Insulator zero value detection robot, control method, detection method, medium and equipment

Abstract

The invention discloses an insulator zero-value detection robot, a control method, a detection method, a medium and equipment in the technical field of high-altitude hot-line work. The insulator zero-value detection robot comprises a barb-shaped framework; the left side and the right side of the barb-shaped framework are each provided with an insulation walking mechanism used for moving on an insulator. The barb type framework is also connected with a zero value detection device and a probe swing mechanism; an unmanned aerial vehicle mounting module is mounted above the barb-shaped framework; one end, far away from the insulator, of the lower part of the barb-shaped framework is connected with an arc striking energy absorption module and a transmission motor module; the transmission motor module is connected with the insulating walking mechanism and the probe swing mechanism through a driving shaft. The main structural materials of the part, close to the insulator, of the robot are all insulating materials, so that the influence of a metal structure on the distribution voltage of an insulator string is reduced as much as possible in the moving process of the robot on the insulator. The transmission motor module is arranged downwards and is far away from an insulator live-line area, so that direct discharge of an insulator high-voltage area to a metal body is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to an insulator zero-value detection robot, a control method, a detection method, a medium and equipment, and belongs to the technical field of live working at high altitudes. BACKGROUND

[0002] Porcelain insulators are widely used in strain lines of 500kV and above voltage levels, and the number is huge, the operation environment is complex, and the insulators have an important influence on the safe operation of power grids. The insulators are exposed to the outdoors for a long time, bear high-voltage electric field stress, wind and rain, lightning, pollution, temperature difference and other actions, and are prone to faults such as deterioration of insulation performance, decrease of mechanical strength, internal discharge and the like.

[0003] The characteristics of the deteriorated insulator include but are not limited to: decrease of insulation resistance, increase of leakage current, abnormal thermal imaging, electric field distortion, increase of partial discharge, increase of ultraviolet pulse frequency and the like. Part of the early deterioration process has concealment and irreversibility, and once triggered by pollution flashover or lightning in operation, it will possibly cause serious accidents such as flashover, cap explosion, wire falling and the like, and further cause large-scale power outage. Although the artificial tower detection is traditional, it has problems such as low efficiency, great danger, limited precision and the like, and is difficult to meet the requirements of the new power system on efficient and reliable inspection.

[0004] In order to ensure the safety of high-voltage power grids, it is necessary to regularly perform zero-value detection, appearance detection and cleaning and the like on insulator strings. In the high-altitude high-voltage environment, manual detection is time-consuming and laborious, and is also unsafe, and therefore a fully-automatic insulator string detection robot emerges as the times require. However, the robot in the prior art is interfered by arc light of high-voltage live working contact separation and strong electromagnetic field on electronic circuit and communication control when measuring, and the robot is dead. SUMMARY

[0005] The technical problem to be solved by the application is to overcome the defects of the prior art, and to provide an insulator zero-value detection robot, a control method, a detection method, a medium and equipment.

[0006] To solve the above technical problems, the application is implemented by using the following technical scheme.

[0007] In a first aspect, the application discloses an insulator zero-value detection robot, which comprises: a barb type framework; An insulating walking mechanism for moving on the insulator is arranged on each of the left and right sides of the barb type framework; The barb type framework is further connected with a zero-value detection device and a probe swing mechanism; An unmanned aerial vehicle mounting module is mounted above the barb type framework; The lower end of the inverted hook type framework away from the insulator is connected with the energy dissipation module and the transmission motor module; the energy dissipation module comprises an arc striking ring and a high-voltage resistor; the arc striking ring is connected in series with the metal shielding shell of the transmission motor module through the high-voltage resistor, and the arc striking ring is located between the high-voltage insulator and the transmission motor module. The transmission motor module is connected with the insulating walking mechanism and the probe swing mechanism through the driving shaft respectively.

[0008] Further, it further comprises a control and counterweight module arranged below the inverted hook type framework and in transmission connection with the transmission motor module, which is driven by the transmission motor module to adjust the gravity center of the whole robot.

[0009] Further, the control and counterweight module comprises a configuration control unit and a counterweight unit connected through a connecting rod, the configuration control unit is provided with a shell, an IMU attitude sensor is arranged in the shell, and a first laser radar, a second laser radar, a third laser radar and a first camera are arranged on the shell. The IMU attitude sensor is used for monitoring the attitude deviation and outputting a gravity center adjustment signal to the transmission motor module, so that the transmission motor module adjusts the deflection of the control and counterweight module. The first laser radar and the third laser radar are symmetrically arranged on both sides of the shell, and are used for determining whether the robot moves to the end of the insulator string and generating a homeward instruction when moving to the end of the insulator string. The second laser radar is located at the center of the front surface of the shell and is used for collecting the pitch of the insulator. The first camera and the second camera arranged on the front surface of the transmission motor module cooperate to form a binocular camera, and the horizontal and vertical distances of the robot relative to the insulator are measured through the binocular algorithm of the two cameras, so as to plan the best path for automatic navigation of the unmanned aerial vehicle.

[0010] Further, the inverted hook type framework comprises a left framework, a right framework and a lower framework, wherein the left framework is fixedly connected with the right framework, and the right framework is fixedly connected with the downwardly extending lower framework on the right side. The insulating walking mechanism is arranged below the left framework and the right framework respectively, and the zero value detection device and the probe swing mechanism are arranged on the left side of the left framework.

[0011] Further, the lower end of the lower framework is sequentially provided with the energy dissipation module and the transmission motor module.

[0012] Further, the insulating walking mechanism comprises a soft rubber track in contact with the insulator, a driving wheel driving the soft rubber track to walk, and a track support accommodating the soft rubber track and the driving wheel and connected with the left framework or the right framework, and the driving wheel is connected with the transmission motor module through the driving shaft.

[0013] Further, the unmanned aerial vehicle mounting module comprises a guide support, a guide magnet and a locking nut. The guide support is a frame structure with a large upper part and a small lower part, and a plurality of guide magnets and locking nuts are arranged at the bottom of the guide support.

[0014] Further, the bottom of the guide support is further provided with an anti-twisting groove.

[0015] Further, the docking tool comprises an outer cover plate, The top of the outer cover plate is provided with a plurality of hanging point supports, and the plurality of hanging point supports are connected to the unmanned aerial vehicle through a hanging rope mechanism. The side of the outer cover plate is provided with a switch and a charging port. The bottom of the outer cover plate matches the shape of the bottom of the guide support, and the bottom of the outer cover plate is further provided with a magnet corresponding to the position of the guide magnet and attracting each other, an anti-twisting protrusion matched with the anti-twisting groove, and a motor lead screw matched with the locking member for fixing.

[0016] Further, the outer cover plate is made of aluminum alloy material, and the circuit part connected to the switch, the charging port and the motor lead screw is arranged inside the outer cover plate.

[0017] Further, the hanging rope mechanism comprises a frame structure made of plastic insulating hard material and a rope; A plurality of ropes are respectively connected to the hole positions of the hanging point supports and the corresponding hole positions at the bottom of the frame structure, and the top of the frame structure is connected to the unmanned aerial vehicle.

[0018] Further, the probe swing mechanism comprises a swing rod shaft, a connecting rod, a probe, a gear and a transmission shaft; The swing rod shaft is rotatably connected to the left side of the left skeleton, and the two ends of the swing rod shaft are fixedly connected to the probe through the connecting rod, and the middle part of the swing rod shaft is drivingly connected to the transmission motor module through the gear and the transmission shaft.

[0019] Further, the transmission motor module comprises a motor support, a walking motor, a probe swing motor and a counterweight swing motor arranged in the motor support; The walking motor is drivingly connected to the insulating walking mechanism through a driving shaft; The probe swing motor is drivingly connected to the probe swing mechanism through a probe swing shaft; The rotating output end of the counterweight swing motor is connected to a counterweight swing arm, and the counterweight swing arm is fixedly connected to the control and counterweight module.

[0020] In a second aspect, the application discloses a control method of an insulator zero value detection robot, comprising: in response to the control instruction of the robot entering the online mode, the probe of the probe swing mechanism and the control and counterweight module are controlled to move vertically downward by the transmission motor module; in response to the control instruction of the unmanned aerial vehicle docking with the robot, the unmanned aerial vehicle is controlled to fly above the robot, the docking tool carried by the unmanned aerial vehicle is used to dock the unmanned aerial vehicle mounting module, after the unmanned aerial vehicle mounting module completes the alignment and locking action, a mounting success instruction is sent after a few seconds; in response to the mounting success instruction, the unmanned aerial vehicle is controlled to fly to the standby area above the robot, two cameras respectively arranged on the transmission motor module and the control and counterweight module are used to collect image information of the measured insulator string at the same time, and the horizontal and vertical distances of the robot relative to the insulator string are measured according to the image information by using binocular algorithm of the two cameras; according to the horizontal and vertical distances, the best path of the robot movement is planned and sent to the flight control system of the unmanned aerial vehicle, the unmanned aerial vehicle is commanded to enter the automatic navigation mode, the docking tool carried by the unmanned aerial vehicle is used to dock the unmanned aerial vehicle mounting module, the center of gravity of the robot is adjusted by the probe of the probe swing mechanism and the control and counterweight module controlled by the transmission motor module, and after the adjustment is completed, a control instruction of separating from the robot is generated; in response to the control instruction of the unmanned aerial vehicle separating from the robot, the unmanned aerial vehicle mounting module is controlled to perform the unlocking action, and the unmanned aerial vehicle is controlled to ascend and leave the robot to return to the standby area.

[0021] Further, it further comprises: in response to the control instruction of the robot entering the offline mode after completing the measurement, the robot is controlled to return to the position when it is online, and the unmanned aerial vehicle is controlled to enter the position above the robot according to the path when it is online last time; the image obtained by the downward-looking camera of the unmanned aerial vehicle is acquired, the positions of the docking tool and the guide bracket are located, the motion path of the unmanned aerial vehicle for accurately docking with the robot is planned, the unmanned aerial vehicle is controlled to dock with the unmanned aerial vehicle mounting module by the docking tool carried by the unmanned aerial vehicle according to the planned motion path, after the docking is successful, the unmanned aerial vehicle is controlled to enter the standby area by autonomous navigation, and the unmanned aerial vehicle is controlled to return or enter the measurement of the next insulator string.

[0022] Further, the process that the docking tool carried by the unmanned aerial vehicle docks with the unmanned aerial vehicle mounting module comprises: the probe of the probe swing mechanism and the control and counterweight module are controlled to move vertically downward by the transmission motor module; the unmanned aerial vehicle is controlled to slowly descend from above the robot, so that the docking tool falls into along the guide frame of the guide bracket of the unmanned aerial vehicle mounting module; in the descending process, the automatic alignment action of the unmanned aerial vehicle mounting tool is completed by the magnetic force of the guide magnet arranged at the bottom of the guide frame; In response to the locking instruction after the automatic alignment action, the motor in the docking tool is controlled to rotate the nut, thereby locking the docking tool and the unmanned aerial vehicle mounting module of the robot.

[0023] In a third aspect, the application discloses a detection method of an insulator zero-value detection robot, comprising: After the robot is positioned on the insulator string, in response to a start operation instruction, the position of the insulator string where the robot is located is detected according to a sensor; According to the detected position, the insulating walking mechanism is controlled to move to the measurement position of the first insulator on the low-voltage side by a transmission motor module; After reaching the measurement position of the first insulator on the low-voltage side, the probe of the probe swing mechanism is controlled to swing inward to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, and the first probe sampling result is output by detecting and sampling using the high-voltage pulse measurement loop of the zero-value detection device according to the size of the distribution voltage; It is judged whether the end of the insulator string is reached, and if not, the insulating walking mechanism is controlled to move to the measurement position of the second insulator on the low-voltage side by a transmission motor module; After reaching the measurement position of the second insulator on the low-voltage side, the probe of the probe swing mechanism is controlled to swing inward to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, and the second sampling result is output by detecting and sampling using the high-voltage pulse measurement loop of the zero-value detection device according to the size of the distribution voltage; The insulating walking mechanism is controlled to walk to the measurement position of the next insulator and detect and sample in sequence until the end of the insulator string is reached, and the zero-value detection is completed.

[0024] Further, the position of the insulator string where the robot is located is detected according to a sensor, comprising: When walking and measuring on the insulator normally, the second laser radar located in the middle of the control unit shell of the control and counterweight module is directed upward to the center of the insulator, the position of the second laser radar is calculated according to the distance obtained by the second laser radar, whether the position is an insulator piece or a steel cap, and the position of the robot moving to the insulator is determined according to the walking speed of the robot, so as to calculate the piece distance of the insulator piece.

[0025] Further, whether the robot moves to the most edge position is determined by whether the first laser radar and the third laser radar symmetrically arranged on both sides of the control unit shell of the control and counterweight module recognize the insulator porcelain piece.

[0026] Further, it further comprises: When the insulator string is a double-string insulator, the probe of the probe swing mechanism is controlled to swing outward to detect the opposite insulator.

[0027] In a fourth aspect, the present application discloses a computer readable storage medium storing one or more programs, the one or more programs comprising instructions which, when executed by a computing device, cause the computing device to perform the method of the first aspect.

[0028] In a fifth aspect, the present application discloses a computing device comprising, one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of the second aspect.

[0029] The present application has the following beneficial effects: The main structural material of the robot near the insulator part is all made of insulating material, so that the influence of the metal structure on the distribution voltage of the insulator string is reduced as much as possible during the movement of the robot on the insulator. The transmission motor module is positioned below, away from the charged area of the insulator, to avoid direct discharge of the high-voltage area of the insulator to the metal body.

[0030] Since there is a high-voltage line above the insulator, the unmanned aerial vehicle needs to maintain a certain safety distance from the high-voltage line, so the operational space of the unmanned aerial vehicle and the robot is very limited. The overall structure of the robot of the present application adopts an inverted hook type skeleton design, with a short skeleton on one side. When the unmanned aerial vehicle carries the robot onto the line, it enters from the skeleton on this side and is mounted on the insulator. Compared with a robot with the same length on both sides, the operational space is increased, ensuring the safety distance of the unmanned aerial vehicle and the high-voltage line and the high-voltage suspension line. The inverted hook design makes the control circuit part away from the steel cap, has little influence on the electric field distribution of the insulator when intervening, and is also away from the high-voltage zero detection equipment, increasing the distance of corona. It can better adapt to high-voltage lines. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a schematic diagram of the overall structure of the present application; Figure 2 is a schematic diagram of the inverted hook type skeleton structure; Figure 3 is a schematic diagram of the insulating walking mechanism structure; Figure 4 is a schematic diagram of the unmanned aerial vehicle mounting module structure; Figure 5 is a schematic diagram of the probe swing mechanism structure; Figure 6 is a schematic diagram of the energy dissipation module structure; Figure 7 is a schematic diagram of the transmission motor module structure; Figure 8 is a schematic diagram of the docking tool structure; Figure 9is a structural diagram of the control and counterweight module; Figure 10 is a schematic diagram of the application; Figure 11 is a schematic diagram of the robot online and offline process of the application; Figure 12 is a schematic diagram of the robot detection process of the application.

[0032] In the figure: 1, barb type framework; 2, insulating walking mechanism; 3, unmanned aerial vehicle mounting module; 4, probe swing mechanism; 5, zero value detection device; 6, energy dissipation module; 7, transmission motor module; 8, control and counterweight module; 9, docking tool; 10, hanging rope mechanism; 11, high-voltage insulator; 101, left framework; 102, right framework; 103, lower framework; 201, track support; 202, track; 203, driving wheel; 204, driven wheel; 205, small roller; 301, guide support; 302, guide magnet; 303, reverse torsion groove; 304, locking nut; 401, swing rod shaft; 402, connecting rod; 403, probe; 404, gear; 405, transmission shaft; 601, arc striking ring; 602, high-voltage resistor; 701, walking motor; 702, probe swing motor; 703, counterweight swing motor; 704, motor support; 705, driving shaft; 706, probe swing shaft; 707, counterweight swing arm; 708, second camera; 801, first laser radar; 802, second laser radar; 803, first camera; 804, third laser radar; 901, outer cover plate; 902, hanging point support; 903, switch; 904, charging port; 905, magnet; 906, reverse torsion protrusion; 907, motor screw. DETAILED DESCRIPTION

[0033] The application will be further described below in conjunction with the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0034] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can be explicitly or implicitly included one or more. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0035] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0036] Embodiment 1, as shown in Figure 1 and Figure 10 The present embodiment introduces an insulator zero value detection robot, which comprises: a barb type framework 1; The barb type framework 1 is provided with an insulating walking mechanism 2 on each side for moving on the insulator; The barb type framework 1 is also connected with a zero value detection device 5 and a probe swing mechanism 4, the zero value detection device 5 can detect the zero value of the insulator string and send the detection data; The barb type framework 1 is installed above the unmanned aerial vehicle mounting module 3; The barb type framework 1 is connected with the energy dissipation module 6 and the transmission motor module 7 at the end away from the insulator below; the energy dissipation module 6 is used to reduce the interference of discharge spark on the robot control system.

[0037] As shown in Figure 6 The energy dissipation module 6 comprises an arc ring 601 and a high-voltage resistor 602; the arc ring 601 is connected in series with the metal shielding shell of the transmission motor module 7 through the high-voltage resistor 602, and the arc ring 601 is located between the high-voltage insulator 11 and the transmission motor module 7.

[0038] On the basis of the commonly used electromagnetic shielding methods such as using a metal shielding shell, potential treatment of a circuit shell, copper mesh wrapping of a signal line, etc., an energy dissipation module is further used to limit the electric spark current generated between a high-voltage insulator and the robot, so as to realize effective application of the robot in a high-voltage environment.

[0039] When the electric field intensity exceeds the insulation strength of the medium, the medium is broken down, discharge occurs between the high-voltage electrode and the metal shell, and sparks are generated. Therefore, increasing the thickness of the medium and the insulation strength of the medium is a common method to prevent high-voltage breakdown discharge. However, increasing the thickness of the insulation medium requires a weight penalty, but the robot itself cannot adopt the method of increasing the coverage of the insulation medium due to the limitations of weight and mechanical structure, and can only rely on the insulation of air to ensure the discharge distance. Since the insulation distance of air is about 10KV per centimeter, for a 500KV power line, the insulation distance of air is only 50 centimeters. Therefore, when the shielding metal shell on the robot approaches the 50 centimeter air insulation distance of the power line, high-voltage discharge occurs, and serious electric sparks are generated on the shielding metal shell, thereby causing the equipment to lose control. Therefore, the light metal shell shielding is not enough to cope with high electric fields. On the basis of the commonly used electromagnetic shielding measures, the method of connecting an arc ring and a high-voltage resistor in series is further used to reduce the discharge current and reduce the influence on the control circuit.

[0040] The energy dissipation module adopts the mode of connecting an arc body and an inductor in series, is provided with an arc ring, and is connected to the metal shielding shell of the main control circuit through a high-voltage resistor. The arc ring guides the high-voltage discharge point to the arc ring, and then limits the current of the high-voltage discharge sparks through the high-voltage resistor, thereby reducing the interference of the discharge sparks on the robot control system.

[0041] The transmission motor module 7 is connected to the insulating walking mechanism 2 and the probe swing mechanism 4 through driving shafts respectively.

[0042] In this embodiment, a control and counterweight module 8 is further included, which is arranged below the barb-shaped framework 1 and is in transmission connection with the transmission motor module 7 and is driven by the transmission motor module 7 to adjust the gravity center of the whole robot; and contains a control chip and a battery. The barb design of the robot is easy to deviate the gravity center from the center line of the insulator, so the counterweight module needs to swing to adjust the gravity center of the robot.

[0043] As shown in Figure 8 The control and counterweight module 8 includes a configuration control unit and a counterweight unit connected through a connecting rod, the configuration control unit is provided with a shell, an IMU attitude sensor is arranged in the shell, and a first laser radar 801, a second laser radar 802, a third laser radar 804 and a first camera 803 are arranged on the shell; The IMU attitude sensor is used for monitoring attitude deviation and outputting a gravity center adjustment signal to the transmission motor module 7 to adjust the deflection of the control and counterweight module 8; The first laser radar 801 and the third laser radar 804 are symmetrically arranged on both sides of the shell, and are used for determining whether the robot moves to the end of the insulator string and generating a return instruction when moving to the end of the insulator string; The second laser radar 802 is located at the center of the front face of the shell, and is used for collecting the pitch distance of the insulator; The first camera 803 cooperates with the second camera 708 arranged on the front face of the transmission motor module 7 to form a binocular camera, and the horizontal and vertical distances of the robot relative to the insulator are measured through the binocular algorithm of the two cameras, so as to plan the optimal path for automatic navigation of the unmanned aerial vehicle.

[0044] In the embodiment, as shown in the figure, Figure 2 The barb type framework 1 includes a left framework 101, a right framework 102 and a lower framework 103, wherein the left framework 101 is fixedly connected with the right framework 102, and the right framework 102 is fixedly connected with the downwardly extending lower framework 103 on the right side; the insulator walking mechanism 2 is arranged below the left framework 101 and the right framework 102 respectively, the zero value detection device 5 and the probe swing mechanism 4 are arranged on the left side of the left framework 101; the energy dissipation module 6 and the transmission motor module 7 are sequentially arranged at the lower end of the lower framework 103. The barb type structure design is adopted, the left side framework is short, when the unmanned aerial vehicle carries the robot to the line, the robot enters the mounting on the insulator from the left framework, compared with the robot with the same length on both sides, the operation space is increased, and the safety distance of the unmanned aerial vehicle and the high-voltage line and the high-voltage suspension line is ensured; the left framework is connected with the high-voltage zero value detection device, the lower framework is connected with the control circuit part, the barb type design makes the control circuit part away from the steel cap, and the influence on the electric field distribution of the insulator is small when intervening, and the distance of generating corona is increased, and the line of the high-voltage grade can be better adapted.

[0045] In the embodiment, as shown in the figure, Figure 7 The transmission motor module 7 includes a motor support 704, a walking motor 701, a probe swing motor 702 and a counterweight swing motor 703 arranged in the motor support 704; the walking motor 701 is drivingly connected with the insulator walking mechanism 2 through a driving shaft 705; the probe swing motor 702 is drivingly connected with the probe swing mechanism 4 through a probe swing shaft 706; the rotating output end of the counterweight swing motor 703 is connected with a counterweight swing arm 707, and the counterweight swing arm 707 is fixedly connected with the control and counterweight module 8.

[0046] As shown in the figure, Figure 3As shown in the figure, the insulating walking mechanism 2 comprises soft rubber tracks 202 in contact with the insulator, driving wheels driving the soft rubber tracks 202 to walk, and track supports 201 accommodating the soft rubber tracks and the driving wheels and connected with the left frame 101 or the right frame 102. During the movement of the robot on the insulator, the robot is in contact with the insulator through the two soft rubber tracks, and the driving wheels roll over the tracks to advance, thereby avoiding accidental scratches of the insulator when the robot moves on the insulator string. The driving wheels are connected with the transmission motor module through a driving shaft, and specifically, the insulating walking mechanism 2 further comprises a driving wheel 203, a driven wheel 204 and a small roller 205, which are cooperatively connected with an axle to achieve transmission connection with the driving shaft 705 of the transmission motor module 7.

[0047] As shown in the figure, Figure 5 The probe swing mechanism 4 comprises a swing rod shaft 401, a connecting rod 402, a probe 403, a gear 404 and a transmission shaft 405; the swing rod shaft 401 is rotatably connected with the left side of the left frame 101, and both ends of the swing rod shaft 401 are fixedly connected with the probe 403 through the connecting rod 402, and the middle part of the swing rod shaft 401 is transmissionally connected with the probe swing shaft 706 in the transmission motor module 7 through the gear 404 and the transmission shaft 405.

[0048] In this embodiment, as shown in the figure, Figure 4 The unmanned aerial vehicle mounting module 3 comprises a guide support 301, a guide magnet 302 and a locking nut 304. The guide support 301 is a frame structure with a large upper part and a small lower part, a plurality of guide magnets 302 and locking nuts 304 are arranged at the bottom of the guide support 301; the bottom of the guide support 301 is further provided with an anti-twisting groove 303.

[0049] As shown in the figure, Figure 9As shown, it also includes a docking tool 9 for docking with the unmanned aerial vehicle mounting module 3, the docking tool 9 includes an outer cover plate 901, the top of the outer cover plate 901 is provided with a plurality of hanging point supports 902, the plurality of hanging point supports 902 are connected with the unmanned aerial vehicle through a hanging rope mechanism 10; the side of the outer cover plate 901 is provided with a switch 903 and a charging port 904; the bottom of the outer cover plate 901 matches the shape of the bottom of the guide bracket 301, and the bottom of the outer cover plate 901 is also provided with a magnet 905 corresponding to the position of the guide magnet 302 and attracting each other, an anti-twist protrusion 906 matched with the anti-twist groove 303, and a motor lead screw 907 fixedly matched with the locking nut 304. The charging port 904 supports 12.6V / 2A charging, and is provided with an IP65 waterproof cap; the magnets 905 are symmetrically arranged on both sides of the motor lead screw 907, have opposite polarities, are connected with the guide magnet 302 through opposite attraction, and ensure that the motor lead screw and the locking nut are centered. The anti-twist protrusions 906 are symmetrically arranged on both sides of the motor lead screw 907, are clamped into the anti-twist grooves 303, have a limiting function, and prevent the motor lead screw 907 from rotating and driving the mechanism to twist; the motor lead screw 907 is a stepping motor + lead screw transmission into / out of the hole of the locking nut 304, so that the mechanism is mechanically locked and separated.

[0050] The outer cover plate 901 is made of aluminum alloy material, and the circuit part connected with the switch 903, the charging port 904 and the motor lead screw 907 is arranged inside the outer cover plate 901. The aluminum alloy material is used to place the circuit part therein to shield the electromagnetic field from interfering with the control circuit.

[0051] In the embodiment, the hanging rope mechanism 10 includes a frame structure made of plastic insulating hard material and a rope; a plurality of ropes are respectively connected with the hole positions of the hanging point supports 902 and the corresponding hole positions at the bottom of the frame structure, and the top of the frame structure is connected with the unmanned aerial vehicle. Specifically, the frame structure is a square frame made of plastic insulating hard material, a plurality of square frames with the same size are used, four ropes are respectively passed through the hole positions of the hanging point supports 902 and the hole positions of the corresponding square frames, and finally connected with the unmanned aerial vehicle. This four-corner hanging line mode effectively prevents the mounting tool from twisting in the air, automatically corrects it, and more conveniently realizes the up-down flexible docking when the mounting tool is docked with the robot.

[0052] In the embodiment 2, on the basis of the embodiment 1, a control method of the insulator zero value detection robot is introduced, which comprises the following steps: In response to the control instruction that the robot enters the online mode, the probe of the probe swing mechanism 4 and the counterweight module 8 are controlled to vertically downwardly swing through the transmission motor module 7; In response to the control instruction that the unmanned aerial vehicle docks with the robot, the unmanned aerial vehicle is controlled to fly above the robot, the docking tool 9 carried by the unmanned aerial vehicle is used to dock with the unmanned aerial vehicle mounting module 3, and after the unmanned aerial vehicle mounting module 3 completes the alignment and locking actions, a mounting success instruction is sent after a few seconds. In response to the mounting success instruction, the unmanned aerial vehicle is controlled to fly to the standby area above the robot, two cameras respectively arranged on the transmission motor module 7 and the control and counterweight module 8 are used to simultaneously collect image information of the measured insulator string, and the horizontal and vertical distances of the robot relative to the insulator string are measured according to the image information by using binocular algorithm of the two cameras; According to the horizontal and vertical distances, the best path of the robot movement is planned and sent to the flight control system of the unmanned aerial vehicle, the unmanned aerial vehicle is commanded to enter the automatic navigation mode, and the docking tool 9 carried by the unmanned aerial vehicle is docked with the unmanned aerial vehicle mounting module 3, the transmission motor module 7 controls the probe of the probe swing mechanism 4 and the control and counterweight module 8 to adjust the center of gravity of the robot, and after the adjustment is completed, the control instruction for separating from the robot is generated; In response to the control instruction for separating from the robot, the unmanned aerial vehicle mounting module 3 is controlled to perform unlocking action, and the unmanned aerial vehicle is controlled to ascend and leave the robot to return to the standby area.

[0053] Further comprising: in response to the control instruction for entering the offline mode after the robot completes the measurement, the robot is controlled to return to the position when it is online, and the unmanned aerial vehicle is controlled to enter the position above the robot according to the path when it is online last time; The image obtained by the downward-looking camera of the unmanned aerial vehicle is acquired, the positions of the docking tool and the guide bracket are located, the motion path of the unmanned aerial vehicle for accurately docking with the robot is planned, the unmanned aerial vehicle is controlled to follow the planned motion path, the docking tool 9 carried by the unmanned aerial vehicle is docked with the unmanned aerial vehicle mounting module 3, after the docking is successful, the unmanned aerial vehicle is controlled to enter the standby area in the autonomous navigation mode, and the unmanned aerial vehicle is controlled to return or enter the measurement of the next insulator string.

[0054] The process that the docking tool 9 carried by the unmanned aerial vehicle docks with the unmanned aerial vehicle mounting module 3 includes: The transmission motor module 7 controls the probe of the probe swing mechanism 4 and the control and counterweight module 8 to move vertically downward; The unmanned aerial vehicle is controlled to slowly descend from above the robot, so that the docking tool 9 falls into along the guide frame of the guide bracket of the unmanned aerial vehicle mounting module 3; During the descending process, the magnetic force of the guide magnet arranged at the bottom of the guide frame is used to complete the automatic alignment action of the unmanned aerial vehicle mounting tool; In response to the locking instruction after the automatic alignment action, the motor in the docking tool 9 is controlled to rotate the nut, and the docking tool 9 is locked with the unmanned aerial vehicle mounting module 3 of the robot.

[0055] As shown in Figure 11 The unmanned aerial vehicle-robot autonomous navigation mode includes: 1), online; The UAV carries the robot, and first approaches the measured insulator string by the pilot control. When the UAV is within a range of about 5 meters from the measured insulator string, two cameras on the robot simultaneously see the measured insulator string. This position is referred to as the standby area.

[0056] Through binocular algorithm of the two cameras, the master control system measures the horizontal and vertical distances of the robot relative to the insulator.

[0057] According to the horizontal and vertical distances, the best path that the robot should move next is planned and sent to the UAV control system, commanding the UAV to enter the automatic navigation mode. After the UAV completes autonomous navigation according to the specified path, the robot commands the robot-UAV docking tool to detach.

[0058] After detachment, the reverse motion path of the above path is sent to the UAV, commanding the UAV to enter autonomous navigation, leave the robot working area, and enter the standby area.

[0059] From the standby area, the measurement process of the next insulator string or automatic return is entered.

[0060] 2), Offline: When the robot returns to the position of the online automatically after completing the measurement, the UAV enters the position above the robot automatically according to the path of the last online; The robot accurately positions the docking tool and the guide bracket according to the image obtained by the downward-looking camera of the UAV, thereby calculating the motion path of the UAV for accurately docking the robot, and commanding the UAV to dock the robot according to the planned path.

[0061] After the robot is successfully docked, the UAV is commanded to enter the standby area autonomously; in the standby area, the pilot decides whether to return automatically or enter the measurement of the next insulator string.

[0062] Robot-UAV docking tool mounting / demounting of the online / offline process of the robot The robot enters the online / offline mode, at which time the probe and the gravity center adjustment module are vertically downward, preparing for the docking of the UAV.

[0063] The UAV accurately flies above the robot and slowly descends, so that the UAV mounting tool falls into the mounting guide bracket along the guide frame of the mounting guide bracket.

[0064] During the descending process, the magnetic force of the guide magnet promotes the UAV mounting tool to automatically complete the alignment action, ensuring that the connection part of the UAV mounting tool and the robot mounting module accurately corresponds.

[0065] When the UAV-mounted tool reaches the predetermined position, the internal alignment sensor is triggered, and the electric locking nut is started under the driving of the control current, and the motor drives the nut to rotate quickly, thereby firmly locking the UAV-mounted tool and the robot.

[0066] After the locking process is completed, the system issues a mounting success instruction to inform the operator that the mounting operation has been successfully completed. When the UAV needs to be detached from the robot, the operator issues an unloading command, and the electric locking nut is loosened under the reverse driving of the motor, and the UAV-mounted tool automatically detaches from the robot.

[0067] In embodiment 3, on the basis of embodiment 2, a detection method of the insulator zero-value detection robot is introduced, comprising: After the robot is in place on the insulator string, a position of the insulator string where the robot is located is detected according to a sensor in response to a start operation instruction; The detected position is used to control the insulating walking mechanism 2 to move to a measurement position of the first insulator on the low-voltage side through the transmission motor module 7; After reaching the measurement position of the first insulator on the low-voltage side, the probe in the probe swing mechanism 4 is controlled to swing to the insulator steel cap below the robot, the distributed voltage of the insulator is collected, and the first probe sampling result is output by using the high-voltage pulse measurement loop of the zero-value detection device 5 to detect and sample according to the size of the distributed voltage; Whether the end of the insulator string is reached is judged, and if not, the insulating walking mechanism 2 is controlled to move to a measurement position of the second insulator on the low-voltage side through the transmission motor module 7; After reaching the measurement position of the second insulator on the low-voltage side, the probe in the probe swing mechanism 4 is controlled to swing to the insulator steel cap below the robot, the distributed voltage of the insulator is collected, and the second sampling result is output by using the high-voltage pulse measurement loop of the zero-value detection device 5 to detect and sample according to the size of the distributed voltage; The insulating walking mechanism 2 is controlled to walk to the measurement position of the next insulator and detect and sample in sequence until the end of the insulator string is reached, and the zero-value detection is completed.

[0068] The position of the insulator string where the robot is located is detected according to a sensor, comprising: When walking and measuring on the insulator normally, the second laser radar 802 in the middle of the control unit housing of the control and counterweight module 8 is directed upward to the center of the insulator, the position that the second laser radar 802 is directed to is calculated to be an insulator piece or a steel cap according to the distance obtained by the second laser radar 802, and then the position of the robot moving to the insulator is determined according to the walking speed of the robot, so as to calculate the piece distance of the insulator piece.

[0069] The first laser radar 801 and the third laser radar 804 symmetrically arranged on both sides of the control unit housing of the control and counterweight module 8 are used to determine whether the robot moves to the most edge position.

[0070] As shown in Figure 12 The insulator zero value detection operation flow is as follows: after the robot is in place, the robot can automatically move to the measurement position of the first insulator on the low-voltage side according to the sensor detection position, stop moving, control the measurement probe to swing inward to the insulator steel cap below the robot, first collect the distributed voltage of the insulator, then start the high-voltage pulse measurement loop according to the size of the existing distributed voltage, and judge according to whether the insulator is broken down; when double-string insulators, the measurement probe is controlled to swing outward to detect the opposite insulator.

[0071] Three laser radars automatically position insulators: When the robot normally walks and measures on the insulator, the middle ranging sensor is directly opposite the center of the insulator, and according to the distance obtained by the sensor, it can be calculated whether the position directly opposite the sensor is an insulator piece or a steel cap. According to the walking speed of the robot and the fixed position of the sensor in the robot, the robot can be accurately moved to any position of the insulator, so as to calculate the piece distance of the insulator. The determination of the piece distance can ensure that the measurement probe accurately touches the measurement position (steel cap) each time. The other two laser radars are symmetrically distributed on both sides. When the robot is in the middle of the insulator string, the two sensors can measure the insulator porcelain piece or steel cap as the robot moves. However, when the robot moves close to the most edge insulator, the laser radar in the front direction no longer sees the insulator porcelain piece, so it can be determined that the robot has moved to the most edge position and no longer detects forward; conversely, the endpoint in the other direction is sensed by the other laser radar on the side.

[0072] Embodiment 4, based on the same inventive concept as other embodiments, introduces a computer readable storage medium storing one or more programs, the one or more programs including instructions which, when executed by a computing device, cause the computing device to perform the method of the first aspect.

[0073] Embodiment 5, based on the same inventive concept as other embodiments, introduces a computer device, including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for executing the method of the second aspect.

[0074] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, the methods can be tangibly embodied in a machine-readable storage medium having stored thereon instructions that can be used to program a computer to perform any of the methods. The software implementation can be initialized by loading and executing a set of instructions arranged to perform one of the methods into the computer's memory. Alternatively, hard-wired circuitry can be used in place of, or in combination with, software instructions. Thus, the

[0075] The present application is described in reference to the flowchart and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in one or more of the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function specified by the flowchart and / or block diagram block or blocks.

[0076] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in one or more of the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function specified by the flowchart and / or block diagram block or blocks.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in one or more of the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function specified by the flowchart and / or block diagram block or blocks.

[0078] The above description is only preferred embodiments of the present application. It is obvious that those skilled in the art can make some improvements and modifications without departing from the technical principles of the present application. These improvements and modifications should also be considered as falling within the protection scope of the present application.

Claims

1. An insulator zero value detection robot characterized by, The utility model relates to a kind of unmanned aerial vehicle inspection robot, including: Barbed skeleton (1); Insulating walking mechanism (2) for moving on insulator is arranged on the left and right sides of the barbed skeleton (1) respectively; The barbed skeleton (1) is further connected with zero value detection device (5) and probe swing mechanism (4); Unmanned aerial vehicle mounting module (3) is installed above the barbed skeleton (1); Energy dissipation module (6) and transmission motor module (7) are connected to the end of the barbed skeleton (1) away from insulator below;The energy dissipation module (6) includes arc ring (601) and high-voltage resistor (602);Arc ring (601) is connected in series through high-voltage resistor (602) metal shielding shell of transmission motor module (7), and arc ring (601) is located between high-voltage insulator (11) and transmission motor module (7); Transmission motor module (7) is connected with insulating walking mechanism (2) and probe swing mechanism (4) respectively through drive shaft.

2. The insulator null detection robot of claim 1, wherein, Further including: Control and counterweight module (8) is arranged below the barbed skeleton (1), and is drivingly connected with transmission motor module (7), and the center of gravity of robot is adjusted by transmission motor module (7).

3. The insulator null detection robot of claim 2, wherein, The control and counterweight module (8) includes configuration control unit and counterweight unit connected by connecting rod, the configuration control unit is provided with shell, IMU attitude sensor is arranged in the shell, first laser radar (801), second laser radar (802), third laser radar (804) and first camera (803) are arranged on the shell; The IMU attitude sensor is used for monitoring attitude deviation, and outputs center of gravity adjustment signal to transmission motor module (7), so that transmission motor module (7) adjusts the deflection of control and counterweight module (8); The first laser radar (801) and third laser radar (804) are symmetrically arranged on the two sides of the shell, and are used for determining whether the robot moves to the end of insulator string, and generating return instruction when moving to the end of insulator string; The second laser radar (802) is located at the center of the front of the shell, and is used for collecting the pitch distance of insulator; The first camera (803) and the second camera (708) arranged on the front of transmission motor module (7) cooperate to form binocular camera, and the horizontal and vertical distances of the robot relative to insulator are measured by binocular algorithm of the two cameras, so as to plan the best path of unmanned aerial vehicle automatic navigation.

4. The insulator null detection robot of claim 1, wherein, The barbed skeleton (1) includes left skeleton (101), right skeleton (102) and lower skeleton (103), wherein the left skeleton (101) is fixedly connected with the right skeleton (102), and the right skeleton (102) is fixedly connected with the downwardly extending lower skeleton (103) on the right side thereof; The insulating walking mechanism (2) is arranged below the left skeleton (101) and the right skeleton (102) respectively, and the zero value detection device (5) and the probe swing mechanism (4) are arranged on the left side of the left skeleton (101).

5. The insulator null detection robot of claim 4, wherein, The lower end of the lower skeleton (103) is sequentially provided with the energy dissipation module (6) and the transmission motor module (7).

6. The insulator null detection robot of claim 4, wherein, The insulating walking mechanism (2) comprises a soft rubber track (202) in contact with an insulator, a driving wheel driving the soft rubber track (202) to walk, and a track support (201) arranging the soft rubber track and the driving wheel and connecting with the left frame (101) or the right frame (102), and the driving wheel is connected with the transmission motor module through a driving shaft.

7. The insulator null detection robot of claim 1, wherein, The unmanned aerial vehicle mounting module (3) comprises a guide support (301), a guide magnet (302) and a locking nut (304). The guide support (301) is a frame structure with a large upper part and a small lower part, and a plurality of guide magnets (302) and locking nuts (304) are arranged at the bottom of the guide support (301).

8. The insulator null detection robot of claim 7, wherein, The bottom of the guide support (301) is also provided with an anti-twisting groove (303).

9. The insulator nullity detection robot according to claim 8, characterized in that, Further comprising: The docking tool (9) comprises an outer cover plate (901), The top of the outer cover plate (901) is provided with a plurality of hanging point supports (902), and the plurality of hanging point supports (902) are connected with the unmanned aerial vehicle through a hanging rope mechanism (10); The side of the outer cover plate (901) is provided with a switch (903) and a charging port (904); The bottom of the outer cover plate (901) matches the shape of the bottom of the guide support (301), and the bottom of the outer cover plate (901) is also provided with a magnet (905) corresponding to the position of the guide magnet (302) and attracting each other, an anti-twisting protrusion (906) matched with the anti-twisting groove (303), and a motor lead screw (907) matched with the locking nut (304).

10. The insulator null detection robot of claim 9, wherein, The outer cover plate (901) is made of aluminum alloy material, and the circuit part connected with the switch (903), the charging port (904) and the motor lead screw (907) is arranged inside the outer cover plate (901).

11. The insulator nullity detection robot of claim 9, wherein, The hanging rope mechanism (10) comprises a frame structure made of plastic insulating hard material and a rope; A plurality of ropes are respectively connected with the hole positions of the hanging point supports (902) and the corresponding hole positions at the bottom of the frame structure, and the top of the frame structure is connected with the unmanned aerial vehicle.

12. The insulator null detection robot of claim 4, wherein, The probe swing mechanism (4) comprises a swing rod shaft (401), a connecting rod (402), a probe (403), a gear (404) and a transmission shaft (405); The swing rod shaft (401) is rotatably connected with the left side of the left frame (101), and the two ends of the swing rod shaft (401) are fixedly connected with the probe (403) through the connecting rod (402), and the middle part of the swing rod shaft (401) is drivingly connected with the transmission motor module (7) through the gear (404) and the transmission shaft (405).

13. The insulator nullity detection robot according to claim 2, wherein The transmission motor module (7) comprises a motor support (704), and a walking motor (701), a probe swing motor (702) and a counterweight swing motor (703) arranged in the motor support (704); The walking motor (701) is drivingly connected with the insulating walking mechanism (2) through a driving shaft (705); The probe swing motor (702) is drivingly connected with the probe swing mechanism (4) through a probe swing shaft (706); The probe swing motor (702) is drivingly connected with the probe swing mechanism (4) through a probe swing shaft (706); The rotating output end of the counterweight swing motor (703) is connected with a counterweight swing arm (707), and the counterweight swing arm (707) is fixedly connected with the control and counterweight module (8).

14. A control method of the insulator zero-value detection robot according to any one of claims 1 to 13, characterized by, Comprise: In response to the control instruction of the robot entering the online mode, the probe of the probe swing mechanism (4) and the control and counterweight module (8) are controlled to move vertically downward by the transmission motor module (7); In response to the control instruction of the unmanned aerial vehicle docking with the robot, the unmanned aerial vehicle is controlled to fly above the robot, and the docking tool (9) carried by the unmanned aerial vehicle is used to dock with the unmanned aerial vehicle mounting module (3); after the unmanned aerial vehicle mounting module (3) completes the alignment and locking action, a mounting success instruction is sent after a few seconds; In response to the mounting success instruction, the unmanned aerial vehicle is controlled to fly to the standby area above the robot, and two cameras respectively arranged on the transmission motor module (7) and the control and counterweight module (8) are used to collect image information of the measured insulator string at the same time, and the horizontal and vertical distances of the robot relative to the insulator string are measured according to the image information by using the binocular algorithm of the two cameras; According to the horizontal and vertical distances, the best path of the robot movement is planned and sent to the flight control system of the unmanned aerial vehicle, the unmanned aerial vehicle is commanded to enter the automatic navigation mode, and the docking tool (9) carried by the unmanned aerial vehicle is used to dock with the unmanned aerial vehicle mounting module (3); the transmission motor module (7) controls the probe of the probe swing mechanism (4) and the control and counterweight module (8) to adjust the center of gravity of the robot, and after the adjustment is completed, a control instruction of separating from the robot is generated; In response to the control instruction of the unmanned aerial vehicle separating from the robot, the unmanned aerial vehicle mounting module (3) is controlled to perform an unlocking action, and the unmanned aerial vehicle is controlled to ascend and leave the robot to return to the standby area.

15. The control method of the insulator nullity detection robot according to claim 14, characterized by, Further comprise: In response to the control instruction of the robot entering the offline mode after completing the measurement, the robot is controlled to return to the position when it is online, and the unmanned aerial vehicle is controlled to enter the position above the robot according to the path when it is online last time; An image obtained by a downward-looking camera of the unmanned aerial vehicle is acquired, the positions of the docking tool and the guide bracket are located, a motion path of the unmanned aerial vehicle for accurately docking with the robot is planned, the unmanned aerial vehicle is controlled to dock with the unmanned aerial vehicle mounting module (3) according to the planned motion path, and after the docking is successful, the unmanned aerial vehicle is controlled to enter the standby area, and the unmanned aerial vehicle is controlled to return or enter the measurement of the next insulator string.

16. The control method of the insulator nullity detection robot according to claim 14, characterized by, The process that the docking tool (9) carried by the unmanned aerial vehicle docks with the unmanned aerial vehicle mounting module (3) comprises: The probe of the probe swing mechanism (4) and the control and counterweight module (8) are controlled to move vertically downward by the transmission motor module (7); The unmanned aerial vehicle is controlled to slowly descend from above the robot, so that the docking tool (9) falls along the guide frame of the guide bracket of the unmanned aerial vehicle mounting module (3); During the descending process, the automatic alignment action of the unmanned aerial vehicle mounting tool is completed by cooperating with the magnetic force of the guide magnet arranged at the bottom of the guide frame; In response to the locking instruction after the automatic alignment action, the motor in the docking tool (9) is controlled to rotate the nut, and the docking tool (9) is locked with the unmanned aerial vehicle mounting module (3) of the robot.

17. A detection method of the insulator zero-value detection robot according to any one of claims 1 to 13, characterized by, Comprise: After the robot is in place on the insulator string, in response to a start operation instruction, the position of the insulator string where the robot is located is detected according to a sensor; According to the detected position, the insulating walking mechanism (2) is controlled to move to the measurement position of the first insulator on the low-voltage side by the transmission motor module (7); After reaching the measurement position of the first insulator on the low-voltage side, the probe of the probe swing mechanism (4) is controlled to swing inward to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, and the first probe sampling result is output according to the size of the distribution voltage. Detection sampling is performed using the high-voltage pulse measurement loop of the zero value detection device (5). If not, the insulating walking mechanism (2) is controlled to move to the measurement position of the second insulator on the low-voltage side by the transmission motor module (7). After reaching the measurement position of the second insulator on the low-voltage side, the probe of the probe swing mechanism (4) is controlled to swing inward to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, and the second sampling result is output according to the size of the distribution voltage. Detection sampling is performed using the high-voltage pulse measurement loop of the zero value detection device (5). The insulating walking mechanism (2) is controlled to walk to the measurement position of the next insulator and perform detection sampling in turn until the end of the insulator string is reached, and the zero value detection is completed.

18. The detection method of claim 17, wherein, The position of the insulator string where the robot is located is detected according to a sensor, including: When walking and measuring on the insulator normally, the second laser radar (802) located in the middle of the control unit housing of the control and counterweight module (8) is directed upward to the center of the insulator, and according to the distance obtained by the second laser radar (802), it is calculated whether the position opposite to the second laser radar (802) is an insulator piece or a steel cap. Then, according to the walking speed of the robot, the position of the robot moving to the insulator is determined, and the piece distance of the insulator piece is calculated.

19. The detection method of claim 18, wherein, Whether the first laser radar (801) and the third laser radar (804) symmetrically arranged on both sides of the control unit housing of the control and counterweight module (8) recognize the insulator porcelain piece determines whether the robot moves to the most edge position.

20. The method of claim 17, wherein, Further comprising: When the insulator string is a double string insulator, the probe of the probe swing mechanism (4) is controlled to swing outward to detect the opposite insulator.

21. A computer-readable storage medium storing one or more programs, wherein the one or more programs comprise instructions executable by one or more computers to perform all the steps of any of the methods of claims 1-20. The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any of the methods of claims 14-16.

22. A computer device, comprising: Including, One or more processors, memories, and one or more programs, wherein the one or more programs are stored in the memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 17-20. Including, One or more processors, memories, and one or more programs, wherein the one or more programs are stored in the memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 17-20.

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