Zero-value insulator identification method and system based on multiple sensing modules

Abstract

The invention discloses a zero-value insulator identification method and system based on multiple sensing modules. Firstly, space electric field probes are arranged in the space where two insulator strings are located, and the detection path of each probe is defined; then judging whether the insulator strings deflect or not by calculating the relative distance difference between the two insulator strings; if not, the space electric field effective value of each detection path at the same moment is collected, and whether a zero-value insulator exists or not is judged by calculating a symmetry judgment value; and if not, independently acquiring the effective value of the space electric field on the corresponding path of the insulator string at a set sampling interval, and judging whether the zero-value insulator exists or not by calculating the electric field deviation rate on each section of sampling path. The zero-value insulator in the insulator string under different postures can be accurately recognized, and the method has the advantages of being non-contact, high in real-time performance, capable of adapting to complex working conditions and the like.

Description

Technical Field

[0001] The present invention belongs to the field of power transmission line safety detection, and in particular relates to a zero-value insulator identification method and system based on a multi-sensor module. Background Art

[0002] Zero-value insulator testing is a common task during power outages and live-line operations. This is done to ensure safe transmission line operation and the safety of personnel working on live lines. Existing methods for testing porcelain insulators, such as spark gap testing, distributed voltage testing, infrared thermal imaging, ultrasonic testing, resistance measurement, inductive coupling, and capacitive coupling, suffer from low efficiency and high risk.

[0003] Currently, drones equipped with spatial electric field sensors are a new monitoring method with several key advantages: Inspectors do not need to come into direct contact with high-voltage equipment and lines, avoiding risks such as electric shock and falls, significantly improving safety. Drones are maneuverable and can quickly reach and cover large inspection areas, significantly improving inspection efficiency. They also provide real-time monitoring and data transmission, facilitating timely decision-making by technicians and enhancing the timeliness of inspections. Non-contact inspection eliminates physical damage or interference to insulators, aligning with the trend toward non-destructive testing and contributing to the safe and stable operation of transmission lines. However, the spatial electric field data collected by drones requires complex data processing and analysis. During data processing, the accuracy and applicability of the algorithm can impact the final assessment. If the data processing algorithm fails to effectively remove noise and extract useful information, it can lead to inaccurate assessments of insulator condition. Different types and specifications of insulators may have different electric field distribution characteristics, requiring different analysis models. However, current research in this area is insufficient, and sufficiently accurate electric field analysis models tailored to each type of insulator are lacking, hindering accuracy.

[0004] Therefore, it is necessary to propose an accurate zero-value insulator identification method based on electric field sensor in order to complete the detection of zero-value insulators safely and efficiently. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention provides a method and system for identifying zero-value insulators based on a multi-sensor module. First, spatial electric field probes are arranged in the space between two insulator strings and the detection paths of each probe are defined. Then, by calculating the relative distance difference between the two insulator strings, it is determined whether the insulator strings are skewed. If not, the effective spatial electric field values ​​of each detection path are collected at the same time, and the presence of zero-value insulators is determined by calculating the symmetry judgment value. If not, the effective spatial electric field values ​​of the corresponding paths of the insulator strings are collected separately at set sampling intervals, and the presence of zero-value insulators is determined by calculating the electric field deviation rate along each sampling path.

[0006] The first aspect of the present invention proposes a zero-value insulator identification method based on a multi-sensor module, which adopts the following technical solution:

[0007] Step S1: Arrange spatial electric field probes in the space where two parallel insulator strings are located and define the detection path of each probe;

[0008] Step S2: judging whether the insulator strings are skewed based on the relative distance difference between the two insulator strings; if not, executing step S3; otherwise, executing step S4;

[0009] Step S3: respectively collecting the effective value of the spatial electric field of each detection path at the same time, and determining whether there is a zero-value insulator by calculating the symmetry judgment value;

[0010] Step S4: The effective value of the spatial electric field on the path corresponding to the insulator string is collected separately at a set sampling interval, and the electric field deviation rate on each sampling path is calculated to determine whether there is a zero-value insulator.

[0011] Furthermore, in step S1, the spatial electric field probe is used to collect the spatial electric field amplitude on the corresponding detection path, and the arrangement includes:

[0012] The first spatial electric field probe is arranged in front of the starting insulator of the first insulator string and on the opposite side of the second insulator string;

[0013] The third spatial electric field probe is arranged in front of the starting insulator of the second insulator string and at a position opposite to the first insulator string.

[0014] The second spatial electric field probe is arranged at a middle position before the starting insulators of the first insulator string and the second lower insulator string.

[0015] Furthermore, in step S1, the definition of each detection path includes:

[0016] The first detection path is located inside the first insulator string and is at a distance L from the edge of the first shed. The first shed edge is the edge of the shed of the first insulator string on the side opposite to the second insulator string.

[0017] The third detection path is located inside the second insulator string and is at a distance L from the edge of the second shed. The edge of the second shed is the edge of the shed on the side opposite to the first insulator string.

[0018] Second probe detection path: the center line of the first insulator string axis and the second insulator string axis.

[0019] Furthermore, in step 2, the method for determining string skew includes:

[0020] Measuring point A and measuring point B are calibrated at the middle positions of the first insulator string and the second insulator string respectively, and the distance between measuring point A and the starting insulator of the first insulator string is the same as the distance between measuring point B and the starting insulator of the second insulator string;

[0021] The distance D between the second spatial electric field probe (2) and the measuring point A is simultaneously measured using a distance sensor at the position of the first spatial electric field probe (2). A , the distance D between the second spatial electric field probe (2) and the measuring point B B ;

[0022] Calculate D A With D B The absolute value of the difference between AB , set ΔD AB The threshold is ΔD thresh ;

[0023] If ΔD AB ≤ΔD thresh , it is determined that there is no string skew between the first insulator string and the second insulator string;

[0024] If ΔD AB >ΔD thresh , it is determined that the first insulator string and the second insulator string are skewed.

[0025] Furthermore, in step S3, when there is no string skew in the insulator string, a three-probe method is used to identify zero-value insulators from a vertical dimension, including:

[0026] The first spatial electric field probe, the second spatial electric field probe, and the third spatial electric field probe are used to collect the spatial electric field amplitudes on the first detection path, the second detection path, and the third empty detection path, and extract the effective values; the effective values ​​of the spatial electric field obtained at time t are E1(t), E2(t), and E3(t), respectively;

[0027] Taking the effective value of the spatial electric field E2(t) on the second detection path as the reference value, calculate the differences between E1(t) and E2(t), and between E3(t) and E2(t):

[0028] ΔE1(t)=E2(t)-E1(t), ΔE3(t)=E2(t)-E3(t);

[0029] Wherein, ΔE1(t) and ΔE3(t) represent the amplitude differences between the first detection path and the third detection path and the second detection path respectively.

[0030] Furthermore, in step S3, the step of using the three-probe method to identify the zero-value insulator further includes:

[0031] The difference between ΔE1(t) and ΔE3(t) is used to obtain the electric field symmetry violation judgment value C(t):

[0032] C(t)=|ΔE1(t)-ΔE3(t)|;

[0033] The symmetry breaking threshold ε is set. When C(t)<ε, it is determined that there is no zero-value insulator. Otherwise, it is determined that there is no zero-value insulator.

[0034] Furthermore, in step S4, when the insulator string is skewed, identifying zero-value insulators from a horizontal dimension is performed; including:

[0035] Set a sampling interval and use the first and third spatial electric field probes to collect the effective values ​​of the spatial electric field at the sampling points on the first and third detection paths, respectively, which are recorded as E1 (l = x) and E3 (l = x); where l represents the current sampling point and x represents the distance from the current sampling point l to the initial position;

[0036] For the first detection path and the third detection path, the electric field differences ΔE1(Δl) and ΔE3(Δl) between two adjacent sampling points on the path are calculated:

[0037] ΔE1(Δl)=E1(l=x)-E1(l=x+Δl);

[0038] ΔE3(Δl)=E3(l=x)-E3(l=x+Δl);

[0039] Wherein, Δl represents the sampling interval, that is, the distance between two adjacent sampling points.

[0040] Furthermore, in step S4, the step of identifying the zero-value insulator from the horizontal dimension further includes:

[0041] According to the sampling interval, the electric field deviation rate on the first detection path and the third detection path is calculated; the calculation formula is:

[0042]

[0043] Wherein, η1 and η3 represent the electric field deviation rates on the first detection path and the third detection path, respectively.

[0044] Furthermore, in step S4, the step of determining the zero-value insulator includes:

[0045] The electric field deviation rate discrimination threshold ξ is set. When |η1|<ξ, it is judged that there is a zero-value insulator on the insulator string where the first detection path is located; when |η3|<ξ, it is judged that there is a zero-value insulator on the insulator string where the third detection path is located.

[0046] The first aspect of the present invention provides a zero-value insulator identification system based on a multi-sensor module, which runs the zero-value insulator identification method of the multi-sensor module described in the first aspect of the present invention. The system includes:

[0047] Electric field space setting module: used to arrange spatial electric field probes in the space where two parallel insulator strings are located and define the detection path of each probe;

[0048] String skew determination module: used to determine whether the insulator string is skewed by calculating the relative distance difference between two insulator strings; if not, the vertical dimension identification module is executed; otherwise, the horizontal dimension identification module is executed;

[0049] Vertical dimension identification module: used to collect the effective value of the spatial electric field of each detection path at the same time, and determine whether there is a zero-value insulator by calculating the symmetry judgment value;

[0050] Horizontal dimension identification module: used to separately collect the effective value of the spatial electric field on the corresponding path of the insulator string at a set sampling interval, and determine whether there is a zero-value insulator by calculating the electric field deviation rate on each sampling path.

[0051] The beneficial effects of the present invention are as follows:

[0052] 1. This invention proposes a zero-value insulator detection method based on the asymmetric characteristics of spatial electric field distribution. By placing three sets of spatial electric field probes on both sides and in the middle of a parallel insulator string, an electric field acquisition structure perpendicular to the insulator string is constructed. This method can effectively capture the spatial electric field distribution distortion caused by zero-value insulators, improving detection accuracy and field adaptability. Furthermore, the non-contact detection method reduces operation and maintenance risks, and can improve the safety and convenience of high-voltage equipment inspections.

[0053] 2. The present invention takes into account that in actual operation scenarios, long strings of insulators are easily affected by wind, tension or structural aging, resulting in string deflection, which in turn affects the symmetry of the electric field distribution and may cause the vertical dimension detection method to fail or misjudge. A string deflection judgment module is designed in the pre-step of zero-value insulator discrimination. This module quickly identifies whether there is string deflection through real-time measurement of the relative distance between the intermediate probe and the insulator string, and dynamically switches the detection logic accordingly. When the string is not skewed, the three-probe method is used to judge the vertical dimension symmetry; when it is judged that there is deflection, it is switched to the horizontal dimension analysis algorithm based on the change in the attenuation rate of the electric field with distance, and the judgment can be completed by a single path. Such an adaptive switching mechanism improves the robustness and universality of the detection method of the present invention under various operating postures, and enhances the practicality and stability of the algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Layout and path of zero-3 sensor;

[0055] Figure 2 This is a schematic diagram of the detection path distribution in the actual scene;

[0056] Figure 3 A schematic diagram of string skew provided in this embodiment;

[0057] Figure 4 A flowchart of the vertical dimension determination procedure provided in this embodiment;

[0058] Figure 5 This is the overall diagram of the electric field distribution of the detection path when the 27th insulator is a zero-value insulator;

[0059] Figure 6 This is a partially enlarged schematic diagram of the electric field distribution in the detection path when the 27th insulator is a zero-value insulator;

[0060] Figure 7 This is a flowchart of the horizontal dimension determination procedure provided in this embodiment.

[0061] Reference numerals in the figure: 1, first spatial electric field probe; 2, second spatial electric field probe; 3, third spatial electric field probe; 4, first detection path; 5, second detection path; 6, third detection path. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of the present invention more clear, 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 part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without making creative efforts are all within the scope of protection of the present invention.

[0063] Example 1

[0064] This embodiment is used to explain the specific implementation of a method for identifying zero-value insulators based on a multi-sensor module proposed in this application. The method adopts the following technical solutions:

[0065] Step S1: Refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 They are respectively a schematic diagram of the arrangement and path of the zero-measurement 3 sensors provided for this embodiment, and a schematic diagram of the detection path distribution in an actual scenario.

[0066] The specific layout is as follows:

[0067] The first spatial electric field probe 1 is arranged in front of the starting insulator of the first insulator string and on the opposite side of the second insulator string;

[0068] Second spatial electric field probe 2: arranged in the middle position before the starting insulator of the upper and lower insulator strings;

[0069] The third spatial electric field probe 3 is arranged in front of the starting insulator of the second insulator string and at a position opposite to the first insulator string.

[0070] First detection path 4: located inside the first insulator string, 7 cm away from the edge of the first shed; the first shed edge is the edge of the first insulator string shed on the side opposite to the second insulator string;

[0071] Second detection path 5: center line of the first insulator string axis and the second insulator string axis;

[0072] Third detection path 6: located inside the second insulator string, 7 cm away from the edge of the second shed. The second shed edge is the edge of the second insulator string shed on the side opposite to the first insulator string.

[0073] The three spatial electric field probes are used to respectively collect the spatial electric field amplitudes on the three detection paths.

[0074] Step S2: Determine whether string skew actually occurs at the current site, such as Figure 3 As shown, Figure 3 This is a schematic diagram of string skew provided in this embodiment. Methods for determining string skew include:

[0075] Measuring point A and measuring point B are calibrated at the middle positions of the first insulator string and the second insulator string respectively, and the distance between measuring point A and the starting insulator of the first insulator string is the same as the distance between measuring point B and the starting insulator of the second insulator string;

[0076] At the beginning of the detection, the distance sensor on the second space electric field probe 2 is used to simultaneously measure the distance D between the second space electric field probe 2 and the measurement point A. A , the distance D between the second spatial electric field probe 2 and the measuring point B B ;

[0077] Calculate D A With D B The absolute value of the difference between AB , when string skew occurs, the distance difference ΔD AB It increases with the increase of the deflection angle;

[0078] Set ΔD AB The threshold is ΔD thresh (e.g. 2cm), used to determine whether deflection exists (the threshold value needs to be adjusted according to the insulator installation standard and sensor accuracy);

[0079] If ΔD AB ≤ΔD thresh , it is determined that there is no string skew between the first insulator string and the second insulator string;

[0080] If ΔD AB >ΔD thresh , it is determined that the first insulator string and the second insulator string are skewed.

[0081] Step S3: If there is no string skew, the three-probe method is used to determine the vertical dimension. According to the typical physical performance principle of zero-value insulators in the line electric field distribution, when there are zero-value insulators in the insulator string, the electric field intensity distribution on both sides will no longer be symmetrical. Based on this principle, this embodiment designs a three-probe spatial electric field measurement solution perpendicular to the insulator string direction.

[0082] like Figure 4 As shown, Figure 4 This is a flowchart of the vertical dimension determination procedure provided in this embodiment. Specifically:

[0083] Step S3-1: The first spatial electric field probe 1, the second spatial electric field probe 2, and the third spatial electric field probe 3 respectively obtain spatial electric field waveforms in real time on the first detection path 4, the second detection path 5, and the third detection path 6. The effective values ​​of the spatial electric field obtained at the same time t are E1(t), E2(t), and E3(t), respectively.

[0084] Step S3-2: Using the data E2(t) of the second detection path 5 as a reference, perform subtraction operations with E1(t) and E3(t) to obtain ΔE1(t) and ΔE3(t):

[0085] ΔE1(t)=E2(t)-E1(t);

[0086] ΔE3(t)=E2(t)-E3(t);

[0087] Step S3-3: Based on the principle that the symmetry of the electric field amplitudes on both sides is affected by the presence of a zero-value insulator, a difference operation is further performed on ΔE1(t) and ΔE3(t) to obtain a determination value C(t):

[0088] C(t)=|ΔE1(t)-ΔE3(t)|;

[0089] Ideally, if there is no zero-value insulator, C(t) is always 0. However, if there is a zero-value insulator on one side, C(t) is not zero. Therefore, the presence of a zero-value insulator can be determined based on the C(t) value.

[0090] However, in actual measurements, even if there is no zero-value insulator, C(t) will not be 0, taking into account factors such as errors in the detection path. However, as long as C(t) is less than the error ε caused by various factors, it can be assumed that there is no zero-value insulator.

[0091] Therefore, we further compare C(t) and ε. If C(t)>ε, it means that there is a zero-value insulator.

[0092] like Figure 5 and Figure 6 As shown, Figure 5 and Figure 6 The following diagrams show the overall electric field distribution of the detection path when the 27th insulator is a zero-value insulator, and a partially enlarged schematic diagram of the electric field distribution of the detection path when the 27th insulator is a zero-value insulator, respectively, provided in this embodiment. In this embodiment, through simulations under various operating conditions, the ε value of 1 kV / m for 500 kV double insulator strings is determined, based on the occurrence of zero-values ​​on the high-voltage, middle, and low-voltage sides of a 500 kV parallel insulator string. Table 1 lists the characteristic parameter values ​​under various simulated operating conditions.

[0093] Table 1 Characteristic parameter values

[0094]

[0095] The principle of ε value is to be as close as possible to the lower limit of the identifiable zero-value insulator; as shown in Table 1, when the zero value appears in the middle position, the C value is the smallest, which is 1.88. The characteristic parameter of this position is the smallest. As long as the zero-value insulator at this position in the middle can be identified, other positions can be identified, so the set error should be less than this value. However, it cannot be too small. If it is too small, errors caused by problems such as path jitter may lead to misjudgment. Therefore, it is as close as possible to the lower limit of the identifiable zero-value insulator (1.88). However, 1.88 is a simulated value. Taking into account the error between the simulation and the actual situation, combined with a certain margin, this embodiment selects ε as 1kV / m.

[0096] Table 2 shows the results of the zero-value insulator detection verification test.

[0097] Table 2 Test verification results

[0098] Set the zero position C(t) maximum value Maximum value position Judgment results Is it correct? 2nd piece (1 time) 18.2 No. 2 C(t)>ε has zero value √ 2nd piece (2nd time) 18.4 No. 2 C(t)>ε has zero value √ 2nd piece (3 times) 18.1 No. 2 C(t)>ε has zero value √ 3rd piece (1 time) 15.3 No. 3 C(t)>ε has zero value √ 3rd piece (2nd time) 15.5 No. 3 C(t)>ε has zero value √ 11th piece (1 time) 1.7 No. 11 C(t)>ε has zero value √ 11th piece (2nd time) 1.7 No. 11 C(t)>ε has zero value √ 11th piece (3 times) 1.6 No. 11 C(t)>ε has zero value √ 12th piece (1 time) 1.5 No. 12 C(t)>ε has zero value √ 12th piece (2nd time) 1.4 No. 12 C(t)>ε has zero value √ 26th piece (1 time) 24.1 No. 26 C(t)>ε has zero value √ 26th piece (2nd time) 24.3 No. 26 C(t)>ε has zero value √ 27th piece (3 times) 29.8 No. 27 C(t)>ε has zero value √ 27th piece (1 time) 30.1 No. 27 C(t)>ε has zero value √ 27th piece (2nd time) 30.3 No. 27 C(t)>ε has zero value √ none 0.3 none C(t)<ε has no zero value √ none 0.1 none C(t)<ε has no zero value √ none 0.2 none C(t)<ε has no zero value √ none 0.3 none C(t)<ε has no zero value √ none 0.4 none C(t)<ε has no zero value √

[0099] The verification test results show that after conducting 15 groups of tests (5 groups with zero value placed at the high-voltage end, 5 groups with zero value placed in the middle, and 5 groups with zero value placed in the low-voltage section), as well as 5 control groups without zero value, if the ε value is taken as 1kV / m, the effective recognition rate of zero value is 100%; however, according to further test results, it is found that the margin of ε being 1kV / m is relatively too large, and the maximum deviation of no zero value caused by problems such as path jitter during the test process is 0.4kV / m. Therefore, according to the implementation plan data, the present invention further recommends that the ε value be taken as 0.5kV / m.

[0100] Step S4: If string skew exists, the three-probe method fails and the horizontal dimension is determined. Figure 7 As shown, Figure 7 This is a flowchart of the horizontal dimension determination procedure provided in this embodiment. Specifically:

[0101] Step S4-1: Starting from the initial position, the first spatial electric field probe 1 and the third spatial electric field probe 3 are respectively located on the first detection path 4 and the third detection path 6, respectively, to acquire the spatial electric field waveform in real time and calculate the effective values ​​of the spatial electric field at different distances as E1 (l = x) and E3 (l = x), respectively. Where l represents the current sampling point, and x represents the distance from the current sampling point l to the initial position.

[0102] In this embodiment, the sampling interval is set to 10 cm, and the data is recorded step by step.

[0103] Step S4-2: Calculate the electric field difference between two adjacent sampling points on each path.

[0104] For the first detection path 4:

[0105] ΔE1(Δl=10)=E1(l=x)-E1(l=x+10);

[0106] For the third detection path 6:

[0107] ΔE3(Δl=10)=E3(l=x)-E3(l=x+10);

[0108] Step S4-3: Calculate the electric field deviation rate to obtain the electric field attenuation within a unit distance;

[0109] In this embodiment, the electric field deviation rate at every 10 cm distance is calculated as follows:

[0110]

[0111] Wherein, η1 and η3 represent the electric field deviation rates on the first detection path 4 and the third detection path 6 respectively.

[0112] Step S4-4: If the absolute value of the electric field deviation rate |η1| or |η3| on a certain path is less than the threshold ξ, it means that the electric field changes slowly with distance, and it can be determined that there is a zero-value insulator on the insulator string where the path is located.

[0113] The principle of this step is that if a zero value exists, the electric field changes slowly. Therefore, the zero value can also be determined by relying on the electric field value of a single path. However, compared with the method of comparing three electric field sensors, this method is less adaptable to complex working conditions such as surface contamination. Therefore, this method is only used as a supplementary algorithm to consider string skew.

[0114] The absolute value of the electric field deviation rate η at every 10 cm distance can be used to determine whether a zero value exists. Considering that long strings of insulators are more susceptible to deflection, for UHV insulators, if the absolute value of η is less than 15%, it is considered that an insulator with a zero value exists.

[0115] Example 2

[0116] This embodiment describes a zero-value insulator identification system based on a multi-sensor module, and implements a specific implementation of the zero-value insulator identification method using a multi-sensor module as described in Example 1. The system includes:

[0117] Electric field space setting module: used to arrange spatial electric field probes in the space where two parallel insulator strings are located and define the detection path of each probe;

[0118] String skew determination module: used to determine whether the insulator string is skewed by calculating the relative distance difference between two insulator strings; if not, the vertical dimension identification module is executed; otherwise, the horizontal dimension identification module is executed;

[0119] Vertical dimension identification module: used to collect the effective value of the spatial electric field of each detection path at the same time, and determine whether there is a zero-value insulator by calculating the symmetry judgment value;

[0120] Horizontal dimension identification module: used to separately collect the effective value of the spatial electric field on the corresponding path of the insulator string at a set sampling interval, and determine whether there is a zero-value insulator by calculating the electric field deviation rate on each sampling path.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A zero-value insulator identification method based on a multi-sensor module, characterized in that: include: Step S1: Arrange spatial electric field probes in the space where two parallel insulator strings are located and define the detection path of each probe; Step S2: judging whether the insulator strings are skewed based on the relative distance difference between the two insulator strings; if not, executing step S3; otherwise, executing step S4; Step S3: respectively collecting the effective value of the spatial electric field of each detection path at the same time, and determining whether there is a zero-value insulator by calculating the symmetry judgment value; Step S4: The effective value of the spatial electric field on the path corresponding to the insulator string is collected separately at a set sampling interval, and the electric field deviation rate on each sampling path is calculated to determine whether there is a zero-value insulator.

2. The method for identifying zero-value insulators based on a multi-sensor module according to claim 1, characterized in that: In step S1, the spatial electric field probe is used to collect the spatial electric field amplitude on the corresponding detection path, and the arrangement method includes: A first spatial electric field probe (1) is arranged in front of the starting insulator of the first insulator string and at a position opposite to the second insulator string; A third spatial electric field probe (3) is arranged in front of the starting insulator of the second insulator string and at a position opposite to the first insulator string; A second spatial electric field probe (2) is arranged at a middle position before the starting insulators of the first insulator string and the second lower insulator string.

3. A method for identifying zero-value insulators based on a multi-sensor module according to claim 1 or 2, characterized in that: In step S1, the definition of each detection path includes: A first detection path (4): located inside the first insulator string, with a distance L from the edge of the first shed; the first shed edge is the shed edge of the first insulator string on the side opposite to the second insulator string; A third detection path (6): located inside the second insulator string, with a distance L from the edge of the second shed; the edge of the second shed is the edge of the shed of the second insulator string on the side opposite to the first insulator string; Second probe detection path: the center line of the first insulator string axis and the second insulator string axis.

4. The method for identifying zero-value insulators based on a multi-sensor module according to claim 1, wherein: In step 2, the string skew determination method includes: Measuring point A and measuring point B are calibrated at the middle positions of the first insulator string and the second insulator string respectively, and the distance between measuring point A and the starting insulator of the first insulator string is the same as the distance between measuring point B and the starting insulator of the second insulator string; The distance D between the second spatial electric field probe (2) and the measuring point A is simultaneously measured using a distance sensor at the position of the first spatial electric field probe (2). A , the distance D between the second spatial electric field probe (2) and the measuring point B B ; Calculate D A With D B The absolute value of the difference between AB , set ΔD AB The threshold value is ΔD thresh ; If ΔD AB ≤ΔD thresh , it is determined that there is no string skew between the first insulator string and the second insulator string; If ΔD AB >ΔD thresh , it is determined that the first insulator string and the second insulator string are skewed.

5. The method for identifying zero-value insulators based on a multi-sensor module according to claim 1, characterized in that: In step S3, when there is no string skew in the insulator string, a three-probe method is used to identify zero-value insulators from a vertical dimension, including: The first spatial electric field probe (1), the second spatial electric field probe (2), and the third spatial electric field probe (3) are used to respectively collect the spatial electric field amplitudes on the first detection path (4), the second detection path (5), and the third spatial electric field probe (3) and extract effective values; the spatial electric field effective values ​​obtained at time t are E1(t), E2(t), and E3(t), respectively; Taking the effective value of the spatial electric field E2(t) on the second detection path (5) as a reference value, the differences between E1(t) and E2(t), and between E3(t) and E2(t) are calculated respectively: ΔE1(t)=E2(t)-E1(t), ΔE3(t)=E2(t)-E3(t); Wherein, ΔE1(t) and ΔE3(t) represent the amplitude differences between the first detection path (4) and the third detection path (6) and the second detection path (5) respectively.

6. The method for identifying zero-value insulators based on multiple sensing modules according to claim 5, characterized in that: In step S3, the step of using the three-probe method to identify the zero-value insulator also includes: The difference between ΔE1(t) and ΔE3(t) is used to obtain the electric field symmetry violation judgment value C(t): C(t)=|ΔE1(t)-ΔE3(t)|; The symmetry breaking threshold ε is set. When C(t)<ε, it is determined that there is no zero-value insulator. Otherwise, it is determined that there is no zero-value insulator.

7. The method for identifying zero-value insulators based on multiple sensing modules according to claim 1, characterized in that: In step S4, when the insulator string is skewed, identifying zero-value insulators from a horizontal dimension includes: A sampling interval is set, and the effective values ​​of the spatial electric field at the sampling points on the first detection path (4) and the third detection path (6) are collected respectively by the first spatial electric field probe (1) and the third spatial electric field probe (3), which are recorded as E1 (l=x) and E3 (l=x); wherein l represents the current sampling point, and x represents the distance between the current sampling point l and the initial position; For the first detection path (4) and the third detection path (6), the electric field differences ΔE1(Δl) and ΔE3(Δl) between two adjacent sampling points on the path are calculated: ΔE1(Δl)=E1(l=x)-E1(l=x+Δl); ΔE3(Δl)=E3(l=x)-E3(l=x+Δl); Wherein, Δl represents the sampling interval, that is, the distance between two adjacent sampling points.

8. The method for identifying zero-value insulators based on multiple sensing modules according to claim 7, characterized in that: In step S4, the step of identifying the zero-value insulator from the horizontal dimension further includes: According to the sampling interval, the electric field deviation rate on the first detection path (4) and the third detection path (6) is calculated; the calculation formula is: Wherein, η1 and η3 represent the electric field deviation rates on the first detection path (4) and the third detection path (6), respectively.

9. The method for identifying zero-value insulators based on multiple sensing modules according to claim 7, characterized in that: In step S4, the step of determining the zero-value insulator includes: A judgment threshold ξ of the electric field deviation rate is set. When |η1|<ξ, it is judged that there is a zero-value insulator on the insulator string where the first detection path (4) is located; when |η3|<ξ, it is judged that there is a zero-value insulator on the insulator string where the third detection path (6) is located.

10. A zero-value insulator identification system based on a multi-sensor module, using the zero-value insulator identification method according to any one of claims 1 to 9, characterized in that: The system comprises: Electric field space setting module: used to arrange spatial electric field probes in the space where two parallel insulator strings are located and define the detection path of each probe; String skew determination module: used to determine whether the insulator string is skewed by calculating the relative distance difference between two insulator strings; if not, the vertical dimension identification module is executed; otherwise, the horizontal dimension identification module is executed; Vertical dimension identification module: used to collect the effective value of the spatial electric field of each detection path at the same time, and determine whether there is a zero-value insulator by calculating the symmetry judgment value; Horizontal dimension identification module: used to separately collect the effective value of the spatial electric field on the corresponding path of the insulator string at a set sampling interval, and determine whether there is a zero-value insulator by calculating the electric field deviation rate on each sampling path.

Images