasonic information acquisition device arranged directly opposite to the initial groove, the flipping part includes a plurality of limit drive structures, and the flipping part of the control device is engaged with the upper and lower sheds of the initial groove, including: Controlling the turning part to rotate so as to fit and fix the first limit driving structure to the surface of the lower umbrella skirt; Controlling the second position-limiting driving structure directly above the first position-limiting driving structure to flip, so as to fit and fix the second position-limiting driving structure to the surface of the upper shed; Acquiring initial acquisition information of the three-dimensional ultrasound information acquisition device; Determining a position deviation between the three-dimensional ultrasonic information acquisition device and the initial groove based on the initial acquisition information; The first position-limiting driving structure and the second position-limiting driving structure are controlled to perform posture control based on the position deviation.

10. The control method according to claim 9, characterized in that: The controlling the flip structure to perform the umbrella skirt flipping action to move to the next groove includes: Controlling the first position-limiting driving structure to flip, so as to release the fitting and fixing state between the first position-limiting driving structure and the lower umbrella skirt; Acquire the angle between the first limit driving structure and the second limit driving structure; Based on the angle, the flip structure is controlled to perform a shed flipping action to move to a next groove; The third position-limiting driving structure directly above the second position-limiting driving structure is controlled to flip, so as to fit and fix the third position-limiting driving structure to the surface of the upper umbrella skirt of the next groove.

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