Ground-air integrated crawler-type double-string insulator string intelligent zero measuring device and method

Abstract

The invention discloses a ground-air integrated crawler-type double-string insulator string intelligent zero measurement device and method, and belongs to the technical field of insulator detection. A worker controls a four-rotor robot to fly to an insulator string for detection through a control receiver, and the upper part of a crawler robot mechanism is fixedly connected with the four-rotor robot; the zero detection module is arranged in the center of the lower part of the tracked robot mechanism; the tracked robot mechanism comprises a main body structure, a power source is arranged in the center of the bottom of the main body structure, bent strips are arranged on the left side and the right side of the power source, a zero detection module is arranged on the side, facing the power source, of the lower portion of each bent strip, and a first track structure is arranged on the other side of each bent strip; meanwhile, a zero detection rod is further arranged at the end of the main body structure, two zero detection probes are arranged at the rear end of the zero detection rod in a spaced mode, double insulator strings are detected through an integrated structure of the four-rotor robot and the tracked robot, and safety and detection efficiency are high.

Description

Technical Field

[0001] The present invention belongs to the technical field of insulator detection, and particularly relates to a ground-air integrated crawler-type double-string insulator string intelligent zero detection device and method. Background Art

[0002] In order to ensure the stable operation of the transmission line and the safety of the staff in the live working environment, the detection of insulators is particularly important. On the one hand, during the period of power outage maintenance of the transmission line, the maintenance personnel need to hold a resistance tester and check each insulator one by one. In this process, the physical strength of the maintenance personnel is greatly consumed and there are great safety hazards when detecting the insulator string at high altitude. On the other hand, in the preliminary preparation stage of live working, the maintenance personnel need to use an insulating operating rod to perform zero detection operations through the spark gap detection method or the voltage distribution detection method. At this time, the operator tightly holds the end of the operating rod, lifts and lowers each piece for detection. The labor intensity of the operating personnel is high. Especially when detecting the insulators on the conductor side, due to the long distance, the insulating operating rod may not be able to effectively reach for zero detection, or the maintenance personnel may accidentally short-circuit some insulators because they need to lean forward with their bodies and arms, thus reducing the safety distance and increasing the accident risk.

[0003] At present, some detections use zero detection robots. The probe detection device is driven by a drone to reach the insulator detection position. After the device is integrated with the drone, it is not lightweight enough and has a high risk coefficient. Moreover, the flight control of large drones is not flexible enough, which affects the detection efficiency. At the same time, the device cannot detect multiple insulators simultaneously, the detection efficiency is low, and it is not suitable for multi-string parallel tension towers. Summary of the Invention

[0004] To solve the deficiencies in the prior art, the present invention provides a ground-air integrated crawler-type double-string insulator string intelligent zero detection device and method. On the one hand, the quadrotor robot can fly safely from the ground to above the insulator string of the tower and accurately land between the double strings of insulators; on the other hand, the crawler mechanism can walk stably between the double strings of insulators, and the double zero detection module can detect simultaneously, effectively improving the detection efficiency of multi-string parallel and ultra-high voltage tension long strings with complex orientations.

[0005] The present invention adopts the following technical solutions.

[0006] The present invention discloses a ground-air integrated crawler-type double-string insulator string intelligent zero detection device, including: a quadrotor robot, a crawler robot mechanism, a control receiver, and an insulator string. The quadrotor robot and the control receiver are electrically connected. The staff controls the quadrotor robot to fly to the insulator string for detection through the control receiver. The upper part of the crawler robot mechanism is fixedly connected to the quadrotor robot, and the zero detection module is arranged at the lower center of the crawler robot mechanism;

[0007] The crawler robot mechanism includes: a main body structure, a power supply is provided at the center of the bottom of the main body structure, bending bars are provided on the left and right sides of the power supply, a zero detection module is provided on the lower part of the bending bar facing the power supply side and a crawler structure one is provided on the other side, the bending bar can move horizontally, and at the same time, a zero detection rod is also provided at the end of the main body structure, and two zero detection probes are arranged at intervals at the rear end of the zero detection rod.

[0008] Preferably, the zero detection module and the zero detection probe are electrically connected.

[0009] Preferably, crawler structures two are provided at the left and right ends of the main body structure, the crawler structure two is higher than the crawler structure one and the crawler structure one is inclined, so that the crawler structure one and the crawler structure two are always in contact with the outer peripheral surface of the insulator string, preventing the crawler robot mechanism from falling off the insulator string.

[0010] Preferably, a crawler driver is provided at one end of each of the crawler structure one and the crawler structure two, the power supply is electrically connected to the crawler driver, the crawler driver includes: a crawler, a motor and a side plate, a crawler is arranged inside the crawler structure, side plates are arranged on both sides of the crawler, and the inner peripheral surface of one end of the crawler is rotationally connected to the motor, and the crawler robot mechanism is moved on the insulator string by driving the crawler to rotate by the motor.

[0011] Preferably, the quadrotor robot includes: a main controller, the four corners of the main controller are fixedly connected to fixed bars, and the other ends of the fixed bars are all connected to an anti-collision ring, which is used to prevent the internal structure of the quadrotor robot from being damaged.

[0012] Preferably, four main body arms are evenly arranged between the fixed bars, motors are arranged at the upper ends of the main body arms, the output ends of the motors are connected to the rotors, and a plurality of connectors are arranged at the bottom of the main controller.

[0013] Preferably, the connector is fixedly connected to the upper part of the crawler robot mechanism by bolts, which facilitates the connection and disassembly of the crawler robot mechanism and the quadrotor robot.

[0014] Preferably, the control receiver is remotely communicatively connected to the zero detection module, the quadrotor robot and the tracked robot, and at the same time, the control receiver can receive the data feedback of the zero detection module.

[0015] Preferably, R1 and R2 are arranged inside the zero detection module, and a first terminal and a second terminal are arranged on the first probe, and a third terminal and a fourth terminal are arranged on the second probe. Through the contact of the first terminal and the second terminal with an insulator, an R is formed between the two terminals x1 , and at the same time, through the contact of the third terminal and the fourth terminal with another insulator, an R is formed between the two terminals x2 , and then simultaneous detection is carried out.

[0016] The present invention also discloses a method for an intelligent zero - measurement device of a ground - air integrated crawler - type double - string insulator string. Based on the above - mentioned ground - air integrated crawler - type double - string insulator string intelligent zero - measurement device, the method includes the following steps:

[0017] The staff controls the receiver to operate the quadrotor robot to fly to the insulator string to be detected;

[0018] The staff controls the receiver to move the crawler robot. While moving, the zero - measurement detection probe contacts the insulator string under the action of elasticity, enabling the device to perform detection while moving;

[0019] Until the zero - measurement detection probe reaches the detection position of the insulator string, the zero - measurement detection probe rebounds to the steel cap of the insulator to form complete detection data, and the data is fed back to the control receiver through the zero - measurement detection module.

[0020] The beneficial effects of the present invention are as follows. Compared with the prior art, the present invention detects the double - string insulator string through the integrated structure of the quadrotor robot and the crawler robot. The quadrotor robot drives the crawler robot to be arranged between the double - string insulator strings, with high safety and fast setting speed;

[0021] The present invention utilizes the gap between the double - string insulators. Through the first probe and the second probe, the resistance values are respectively measured by contacting the insulator sheets on both sides; the two rows of probes can synchronously detect the double - string insulator string at the same time, realizing detection while moving, simplifying the structure, improving the detection efficiency, and the adjustable resistance can be replaced according to different working conditions and types of insulators to adapt to the resistance differences of insulators.

[0022] And the present invention drives the crawler through the motor to make the device walk between the double - string insulators, facilitating the movement of the device to the detection position. The bending strip can move horizontally, and then the device can adjust the distance between the bending strips according to the insulator specifications so that the crawler structure can be stably clamped on the insulator string. And by setting the heights and orientations of the two crawler structures to be different, the crawler robot mechanism can more stably hold the insulator strings on both sides, improving the stability and preventing the crawler robot mechanism from falling off the insulator string.

[0023] At the same time, the crawler robot mechanism of the present invention is directly connected to the power supply, the crawler structure and the zero - measurement detection module respectively through the frame - type main structure, reducing the floor area and simplifying the structure. This detection method can greatly improve the overall detection speed in large - scale power system inspections and quickly complete the detection of numerous insulators. At the same time, the detection can generate the detection data of two insulators in the same detection process, and the two resistances can be directly compared, avoiding additional errors introduced by factors such as time interval and equipment state changes, making the comparison result more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a schematic structural diagram of the quadrotor robot in the present invention;

[0026] Figure 3 is a schematic structural diagram of the tracked robot in the present invention;

[0027] Figure 4 is a schematic structural diagram of two rows of double probes in the zero detection module of the present invention;

[0028] Figure 5 is the schematic diagram of the detection circuit principle of the present invention;

[0029] Figure 6 is the structural diagram of the tracked drive of the present invention;

[0030] Reference numerals in the figure:

[0031] 1. Quadrotor robot; 1-1. Rotor; 1-2. Connector; 1-3. Motor; 1-4. Main controller; 1-5. Main body arm; 1-6. Anti-collision ring; 1-7. Fixed bar;

[0032] 2. Tracked robot mechanism; 2-1. Power supply; 2-2. Main body structure; 2-3. Track structure one; 2-31. Track structure two; 2-4. Zero detection module; 2-4-1. First terminal; 2-4-2. Second terminal; 2-4-3. Third terminal; 2-4-5. Fourth terminal; 2-5. Tracked drive; 2-5-1. Track; 2-5-2. Motor; 2-5-3. Side plate; 2-6. Zero detection rod; 2-7. Zero detection probe; 2-7-1. First probe; 2-7-2. Second probe; 2-8. Bent bar;

[0033] 3. Control receiver;

[0034] 4. Insulator string; 4-1. First steel cap; 4-2. Second steel cap. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Such as Figures 1 - 6As shown in the figure, the present invention provides a ground-air integrated crawler-type double insulator string intelligent zero detection device and method. The device includes: a quadrotor robot 1, a crawler robot mechanism 2, a control receiver 3, and an insulator string 4.

[0037] The quadrotor robot 1 is the flight takeoff and landing execution mechanism of the device. The control receiver 3 is signal-connected to the quadrotor robot 1. The staff holds the control receiver 3 and controls the quadrotor robot 1 to fly from the ground to the insulator string 4 for detection through the control receiver 3. The upper center of the crawler robot mechanism 2 is fixedly connected to the bottom of the quadrotor robot 1; the crawler robot mechanism 2 can walk on the insulator string 4; the zero detection module 2-4 is arranged at the lower center of the crawler robot mechanism 2.

[0038] As Figure 2 shown in the figure, the quadrotor robot 1 includes: rotors 1-1, connectors 1-2, motors 1-3, a main controller 1-4, main body arms 1-5, a collision prevention ring 1-6, and fixing bars 1-7. The four corners of the main controller 1-4 are fixedly connected to the fixing bars 1-7, and the other ends of the fixing bars 1-7 are all connected to the collision prevention ring 1-6 to prevent damage to the internal structure of the quadrotor robot 1. At the same time, four main body arms 1-5 are evenly arranged between each pair of fixing bars 1-7. Motors 1-3 are arranged at the upper ends of the main body arms 1-5, and the output ends of the motors 1-3 are connected to the rotors 1-1, shortening the transmission path and improving the power response speed. A plurality of connectors 1-2 are arranged at the bottom of the main controller 1-4 for connecting to the crawler robot mechanism 2.

[0039] In a specific embodiment, the staff operates the control receiver 3 to send a signal to the main controller 1-4. The main controller 1-4 starts the motor 1-3, and the rotation of the motor 1-3 drives the rotor 1-1 to rotate to generate lift. Under the continuously increasing lift, the device flies to the insulator string 4 to be detected. At the same time, the crawler robot mechanism 2 is driven to perform the flight action together through the connectors 1-2, thereby completing the intelligent zero detection operation.

[0040] As Figure 3As shown in the figure, the crawler robot mechanism 2 includes: a power supply 2-1, a main body structure 2-2, a crawler structure, a zero detection module 2-4, a crawler driver 2-5, a zero detection rod 2-6, and a zero detection probe 2-7. The main body structure 2-2 is in a frame form. The upper part of the main body structure 2-2 is fixedly connected to the connector 1-2 on the quadrotor robot 1 through bolts, facilitating the connection and disassembly of the crawler robot mechanism 2 and the quadrotor robot 1. A power supply 2-1 is arranged at the center of the bottom of the main body structure 2-2. Bending strips 2-8 are arranged on the left and right sides of the power supply 2-1. A zero detection module 2-4 is arranged on one side of the lower part of the bending strip 2-8 facing the power supply 2-1, and a crawler structure 2-3 is arranged on the other side. The bending strip 2-8 can move horizontally. Thus, the device can adjust the distance between the bending strips 2-8 according to the insulator specifications so that the crawler structure 2-3 can be stably placed on the insulator string 4. At the same time, crawler structures 2-31 are arranged at the left and right ends of the main body structure 2-2. The height of the crawler structure 2-31 is higher than that of the crawler structure 2-3, and the crawler structure 2-3 is inclined, so that the crawler structure 2-3 and the crawler structure 2-31 are always in contact with the outer peripheral surface of the insulator string 4, enabling the crawler structure to be placed in a clamping manner along the outer peripheral surface of the insulator string 4, moving more smoothly and preventing the crawler robot mechanism 2 from falling off the insulator string 4.

[0041] As Figure 6 shown, one end of all crawler structures is provided with a crawler driver 2-5. The power supply 2-1 is electrically connected to the crawler driver 2-5. The crawler driver 2-5 includes: a crawler 2-5-1, a motor 2-5-2, and a side plate 2-5-3. The crawler 2-5-1 is arranged on the inner peripheral surface of the crawler structure. Side plates 2-5-3 are arranged on the left and right sides of the crawler 2-5-1. One end of the inner peripheral surface of the crawler 2-5-1 is screwed to the motor 2-5-2. By starting the motor 2-5-2, the crawler 2-5-1 is driven to rotate, enabling the crawler robot mechanism 2 to move on the insulator string 4.

[0042] The crawler structure enables the crawler robot mechanism 2 to walk smoothly on the insulator string 4, facilitating the adjustment of the position of the crawler robot mechanism 2 on the insulator string 4. And by arranging the two groups of crawler structures in different directions, the crawler robot mechanism 2 can hold the insulator strings 4 on both sides more stably, improving the stability.

[0043] At the same time, a zero detection rod 2-6 in the front-back direction is also arranged at one end of the main body structure 2-2. Two zero detection probes 2-7 are arranged at intervals at the rear end of the zero detection rod 2-6. The zero detection probe 2-7 is of a U-shaped soft spring structure. The inner side of the zero detection probe 2-7 is the first probe 2-7-1, and the outer side is the second probe 2-7-2. The zero detection module 2-4 is electrically connected to the zero detection probe 2-7.

[0044] Preferably, as Figure 4As shown, zero - detection rods 2 - 6 can be symmetrically arranged at the left and right ends of the main structure 2 - 2, enabling the device to detect multiple insulator strings 4 simultaneously, thus improving the detection efficiency.

[0045] In a specific embodiment, the operator manipulates the control receiver 3 to start the crawler drive 2 - 5. The crawler drive 2 - 5 drives the crawler structure to move forward. The zero - detection probes 2 - 7 on both sides move while in contact with the insulator string 4 under elastic force, enabling the device to perform detection while moving, thus improving the detection efficiency. Until the zero - detection probes 2 - 7 reach the end of the insulator string 4, the zero - detection probes 2 - 7 can rebound under elasticity onto the steel cap of the insulator to form complete detection data, and the data is fed back to the control receiver 3 through the zero - detection module 2 - 4.

[0046] The control receiver 3 is remotely communicatively connected to the zero - detection module 2 - 4, the quad - rotor robot 1, and the tracked robot 2, and is used to control the flight and walking of the device. At the same time, the control receiver 3 receives the feedback display of the data from the zero - detection module 2 - 4; the power supply 2 - 1 provides power for the intelligent detection device to work.

[0047] In a specific embodiment, when the tracked robot 2 is made to move forward by operating the control receiver 3, the zero - detection probes 2 - 7 rebound and slide between the insulator strings 4. The second probe 2 - 7 - 2 first contacts the second steel cap 4 - 2 on the insulator string 6, and at the same time, the first probe 2 - 7 - 1 contacts the first steel cap 4 - 1. The zero - detection module 2 - 4 detects the corresponding data and transmits it to the control receiver 3 to complete the detection of the insulator.

[0048] As Figure 5 shown, inside the zero - detection module 2 - 4, there are R1 (series - adjustable resistor R var1 ) and R2 (series - adjustable resistor R var2 ). And through the first probe 2 - 7 - 1, a first terminal 2 - 4 - 1 and a second terminal 2 - 4 - 2 are set, and through the second probe 2 - 7 - 2, a third terminal 2 - 4 - 3 and a fourth terminal 2 - 4 - 4 are set. Through the contact of the first terminal 2 - 4 - 1 and the second terminal 2 - 4 - 2 with an insulator, an R x1 (equivalent resistance of the insulator to be measured 1) is formed between the two terminals. At the same time, through the contact of the third terminal 2 - 4 - 3 and the fourth terminal 2 - 4 - 4 with another insulator, an R x2 (equivalent resistance of the insulator to be measured 2) is formed between the two terminals, and then the detection is carried out.

[0049] The present invention also discloses a method for a ground - air integrated tracked double - string insulator string intelligent zero - detection device, including the following steps:

[0050] The staff manipulates the quadrotor robot 1 to fly onto the insulator string 6 to be detected by controlling the receiver 5;

[0051] The staff moves the tracked robot 2 by controlling the receiver 5. The zero-detection probe 2-7 contacts the insulator string 4 while moving under elastic force, enabling the device to perform detection while moving;

[0052] Until the zero-detection probe 2-7 reaches the detection position of the insulator string 4, the zero-detection probe 2-7 rebounds onto the steel cap of the insulator to form complete detection data, and the data is fed back to the control receiver 3 through the zero-detection module 2-4.

[0053] Preferably, the adjustable resistor can be replaced according to different working conditions and types of insulators to adapt to the insulator resistance differences, and its insulation resistance value may vary within a large range. For example, the insulation resistance of new insulators in a dry and clean environment may be very high, while the insulation resistance of aged or contaminated insulators may be significantly reduced.

[0054] The power supply part selects a DC regulated power supply to provide a stable DC voltage for the bridge circuit. The power supply voltage is generally selected according to the withstand voltage level and measurement requirements of the insulators. For example, a voltage of 30V or higher can be selected to ensure that the insulator resistance can be detected under conditions close to the actual working conditions.

[0055] The detection part uses a highly sensitive galvanometer, which is connected to the diagonal of the bridge to detect whether the bridge is balanced. When the bridge is balanced, no current passes through the galvanometer and the pointer indicates zero; when the bridge is unbalanced, the galvanometer pointer will deflect. According to the deflection direction and magnitude, the degree of bridge imbalance can be judged. When a zero-value insulator appears for the first time, a significant current indication will appear on the highly sensitive galvanometer.

[0056] The beneficial effect of the present invention is that, compared with the prior art, the present invention detects the double-string insulator string through the integrated structure of the quadrotor robot and the tracked robot. The quadrotor robot drives the tracked robot to be arranged between the double-string insulator strings, with high safety and fast setting speed;

[0057] The present invention utilizes the gap between the double strings of insulators, and through the first probe and the second probe, respectively contacts the insulator sheets on both sides to measure the resistance value; the two rows of probes can synchronously detect the double-string insulator string at the same time, realizing detection while moving, simplifying the structure, improving the detection efficiency, and the adjustable resistor can be replaced according to different working conditions and types of insulators to adapt to the insulator resistance differences.

[0058] Moreover, in the present invention, the device is driven by a motor to move the crawler between the double-strand insulators, facilitating the movement of the device to the detection position. The bending strip can move horizontally, and thus the device can adjust the spacing of the bending strips according to the insulator specifications so that the crawler structure can be stably clamped on the insulator string. By setting the two crawler structures with different heights and orientations, the crawler robot mechanism can hold the insulator strings on both sides more stably, improving the stability and preventing the crawler robot mechanism from falling off the insulator string.

[0059] Meanwhile, the crawler robot mechanism of the present invention is directly connected to the power supply, the crawler structure, and the zero detection module respectively through a frame-type main structure, reducing the floor area and simplifying the structure. This detection method can significantly improve the overall detection speed in large-scale power system inspections and quickly complete the detection of numerous insulators. At the same time, the detection can generate the detection data of two insulators in the same detection process, enabling a direct comparison of the two resistors, avoiding additional errors introduced by factors such as time intervals and equipment state changes, and making the comparison results more accurate and reliable.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An intelligent zero-measuring device for an air-ground integrated crawler double-string insulator string, comprising: A quadrotor robot (1), a crawler robot mechanism (2), a control receiver (3), and an insulator string (4), characterized in that: The quadrotor robot (1) is electrically connected to the control receiver (3). The staff controls the quadrotor robot (1) to fly to the insulator string (4) for detection through the control receiver (3). The upper part of the crawler robot mechanism (2) is fixedly connected to the quadrotor robot (1), and the zero detection module (2-4) is arranged at the lower center of the crawler robot mechanism (2); The crawler robot mechanism (2) includes: a main structure (2-2). A power supply (2-1) is arranged at the center of the bottom of the main structure (2-2). Bending strips (2-8) are arranged on the left and right sides of the power supply (2-1). The zero detection module (2-4) is arranged on one side of the lower part of the bending strip (2-8) facing the power supply (2-1), and a crawler structure one (2-3) is arranged on the other side. The bending strip (2-8) can move horizontally. At the same time, a zero detection rod (2-6) is also arranged at the end of the main structure (2-2), and two zero detection probes (2-7) are arranged at intervals at the rear end of the zero detection rod (2-6).

2. The intelligent zero detection device for a ground-air integrated crawler double-string insulator string according to claim 1, characterized in that: The zero detection module (2-4) is electrically connected to the zero detection probe (2-7).

3. The intelligent zero detection device for a ground-air integrated crawler double-string insulator string according to claim 1, characterized in that: Crawler structures two (2-31) are arranged at the left and right ends of the main structure (2-2). The crawler structure two (2-31) is higher than the crawler structure one (2-3), and the crawler structure one (2-3) is inclined, so that the crawler structure one (2-3) and the crawler structure two (2-31) are always in contact with the outer peripheral surface of the insulator string (4) to prevent the crawler robot mechanism (2) from falling off the insulator string (4).

4. The intelligent zero detection device for a ground-air integrated crawler double-string insulator string according to claim 3, characterized in that: Track drivers (2-5) are arranged at one end of each of the crawler structure one (2-3) and the crawler structure two (2-31). The power supply (2-1) is electrically connected to the track driver (2-5). The track driver (2-5) includes: a track (2-5-1), a motor (2-5-2), and a side plate (2-5-3). The track (2-5-1) is arranged inside the crawler structure. Side plates (2-5-3) are arranged on both sides of the track (2-5-1). The inner peripheral surface of one end of the track (2-5-1) is screwed to the motor (2-5-2), and the motor (2-5-2) drives the track (2-5-1) to rotate to make the crawler robot mechanism (2) move on the insulator string (4).

5. The intelligent zero detection device for a ground-air integrated crawler double-string insulator string according to claim 1, characterized in that: The quadrotor robot (1) includes: a main controller (1-4), the four corners of the main controller (1-4) are fixedly connected to a fixing bar (1-7), and the other ends of the fixing bars (1-7) are all connected to an anti-collision ring (1-6) to prevent damage to the internal structure of the quadrotor robot (1).

6. The intelligent zero detection device for an air-ground integrated crawler double-string insulator string according to claim 5, characterized in that: Four main body arms (1-5) are evenly arranged between the fixing bars (1-7), a motor (1-3) is arranged at the upper end of the main body arm (1-5), the output end of the motor (1-3) is connected to a rotor (1-1), and a plurality of connectors (1-2) are arranged at the bottom of the main controller (1-4).

7. The intelligent zero detection device for an air-ground integrated crawler double-string insulator string according to claim 6, characterized in that: The connector (1-2) is fixedly connected to the upper part of the crawler robot mechanism (2) by bolts, facilitating the connection and disassembly of the crawler robot mechanism (2) and the quadrotor robot (1).

8. The intelligent zero detection device for an air-ground integrated crawler double-string insulator string according to claim 1, characterized in that: The control receiver (3) is remotely connected to the zero detection module (2-4), the quadrotor robot (1), and the crawler robot (2) for communication, and the control receiver (3) can receive data feedback from the zero detection module (2-4).

9. The intelligent zero detection device for an air-ground integrated crawler double-string insulator string according to claim 1, characterized in that: The zero measurement detection module (2-4) is internally provided with R1 and R2, and a first terminal (2-4-1) and a second terminal (2-4-2) are provided on the first probe (2-7-1). A third terminal (2-4-3) and a fourth terminal (2-4-4) are provided on the second probe (2-7-2). Through the contact between the first terminal (2-4-1) and the second terminal (2-4-2) and an insulator, R is formed between the two terminals. x1 At the same time, through the contact between the third terminal (2-4-3) and the fourth terminal (2-4-4) and another insulator, R is formed between the two terminals. x2 Furthermore, simultaneous detection is carried out.

10. A method for an intelligent zero detection device for an air-ground integrated crawler double-string insulator string, based on the intelligent zero detection device for an air-ground integrated crawler double-string insulator string according to any one of claims 1-9, characterized in that: The staff manipulates the quadrotor robot (1) to fly to the insulator string (6) to be detected through the control receiver (5); The staff moves the crawler robot (2) through the control receiver (5), and the zero detection probe (2-7) moves while contacting the insulator string (4) under elastic force, enabling the device to perform detection while moving; Until the zero detection probe (2-7) reaches the detection position of the insulator string (4), the zero detection probe (2-7) rebounds to the steel cap of the insulator to form complete detection data, and the data is fed back to the control receiver (3) through the zero detection module (2-4).

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