Detection Device for Ceramic Insulator under High Voltage Environment and Control Method of the Detection Device

Abstract

The present invention relates to the technical field of high-voltage equipment detection, and specifically discloses a detection device for ceramic insulators under high-voltage environment and a control method for the detection device, which includes a plurality of single detection modules. Each single detection module includes an arc-shaped connecting part, a flipping part, a three-dimensional ultrasonic information acquisition device, and a wireless transmission device. The wireless transmission device is used to wirelessly transmit the three-dimensional ultrasonic information to a terminal device arranged outside the safe distance of the ceramic insulator. By modularizing the detection device to adapt to ceramic insulators of different sizes, a limiting driving structure is used to achieve stable clamping and axial rotation, and wireless data transmission is supported, ensuring that the operator is outside the safe distance and avoiding the risk of electric shock to the detection personnel due to the high-voltage environment. By setting the limiting driving structure, the whole single detection module can be driven to move up and down by rotation, thereby realizing the detection of multiple grooves of the ceramic insulator and avoiding the artificial movement of the detection device.

Description

Technical Field

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

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

[0003] During the operation of a substation, ceramic insulators are required to ensure the safety and reliability during the operation of the substation. Therefore, the safety of ceramic insulators is of crucial importance. Since ceramic insulators are mainly used in high-voltage environments, the high-voltage environment refers to the power transmission or equipment operation area in a substation with extremely high voltages (usually from 10 kV to several hundred kV), and this environment has a strong electric field and a high potential difference, that is, the voltage difference between conductors can be tens of thousands to millions of volts. When unprotected personnel come into contact, the body may bear a voltage thousands of times higher than the safety threshold. Therefore, during the process of detecting and maintaining it, it is often necessary to cut off the power supply of the substation, which results in changes in the grid load and impacts on user power consumption, and cannot meet the actual needs. Therefore, people expect to be able to detect it without power interruption, but there is a great risk of electric shock in the high-voltage environment, which poses a challenge to the existing detection technologies and methods.

[0004] On the other hand, in the existing ceramic insulator detection technologies, ultrasonic detection is a commonly used method. However, the existing ultrasonic detection methods have high professional requirements for operators, require the application of coupling agents during detection, and have low detection efficiency, unable to meet the actual needs. Summary of the Invention

[0005] In order to overcome the above technical problems existing in the prior art, an embodiment of the present invention provides a detection device for ceramic insulators in a high-voltage environment. Through modular design, it adapts to ceramic insulators of different sizes, uses a limit drive structure to achieve stable clamping and axial rotation, and supports wireless data transmission, ensuring 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.

[0006] To achieve the above object, an embodiment of the present invention provides a detection device for ceramic insulators in a high-voltage environment. The ceramic insulator includes a plurality of umbrella skirts, and grooves are formed between adjacent umbrella skirts. The detection device includes a plurality of single detection modules, each single detection module is detachably snap-connected, and all single detection modules are connected to form a ring surrounding the groove. The single detection module includes:

[0007] The arc-shaped connecting part includes a connecting support arm and a connecting shaft that are connected to each other;

[0008] The flipping part includes a flipping structure and N limiting driving structures evenly arranged along the circumference of the flipping structure. In the use state, two of the N limiting driving structures are located on the same vertical line and are respectively engaged and connected with adjacent umbrella skirts. 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. The limiting driving 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 flipping structure. The three-dimensional ultrasonic information acquisition device is arranged opposite to the groove for acquiring the three-dimensional ultrasonic information of the groove;

[0010] The wireless transmission device is arranged on the arc-shaped connecting part and is electrically connected to the three-dimensional ultrasonic information acquisition device for wirelessly transmitting the three-dimensional ultrasonic information to the terminal device. The terminal device is arranged outside the safe distance of the ceramic insulator.

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

[0012] Existing detection devices for ceramic insulators under high-voltage environments usually have fixed sizes, that is, one detection device is usually only applicable to a specific type of ceramic insulator and cannot make adaptive adjustments for different types of ceramic insulators.

[0013] In the embodiment of the present invention, by arranging a connecting female head at the end of the first support arm far from the connecting shaft and a connecting male head at the end of the second support arm far from the connecting shaft, and then engaging and connecting the connecting female head and the connecting male head with the corresponding connecting male head and the corresponding connecting female head of other detection modules respectively, a ring for detecting ceramic insulators is formed. Such a design enables the detection device in the embodiment of the present invention to control the size of the ring by controlling the connection quantity of the single detection modules, that is, it can make adaptive adjustments according to different types of ceramic insulators, and through the engaging connection of the connecting female head and the connecting male head, the connection and disassembly of the detection device are greatly reduced.

[0014] Preferably, a telescopic protruding component is provided at the end of the female connector. The telescopic protruding component performs corresponding protruding operations / retracting operations according to control instructions. A concave hole corresponding to the telescopic protruding component is provided at the end of the male connector.

[0015] Preferably, the flipping structure includes a flipping driving device connected to the connecting shaft. A housing is sleeved outside the flipping driving device. The outer shape of the housing is matched with the outer shapes of the first arm and the second arm. N flipping arms corresponding to the limit driving structure are provided on the housing;

[0016] The limit driving structure includes a connecting frame connected to the flipping arm and a rotating device connected to the connecting frame. In the use state, the two rotating devices used are within the projection range of the umbrella skirt.

[0017] Preferably, the flipping arm is axially connected to the connecting frame. An axial driving device is provided between the connecting frame and the flipping arm. The axial driving device is used to drive the connecting frame to flip axially;

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

[0019] The omnidirectional wheel is a Mecanum wheel.

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

[0021] Correspondingly, the present invention also provides a control method for a detection device. The control method includes:

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

[0023] In response to the clamping instruction, control the flipping part of the detection device to be clamped to the upper and lower umbrella skirts of the initial groove, and the flipping part fixes the detection device in the vertical direction;

[0024] 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;

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

[0026] Take the next groove as the new initial groove and perform the corresponding three-dimensional ultrasonic acquisition action until the three-dimensional ultrasonic acquisition actions for all grooves are completed.

[0027] Preferably, the control method further includes:

[0028] After surrounding the corresponding number of monomer detection modules around the initial groove, controlling the flipping structure to perform a jitter action;

[0029] Obtaining vibration information of the detection device under the jitter action;

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

[0031] If the detection device is not stably clamped, outputting corresponding alarm information and stopping the operation.

[0032] Preferably, the detection device further includes a three-dimensional ultrasonic information acquisition device disposed opposite to the initial groove, and the flipping part includes a plurality of limiting driving structures. Controlling the flipping part of the detection device to be clamped to the upper and lower umbrella skirts of the initial groove includes:

[0033] Controlling the flipping part to rotate to fixedly attach the first limiting driving structure to the surface of the lower umbrella skirt;

[0034] Controlling the second limiting driving structure directly above the first limiting driving structure to flip to fixedly attach the second limiting driving structure to the surface of the upper umbrella skirt;

[0035] Obtaining initial acquisition information of the three-dimensional ultrasonic information acquisition device;

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

[0037] Controlling the first limiting driving structure and the second limiting driving structure to perform attitude adjustment based on the position deviation.

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

[0039] Controlling the first limiting driving structure to flip to release the fixed attachment state between the first limiting driving structure and the lower umbrella skirt;

[0040] Obtaining the angle between the first limiting driving structure and the second limiting driving structure;

[0041] Controlling the flipping structure to perform an umbrella skirt flipping action based on the angle to move to the next groove;

[0042] Controlling the third limiting driving structure directly above the second limiting driving structure to flip to fixedly attach the third 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] By modularizing the detection device to adapt to ceramic insulators of different sizes, a limiting drive structure is used to achieve stable clamping and axial rotation, and wireless data transmission is supported to ensure that the operator is outside the safe distance, thereby avoiding the risk of electric shock to the detection personnel due to the high-voltage environment. And by setting N limiting drive structures (N is a positive integer greater than 2), it is realized that the limiting drive structure can drive the overall movement of the monomer detection module up and down through rotation, and then the detection of multiple grooves of the ceramic insulator is realized. Furthermore, the artificial movement of the detection device is avoided, and the applicability of the monomer detection module in the embodiment of the present invention is improved.

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

[0046] The 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 implementation manners, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

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

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

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

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

[0051] DESCRIPTION OF THE REFERENCE NUMERALS

[0052] 1 - connecting support arm, 2 - flipping structure, 3 - limiting drive structure, 4 - three-dimensional ultrasonic information acquisition device, 5 - connecting sub-head, 6 - connecting mother-head, 7 - telescopic protruding component, 8 - concave hole, 9 - flipping support arm, 10 - connecting frame, 11 - rotating device. DETAILED DESCRIPTION OF THE INVENTION

[0053] The following will describe in detail the specific implementation manners of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

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

[0055] Please refer to Figures 1 - 3 , the embodiments of the present invention provide a detection device for a ceramic insulator under a high-voltage environment. The ceramic insulator includes a plurality of umbrella skirts, and grooves are formed between adjacent umbrella skirts. The detection device includes a plurality of single-body detection modules, each single-body detection module is detachably and snap-fitted, and all single-body detection modules are connected to form a ring surrounding the groove. The single-body detection module includes: an arc-shaped connecting portion, including a connecting arm 1 and a connecting shaft that are connected to each other; a flipping portion, including a flipping structure 2 and N limiting driving structures 3 uniformly arranged along the circumference of the flipping structure 2. In the use state, two of the N limiting driving structures 3 are located on the same vertical line and are respectively snap-fitted with adjacent umbrella skirts. The N is a positive integer greater than 2. The flipping structure 2 is axially connected to the connecting shaft and rotates coaxially with the connecting shaft. The limiting driving structure 3 is used to drive the flipping portion to rotate along the axial direction of the ceramic insulator; a three-dimensional ultrasonic information acquisition device 4 is arranged on the connecting shaft, and a through hole corresponding to the three-dimensional ultrasonic information acquisition device 4 is opened on the flipping structure 2. The three-dimensional ultrasonic information acquisition device 4 is arranged opposite to the groove for acquiring the 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 4 for wirelessly transmitting 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 detection of ceramic insulators under the existing high-voltage environment usually needs to be carried out manually. Since it is necessary to protect the personal safety of the detection personnel, the power supply of the substation often needs to be cut off, which leads to changes in the power grid load and affects the user's power consumption, and cannot meet the actual needs. Therefore, people expect to be able to detect it without power interruption, but there is a great risk of electric shock in the high-voltage environment.

[0057] In the embodiment of the present invention, the modular design is adopted to adapt to ceramic insulators of different sizes. The limiting driving structure 3 is used to achieve stable clamping and axial rotation, and wireless data transmission is supported. The terminal device is located outside the safe distance, ensuring that the operator is outside the safe distance, thus avoiding the risk of electric shock to the detector due to the high-voltage environment. By setting N limiting driving structures 3 (N is a positive integer greater than 2), it is realized that the limiting driving structure 3 can drive the whole single detection module to move up and down through rotation, and then the detection of multiple grooves of the ceramic insulator is realized. Furthermore, the artificial movement of the detection device is avoided, and the applicability of the single detection module in the embodiment of the present invention is improved. The three-dimensional ultrasonic information acquisition device 4 is used to scan the groove directly, without contacting the surface of the insulator, avoiding damage to the brittle ceramic material. The whole detection device is set as an annular structure, so that the ultrasonic probe can scan around the groove 360°, ensuring no detection blind area.

[0058] In the 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 arranged at the end of the first arm, and a connecting male head 5 is arranged at the end of the second arm. The connecting female head 6 and the connecting male head 5 are respectively used for snap-connecting with the corresponding connecting male head 5 and the corresponding connecting female head 6 of other detection modules.

[0059] In the embodiment of the present invention, a telescopic protruding component 7 is arranged at the end of the connecting female head 6. The telescopic protruding component 7 performs corresponding extending operation / contracting operation according to the control instruction. A concave hole 8 corresponding to the telescopic protruding component 7 is arranged at the end of the connecting male 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 range of the detection device, a modular design is adopted to meet the detection requirements of ceramic insulators with different specifications and sizes in various scenarios.

[0061] In the embodiment of the present invention, a connection female head 6 is provided at one end of the first arm away from the connection shaft, and a connection male head 5 is provided at one end of the second arm away from the connection shaft. Then, the connection female head 6 and the connection male head are respectively engaged with the corresponding connection male head 5 and the corresponding connection female head 6 of other detection modules to form 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 connected monomer detection modules, that is, it can be adaptively adjusted according to different models of ceramic insulators. Moreover, through the snap connection of the connection female head 6 and the connection male head 5, the time spent on connecting and disconnecting the detection device is greatly reduced. And the telescopic protruding member 7 is automatically locked / released by electromagnetic or hydraulic control to ensure the firm connection between modules and avoid loosening caused by vibration.

[0062] In the embodiment of the present invention, the flipping structure 2 includes a flipping driving device connected to the connection shaft. A housing is sleeved outside the flipping driving device. The outer shape of the housing is matched with the outer shapes of the first arm and the second arm. N flipping arms 9 corresponding to the limiting driving structure 3 are provided on the housing; the limiting driving structure 3 includes a connection frame 10 connected to the flipping arm 9 and a rotating device 11 connected to the connection frame 10. In the use state, the two rotating devices 11 used are within the projection range of the umbrella skirt.

[0063] By providing a housing to protect the internal driving mechanism from dust and moisture in the high-voltage environment, the service life of the device is extended. By defining that in the use state, the two rotating devices 11 used are 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 become loose or fall off, ensuring sufficient use safety and detection reliability.

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

[0065] The tilt angle of the limit driving structure 3 can be adjusted by the axial driving device, so that the omnidirectional wheels are closely attached to the umbrella skirt curved surface, thereby ensuring the stability of the overall detection device during use, avoiding loosening and other situations, and also being able to adapt to different umbrella skirt inclination angles, enhancing the overall applicability of the detection device. By using Mecanum wheels, lateral, longitudinal and rotational movements are supported, enabling omnidirectional movement with only one driving device provided on each limit driving structure, reducing the hardware design difficulty 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 results, and the distributed contact design of the Mecanum wheels disperses the pressure of the weight of the detection device on the umbrella skirt, avoiding umbrella skirt damage caused by local stress concentration.

[0066] In an 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 sensors that require the use of a coupling agent and also need to ensure the close attachment of the probe to the detected object to achieve accurate and reliable three-dimensional detection, while the embodiment of the present invention uses an air-coupled probe to achieve accurate information acquisition without the need for a coupling agent and without contacting the surface of the detected object, which can effectively overcome the defect that the coupling degree between the probe of the existing three-dimensional ultrasonic sensor and the detected object has a huge impact on the detection accuracy and detection effect. Only by facing the air-coupled probe to the detected object, high-precision detection effects can be achieved within a certain range.

[0068] The following will describe a control method for a detection device provided by an embodiment of the present invention with reference to the accompanying drawings.

[0069] Please refer to Figure 4 , based on the same inventive concept, an embodiment of the present invention provides a control method for a detection device, and the control method includes:

[0070] Determine the number of monomer detection modules required to be configured for the current ceramic insulator, and surround the initial groove of the current ceramic insulator with the corresponding number of monomer detection modules; in response to the clamping instruction, control the flipping part of the detection device to be clamped to the upper and lower umbrella skirts 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 the corresponding three-dimensional ultrasonic acquisition information; control the flipping structure 2 to perform an umbrella skirt flipping action to move to the next groove; take the next groove as the new initial groove and perform the corresponding three-dimensional ultrasonic acquisition action until the three-dimensional ultrasonic acquisition actions for all grooves are completed.

[0071] The monomer monitoring module is controlled by a preset program to achieve assembly, positioning, scanning, and movement of the air-coupled probe with respect to the groove, reducing manual intervention, improving detection efficiency, and the monitoring device moves up step by step from the initial groove to all grooves to ensure detection coverage and avoid missed detections.

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

[0073] After surrounding the corresponding number of monomer detection modules around the initial groove, controlling the flipping structure 2 to perform a jitter action; obtaining the vibration information of the detection device under the jitter action; judging whether the detection device is stably clamped based on the vibration information; if the detection device is not stably clamped, outputting a corresponding alarm message and stopping the operation.

[0074] By actively applying vibration to the detection device and monitoring the response, it can effectively verify whether the detection device is firmly fixed, prevent detection data distortion or equipment falling caused by loosening. If the vibration exceeds the limit, an alarm is immediately given and the machine is stopped, avoiding continued detection of the detection device in an unreliable state, reducing the accident risk, 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 disposed opposite to the initial groove, and the flipping part includes a plurality of limit driving structures 3. Controlling the flipping part of the detection device to be engaged with the upper and lower umbrella skirts of the initial groove includes:

[0076] Controlling the flipping part to rotate to fix the first limit driving structure 3 to fit with the surface of the lower umbrella skirt; controlling the second limit driving structure directly above the first limit driving structure to flip to fix the second limit driving structure to fit with the surface of the upper umbrella skirt; obtaining the initial acquisition information of the three-dimensional ultrasonic information acquisition device 4; determining the position deviation between the three-dimensional ultrasonic information acquisition device 4 and the initial groove based on the initial acquisition information; controlling the first limit driving structure 3 and the second limit driving structure 3 to perform attitude adjustment based on the position deviation.

[0077] For the case where the surface of the umbrella skirt is uneven or the air-coupled probe is installed obliquely, through the coordinated adjustment of the upper and lower limit structures, the pose deviation is automatically compensated, the position deviation is calculated in real time based on the initial ultrasonic data, and the position of the air-coupled probe is adjusted through the limit driving structure 3 to ensure the detection accuracy.

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

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

[0080] The Mecanum wheels of the lower umbrella skirt in the current groove retract by releasing, and the detection device flips to the next groove with the Mecanum wheels of the upper umbrella skirt in the current groove as the fulcrum, realizing the continuous climbing of the detection device along the axial direction of the insulator. And calculate the flipping angle based on the included angle between the limit structures to ensure that the moving path precisely matches the umbrella skirt spacing and avoid collision or excessive displacement.

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

[0082] Calculate the required number of single detection modules according to the diameter of the current ceramic insulator and the arc length of the single detection module, and then arrange the corresponding number of single detection modules around the initial groove of the current ceramic insulator; then control the protruding part of the connecting male head 6 to extend and insert into the concave hole 8 of the connecting female head 5 of the adjacent module to form a closed ring, and then control the flipping part to drive the Mecanum wheels to contact the surfaces of the upper and lower umbrella skirts of the initial groove; then obtain the position deviation between the three-dimensional ultrasonic information acquisition device 4 and the initial groove, and control the first limit driving structure 3 and the second limit driving structure 3 to perform attitude adjustment based on the position deviation; then adjust the angle through the axial driving device so that the Mecanum wheels are closely attached to the surfaces of the upper and lower umbrella skirts of the initial groove to form a vertical clamping; then control the flipping part to perform a jitter action to simulate external interference, and monitor the vibration attenuation curve through the acceleration sensor. If the change in the echo parameter after vibration is less than the threshold, it is determined that the clamping is stable, otherwise, the calibration process is restarted; then the air-coupled probe rotates around the initial groove and performs a three-dimensional ultrasonic acquisition action to obtain the corresponding three-dimensional ultrasonic acquisition information, and then wirelessly transmit the obtained three-dimensional ultrasonic information to the terminal device; after the three-dimensional ultrasonic acquisition action of the initial groove is completed, the Mecanum wheels of the lower umbrella skirt in the initial groove retract, the flipping part rotates upward with the connecting shaft as the center, and uses the Mecanum wheels of the upper umbrella skirt in the initial groove as the fulcrum until another Mecanum wheel touches the upper umbrella skirt of the next groove located in the initial groove, then perform vertical clamping, and use the next groove as the new initial groove, and perform the corresponding attitude adjustment and three-dimensional ultrasonic acquisition action again until the three-dimensional ultrasonic acquisition action for all grooves is completed.

[0083] The optional implementation manners of the embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above-mentioned implementation manners. Within the technical concept scope of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0084] In addition, it should be noted that, among the various specific technical features described in the above-mentioned specific implementation manners, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the embodiments of the present invention will not separately describe various possible combination manners.

[0085] Those skilled in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions for enabling a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical disks and other various media that can store program codes.

[0086] In addition, any combination can be made between various different implementation manners of the embodiments of the present invention, as long as it does not violate the idea of the embodiments of the present invention, it should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A detection device for ceramic insulators under high-pressure environment, the ceramic insulator includes a plurality of umbrella skirts, and grooves are formed between adjacent umbrella skirts, characterized in that, The detection device includes a plurality of single detection modules, each of which is detachably and snap-fittingly connected. All the single detection modules are connected to form a ring surrounding the groove. The single detection module includes: An arc-shaped connecting portion, including a connecting arm and a connecting shaft connected to each other; A flipping portion, including a flipping structure and N limiting and driving structures uniformly arranged along the circumference of the flipping structure. In the use state, two of the N limiting and driving structures are located on the same vertical line and are respectively snap-fittingly connected to adjacent umbrella skirts. 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. The limiting and driving structure is used to drive the flipping portion 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 flipping structure. The three-dimensional ultrasonic information acquisition device is arranged opposite to the groove for acquiring 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 for wirelessly transmitting the three-dimensional ultrasonic information to a terminal device, and the terminal device is arranged outside the safe distance of the ceramic insulator.

2. The detection device according to claim 1, wherein 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 male head is arranged at the end of the second arm. The connecting female head and the connecting male head are respectively used for snap-fitting connection with the corresponding connecting male head and the corresponding connecting female head of other detection modules.

3. The detection device according to claim 2, characterized in that, A telescopic protruding component is arranged at the end of the connecting female head. The telescopic protruding component performs corresponding extending operations / contracting operations according to a control instruction. A concave hole corresponding to the telescopic protruding component is arranged at the end of the connecting male head.

4. The detection device according to claim 2, characterized in that, The flipping structure includes a flipping driving device connected to the connecting shaft. A housing is sleeved outside the flipping driving device. The outer shape of the housing is matched with the outer shapes of the first arm and the second arm. N flipping arms corresponding to the limiting and driving structures are arranged on the housing; The limiting and driving structure includes a connecting frame connected to the flipping arm and a rotating device connected to the connecting frame. In the use state, the two rotating devices used are within the projection range of the umbrella skirt.

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

6. The detection device according to claim 1, wherein, The three-dimensional ultrasonic information acquisition device is electrically connected to a 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 1-6, the detection device includes a plurality of single detection modules. The control method includes: Determine the number of monomer detection modules required for the current ceramic insulator, and surround the initial groove of the current ceramic insulator with the corresponding number of monomer detection modules; In response to the engagement instruction, control the flipping part of the detection device to engage with the upper and lower umbrella skirts 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 flipping structure to perform an umbrella skirt flipping action to move to the next groove; Use the next groove as the new initial groove and perform the corresponding three-dimensional ultrasonic acquisition action until the three-dimensional ultrasonic acquisition actions for all grooves are completed.

8. The control method according to claim 7, wherein The control method further includes: After surrounding the initial groove with the corresponding number of monomer detection modules, control the flipping structure to perform a jitter action; Obtain the vibration information of the detection device under the jitter action; Judge whether the detection device is stably clamped based on the vibration information; If the detection device is not stably clamped, output the corresponding alarm information and stop running.

9. The control method according to claim 7, wherein The detection device further includes a three-dimensional ultrasonic information acquisition device arranged opposite to the initial groove, and the flipping part includes a plurality of limit driving structures. Controlling the flipping part of the detection device to engage with the upper and lower umbrella skirts of the initial groove includes: Control the flipping part to rotate to fix the first limit driving structure in contact with the surface of the lower umbrella skirt; Control the second limit driving structure directly above the first limit driving structure to flip to fix the second limit driving structure in contact with the surface of the upper umbrella skirt; Obtain the initial acquisition information of the three-dimensional ultrasonic information acquisition device; Determine the position deviation between the three-dimensional ultrasonic information acquisition device and the initial groove based on the initial acquisition information; Control the first limit driving structure and the second limit driving structure to perform attitude adjustment based on the position deviation.

10. The control method according to claim 9, wherein Controlling the flipping structure to perform an umbrella skirt flipping action to move to the next groove includes: Control the first limit driving structure to flip to release the state of being fixed in contact with the lower umbrella skirt; Obtain the included angle between the first limit driving structure and the second limit driving structure; Control the flipping structure to perform an umbrella skirt flipping action to move to the next groove based on the included angle; Control the third limit driving structure directly above the second limit driving structure to flip to fix the third limit driving structure in contact with the surface of the upper umbrella skirt of the next groove.

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