Unmanned aerial vehicle extra-high voltage strain insulator detection tool and method

Abstract

The invention discloses an unmanned aerial vehicle extra-high voltage strain insulator detection tool, belongs to the field of electrical equipment testing, solves the problems of inconvenient detection and difficult control of detection precision in the prior art, and adopts the technical scheme that the unmanned aerial vehicle extra-high voltage strain insulator detection tool comprises an unmanned aerial vehicle, a guide cover, an insulation traction rope and a suspension part, the guide cover is provided with a detector and a hanging hole, the insulation traction rope penetrates through the pulley of the suspension part and hangs the guide cover on the insulator chain through the hanging hole, and the two ends of the guide cover, the suspension part and the insulation traction rope are located at the end, close to the cross arm, of the insulator chain. The suspension part is carried by the unmanned aerial vehicle to move to the end close to a wire in the length direction of the insulator string and is fixed, one end of the insulation traction rope is pulled through external force so as to drive the guide cover to slide between the two ends in the length direction of the insulator string, and the detector detects the insulator string in the sliding process of the guide cover. The invention also discloses an unmanned aerial vehicle extra-high voltage strain insulator detection method.

Description

Technical Field

[0001] The present invention relates to the field of power equipment testing, and particularly to a detection tool and method for UHV strain insulators using an unmanned aerial vehicle (UAV). Background Art

[0002] In recent years, with the significant advancement of UHV power grid construction in China, higher requirements have been put forward for UHV insulation performance. Due to the huge transmission capacity of UHV lines, their operating reliability requirements are extremely high, and power outage maintenance is very difficult. Live working is often required to eliminate defects or install on-line monitoring equipment. In the prior art, the detector is often fixed on an insulating rod to operate and detect the insulator string. However, due to the large number of insulator discs in UHV transmission lines, the length of the insulator string often exceeds 10 meters, resulting in the length of the insulating rod also needing to reach more than 10 meters. The long insulating rod is difficult to control in the high-altitude working environment, increasing the risk of losing balance or accidental collision during the operation, which may lead to personal safety accidents or equipment damage. In addition, the operation flexibility of the long insulating rod is limited, and it is difficult to conduct a comprehensive and detailed inspection of the insulator string. Especially in a complex spatial environment, it may not be able to reach some key positions, affecting the detection accuracy. Using an insulating rod is not only inconvenient and laborious to operate, but also inefficient. At the same time, limited by the material of the insulating rod, when the insulating rod extends a certain distance, it will bend significantly downward and may even break, further restricting its effectiveness and safety. Summary of the Invention

[0003] The object to be achieved by the present invention is to provide a detection tool for UHV strain insulators using an UAV, which solves the problems of inconvenient detection and difficult control of detection accuracy in the prior art, making the detection more convenient and improving the detection accuracy at the same time.

[0004] To achieve the above object, the present invention adopts the following technical solution: A detection tool for UHV strain insulators using an UAV, wherein both ends of the insulator string in the length direction are respectively connected to the cross arm and the wire. The detection tool for UHV strain insulators using an UAV includes an UAV, a guiding cover, an insulating traction rope, and a suspension member. The suspension member is provided with a pulley, and the guiding cover is provided with a detector and a hanging hole. The insulating traction rope passes through the pulley of the suspension member and suspends the guiding cover on the insulator string through the hanging hole. In the initial state, both ends of the guiding cover, the suspension member, and the insulating traction rope are located at one end of the insulator string close to the cross arm. The suspension member is carried by the UAV and moves along the length direction of the insulator string to the end close to the wire and is fixed. By pulling one end of the insulating traction rope by an external force, the guiding cover is driven to slide between the two ends along the length direction of the insulator string, and the detector detects the insulator string during the sliding process of the guiding cover.

[0005] After adopting the above technical solution, the present invention has the following advantages: With the help of a drone carrying a suspension member moving to one end close to the wire and fixing it, the guiding cover is suspended on the insulator string through an insulating traction rope. The operator only needs to operate at a short distance at the cross arm. By pulling the insulating traction rope, the guiding cover is driven to slide between the two ends along the length direction of the insulator string. The detector detects the insulator string during the sliding process of the guiding cover, enabling the detector to reach various parts of the insulator string as flexibly as possible. This not only improves the comprehensiveness and meticulousness of the detection, but also enhances the detection accuracy. There is no need for long-distance operation and direct contact with high-voltage lines, nor is it necessary to frequently adjust the position and posture of the long insulating rod. The operation process is relatively simpler, more labor-saving and safer than the traditional long insulating rod detection, which can significantly shorten the detection time and improve the detection efficiency.

[0006] Further, the guiding cover is provided with a chute adapted to the insulator string. When the guiding cover slides between the two ends along the length direction of the insulator string, the chute is in sliding fit with the insulator string.

[0007] Adopting the foregoing technical solution, the chute is in sliding fit with the insulator string. With the guiding function of the chute, it is ensured as much as possible that the guiding cover slides along the length direction of the insulator string, enabling more accurate and orderly segment-by-segment detection of the insulator string. It can also effectively limit the guiding cover, reducing large fluctuations or offsets caused by improper operation or external factors such as wind force. This ensures the position stability of the detector during the detection process, and as much as possible avoids deviation of detection data due to excessive shaking of the guiding cover, thereby improving the accuracy and reliability of the detection results.

[0008] Further, at least two chutes are provided in parallel and at intervals, and each chute is provided with a detector. The hanging hole is located at the exact middle position between these chutes.

[0009] Adopting the foregoing technical solution, multiple chutes are respectively in sliding fit with multiple insulator strings, forming a multi-point support and guiding structure, significantly reducing the phenomena of shaking, offset or flipping of the guiding cover during the sliding process due to uneven force. Even in a complex high-altitude wind environment, it can maintain stable movement, providing a stable detection platform for the detector, avoiding detection data errors caused by jitter. The hanging hole is located at the exact middle position between the chutes, enabling the pulling force received by the guiding cover to be evenly distributed to each chute. The guiding cover can maintain good balance during suspension and sliding. The detectors on each chute can simultaneously collect and analyze data corresponding to their respective insulator strings, not only significantly improving the detection efficiency, but also ensuring the time synchronization of the detection data of multiple insulator strings, facilitating the staff to comprehensively and systematically compare and analyze the states of different insulator strings and timely discover potential fault hazards.

[0010] Furthermore, a weight-reducing groove, a weight-reducing hole or a hollow setting is provided in the middle position between the slide grooves.

[0011] The aforementioned technical solution is adopted, and by providing weight-reducing grooves, weight-reducing holes or hollowing, the material usage of the guide cover is directly reduced, effectively reducing its own weight. When the drone carries the inspection tools for high-altitude operations, the lighter guide cover can reduce the load pressure of the drone, reduce energy consumption, and extend the drone's flight time; at the same time, when manually pulling the insulating traction rope, it can also make the operator easier and save effort, improving the convenience of operation. Because the chute is located at both ends of the guide cover, the weight distribution is also optimized, so that the weight of the guide cover is concentrated on both sides. The heavier design on both sides helps to increase the contact pressure between the chute and the insulator string, thereby enhancing the fit between the chute and the insulator string, making it more stable during movement.

[0012] Furthermore, the suspension member is I-shaped, and includes an upper arm and a lower arm parallel to each other, and a connecting arm connecting the upper arm and the lower arm. The length of the upper arm is equal to the length of the lower arm, and the spacing between the upper arm and the lower arm is respectively smaller than the length of the upper arm and the length of the lower arm. The suspension member is clamped into the steel cap of the insulator string through the upper arm and the lower arm to be fixed at one end close to the insulator string conductor.

[0013] Through the above technical solution, the I-shaped design provides higher structural strength, ensuring stability and durability under various working conditions. The distance between the upper arm and the lower arm is smaller than their respective lengths, which means that when the drone drives the suspension to move, the shorter distance can effectively avoid unnecessary interference or collision between the suspension and the insulator string. By changing the position of the suspension, the longer upper and lower arms can be clamped into the steel cap of the insulator string, forming a stable clamping effect, reducing the possibility of the suspension loosening or falling off during the movement of the guide cover.

[0014] Furthermore, the pulley is located at the center of the upper arm and close to one side of the lower arm or at the center of the lower arm and close to one side of the lower arm.

[0015] Through the above technical solution, the pulley is set at the center of the upper arm or the lower arm and close to the side of the other arm, which is equivalent to the insulating traction rope being closer to the middle part of the suspension. It helps to more evenly disperse the force applied by the insulating traction rope, which can reduce the offset or tilt caused by uneven force distribution, and ensure that the suspension remains balanced when under force as much as possible. It can also effectively prevent the insulating traction rope from being entangled or scratched with various equipment in the ultra-high voltage line (such as wires, hardware, other insulator strings, etc.).

[0016] Furthermore, two connecting arms are provided at intervals, and the pulley is located between the two connecting arms.

[0017] Through the above technical solution, the two connecting arms arranged at intervals provide stronger support, enhancing the overall rigidity and stability of the suspension member. This helps prevent the suspension member from deforming or shifting when stressed. The pulley is located between the two connecting arms, as effectively as possible avoiding interference between the insulating traction rope and surrounding equipment or other components.

[0018] Furthermore, the UAV ultra-high voltage strain insulator detection tool further includes an insulating suspension rope. Symmetric suspension holes are provided on both sides of the suspension member for hanging the insulating suspension rope, and the UAV drives the suspension member to move through the insulating suspension rope.

[0019] Through the above technical solution, the insulating suspension rope ensures electrical isolation between the UAV and the suspension member, reducing the risk of electric shock.

[0020] Another object of the present invention is to provide a method for simulating a live working test of a robot. Using the UAV ultra-high voltage strain insulator detection tool described in the above technical solution, the method for simulating a live working test of the robot includes:

[0021] S1: The operator installs the detector on the guiding cover, connects the insulating suspension rope to the suspension holes on both sides of the suspension member, connects the other end of the insulating suspension rope to the UAV, the UAV carries the suspension member to one end of the insulator string close to the cross arm, and the operator carries the guiding cover to one end of the detected insulator string close to the cross arm;

[0022] S2: The operator then connects a new insulating suspension rope to the suspension holes on both sides of the suspension member, and at the same time passes the insulating traction rope through the hanging hole and through the pulley of the suspension member;

[0023] S3: The operator manipulates the UAV to carry the suspension member and move it along the length direction of the insulator string to one end close to the conductor;

[0024] S4: The operator manipulates the UAV to rotate 90 degrees, so that the upper arm and the lower arm are firmly attached to the insulator strings on both sides and are clamped into the steel caps of the insulator strings to fix the suspension member at one end close to the conductor;

[0025] S5: The operator operates the UAV to disengage the insulating suspension rope from the suspension member and return to the ground;

[0026] S6: The operator pulls one end of the insulating traction rope to drive the guiding cover to slide between the two ends along the length direction of the insulator string, and the detector detects the insulator string during the sliding process of the guiding cover;

[0027] S7: After the detection is completed, the operator removes the guiding cover, the UAV flies to the cross arm, the operator fixes the new insulating suspension rope in S2 on the UAV, and then the UAV flies above the suspension member and rotates 90 degrees and then lifts it to disengage the suspension member from the steel cap of the insulator string;

[0028] S8: The operating personnel remove the insulating towing rope of the suspension member, the UAV brings the guiding cover back to the ground, and the operating personnel return to the ground, and the operation ends.

[0029] Through the above technical solution, the UAV can operate at different positions and angles to install and disassemble the suspension member, adapt to various complex insulator string layouts and on-site environments. The operating personnel only need to operate closely at the cross arm, without the need for the operating personnel to enter and exit the electric field for detection, ensuring the safety of the operating personnel. By pulling the insulating towing rope to drive the guiding cover to slide between the two ends along the length direction of the insulator string, the detector detects the insulator string during the sliding process of the guiding cover, enabling the detector to reach each part of the insulator string as flexibly as possible, improving the efficiency of the detection work, and also improving the accuracy and reliability of the detection data.

[0030] Further, the S6 specifically includes that the operating personnel hold the insulating towing rope, and by pulling one end of the insulating towing rope, drive the guiding cover to move evenly and smoothly along the insulator string towards one end of the conductor. The detector synchronously conducts detection. After reaching the end of the insulator string, the operating personnel pull the other end of the insulating towing rope, drive the guiding cover to move evenly and smoothly along the insulator string towards one end of the cross arm, and the detector synchronously conducts detection.

[0031] Through the above technical solution, the operating personnel pull both ends of the insulating towing rope to make the guiding cover move back and forth on the insulator string, which can ensure that the detector conducts at least two detections on each part of the insulator string, effectively avoiding omissions or misjudgments that may occur due to single detection, ensuring full coverage of the insulator string, improving the accuracy and reliability of the detection results, and the operation is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings:

[0033] Figure 1 is a schematic structural diagram of the guiding cover of the present invention;

[0034] Figure 2 is a schematic structural diagram of the guiding cover of the present invention from another perspective;

[0035] Figure 3 is a schematic structural diagram of the suspension member of the present invention;

[0036] Figure 4 is a schematic diagram of the UAV carrying the suspension member of the present invention;

[0037] Figure 5 is a cross-sectional view of the connection between the guiding cover and the insulator string of the present invention;

[0038] Figure 6Schematic diagram of the connection between the suspension member and the guiding cover of the present invention;

[0039] Figure 7 Schematic diagram of the unmanned aerial vehicle (UAV) of the present invention carrying the suspension member and moving towards one end of the wire;

[0040] Figure 8 Schematic diagram of the UAV of the present invention carrying the suspension member and being installed at one end of the wire and moving;

[0041] Figure 9 Schematic diagram of the UAV of the present invention leaving the suspension member;

[0042] Figure 10 Schematic diagram of the guiding cover of the present invention moving towards one end of the wire;

[0043] Figure 11 Schematic diagram of the guiding cover of the present invention moving towards one end of the cross arm;

[0044] Figure 12 Schematic diagram of the connection between the UAV and the insulating suspension rope of the present invention;

[0045] Figure 13 Schematic diagram of the connection between the UAV and the suspension member of the present invention;

[0046] Figure 14 Schematic diagram of the UAV of the present invention carrying the suspension member and rotating away from the insulator string;

[0047] Figure 15 Schematic diagram of the UAV of the present invention carrying the suspension member and rotating away from the insulator string;

[0048] In the figure, 10 is the insulator string; 11 is the cross arm; 12 is the wire; 20 is the UAV;

[0049] 30 is the guiding cover; 31 is the detector; 32 is the hanging hole; 33 is the sliding groove; 34 is the weight reduction groove;

[0050] 40 is the insulating towing rope;

[0051] 50 is the suspension member; 51 is the pulley; 52 is the upper arm; 53 is the lower arm; 54 is the connecting arm; 55 is the hanging hole;

[0052] 60 is the insulating suspension rope. Detailed implementation manners

[0053] 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 clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0054] In the description and claims of the present invention, and in the above-mentioned drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0055] It should be understood that in various embodiments of the present invention, such as the magnitude of the serial numbers of the respective processes, it does not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0056] It should be understood that in the present invention, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0057] It should be understood that in the present invention, "a plurality of" means two or more. "And / or" is merely a description of the relationship between associated objects, indicating that three relationships may exist. For example, X and / or Y may represent: X exists alone, X and Y exist simultaneously, and Y exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "Comprising X, Y, and Z", "comprising X, Y, Z" means that X, Y, and Z are all included, "comprising X, Y, or Z" means that one of X, Y, and Z is included, and "comprising X, Y, and / or Z" means that any one or any two or all three of X, Y, and Z are included.

[0058] The technical solution of the present invention will be described in detail below with specific embodiments. These several specific embodiments below can be combined or replaced according to the actual situation, and the same or similar concepts or processes may not be described again in some embodiments.

[0059] Embodiment 1:

[0060] Such as Figures 1 to 15As shown in the figure, the present invention provides a detection tool for UHV strain insulators of unmanned aerial vehicles. The two ends of the insulator string 10 in the length direction are respectively connected to the cross arm 11 and the conductor 12. The detection tool for UHV strain insulators of unmanned aerial vehicles includes an unmanned aerial vehicle 20, a guiding cover 30, an insulating traction rope 40, and a suspension member 50. The suspension member 50 is provided with a pulley 51, and the guiding cover 30 is provided with a detector 31 and a hanging hole 32. The insulating traction rope 40 passes through the pulley 51 of the suspension member 50, and the guiding cover 30 is suspended on the insulator string 10 through the hanging hole 32. In the initial state, both ends of the guiding cover 30, the suspension member 50, and the insulating traction rope 40 are located at one end of the insulator string 10 close to the cross arm 11. The suspension member 50 is carried by the unmanned aerial vehicle 20 and moves along the length direction of the insulator string 10 to the end close to the conductor 12 and is fixed. By pulling one end of the insulating traction rope 40 with an external force, the guiding cover 30 is driven to slide between the two ends along the length direction of the insulator string 10, and the detector 31 detects the insulator string 10 during the sliding process of the guiding cover 30.

[0061] With the help of the unmanned aerial vehicle 20 carrying the suspension member 50 and moving to the end close to the conductor 12 and fixing it, the guiding cover 30 is suspended on the insulator string 10 through the insulating traction rope 40. The operator only needs to operate at a short distance at the cross arm 11. By pulling the insulating traction rope 40, the guiding cover 30 is driven to slide between the two ends along the length direction of the insulator string 10, and the detector 31 detects the insulator string 10 during the sliding process of the guiding cover 30, enabling the detector 31 to reach each part of the insulator string 10 as flexibly as possible. This not only improves the comprehensiveness and meticulousness of the detection but also enhances the detection accuracy. There is no need for long-distance operation and direct contact with high-voltage lines, nor is it necessary to frequently adjust the position and posture of the long insulating rod. The operation process is relatively simpler, more labor-saving, and safer than the traditional long insulating rod detection, which can significantly shorten the detection time and improve the detection efficiency. It can also avoid the problems of bending or even breaking of the traditional long insulating rod.

[0062] It should be noted that the unmanned aerial vehicle 20 is equipped with a remote controller, and the operation of the unmanned aerial vehicle 20 is controlled by the operator operating the remote controller. The guiding cover 30 is provided with a hanging hole 32 by opening holes from the front to the back, and the diameter of the hanging hole 32 is 10 cm.

[0063] In order to enable the unmanned aerial vehicle 20 to carry the suspension member 50, the detection tool for UHV strain insulators of unmanned aerial vehicles further includes an insulating suspension rope 60. Symmetric hanging holes 55 are provided on both sides of the suspension member 50 for hanging the insulating suspension rope 60. The unmanned aerial vehicle 20 drives the suspension member 50 to move through the insulating suspension rope 60. The insulating suspension rope 60 ensures the electrical isolation between the unmanned aerial vehicle 20 and the suspension member 50 and reduces the risk of electric shock.

[0064] It should be noted that the insulating suspension rope 60 can be connected or separated through a decoupling device and the suspension hole 55. After the suspension member 50 is carried by the unmanned aerial vehicle 20 and moved along the length direction of the insulator string 10 to one end close to the conductor 12 and fixed, the decoupling device and the insulating suspension rope 60 are separated, and the unmanned aerial vehicle 20 leaves.

[0065] It should be noted that the decoupling device includes a body, a hook and a driver. The operator has a remote controller, which is wirelessly connected to the driver. The hook can be opened and closed by the driver to be clamped into the suspension hole 50 for connection and separation from the suspension hole 50.

[0066] In order to make the guiding cover 30 move more smoothly on the insulator string 10, the guiding cover 30 is provided with a sliding groove 33 adapted to the insulator string 10. When the guiding cover 30 slides between the two ends along the length direction of the insulator string 10, the sliding groove 33 is in sliding fit with the insulator string 10. Due to the guiding effect of the sliding groove 33, it can be ensured as much as possible that the guiding cover 30 slides along the length direction of the insulator string 10, enabling more accurate and orderly segmented detection of the insulator string 10. It can also effectively limit the guiding cover 30, reducing large-amplitude shaking or deviation caused by improper operation or external factors such as wind force. This ensures the position stability of the detector 31 during the detection process and avoids deviation of the detection data caused by excessive shaking of the guiding cover 30 as much as possible, thereby improving the accuracy and reliability of the detection results.

[0067] In order to improve the operation efficiency, at least two parallel and spaced-apart sliding grooves 33 are provided. Each sliding groove 33 is provided with a detector 31, and the hanging hole 32 is located at the exact middle position between these sliding grooves 33. The multiple sliding grooves 33 are respectively in sliding fit with multiple insulator strings 10, forming a multi-point support and guiding structure, greatly reducing the phenomena of shaking, deviation or flipping of the guiding cover 30 caused by uneven force during the sliding process. Even in a complex high-altitude wind environment, it can still move smoothly, providing a stable detection platform for the detector 31 and avoiding detection data errors caused by jitter. The hanging hole 32 is located at the exact middle position between the sliding grooves 33, so that the pulling force received by the guiding cover 30 is evenly distributed to each sliding groove 33, enabling the guiding cover 30 to maintain good balance during suspension and sliding. The detector 31 on each sliding groove 33 can simultaneously collect and analyze data of the corresponding insulator string 10, not only greatly improving the detection efficiency, but also ensuring the time synchronization of the detection data of multiple insulator strings, facilitating the staff to comprehensively and systematically compare and analyze the states of different insulator strings 10 and timely discover potential fault hazards.

[0068] Among them, in this embodiment, the guiding cover 30 is provided with two sliding grooves 33 and two detectors 31. For the convenience of installing the detector 31, mounting holes for installing the detector 31 are respectively provided on both sides of the top of the guiding cover 30. The mounting holes may be provided with threads, and the detector 31 can be threadedly connected to the mounting holes. The sliding groove 33 is arranged at the bottom of the guiding cover 30. Since the diameter of the extra-high voltage insulator disc is mostly about 400 mm, the sliding groove 33 is in a semi-cylindrical shape with an inner diameter L1 of 410 mm. The inner diameter is ensured to just fit into the insulator string 10, and at the same time, it can be always placed on two insulators during the moving process after installation, so as to avoid the front and rear ends inserting into the umbrella skirts of the insulator string 10 during the moving process. Since the guiding cover 30 may be stuck in the umbrella skirts of the insulator string 10 at the front and rear ends during the moving detection on the insulator string 10, and the personnel "stride over two and skip three" should not exceed three insulators, the designed axial length of the guiding cover 30 must be greater than the structural height of three insulators, so the length L2 is taken as 610 mm.

[0069] It should be noted that the detector 31 can be a zero-value insulator tester, which is based on the electric field distribution principle and the insulation resistance measurement principle. The electric field distribution of normal insulators is relatively uniform, while zero-value insulators will cause distortion of the electric field distribution. The zero-value insulator tester judges whether the insulator is a zero value by measuring parameters such as the electric field intensity and potential distribution at both ends of the insulator string 10 or along the insulator string 10. In addition, the insulation resistance of zero-value insulators will decrease significantly, usually much lower than the insulation resistance value of normal insulators. Therefore, it can also be judged by measuring the insulation resistance. By pulling the insulating traction rope 40, the guiding cover 30 is driven to slide between the two ends along the length direction of the insulator string 10, and the detector 31 detects the insulator string 10 during the sliding process of the guiding cover 30. Compared with the original insulating rod type distributed electric field detector 31, the detection range is extended from 1 / 3 string to the whole insulator string, and the zero-value detection of the extra-high voltage insulator string 10 can be completed. Compared with the spark gap method, the detection result of the zero-value insulator tester is clearer and more accurate, and the interference of the strong electric field on site is reduced as much as possible.

[0070] Furthermore, a weight reduction groove 34 is provided at the exact middle position between the two sliding grooves 33. By setting the weight reduction groove 34, the material consumption of the guiding cover 30 is directly reduced, and its own weight is effectively reduced. When the unmanned aerial vehicle 20 carries the detection tool for high-altitude operation, the lighter guiding cover 30 can reduce the load pressure of the unmanned aerial vehicle 20, reduce energy consumption, and extend the endurance time of the unmanned aerial vehicle 20; at the same time, when the operator pulls the insulating traction rope 40, it can also make the operator more relaxed and labor-saving, and improve the operation convenience. Since the sliding grooves 33 are located at both ends of the guiding cover 30, the weight distribution is also optimized, so that the weight of the guiding cover 30 is concentrated on both sides. The heavier design on both sides helps to increase the contact pressure between the sliding grooves 33 and the insulator string 10, thereby enhancing the cooperation degree between the sliding grooves 33 and the insulator string 10 and making it more stable during the moving process.

[0071] Among them, the suspension member 50 is I-shaped, and the suspension member 50 includes an upper arm 52 and a lower arm 53 parallel to each other, and a connecting arm 54 connecting the upper arm 52 and the lower arm 53. The length of the upper arm 52 is equal to the length of the lower arm 53, and the distance between the upper arm 52 and the lower arm 53 is respectively smaller than the length of the upper arm 52 and the length of the lower arm 53. The suspension member 50 is clamped into the steel cap of the insulator string 10 through the upper arm 52 and the lower arm 53 to be fixed at one end of the conductor 12 close to the insulator string 10. The I-shaped design provides higher structural strength, ensuring stability and durability under various working conditions. The distance between the upper arm 52 and the lower arm 53 is less than their respective lengths, which means that when the drone 20 drives the suspension 50 to move, the shorter distance can effectively avoid unnecessary interference or collision between the suspension 50 and the insulator string 10. By changing the position of the suspension 50, the longer upper arm 52 and lower arm 53 can be clamped into the steel cap of the insulator string 10, forming a stable clamping effect, reducing the situation where the suspension 50 becomes loose or falls off during the movement of the guide cover 30.

[0072] It should be noted that the suspension member 50 is made of high-strength resin material. Since the horizontal spacing of the ultra-high voltage double-string insulator is usually 600mm, and in order to ensure a certain length margin, the horizontal length of the upper arm 52 and the lower arm 53 is L3, L3 is 1000mm, and since the disk diameter of the ultra-high voltage insulator is mostly about 400mm, in order to ensure that the suspension member 50 is smoothly inserted into the umbrella skirt of the insulator string 10, the vertical height difference between the upper arm 52 and the lower arm 53 is L4, L4 is 500mm.

[0073] The pulley 51 is located at the center of the upper arm 52 and close to one side of the lower arm 53. This is equivalent to the insulating traction rope 40 being closer to the middle of the suspension member 50, which helps to more evenly distribute the force applied by the insulating traction rope 40. This can reduce the deviation or tilt caused by uneven force distribution, ensure that the suspension member 50 remains balanced when subjected to force, and effectively prevent the insulating traction rope 40 from being entangled or scratched with various equipment in the UHV line (such as the conductor 12, hardware, other insulator strings 10, etc.).

[0074] To enhance the structural strength of the suspension member 50, two connecting arms 54 are spaced apart, with the pulley 51 located between the two connecting arms 54. The two spaced connecting arms 54 provide stronger support, enhancing the overall rigidity and stability of the suspension member 50. This helps prevent the suspension member 50 from deforming or shifting when subjected to stress. The pulley 51 located between the two connecting arms 54 effectively prevents the insulating pull rope 40 from interfering with surrounding equipment or other components.

[0075] It can be understood that in other embodiments, a weight-reducing hole or hollow setting is provided in the middle position between the slide grooves, and the weight distribution is optimized so that the weight of the guide cover is concentrated on both sides. The heavier design on both sides helps to increase the contact pressure between the slide groove and the insulator string, thereby enhancing the fit between the slide groove and the insulator string, making it more stable during movement.

[0076] It is understandable that in other embodiments, the suspension member may also be in a Z-shaped, W-shaped or other shape, so as to cope with insulator strings of different shapes and spacings.

[0077] It is understood that in other embodiments, the pulley is located at the center of the lower arm and close to one side of the lower arm. This is equivalent to the insulating traction rope being closer to the middle of the suspension member, which helps to more evenly distribute the force applied by the insulating traction rope. This can reduce the offset or tilt caused by uneven force distribution, ensure that the suspension member remains balanced when subjected to force, and effectively prevent the insulating traction rope from getting entangled with or scratching various equipment in the UHV line (such as conductors, hardware, other insulator strings, etc.).

[0078] Embodiment 2:

[0079] This embodiment provides a method for simulating a robot live working test, using the UAV UHV tension insulator detection tool of the above embodiment. The method for simulating a robot live working test includes:

[0080] like Figure 4 As shown, S1: The operator installs the detector 31 on the guide cover 30 and connects the insulating suspension rope 60 to the suspension holes 55 on both sides of the suspension member 50. The other end of the insulating suspension rope 60 is connected to the drone 20. The drone 20 carries the suspension member 50 to the end of the insulator string 10 close to the crossarm 11. The operator carries the guide cover 30 to the end of the insulator string 10 close to the crossarm 11 for inspection.

[0081] like Figure 6 As shown, S2: the operator then connects the new insulating suspension rope 60 to the suspension holes 55 on both sides of the suspension member 50, and at the same time passes the insulating traction rope 40 through the hanging hole 32 and through the pulley 51 of the suspension member 50;

[0082] like Figure 7 As shown, S3: the operator controls the drone 20 to carry the suspension member 50 and moves it along the length direction of the insulator string 10 to one end close to the conductor 12;

[0083] like Figure 8 As shown, S4: the operator rotates the drone 20 90 degrees so that the upper arm 52 and the lower arm 53 are firmly attached to the insulator strings 10 on both sides and are engaged with the steel caps of the insulator strings 10 to fix the suspension member 50 at one end close to the conductor 12;

[0084] As Figure 9 shown, S5: The operator operates the drone 20 to disengage the insulating suspension rope 60 from the suspension member 50 and return to the ground;

[0085] As Figure 10 and Figure 11 shown, S6: The operator pulls one end of the insulating traction rope 40 to drive the guide cover 30 to slide between the two ends along the length direction of the insulator string 10, and the detector 31 detects the insulator string 10 during the sliding of the guide cover 30;

[0086] As Figures 12 to 14 shown, S7: After the detection is completed, the operator removes the guide cover 30, the drone 20 flies to the cross arm 11, the operator fixes the new insulating suspension rope 60 in S2 on the drone 20, and then the drone 20 flies above the suspension member 50 and rotates 90 degrees and then lifts it to disengage the suspension member 50 from the steel cap of the insulator string 10;

[0087] As Figure 15 shown, S8: The operator removes the insulating traction rope 40 of the suspension member 50, the drone 20 brings the guide cover 30 back to the ground, and the operator returns to the ground, and the operation ends.

[0088] The drone 20 can be operated at different positions and angles to install and disassemble the suspension member 50, adapting to various complex layouts of the insulator string 10 and on-site environments. The operator only needs to operate closely at the cross arm 11 without entering and exiting the electric field for detection, ensuring the safety of the operator. By pulling the insulating traction rope 40 to drive the guide cover 30 to slide between the two ends along the length direction of the insulator string 10, the detector 31 detects the insulator string 10 during the sliding of the guide cover 30, enabling the detector 31 to reach each part of the insulator string 10 as flexibly as possible, improving the efficiency of the detection work and also improving the accuracy and reliability of the detection data.

[0089] It should be noted that after the suspension member 50 is snapped into the steel cap of the insulator string 10, the new insulating suspension rope 60 can also be tightened, and the upper arm 52 and the lower arm 53 are in contact with the steel cap of the insulator string 10, further enhancing the installation stability of the suspension member 50 and making the suspension member 50 not easily shake when pulling the insulating traction rope 40.

[0090] It should be noted that in S1, the insulating suspension rope 60 is connected to the suspension hole 55 through a hook remover. In S5, the hook remover is controlled by a remote controller to open, separating the hook remover from the suspension member 50, and the drone 20 can then bring the insulating suspension rope 60 back to the ground together.

[0091] Further, S6 specifically includes that the operator holds the insulating traction rope 40 and drives the guiding cover 30 to move uniformly and smoothly along the insulator string 10 towards one end of the conductor 12 by pulling one end of the insulating traction rope 40. The detector 31 conducts detection synchronously. After reaching the end of the insulator string 10, the operator pulls the other end of the insulating traction rope 40 to drive the guiding cover 30 to move uniformly and smoothly along the insulator string 10 towards one end of the cross arm 11, and the detector 31 conducts detection synchronously. By pulling both ends of the insulating traction rope 40, the operator makes the guiding cover 30 move back and forth on the insulator string 10, which can ensure that the detector 31 conducts at least two detections on each part of the insulator string 10, effectively avoiding omissions or misjudgments that may occur in single detection, ensuring comprehensive coverage of the insulator string 10, improving the accuracy and reliability of the detection results, and the operation is relatively simple.

[0092] In addition to the above preferred embodiments, the present invention has other implementation manners. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope claimed by the present invention.

Claims

1. A UAV UHV tension insulator inspection tool, wherein the two ends of the insulator string in the longitudinal direction are respectively connected to the cross arm and the conductor, characterized in that: The UAV special high-voltage strain insulator detection tool includes a UAV, a guiding cover, an insulating traction rope and a suspension member. The suspension member is provided with a pulley. The guiding cover is provided with a detector and a hanging hole. The insulating traction rope passes through the pulley of the suspension member and suspends the guiding cover on the insulator string through the hanging hole. In the initial state, both ends of the guiding cover, the suspension member and the insulating traction rope are located at one end of the insulator string close to the cross arm. The suspension member is carried by the UAV and moves along the length direction of the insulator string to one end close to the conductor and is fixed. By pulling one end of the insulating traction rope with an external force, the guiding cover is driven to slide between the two ends along the length direction of the insulator string. The detector detects the insulator string during the sliding process of the guiding cover.

2. The drone ultra-high voltage strain insulator detection tool according to claim 1, wherein The guiding cover is provided with a chute adapted to the insulator string. When the guiding cover slides between the two ends along the length direction of the insulator string, the chute slides in cooperation with the insulator string.

3. The drone ultra-high voltage strain insulator detection tool according to claim 2, wherein At least two chutes are provided in parallel and at intervals. Each chute is provided with a detector, and the hanging hole is located at the exact middle position between these chutes.

4. The UAV UHV tension insulator detection tool according to claim 3, characterized in that: A weight-reducing groove or a weight-reducing hole or a hollow setting is provided at the exact middle position between the chutes.

5. The UAV UHV tension insulator detection tool according to claim 1, characterized in that: The suspension member is in an I shape. The suspension member includes an upper arm and a lower arm that are parallel to each other, and a connecting arm connecting the upper arm and the lower arm. The lengths of the upper arm and the lower arm are equal. The distance between the upper arm and the lower arm is less than the lengths of the upper arm and the lower arm respectively. The suspension member is fixed at one end close to the conductor of the insulator string by clamping the steel cap of the insulator string with the upper arm and the lower arm.

6. The drone special high-voltage strain insulator detection tool according to claim 5, characterized in that The pulley is located at the center of the upper arm and close to the lower arm side or at the center of the lower arm and close to the lower arm side.

7. The UAV ultra-high voltage strain insulator detection tool according to claim 6, characterized in that, Two connecting arms are provided at intervals, and the pulley is located between the two connecting arms.

8. The UAV special high-voltage strain insulator detection tool according to claim 5, characterized in that The UAV special high-voltage strain insulator detection tool further includes an insulating suspension rope. Symmetrical suspension holes are provided on both sides of the suspension member for suspending the insulating suspension rope. The UAV drives the suspension member to move through the insulating suspension rope.

9. A method for detecting UHV strain insulators of an unmanned aerial vehicle, characterized in that, Including the UAV special high-voltage strain insulator detection tool described in claim 8, the method of the UAV special high-voltage strain insulator detection tool includes: S1: The operator installs the detector on the guiding cover, connects the insulating suspension rope to the suspension holes on both sides of the suspension member, connects the other end of the insulating suspension rope to the UAV. The UAV carries the suspension member to one end of the insulator string close to the cross arm, and the operator carries the guiding cover to one end of the detecting insulator string close to the cross arm; S2: The operator then connects a new insulating suspension rope to the suspension holes on both sides of the suspension member, and at the same time passes the insulating traction rope through the hanging hole and through the pulley of the suspension member; S3: The operator manipulates the UAV to carry the suspension member and move along the length direction of the insulator string to one end close to the conductor; S4: The operator manipulates the UAV to rotate 90 degrees so that the upper arm and the lower arm are closely attached to the insulator strings on both sides and clamp the steel cap of the insulator string to fix the suspension member at one end close to the conductor; S5: The operator operates the UAV to separate the insulating suspension rope from the suspension member and return to the ground; S6: The operator pulls one end of the insulating traction rope to drive the guide cover to slide between the two ends along the length direction of the insulator string, and the detector detects the insulator string during the sliding process of the guide cover; S7: After the inspection is completed, the operator removes the guide cover and flies the drone to the crossarm. The operator fixes the new insulating suspension rope in S2 to the drone. The drone then flies over the suspension component, rotates 90 degrees, and lifts it to separate the suspension component from the steel cap of the insulator string. S8: The operator removes the insulating traction rope of the suspension component, the drone brings the guide cover back to the ground, the operator returns to the ground, and the operation is completed.

10. The method for detecting the UHV strain insulator of a drone according to claim 9, wherein, The S6 specifically includes an operator holding an insulating traction rope, and by pulling one end of the insulating traction rope, driving the guide cover to move evenly and smoothly along the insulator string toward one end of the guide wire, and the detector simultaneously performs detection. After reaching the end of the insulator string, the operator pulls the other end of the insulating traction rope, driving the guide cover to move evenly and smoothly along the insulator string toward one end of the crossarm, and the detector simultaneously performs detection.

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