A zero-value insulator identification method and system based on a multi-sensing module

Abstract

A kind of zero value insulator identification method and system based on multi-sensing module.First, the space electric field probe is arranged in the space of two insulator strings and the detection path of each probe is defined;Then, by calculating the relative distance difference of two insulator strings, it is judged whether the insulator string is skewed;If not, the space electric field effective value of each detection path at the same time is collected respectively, and whether there is zero value insulator is judged by calculating symmetry value;If not, the space electric field effective value on the corresponding path of insulator string is collected separately at set sampling interval, and whether there is zero value insulator is judged by calculating the electric field deviation rate on each sampling path.The present application has the advantages of non-contact, high real-time, adaptability to complex working conditions, etc. for accurate identification of zero value insulator in insulator string under different postures.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line safety inspection, specifically relating to a method and system for identifying zero-value insulators based on multiple sensing modules. Background Technology

[0002] Zero-value insulator testing is a common task in power transmission line outage maintenance and live-line work, undertaken to ensure the safe operation of transmission lines and the safety of personnel during live-line work. Existing methods for porcelain insulator testing, such as the spark gap method, distributed voltage detection method, infrared thermal imaging method, ultrasonic testing method, resistance measurement method, inductive coupling method, and capacitive coupling method, suffer from low efficiency and high risk.

[0003] Currently, drones equipped with space electric field sensors are a novel monitoring method, offering several advantages: Firstly, inspection personnel do not need to directly contact high-voltage equipment and lines, avoiding risks such as electric shock and falls from heights, significantly improving safety. Secondly, drones are highly maneuverable, enabling rapid access to and coverage of large inspection areas, greatly improving inspection efficiency. They can also monitor and transmit data in real time, facilitating timely decision-making by technicians and enhancing inspection timeliness. Thirdly, non-contact inspection avoids physical damage or interference to insulators, aligning with the trend of non-destructive testing and contributing to the safe and stable operation of transmission lines. However, the space electric field data collected by drones requires complex data processing and analysis. During data processing, the accuracy and applicability of the algorithm affect the final judgment result. If the data processing algorithm cannot effectively remove noise and extract useful information, it may lead to incorrect assessments of the insulator's condition. Furthermore, different types and specifications of insulators may have different electric field distribution characteristics, requiring the establishment of different analysis models. However, current research in this area is insufficient, lacking sufficiently accurate electric field analysis models for various insulator types, thus affecting accuracy.

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

[0005] To address the shortcomings of existing technologies, this invention provides a method and system for identifying zero-value insulators based on multiple sensing modules. First, spatial electric field probes are arranged in the space containing two insulator strings, and the detection path of each probe is 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 values ​​of the spatial electric field on each detection path are collected at the same time, and the presence of a zero-value insulator is determined by calculating a symmetry judgment value. If none are found, the effective values ​​of the spatial electric field on the corresponding path of the insulator string are collected individually at a set sampling interval, and the presence of a zero-value insulator is determined by calculating the electric field deviation rate on each sampling path segment.

[0006] The first aspect of this invention proposes a method for identifying zero-value insulators based on multiple sensing modules, employing the following technical solution:

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

[0008] Step S2: Determine whether the insulator strings are skewed by measuring the difference in the relative distance between the two insulator strings; if not, proceed to step S3, otherwise proceed to step S4.

[0009] Step S3: Collect the effective values ​​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;

[0010] Step S4: 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.

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

[0012] First spatial electric field probe: positioned 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 positioned in front of the starting insulator of the second insulator string, on the opposite side of the first insulator string.

[0014] Second spatial electric field probe: positioned at the midpoint in front of the starting insulator of the first insulator string and the second insulator string.

[0015] Furthermore, in step S1, the definition methods for each detection path include:

[0016] First detection path: located inside the first insulator string, at a distance of [distance missing] from the edge of the first shed. The edge of the first umbrella skirt is the edge of the umbrella skirt of the first insulator string on the side opposite to the second insulator string.

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

[0018] The second probe's detection path is the center line between the axis of the first insulator string and the axis of the second insulator string.

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

[0020] Measurement points were marked at the midpoints of the first and second insulator strings, respectively. and measurement points Measurement points Distance from the starting insulator of the first insulator string, and measurement point The distance is the same as that of the starting insulator of the second insulator string;

[0021] Using a distance sensor at the location of the first spatial electric field probe (2), the distance between the second spatial electric field probe (2) and the measurement point is simultaneously measured. distance Second space electric field probe (2) and measurement point distance ;

[0022] calculate and absolute value of the difference ,set up The threshold is ;

[0023] like If the first insulator string and the second insulator string are not skewed, then it is determined that there is no string skew in the first insulator string and the second insulator string.

[0024] like If so, it is determined that there is a string skew between the first insulator string and the second insulator string.

[0025] Furthermore, in step S3, when there is no string skew in the insulator string, the zero-value insulator is identified using a three-probe method in the vertical dimension; including:

[0026] The spatial electric field amplitudes along the first, second, and third detection paths are collected using a first, second, and third spatial electric field probe, respectively, and the effective values ​​are extracted; at time [time missing]... The obtained effective values ​​of the spatial electric field are respectively , and ;

[0027] The effective value of the spatial electric field on the second detection path Using the reference values, calculate respectively and , and The difference between them:

[0028] ;

[0029] in, and This represents the amplitude difference between the first detection path, the third detection path, and the second detection path, respectively.

[0030] Furthermore, step S3, the step of identifying zero-value insulators using the three-probe method, also includes:

[0031] right and The difference operation yields the value for determining the violation of electric field symmetry. :

[0032] ;

[0033] Set the symmetry violation threshold. ,when If the condition is met, it is determined that there is no zero-value insulator; otherwise, it is determined that there is a zero-value insulator.

[0034] Furthermore, in step S4, when there is string skew in the insulator string, zero-value insulators are identified from the horizontal dimension; including:

[0035] A sampling interval is set, and the effective values ​​of the spatial electric field at sampling points along the first and third detection paths are collected using the first and third spatial electric field probes, respectively, and denoted as [the values ​​are then described]. and ;in, Indicates the current sampling point. Indicates the current sampling point Distance from the initial position;

[0036] For the first and third detection paths, calculate the electric field difference between two adjacent sampling points on the path. and :

[0037] ;

[0038] ;

[0039] in, The sampling interval refers to the distance between two adjacent sampling points.

[0040] Furthermore, step S4, the step of identifying zero-value insulators from the horizontal dimension, also includes:

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

[0042] ;

[0043] in, and These represent the electric field deviation rates on the first and third detection paths, respectively.

[0044] Furthermore, in step S4, the determination step for zero-value insulators includes:

[0045] Set the threshold for electric field deviation rate. ,when If the condition is met, it is determined that there is a zero-value insulator on the insulator string where the first detection path is located; if the condition is met, it is determined that there is a zero-value insulator. If the value is zero, it is determined that there is a zero-value insulator on the insulator string where the third detection path is located.

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

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

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

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

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

[0051] The beneficial effects of this invention are compared with those of the prior art:

[0052] 1. This invention proposes a method for detecting zero-value insulators based on the asymmetric characteristics of spatial electric field distribution. By setting 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 direction is constructed. This effectively captures the spatial electric field distribution distortion caused by zero-value insulators, improving detection accuracy and field adaptability. Simultaneously, the non-contact detection method reduces maintenance risks and enhances the safety and convenience of high-voltage equipment inspection.

[0053] 2. This invention considers the susceptibility of long insulator strings to wind, tension, or structural aging in real-world operating scenarios, which can cause string skew and affect the symmetry of the electric field distribution. This could lead to the failure or misjudgment of the vertical dimension detection method. Therefore, a string skew judgment module is designed in the preliminary step of zero-value insulator identification. This module quickly identifies the presence of string skew by measuring the relative distance between the intermediate probe and the insulator string in real time, and dynamically switches the detection logic accordingly. When the string is not skewed, a three-probe method is used to judge the vertical dimension symmetry; when skew is detected, the algorithm switches to a horizontal dimension analysis algorithm based on the rate of electric field decay with distance, allowing for judgment via a single path. This adaptive switching mechanism improves the robustness and universality of the detection method under various operating conditions, enhancing the practicality and stability of the algorithm. Attached Figure Description

[0054] Figure 1 Arrangement and path of the zero-measurement sensor;

[0055] Figure 2 This is a schematic diagram of the detection path distribution in a real-world scenario;

[0056] Figure 3 This is a schematic diagram of the string skew situation provided in this embodiment;

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

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

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

[0061] The attached diagram is labeled as follows: 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 Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0063] Example 1

[0064] This embodiment describes the specific implementation of a zero-value insulator identification method based on multiple sensing modules proposed in this application. The method employs the following technical solution:

[0065] Step S1: Refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 These are schematic diagrams of the sensor arrangement and path provided for this embodiment, and schematic diagrams of the detection path distribution in actual scenarios.

[0066] The specific arrangements are as follows:

[0067] First spatial electric field probe 1: positioned 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: placed in the middle position in front of the starting insulator of the upper and lower insulator strings;

[0069] The third spatial electric field probe 3 is positioned in front of the starting insulator of the second insulator string on the opposite side of the first insulator string.

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

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

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

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

[0074] Step S2: Determine whether there is actually a crosstalk deviation at the current site, such as... Figure 3 As shown, Figure 3 This is a schematic diagram illustrating the string skew situation provided in this embodiment. The methods for determining string skew include:

[0075] Measurement points were marked at the midpoints of the first and second insulator strings, respectively. and measurement points Measurement points Distance from the starting insulator of the first insulator string, and measurement point The distance is the same as that of the starting insulator of the second insulator string;

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

[0077] calculate and absolute value of the difference When string skew occurs, the distance difference It increases with the increase of the skew angle;

[0078] set up The threshold is (e.g., 2cm) is used to determine whether skewness exists (the threshold needs to be adjusted according to the insulator installation standard and sensor accuracy).

[0079] like If the first insulator string and the second insulator string are not skewed, then it is determined that there is no string skew in the first insulator string and the second insulator string.

[0080] like If so, it is determined that there is a string skew between the first insulator string and the second insulator string.

[0081] Step S3: If there is no string skew, the three-probe method is used to determine the vertical dimension. Based on the typical physical behavior of zero-value insulators in the electric field distribution of a line, the presence of zero-value insulators in the insulator string will cause the electric field intensity distribution on both sides to become asymmetrical. Based on this principle, this embodiment designs a three-probe spatial electric field measurement scheme perpendicular to the direction of the insulator string.

[0082] like Figure 4 As shown, Figure 4 The flowchart for the vertical dimension determination procedure provided in this embodiment is shown. 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 acquire the spatial electric field waveforms in real time along the first detection path 4, the second detection path 5, and the third detection path 6, respectively. At the same time... The obtained effective values ​​of the spatial electric field are respectively , and .

[0084] Step S3-2: Using data from the second detection path 5 For reference, respectively with and Perform the difference operation to get and :

[0085] ;

[0086] ;

[0087] Step S3-3: Based on the principle that the symmetry of the electric field amplitude on both sides is affected when a zero-value insulator exists, further... and The difference operation yields the judgment value. :

[0088] ;

[0089] In an ideal situation, if there were no zero-value insulators, then The value is always 0; when there is a zero-value insulator on one side, then... It is not zero. Therefore, it can be determined according to... The value is used to determine whether a zero-value insulator exists.

[0090] However, in actual measurements, considering factors such as errors in the detection path, even if a zero-value insulator does not exist, It is not zero either. But... As long as the error is less than that caused by various factors If so, it can be considered that there are no zero-value insulators.

[0091] Therefore, further and If a comparison is made, If , it indicates that a zero-value insulator exists.

[0092] like Figure 5 and Figure 6 As shown, Figure 5 and Figure 6These figures show an overall diagram and a partially enlarged schematic diagram of the electric field distribution along 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 results further summarize the scenarios where zero values ​​appear on the high-voltage side, intermediate side, and low-voltage side of a 500kV parallel insulator string, and propose a method applicable to 500kV double-string insulators. The value is taken as 1 kV / m. Table 1 shows the characteristic parameter values ​​under various operating conditions in the simulation.

[0093] Table 1 Characteristic parameter values

[0094]

[0095] The principle for setting the value is to be as close as possible to the lower limit of identifiable zero-value insulators. As shown in Table 1, when a zero value appears in the middle position, the C value is the smallest, at 1.88. The characteristic parameter is the smallest at this position. As long as the zero-value insulator at this middle position can be identified, other positions can also be identified. Therefore, the set error should be less than this value. However, it cannot be too small either, as errors caused by path jitter and other issues may lead to misjudgments. Therefore, it is best to be as close as possible to the lower limit of identifiable zero-value insulators (1.88). However, 1.88 is a simulated value. Considering the error between simulation and actual conditions, and taking into account a certain margin, this embodiment selects... The value is 1kV / m.

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

[0097] Table 2 Experimental Verification Results

[0098]

[0099] The verification test results showed that, after conducting 15 sets of tests (5 sets with zero values ​​at the high-voltage end, 5 sets with zero values ​​at the middle section, and 5 sets with zero values ​​at the low-voltage section), and a control group with 5 tests without zero values, if... With a value of 1kV / m, the effective recognition rate for zero values ​​is 100%; however, further experimental results revealed... The initial value of 1 kV / m has a relatively large margin. During the experiment, the maximum deviation without zero values ​​due to path jitter and other issues was 0.4 kV / m. Therefore, based on the implementation plan data, this invention further suggests that a value of 1 kV / m is appropriate. The value is 0.5 kV / m.

[0100] Step S4: If there is a series skew, the three-probe method fails, and the horizontal dimension needs to be determined. For example... Figure 7 As shown, Figure 7A 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 positioned on the first detection path 4 and the third detection path 6. ， The spatial electric field waveforms were acquired in real time, and the effective values ​​of the spatial electric field at different distances were calculated. and .in, Indicates the current sampling point. Indicates the current sampling point Distance from the initial position.

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

[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] ;

[0106] For the third detection path 6:

[0107] ;

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

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

[0110] ;

[0111] in, and These 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 on a certain path or Less than the threshold If the electric field changes slowly with distance, it can be determined that there is a zero-value insulator on the insulator string along the path.

[0113] The principle of this step is: if there is a zero value, the electric field changes slowly. Therefore, the zero value can also be determined by 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 dirt. Therefore, this method is only used as a supplementary algorithm to consider the case of string skew.

[0114] By measuring the electric field deviation rate at 10cm intervals η The absolute value of the value can be used to determine if a zero value exists. Considering that long strings of insulators are more prone to skew, for UHV insulators, if... η If the absolute value is less than 15%, then a zero-value insulator is determined to exist.

[0115] Example 2

[0116] This embodiment describes a zero-value insulator identification system based on a multi-sensor module, implementing a specific method for identifying zero-value insulators using a multi-sensor module as described in Embodiment 1. The system includes:

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

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

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

[0120] Horizontal dimension identification module: used to collect the effective value of the spatial electric field on the corresponding path of the insulator string at a set sampling interval, and to 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for identifying zero-value insulators based on multi-sensor modules, characterized in that, include: Step S1: In the space where the two parallel insulator strings are located, arrange the spatial electric field probes and define the detection path of each probe; The definition methods for each detection path include: First detection path (4): Located inside the first insulator string, at a distance of [distance from the edge of the first skirt]. The edge of the first umbrella skirt is the edge of the umbrella skirt of the first insulator string on the side opposite to the second insulator string. The third detection path (6): located inside the second insulator string, at a distance of [distance from the edge of the second shed]. The edge of the second umbrella skirt is the edge of the umbrella skirt of the second insulator string on the side opposite to the first insulator string. The second probe's detection path is along the center line of the first insulator string axis and the center line of the second insulator string axis. Step S2: Determine whether the insulator strings are skewed by measuring the difference in the relative distance between the two insulator strings; if not, proceed to step S3, otherwise proceed to step S4. Step S3: Collect the effective values ​​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; Step S4: 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.

2. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 1, characterized in that, In step S1, the space electric field probe is used to collect the amplitude of the space electric field along the corresponding detection path, and the arrangement includes: First spatial electric field probe (1): positioned in front of the starting insulator of the first insulator string and on the opposite side of the second insulator string; The third space electric field probe (3) is positioned in front of the starting insulator of the second insulator string on the opposite side of the first insulator string. Second spatial electric field probe (2): positioned in the middle of the first insulator string and the starting insulator of the second insulator string.

3. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 1, characterized in that, In step 2, the method for determining string skew includes: Measurement points were marked at the midpoints of the first and second insulator strings, respectively. and measurement points Measurement points Distance from the starting insulator of the first insulator string, and measurement point The distance is the same as that of the starting insulator of the second insulator string; Using a distance sensor at the location of the first spatial electric field probe (2), the distance between the second spatial electric field probe (2) and the measurement point is simultaneously measured. distance Second space electric field probe (2) and measurement point distance ; calculate and absolute value of the difference ,set up The threshold is ; like If the first insulator string and the second insulator string are not skewed, then it is determined that there is no string skew in the first insulator string and the second insulator string. like If so, it is determined that there is a string skew between the first insulator string and the second insulator string.

4. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 1, characterized in that, In step S3, when there is no string skew in the insulator string, the zero-value insulator is identified using a three-probe method in the vertical dimension; including: The spatial electric field amplitudes along the first detection path (4), the second detection path (5), and the third spatial electric field probe (3) are collected using the first spatial electric field probe (1), the second spatial electric field probe (2), and the third spatial electric field probe (3), respectively, and the effective values ​​are extracted. The obtained effective values ​​of the spatial electric field are respectively , and ; The effective value of the spatial electric field on the second detection path (5) Using the reference values, calculate respectively and , and The difference between them: ； in, and This represents the amplitude difference between the first detection path (4), the third detection path (6), and the second detection path (5), respectively.

5. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 4, characterized in that, In step S3, the step of identifying zero-value insulators using the three-probe method also includes: right and The difference operation yields the value for determining the violation of electric field symmetry. : ； Set the symmetry violation threshold. ,when If the condition is met, it is determined that there is no zero-value insulator; otherwise, it is determined that there is a zero-value insulator.

6. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 1, characterized in that, In step S4, when there is string skew in the insulator string, zero-value insulators are identified from the horizontal dimension; this includes: The 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 by the first spatial electric field probe (1) and the third spatial electric field probe (3) respectively, and recorded as follows: and ;in, Indicates the current sampling point. Indicates the current sampling point Distance from the initial position; For the first detection path (4) and the third detection path (6), calculate the electric field difference between two adjacent sampling points on the path. and : ； ； in, The sampling interval refers to the distance between two adjacent sampling points.

7. The method for identifying zero-value insulators based on a multi-sensor module as described in claim 6, characterized in that, Step S4, the step of identifying zero-value insulators from the horizontal dimension, further includes: Based on 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: ； in, and These represent the electric field deviation rates on the first detection path (4) and the third detection path (6), respectively.

8. The method for identifying zero-value insulators based on multi-sensor modules as described in claim 6, characterized in that, In step S4, the determination steps for zero-value insulators include: Set the threshold for electric field deviation rate. ,when When, it is determined that there is a zero-value insulator on the insulator string where the first detection path (4) is located; when If the value is zero, it is determined that there is a zero-value insulator on the insulator string where the third detection path (6) is located.

9. A zero-value insulator identification system based on a multi-sensor module, employing the zero-value insulator identification method according to any one of claims 1-8, characterized in that, The system includes: Electric field space setting module: used to arrange spatial electric field probes and define the detection path of each probe in the space where two parallel insulator strings are located; String skew determination module: This module is used to determine whether the insulator string is skewed by calculating the difference in the relative distance between the two insulator strings; if not, the vertical dimension recognition module is executed, otherwise the horizontal dimension recognition module is executed. Vertical dimension recognition module: used to collect the effective values ​​of the spatial electric field of each detection path at the same time, and to determine whether there is a zero-value insulator by calculating the symmetry judgment value; Horizontal dimension identification module: used to collect the effective value of the spatial electric field on the corresponding path of the insulator string at a set sampling interval, and to determine whether there is a zero-value insulator by calculating the electric field deviation rate on each sampling path.

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