Live detection method, device, medium and system for working state of horizontal insulator string

Abstract

The invention belongs to the technical field of power transmission line operation and maintenance, and particularly relates to a working state live detection device and method for a horizontal insulator string, and the device comprises an unmanned plane, a robot, a robot hoisting mechanism, and a ground control terminal. The robot comprises a saddle-shaped frame, a state detection mechanism, a position recognition module and an axial walking mechanism, the state detection mechanism, the position recognition module and the axial walking mechanism are installed on the saddle-shaped frame, the state detection mechanism is electrically connected with the position recognition module and the axial walking mechanism, the saddle-shaped frame is provided with a balance weight, and the inner space of the saddle-shaped frame is in clearance fit with the outer diameter of an insulator string to be detected. The overall gravity center is lower than the lowest point of the insulator string. When the device is used for measurement, only the unmanned aerial vehicle needs to be controlled to hoist the robot to an insulator chain, the robot can perform self-positioning and complete detection piece by piece, multi-machine cooperative work can be realized, and the device is convenient, rapid and safe. The invention also provides an automatic detection method using the device, a non-transitory readable recording medium storing a program of the method, and a system comprising the medium.

Description

Technical Field

[0001] The invention belongs to the technical field of transmission line operation and maintenance, and discloses a live detection method, device, system and recording medium storing a program capable of executing the method for the working state of a horizontal insulator string. Background Art

[0002] Insulators are extremely important electrical equipment for transmission lines. It is an insulator connecting a transmission tower and a transmission wire, with strong mechanical properties and good insulation performance. Transmission line insulators work in the wild environment and are affected by extreme weather such as rain and lightning for a long time, resulting in a decline in their insulation performance and being extremely prone to zero-value conditions. The existence of zero-value insulators poses a great threat to the stable operation of the power system. Therefore, preventive detection of insulators is an important guarantee for the safe operation of transmission lines.

[0003] Currently, insulator detection mainly uses the method of manually detecting the resistance of insulators to find zero-value insulators. With the continuous development of China's power system, the voltage level is getting higher and higher, and the length of the insulator string is getting longer and longer. The manual detection method mainly relies on maintenance personnel to carry it to the tower for insulator detection. The detection operation process takes a long time and there is a risk of falling from a height. The detection process often causes power outages of the power supply line, affecting the reliability and stability of the power grid operation. If a robot is used for tower climbing operation, the robot needs to be equipped with a set of tower climbing mechanisms to complete many complex actions and avoid various obstacles on the top of the tower; how to design a robot with a simple structure that can maintain its own stability during detection, and multiple robots can work orderly at the same time without interfering with each other is becoming an issue that needs to be considered by those skilled in the art. Summary of the Invention

[0004] To solve the problems involved in the background art, the invention provides a live detection device for the working state of a horizontal insulator string, including: an unmanned aerial vehicle (UAV), an insulator state detection robot, a robot hoisting mechanism, and a ground control terminal; the upper end of the robot hoisting mechanism is fixed on the UAV, and the lower end is buckled with the robot through an automatic release module, and the ground control terminal is respectively communicatively connected with the UAV, the insulator state detection robot, and the robot hoisting mechanism; wherein, the insulator state detection robot includes a saddle-shaped frame and a state detection mechanism, an insulator position recognition module, and an insulator axial walking mechanism installed on the saddle-shaped frame. The state detection mechanism is respectively electrically connected to the insulator position recognition module and the insulator axial walking mechanism. The inner cavity of the saddle-shaped frame has a clearance fit with the outer diameter of the insulator string to be measured. A counterweight is provided on the saddle-shaped frame to ensure that when it straddles the insulator string, the overall center of gravity of the insulator state detection robot is lower than the lowest point of the insulator string.

[0005] Preferably, the state detection mechanism includes a clearance voltage measurement mechanism or an electric field measurement module.

[0006] Preferably, the insulator axial walking mechanism includes a roller module horizontally arranged in the front-back direction on the inner top of the saddle-shaped frame, where at least one roller is driven by a motor of the state inspection mechanism to rotate. The axes of the rollers parallel to each other are in a horizontal state and perpendicular to the top connection line of the front and rear saddle bridges of the saddle-shaped frame.

[0007] Preferably, the gap voltage measurement mechanism includes a connecting shaft, a measurement probe made of metal, a microcontroller, and a servo motor. The microcontroller is electrically connected to the servo motor, the measurement probe, the insulator position recognition module, and the insulator axial walking mechanism respectively. The connecting shaft is horizontally installed on the saddle-shaped frame. The two measurement probes are kept parallel and are respectively fixed at both ends of the connecting shaft and perpendicular to the connecting shaft. The servo motor can drive the connecting shaft to rotate under the drive of the microcontroller, so that the two measurement probes can simultaneously contact or leave the steel feet and steel caps of the single insulator to be measured.

[0008] Preferably, the electric field measurement module includes a microcontroller and a field strength measurement probe electrically connected to the microcontroller.

[0009] Preferably, a first camera is also installed on the robot hoisting mechanism for monitoring the pose of the saddle-shaped frame to facilitate its straddling on the insulator string to be measured. The saddle-shaped frame is made of insulating material. The automatic tripping module includes a pair of electromagnets for clamping the saddle-shaped frame. The first camera and the automatic tripping module are respectively communicatively connected to the ground terminal. The insulator position recognition module includes, but is not limited to, a second camera or a photoelectric sensing module.

[0010] Based on the same inventive concept, the present application also provides a method for live detection of the working state of a horizontal insulator string, using the above-mentioned device for live detection of the working state of a horizontal insulator string, including the following steps:

[0011] S1. The ground control terminal controls the unmanned aerial vehicle carrying the insulator state detection robot to fly above the insulator string of the transmission line to be detected, so that the lower opening of the saddle-shaped frame is aligned with the insulator string to be measured. A tripping signal is given to the automatic tripping module, and the saddle-shaped frame straddles on the insulator string to be measured. The unmanned aerial vehicle leaves to perform the next hoisting task;

[0012] S2. The insulator position recognition module real-time recognizes the axial position of the state detection robot, starts the insulator axial walking mechanism to drive the insulator state detection robot to walk, and detects the state of each insulator one by one;

[0013] S3. When the detection of the last insulator in the insulator string is completed, the state detection mechanism sequentially obtains the data of each insulator in the insulator string and sends it back to the ground control terminal, calls the ground control terminal to arrange for the unmanned aerial vehicle to lift off the robot, and the ground control terminal analyzes the working state of the detected insulator string.

[0014] When using the robot with a gap voltage measurement mechanism in the preferred solution for detecting the state of an insulator string, the above method further includes the following steps: When the insulator position recognition module recognizes that the position of the state detection robot is correct, the servo motor drives the connecting shaft to rotate under the drive of the microcontroller, so that the two measurement probes simultaneously contact the steel foot and the steel cap of the single insulator to be measured. After detecting the voltage data and successfully transmitting it, the servo motor drives the connecting shaft to rotate reversely under the drive of the microcontroller, so that the probes are retracted to not affect the axial movement of the saddle-shaped frame. Then the microcontroller drives the insulator axial movement mechanism to drive the insulator state detection robot to move to the next detection position until the entire string of insulators is detected.

[0015] Another solution of the present invention is to provide a non-transitory readable recording medium for storing one or more programs containing a plurality of instructions, which, when executed, will cause a processor to execute the above method for live detection of the working state of a horizontal insulator string.

[0016] The present invention also provides a live detection system for the working state of a horizontal insulator string, including a processing circuit and a memory electrically coupled thereto, characterized in that the memory is configured to store at least one program, the program contains a plurality of instructions, and the processing circuit runs the program to be able to execute the above method for live detection of the working state of a horizontal insulator string.

[0017] Compared with the prior art, the technical solution for live detection of the working state of a horizontal insulator string provided by the present invention gives full play to the load-carrying advantage and flexibility advantage of the transport unmanned aerial vehicle (UAV), and the advantages of high stability of the robot's walking posture and high efficiency of multi-robot collaborative operation. It reduces the control difficulty of the UAV and the robot, and improves the detection speed of zero-value insulators. The operator only needs to control the transport UAV to hoist the detection robot onto the insulator string, and the robot can autonomously locate and complete the measurement of the insulator gap voltage or the surface electric field piece by piece to obtain the health state of the insulator, without the need for tower climbing operations, and the operation is simple, efficient and safe. Each time an operation is performed, the operation process data and result data will be transmitted to the ground end in real time, and the operation data will be stored for a long time, providing a convenient solution for the operator to evaluate, manage, query and analyze the historical data of the operating state of the transmission line insulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of multi-robot collaborative detection in an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the robot including a gap voltage measurement mechanism in an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the electric field measurement module in an embodiment of the present invention;

[0021] Figure 4Schematic structural diagram of the hoisting mechanism in the embodiments of the present invention;

[0022] In the figure, 1. Insulator state detection robot; 2. Hoisting mechanism; 3. Ground end; 4. Drone;

[0023] 11. Saddle-shaped frame; 12. Traveling mechanism; 13. Insulator gap voltage detection mechanism; 14. Connecting shaft; 15. Servo; 16. Measuring probe; 17. Microcontroller; 18. Second camera; 19. Electric field measurement module;

[0024] 21. Adapter buckle; 22. Hoisting hook; 23. Quick-release and shock-absorbing module; 24. First camera; 25. Fixed rod. Specific implementation manners

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are some but not all of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0026] The following combines the technical solutions and the attached Figures 1-4 , and specifically describes the implementation process of the present invention, including a live detection device for the working state of a horizontal insulator string and a method for live detection of the working state of a horizontal insulator string using the device.

[0027] An insulator gap voltage passive measurement device includes a group of machines composed of an insulator state detection robot 1, a hoisting mechanism 2, a ground end 3 and a drone 4, and can simultaneously detect the states of multiple strings of insulators with different phases on the large side and the small side of the tower. The drone 4 transports the insulator state detection robot 1 to be operated from the ground to the insulator string back and forth, and transports the insulator state detection robot 1 that has completed the operation from the current operation position to the next operation position or the ground.

[0028] The group of insulator state detection robots is composed of at least one robot and multiple ground ends 3 to form a network wirelessly. The insulator state detection robot 1 is composed of a saddle-shaped frame 11, a traveling mechanism 12, an insulator gap voltage detection mechanism 13 or an electric field measurement module 19, and an insulator position recognition module, and can automatically identify the relative position between the insulator and the robot, and measure the working state of each insulator along the insulator string one by one.

[0029] The insulator gap voltage detection mechanism 13 includes a connecting shaft 14, a measurement probe 16 made of metal, a microcontroller 17, and a servo 15. The microcontroller 17 is electrically connected to the servo 15, the measurement probe 16, the second camera 18, and the traveling mechanism 12 respectively. The connecting shaft 14 is horizontally installed on the saddle-shaped frame 11. The two measurement probes 16 are kept parallel and are respectively fixed at both ends of the connecting shaft 14 and perpendicular to the connecting shaft 14. Driven by the microcontroller 17, the servo 15 can drive the connecting shaft 14 to rotate, so that the two measurement probes 16 can simultaneously lap or leave the steel feet and steel caps of the single insulator to be measured.

[0030] The electric field measurement module 19 is composed of multiple electric field sensors, is fixedly connected to the saddle-shaped frame 11, and is connected to the microcontroller 17 by wire or wirelessly; the electric field measurement module 19 obtains the surface electric field of the insulator string according to the feedback information of the second camera 18 and the preset electric field measurement strategy; the microcontroller 17 analyzes and processes the electric field values and transmits the data to the ground end 3 for recording and display.

[0031] The insulator position recognition is jointly composed of the microcontroller 17 and the sensing unit. The sensing unit includes, but is not limited to, image sensing, optical sensing, etc. In this example, the sensing unit is the second camera 18, which is fixedly connected to the saddle-shaped frame 11 and is connected to the microcontroller 17 by wire, and automatically identifies the steel feet, steel caps, and umbrella skirts of the insulator and the relative position between the insulator and the robot.

[0032] The hoisting mechanism 2 includes a quick-release and shock-absorbing module 23, a first camera 24, a fixed rod 25, a hoisting hook 22, and an adapter buckle 21. One end is connected to the drone 4 through the quick-release and shock-absorbing module 23, and the other end is buckled to the saddle-shaped frame 11 through the adapter buckle 21. A pair of electromagnets are provided at the bottom of the adapter buckle for clamping the saddle-shaped frame. The drone 4 can change the polarities of the two electromagnets for clamping through the control circuit. When the polarities are the same, they are disengaged, and when the polarities are different, they are attracted, so as to achieve quick buckling and unbuckling during hoisting. The first camera 24 is fixedly connected to the fixed rod 25, and the first camera 24 transmits the hoisting operation image to the ground end 3 wirelessly. The fixed rod 25 is fixedly connected to the hoisting hook 22.

[0033] A specific method for performing live detection of the working state of a horizontal insulator string using the above device is as follows:

[0034] The ground end 3 controls the drone 4 carrying the insulator state detection robot 1 to fly above the insulator string of the transmission line to be detected, aligns the opening under the saddle-shaped frame 11 with the insulator string to be measured, sends a release signal to the quick-release and shock-absorbing module 23, the adapter buckle 21 is disengaged, the saddle-shaped frame 11 straddles the insulator string to be measured, and the drone 4 leaves to perform the next hoisting task;

[0035] The insulator position recognition module recognizes the axial position of the insulator state detection robot 1 in real time, activates the traveling mechanism 12 to drive the insulator state detection robot 1 to move, and detects the state of each insulator one by one; when the insulator position recognition module recognizes that the position of the insulator state detection robot 1 is correct, the servo 15 drives the connecting shaft 14 to rotate under the drive of the microcontroller 17, so that the two measuring probes 16 simultaneously contact the steel feet and steel caps of the single insulator to be measured. After the voltage data is detected and transmitted successfully, the servo 15 drives the connecting shaft 14 to rotate reversely under the drive of the microcontroller 17, so that the measuring probes 16 are retracted to a position that does not affect the axial movement of the saddle-shaped frame 11. Then, the microcontroller 17 drives the traveling mechanism 12 to drive the insulator state detection robot 1 to move to the next detection position until the entire string of insulators is detected.

[0036] After the last insulator in the insulator string is detected, the insulator state detection mechanism 13 obtains the data of each insulator in the insulator string in sequence and sends it back to the ground control terminal, and calls the ground control terminal to arrange for the drone 4 to lift off the robot. The ground end 3 determines whether the corresponding insulator is in a normal working state by comparing the voltage at both ends of each insulator with the gap voltage map of this type of insulator.

[0037] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0038] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0039] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one process or a plurality of processes and / or one block or a plurality of blocks in the process Figure 1 one process or a plurality of processes and / or Figure 1 one block or a plurality of blocks.

[0040] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process or a plurality of processes and / or one block or a plurality of blocks in the process Figure 1 one process or a plurality of processes and / or Figure 1 one block or a plurality of blocks.

[0041] Compiling the above method steps into a program and then storing it in a hard disk or other non-transitory storage medium constitutes an embodiment of the "non-transitory readable recording medium" of the present invention; and electrically connecting the storage medium to a computer processor and being able to complete the live detection of the working state of the horizontal insulator string through data processing constitutes an embodiment of the "live detection system for the working state of the horizontal insulator string" of the present invention.

[0042] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A live detection device for the working state of a horizontal insulator string, characterized in that Including: An unmanned aerial vehicle (UAV), an insulator state detection robot, a robot hoisting mechanism, and a ground control terminal; the upper end of the robot hoisting mechanism is fixed on the UAV, and the lower end is buckled with the robot through an automatic release module. The ground control terminal is respectively communicatively connected to the UAV, the insulator state detection robot, and the robot hoisting mechanism. Among them, the insulator state detection robot includes a saddle-shaped frame and a state detection mechanism, an insulator position recognition module, and an insulator axial walking mechanism installed on the saddle-shaped frame. The state detection mechanism is electrically connected to the insulator position recognition module and the insulator axial walking mechanism respectively. The inner cavity of the saddle-shaped frame has a clearance fit with the outer diameter of the insulator string to be measured. A counterweight is provided on the saddle-shaped frame to ensure that when it straddles the insulator string, the overall center of gravity of the insulator state detection robot is lower than the lowest point of the insulator string.

2. The live detection device for the working state of a horizontal insulator string according to claim 1, characterized in that, The state detection mechanism includes a clearance voltage measurement mechanism or an electric field measurement module.

3. The live detection device for the working state of a horizontal insulator string according to claim 2, characterized in that, The insulator axial walking mechanism includes a roller module horizontally arranged in the front-back direction on the inner top of the saddle-shaped frame. At least one of the rollers is driven by a motor of the state inspection mechanism to rotate. The axes of the rollers parallel to each other are in a horizontal state and perpendicular to the top connection line of the front and back saddle bridges of the saddle-shaped frame.

4. The live detection device for the working state of a horizontal insulator string according to claim 3, characterized in that, The clearance voltage measurement mechanism includes a connecting shaft, a measurement probe made of metal, a microcontroller, and a servo motor. The microcontroller is electrically connected to the servo motor, the measurement probe, the insulator position recognition module, and the insulator axial walking mechanism respectively. The connecting shaft is horizontally installed on the saddle-shaped frame. The two measurement probes are kept parallel and are respectively fixed at both ends of the connecting shaft and perpendicular to the connecting shaft. The servo motor can drive the connecting shaft to rotate under the drive of the microcontroller, so that the two measurement probes can simultaneously contact or leave the steel feet and steel caps of the single insulator to be measured.

5. The live detection device for the working state of a horizontal insulator string according to claim 3, characterized in that, The electric field measurement module includes a microcontroller and a field strength measurement probe electrically connected to the microcontroller.

6. The live detection device for the working state of a horizontal insulator string according to claim 5, characterized in that, A first camera is also installed on the robot hoisting mechanism to monitor the pose of the saddle-shaped frame to facilitate its straddling on the insulator string to be measured. The saddle-shaped frame is made of insulating material. The automatic release module includes a pair of electromagnets for clamping the saddle-shaped frame. The first camera and the automatic release module are respectively communicatively connected to the ground terminal. The insulator position recognition module includes, but is not limited to, a second camera or an optoelectronic sensing module.

7. A method for live detection of the working state of a horizontal insulator string, using the live detection device for the working state of a horizontal insulator string according to any one of claims 1-6, and completing the following steps: S1. The ground control terminal controls the UAV carrying the insulator state detection robot to fly above the insulator string of the transmission line to be detected, so that the lower opening of the saddle-shaped frame is aligned with the insulator string to be measured. A release signal is given to the automatic release module, and the saddle-shaped frame straddles the insulator string to be measured. The UAV leaves to perform the next hoisting task; S2. The insulator position recognition module continuously recognizes the axial position of the insulator state detection robot, starts the insulator axial walking mechanism to drive the insulator state detection robot to walk, and detects the state of each insulator one by one. S3. After the detection of the last insulator in the insulator string is completed, the condition detection mechanism successively obtains the data of each insulator in the insulator string and sends it back to the ground control terminal, calls the ground control terminal to arrange for the UAV to lift off the robot, and the ground control terminal analyzes the working condition of the detected insulator string.

8. A live detection method for the working state of a horizontal insulator string according to claim 7, characterized in that, When detecting with the live detection device for the working condition of a horizontal insulator string described in claim 4, the method for detecting the condition of each insulator one by one is as follows: when the insulator position recognition module correctly recognizes the position where the condition detection robot is located, the servo motor drives the connecting shaft to rotate under the drive of the microcontroller, so that the two measuring probes simultaneously contact the steel foot and the steel cap of the single insulator to be detected. After the voltage data is detected and successfully transmitted, the servo motor drives the connecting shaft to rotate reversely under the drive of the microcontroller, so that the probes are retracted to a position where they do not affect the axial movement of the saddle-shaped frame, and then the microcontroller drives the insulator axial movement mechanism to drive the insulator condition detection robot to move to the next detection position until the detection of the entire string of insulators is completed.

9. A non-transitory readable recording medium for storing one or more programs including a plurality of instructions, characterized in that, When the instruction is executed, it will cause the processor to execute the live detection method for the working condition of a horizontal insulator string described in claim 8.

10. A live detection system for the working state of a horizontal insulator string, characterized in that It includes a processing circuit and a memory electrically coupled thereto, characterized in that the memory is configured to store at least one program, the program contains a plurality of instructions, and when the processing circuit runs the program, it can execute the live detection method for the working condition of a horizontal insulator string described in claim 8.

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