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

Abstract

The application discloses an insulator zero-value detection robot in the technical field of high-altitude live working, a control method, a detection method, a medium and equipment, and comprises an inverted hook type framework; an insulating walking mechanism for moving on the insulator is arranged on the left side and the right side of the inverted hook type framework; the inverted hook type framework is further connected with a zero-value detection device and a probe swing mechanism; a unmanned aerial vehicle mounting module is installed above the inverted hook type framework; an arc striking energy absorbing module and a transmission motor module are connected to the end of the inverted hook type framework away from the insulator; the transmission motor module is connected with the insulating walking mechanism and the probe swing mechanism through driving shafts respectively. The main structural materials of the robot near the insulator are all insulating materials, so that the influence of the metal structure on the distributed 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 arranged at the lower position, away from the live area of the insulator, so that the direct discharge of the high-voltage area of the insulator to the metal body is avoided.

Description

Technical Field

[0001] This invention relates to an insulator zero-value detection robot, control method, detection method, medium, and equipment, belonging to the field of high-altitude live-line working technology. Background Technology

[0002] Porcelain insulators are widely used in tension lines with voltage levels of 500kV and above. Their sheer number and complex operating environment significantly impact the safe operation of the power grid. Exposed to the elements for extended periods, insulators are subjected to high-voltage electric field stress, wind, rain, lightning strikes, pollution, and temperature variations, making them susceptible to insulation degradation, decreased mechanical strength, and internal discharge faults.

[0003] Characteristics of deteriorated insulators include, but are not limited to: decreased insulation resistance, increased leakage current, abnormal thermal imaging, electric field distortion, enhanced partial discharge, and increased ultraviolet pulse frequency. Some early deterioration processes are insidious and irreversible. Once triggered by pollution flashover or lightning strikes during operation, they can lead to serious accidents such as flashover, cap failure, and conductor breakage, resulting in widespread power outages. While manual tower climbing inspection is traditional, it suffers from low efficiency, high risk, and limited accuracy, making it difficult to meet the requirements of modern power systems for efficient and reliable inspections.

[0004] To ensure the safety of high-voltage power grids, regular zero-value testing, visual inspection, and cleaning of insulator strings are required. Manual inspection in high-altitude, high-voltage environments is time-consuming, labor-intensive, and unsafe, leading to the development of fully automated insulator string inspection robots. However, existing robots are susceptible to interference from arcing during high-voltage live-line contact separation and from strong electromagnetic fields affecting electronic circuits and communication controls, sometimes resulting in robot malfunctions. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.

[0007] In a first aspect, the present invention discloses an insulator zero-value detection robot, comprising: a barbed skeleton;

[0008] The hook-shaped frame is provided with an insulating walking mechanism on each of its left and right sides for moving on the insulator;

[0009] The barbed frame is also connected to a zero-value detection device and a probe swing mechanism;

[0010] The drone mounting module is installed on top of the barbed frame;

[0011] 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 with the metal shielding shell of the transmission motor module in series through the high-voltage resistor, and the arc striking ring is located between the high-voltage insulator and the transmission motor module.

[0012] The transmission motor module is connected with the insulating walking mechanism and the probe swing mechanism through the driving shaft respectively.

[0013] 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.

[0014] 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.

[0015] 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;

[0016] 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;

[0017] The second laser radar is located at the center of the front surface of the shell and is used for collecting the pitch distance of the insulator;

[0018] 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.

[0019] 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;

[0020] 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.

[0021] Further, the lower end of the lower framework is sequentially provided with the energy dissipation module and the transmission motor module.

[0022] Further, the insulating walking mechanism comprises soft rubber tracks in contact with the insulator, driving wheels driving the soft rubber tracks to walk, and track supports arranging the soft rubber tracks and the driving wheels and connecting with the left frame or the right frame, and the driving wheels are connected with the transmission motor module through a driving shaft.

[0023] Further, the unmanned aerial vehicle mounting module comprises a guide support, a guide magnet and a locking nut.

[0024] 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.

[0025] Further, the bottom of the guide support is further provided with an anti-twist groove.

[0026] Further, it further comprises a docking tool, the docking tool comprises an outer cover plate,

[0027] 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 with the unmanned aerial vehicle through a hanging rope mechanism.

[0028] The side of the outer cover plate is provided with a switch and a charging port;

[0029] 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-twist protrusion matched with the anti-twist groove, and a motor lead screw fixedly matched with the locking member.

[0030] Further, the outer cover plate is made of aluminum alloy material, and the circuit part connected with the switch, the charging port and the motor lead screw is arranged inside the outer cover plate.

[0031] Further, the hanging rope mechanism comprises a frame structure made of plastic insulating hard material and a rope;

[0032] A plurality of ropes are respectively connected with 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 with the unmanned aerial vehicle.

[0033] Further, the probe swing mechanism comprises a swing rod shaft, a connecting rod, a probe, a gear and a transmission shaft;

[0034] The swing rod shaft is rotatably connected with the left side of the left frame, and the two ends of the swing rod shaft are fixedly connected with the probe through the connecting rod, and the middle part of the swing rod shaft is drivingly connected with the transmission motor module through the gear and the transmission shaft.

[0035] 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;

[0036] The walking motor is connected to the insulation walking mechanism through a driving shaft;

[0037] The probe swing motor is connected to the probe swing mechanism through a probe swing shaft;

[0038] The rotating output end of the counterweight swing motor is connected with a counterweight swing arm, and the counterweight swing arm is fixedly connected to the control and counterweight module.

[0039] In a second aspect, the application discloses a control method of the insulator zero value detection robot.

[0040] In response to a control instruction that the robot enters an online mode, the probe of the probe swing mechanism and the control and counterweight module are controlled to be vertically downward through the transmission motor module;

[0041] In response to a control instruction of the unmanned aerial vehicle to 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 several seconds;

[0042] In response to the mounting success instruction, the unmanned aerial vehicle is controlled to fly to a standby area above the robot, two cameras respectively arranged on the transmission motor module and the control and counterweight module 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 the binocular algorithm of the two cameras;

[0043] 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 an automatic navigation mode, the docking tool carried by the unmanned aerial vehicle is used to dock the unmanned aerial vehicle mounting module, the probe of the probe swing mechanism and the control and counterweight module are controlled by the transmission motor module to adjust the center of gravity of the robot, and after the adjustment is completed, a control instruction of the robot is generated to be separated;

[0044] In response to the control instruction of the unmanned aerial vehicle to be separated from the robot, the unmanned aerial vehicle mounting module 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.

[0045] Further, the application further comprises:

[0046] In response to a control instruction that the robot enters an offline mode after completing the measurement, the robot is controlled to return to the position when the robot is online, and the unmanned aerial vehicle is controlled to enter the position above the robot according to the path when the robot is online last time;

[0047] Acquire the image obtained by the downward-looking camera of the unmanned aerial vehicle, locate the positions of the docking tool and the guide bracket, plan the motion path of the unmanned aerial vehicle for accurately docking with the robot, control the unmanned aerial vehicle to move along the planned motion path, and the docking tool carried by the unmanned aerial vehicle docks with the unmanned aerial vehicle mounting module; after successful docking, the unmanned aerial vehicle is controlled to autonomously navigate into a standby area, and the unmanned aerial vehicle is controlled to return or enter the measurement of the next insulator string.

[0048] Further, the process that the docking tool carried by the unmanned aerial vehicle docks with the unmanned aerial vehicle mounting module comprises:

[0049] The probe of the probe swing mechanism and the counterweight module are controlled to move vertically downward by the transmission motor module;

[0050] The unmanned aerial vehicle is controlled to slowly descend from above the robot, so that the docking tool falls into the guide frame of the guide bracket of the unmanned aerial vehicle mounting module;

[0051] 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;

[0052] In response to the locking instruction after the automatic alignment action, the motor in the docking tool is controlled to rotate the nut, so as to lock the docking tool with the unmanned aerial vehicle mounting module of the robot.

[0053] In a third aspect, the application discloses a detection method of an insulator zero-value detection robot, comprising:

[0054] 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;

[0055] According to the detected position, the insulator walking mechanism is controlled to move to the measurement position of the first insulator on the low-voltage side by a transmission motor module;

[0056] 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, the first probe sampling result is output by using a high-voltage pulse measurement loop of a zero-value detection device to detect and sample according to the size of the distribution voltage;

[0057] It is judged whether the end of the insulator string is reached, if not, the insulator walking mechanism is controlled to move to the measurement position of the second insulator on the low-voltage side by a transmission motor module;

[0058] After reaching the measuring position of the second insulator on the low-voltage side, the probe inside the probe swing mechanism controlled by the control probe swing mechanism swings onto the insulator steel cap under the robot, the distributed voltage of the insulator is collected, the second sampling result is outputted by using the high-voltage pulse measuring loop of the starting zero value detection device to detect and sample according to the size of the distributed voltage.

[0059] The insulating walking mechanism is controlled in sequence to walk to the measuring position of the next insulator and detect and sample until the end of the insulator string is reached, and the zero value detection is completed.

[0060] Further, the position of the insulator string where the robot is located is detected according to the sensor, and the position of the insulator string where the robot is located is detected according to the sensor.

[0061] When the insulator is normally walked and measured, the second laser radar located in the middle of the control unit shell of the control and counterweight module is upwardly directed 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 of the second laser radar is the insulator piece or the 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.

[0062] 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.

[0063] Further, it further comprises:

[0064] When the insulator string is a double string insulator, the probe outside the probe swing mechanism is swung to detect the opposite insulator.

[0065] In a fourth aspect, the present application discloses 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.

[0066] In a fifth aspect, the present application discloses a computer device, comprising,

[0067] 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, and the one or more programs include instructions for executing the method of the second aspect.

[0068] The present application has the following beneficial effects:

[0069] The main structural material of the robot close to the insulator part is all insulating material, so that the influence of the metal structure on the distributed 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 located 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.

[0070] 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 operating 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 online, it enters from the side skeleton and is mounted on the insulator. Compared with a robot with the same length on both sides, the operating 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 effect on the electric field distribution of the insulator when intervening, and is also away from the high-voltage detection equipment, increasing the distance of corona. It can better adapt to high-voltage lines. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 is the overall structure schematic diagram of the present application;

[0072] Figure 2 is the inverted hook type skeleton structure schematic diagram;

[0073] Figure 3 is the insulating walking mechanism structure schematic diagram;

[0074] Figure 4 is the unmanned aerial vehicle mounting module structure schematic diagram;

[0075] Figure 5 is the probe swing mechanism structure schematic diagram;

[0076] Figure 6 is the energy dissipation module structure schematic diagram;

[0077] Figure 7 is the transmission motor module structure schematic diagram;

[0078] Figure 8 is the docking tool structure schematic diagram;

[0079] Figure 9 is the control and counterweight module structure schematic diagram;

[0080] Figure 10 is the working schematic diagram of the present application;

[0081] Figure 11 is the robot online and offline process schematic diagram of the present application;

[0082] Figure 12 is the robot detection process schematic diagram of the present application.

[0083] In the figure: 1, barbed skeleton; 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 skeleton; 102, right skeleton; 103, lower skeleton; 201, track support; 202, track; 203, driving wheel; 204, driven wheel; 205, small roller; 301, guide support; 302, guide magnet; 303, anti-twist 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, anti-twist protrusion; 907, motor screw. DETAILED DESCRIPTION

[0084] The application will be further described below with reference to 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.

[0085] In the description of the application, it should 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, and are only used for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" and the like are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0086] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0087] Embodiment 1, as shown in Figure 1 and Figure 10 , this embodiment introduces an insulator zero value detection robot, comprising: a barb type framework 1;

[0088] The barb type framework 1 is provided with an insulating walking mechanism 2 on each side for moving on the insulator;

[0089] 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 out;

[0090] The barb type framework 1 is provided with an unmanned aerial vehicle mounting module 3 above it;

[0091] The barb type framework 1 is connected with an energy dissipation module 6 and a transmission motor module 7 at the end away from the insulator below it; The energy dissipation module 6 is used to reduce the interference of discharge sparks on the robot control system.

[0092] As shown in Figure 6 , the energy dissipation module 6 includes 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.

[0093] On the basis of commonly used electromagnetic shielding methods such as metal shielding shell, potential treatment of circuit interface shell, copper mesh wrapping of signal line, etc., the energy dissipation module is also used to limit the electric spark current generated between the high-voltage insulator and the robot, so as to realize the effective application of the robot in high-voltage environment.

[0094] When the electric field strength exceeds the insulation strength of the medium, the medium is broken down, a discharge occurs between the high-voltage electrode and the metal shell, and a spark is 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 insulating medium requires a weight penalty, but due to the limitations of weight and mechanical structure of the robot itself, the method of increasing the coverage of the insulating medium cannot be adopted, and only the insulating property of air can be relied on to ensure the discharge distance. Since the insulating distance of air is about 10KV per centimeter, for a 500KV power line, the insulating distance of air is only 50 centimeters. Therefore, when the shielding metal shell on the robot approaches the power line within 50 centimeters, high-voltage discharge will occur, and serious electric sparks will occur 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 a series arc ring and a high-voltage resistor is also used to reduce the discharge current and reduce the influence on the control circuit.

[0095] The energy dissipation module adopts a series connection mode of an arc guide body and an inductor, 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 spark through the high-voltage resistor, thereby reducing the interference of the discharge spark on the robot control system.

[0096] The transmission motor module 7 is connected to the insulating walking mechanism 2 and the probe swing mechanism 4 through drive shafts respectively.

[0097] In this embodiment, a control and counterweight module 8 is also 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 center of gravity of the whole robot; and contains a control chip and a battery. The barb design of the robot easily causes the center of gravity to deviate from the center line of the insulator, so the counterweight module needs to swing to adjust the center of gravity of the robot.

[0098] As shown in Figure 8 The control and counterweight module 8 includes a configuration control unit and a counterweight unit connected by 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;

[0099] The IMU attitude sensor is used to monitor the attitude deviation and output a center of gravity adjustment signal to the transmission motor module 7 to adjust the deflection of the control and counterweight module 8;

[0100] The first laser radar 801 and the third laser radar 804 are symmetrically arranged on both sides of the shell, and are used to determine whether the robot moves to the end of the insulator string. When moving to the end of the insulator string, a homeward instruction is generated;

[0101] The second lidar 802 is located at the center of the front of the housing and is used to collect the spacing between the insulators.

[0102] The first camera 803 and the second camera 708 located on the front of the transmission motor module 7 form a binocular camera. Through the binocular algorithm of the two cameras, the horizontal and vertical distances of the robot relative to the insulator are measured to plan the optimal path for the drone's automatic navigation.

[0103] In this embodiment, as Figure 2 As shown, the hook-shaped frame 1 includes a left frame 101, a right frame 102, and a lower frame 103. The left frame 101 is fixedly connected to the right frame 102, and the lower frame 103, which extends downwards, is fixedly connected to the right side of the right frame 102. The insulating walking mechanism 2 is respectively arranged below the left frame 101 and the right frame 102. The zero-value detection device 5 and the probe swing mechanism 4 are arranged on the left side of the left frame 101. The energy dissipation module 6 and the drive motor module 7 are arranged sequentially at the lower end of the lower frame 103. The hook-shaped structure design, with a short left frame, allows the drone carrying the robot to enter from the left frame and mount on the insulator. Compared to a robot with equal lengths on both sides, this increases the operating space and ensures a safe distance between the drone and the high-voltage line or high-voltage suspension line. The left frame connects to the high-voltage zero-value detection device, and the lower frame connects to the control circuit. The hook-shaped design keeps the control circuit away from the steel cap, minimizing its impact on the electric field distribution of the insulator during intervention. It also keeps the control circuit away from the high-voltage zero-value detection device, increasing the distance for corona discharge and better adapting to high-voltage lines.

[0104] In this embodiment, as Figure 7 As shown, the transmission motor module 7 includes a motor bracket 704, and a walking motor 701, a probe swing motor 702, and a counterweight swing motor 703 disposed within the motor bracket 704; the walking motor 701 is driven to the insulated walking mechanism 2 via a drive shaft 705; the probe swing motor 702 is driven to the probe swing mechanism 4 via a probe swing shaft 706; the rotation output end of the counterweight swing motor 703 is connected to a counterweight swing arm 707, and the counterweight swing arm 707 is fixedly connected to the control and counterweight module 8.

[0105] like 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] As shown in the figure, Figure 9As shown, the docking tool 9 includes an outer cover plate 901, the top of which is provided with a plurality of hanging point supports 902 connected to the UAV through a hanging rope mechanism 10; the side of the outer cover plate 901 is provided with an on-off 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 further provided with a magnet 905 corresponding in position to the guide magnet 302 and attracting each other, an anti-twist protrusion 906 cooperating with the anti-twist groove 303, and a motor lead screw 907 fixedly cooperating with the locking nut 304. The charging port 904 supports 12.6V / 2A charging 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 to the guide magnet 302 by 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 groove 303, have a limiting function, and prevent the motor lead screw 907 from rotating while the mechanism is driven to twist; the motor lead screw 907 is a stepping motor + lead screw transmission into / out of the hole of the locking nut 304, realizes mechanical self-locking and disengagement of the mechanism.

[0110] The outer cover plate 901 is made of aluminum alloy, and the circuit part connected to the on-off switch 903, the charging port 904 and the motor lead screw 907 is arranged inside the outer cover plate 901. The aluminum alloy material and the circuit part placed therein shield the electromagnetic field from interfering with the control circuit.

[0111] In this 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 to 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 to the UAV. Specifically, the frame structure is a square frame made of plastic insulating hard material, a plurality of square frames of the same size are used, four ropes are respectively threaded through the hole positions of the hanging point supports 902 and the hole positions of the corresponding square frames, and finally connected to the UAV. This four-corner hanging line method effectively prevents the hanging tool from twisting in the air, automatically corrects it, and makes it more convenient for the hanging tool to be flexibly docked with the robot upward and downward.

[0112] In Embodiment 2, on the basis of Embodiment 1, a control method of the insulator zero-value detection robot is introduced, which includes:

[0113] In response to a control instruction for the robot to enter the online mode, the probe of the probe swing mechanism 4 and the counterweight module 8 are controlled to be vertically downward by the transmission motor module 7;

[0114] In response to the control instruction of the UAV docking robot, the UAV is controlled to fly above the robot, the docking tool 9 carried by the UAV is used to dock the UAV mounting module 3, after the UAV mounting module 3 completes the alignment and locking action, a mounting success instruction is sent after several seconds;

[0115] In response to the mounting success instruction, the UAV 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;

[0116] 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 UAV, the UAV is commanded to enter the automatic navigation mode, the docking tool 9 carried by the UAV is used to dock the UAV mounting module 3, the transmission motor module 7 controls the probe of the probe swing mechanism 4 and the control and counterweight module 8 adjusts the center of gravity of the robot, after the adjustment is completed, a control instruction of the robot is generated to separate from the robot;

[0117] In response to the control instruction of the UAV separating from the robot, the UAV mounting module 3 is controlled to perform the unlocking action, and the UAV is controlled to ascend and leave the robot to return to the standby area.

[0118] Further comprising: 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 UAV is controlled to enter the position above the robot according to the path when it is online last time;

[0119] An image obtained by a downward-looking camera of the UAV is acquired, the positions of the docking tool and the guide bracket are located, a motion path of the UAV for accurately docking the robot is planned, the UAV is controlled to follow the planned motion path, the docking tool 9 carried by the UAV is used to dock the UAV mounting module 3, after the docking is successful, the UAV is controlled to enter the standby area in the automatic navigation mode, and the UAV is controlled to return or enter the measurement of the next insulator string.

[0120] The process that the docking tool 9 carried by the UAV docks the UAV mounting module 3 includes:

[0121] The probe of the probe swing mechanism 4 and the control and counterweight module 8 are controlled to be vertically downward by the transmission motor module 7;

[0122] The UAV 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 UAV mounting module 3;

[0123] 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 UAV mounting tool;

[0124] In response to the locking instruction after the automatic alignment action, the motor in the docking tool 9 drives the nut to rotate, locking the docking tool 9 with the unmanned aerial vehicle mounting module 3 of the robot.

[0125] As shown in Figure 11 The unmanned aerial vehicle-robot autonomous navigation mode is as follows:

[0126] 1) Online:

[0127] The unmanned aerial vehicle with the robot is first controlled by the pilot to approach the measured insulator string. When the robot 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.

[0128] Through binocular algorithm of the two cameras, the master control system measures the horizontal and vertical distances of the robot relative to the insulator.

[0129] According to the horizontal and vertical distances, the best path that the robot should move next is planned and sent to the flight control system of the unmanned aerial vehicle, commanding the unmanned aerial vehicle to enter the autonomous navigation mode.

[0130] After the unmanned aerial vehicle completes autonomous navigation according to the specified path, the robot commands the robot-unmanned aerial vehicle docking tool to disengage.

[0131] After disengagement, the reverse motion path of the above path is sent to the unmanned aerial vehicle, commanding the unmanned aerial vehicle to enter autonomous navigation, leaving the robot working area and entering the standby area.

[0132] From the standby area, the measurement process of the next insulator string or automatic return is entered.

[0133] 2) Offline:

[0134] After the robot completes measurement and automatically returns to the position at the time of online, the unmanned aerial vehicle automatically enters the position above the robot according to the path at the time of last online in the standby area.

[0135] The robot accurately positions the docking tool and the guide bracket according to the image obtained by the downward-looking camera of the unmanned aerial vehicle, thereby calculating the motion path of the unmanned aerial vehicle for accurately docking the robot and commanding the robot to accurately dock the robot according to the planned path.

[0136] After the robot is successfully docked, the unmanned aerial vehicle is commanded to autonomously navigate into the standby area; in the standby area, the pilot decides whether to automatically return or enter the measurement of the next insulator string.

[0137] Robot-unmanned aerial vehicle docking tool mounting / offline process of the robot

[0138] The robot enters the online / offline mode, at which time the probe and the gravity center adjusting module are vertically downward, preparing for docking of the unmanned aerial vehicle.

[0139] The UAV flies accurately above the robot, and slowly descends, so that the UAV-mounted tool falls into the guide frame of the guide support.

[0140] During the descending process, the magnetic force of the guide magnet prompts the UAV-mounted tool to automatically complete the alignment action, so as to ensure that the connection part of the UAV-mounted tool and the robot-mounted module accurately correspond.

[0141] When the UAV-mounted tool reaches the predetermined position, the internal alignment sensor is triggered, the electric locking nut is started under the driving of the control current, the motor drives the nut to rotate quickly, and the UAV-mounted tool is firmly locked with the robot.

[0142] After the locking process is completed, the system sends a mounting success instruction to inform the operator that the mounting operation has been successfully completed. When the UAV needs to be separated from the robot, the operator sends an unloading command, the electric locking nut is loosened under the reverse driving of the motor, and the UAV-mounted tool automatically separates from the robot.

[0143] In embodiment 3, on the basis of embodiment 2, a detection method of the insulator zero-value detection robot is introduced, comprising:

[0144] 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;

[0145] 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;

[0146] After reaching the measurement position of the first insulator on the low-voltage side, the probe in the probe swing mechanism 4 is swung to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, the first probe sampling result is output by using the high-voltage pulse measurement loop of the zero-value detection device 5 according to the size of the distribution voltage, and detection sampling is performed;

[0147] Whether the end of the insulator string is reached is judged, 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;

[0148] After reaching the measurement position of the second insulator on the low-voltage side, the probe in the probe swing mechanism 4 is swung to the insulator steel cap below the robot, the distribution voltage of the insulator is collected, the second sampling result is output by using the high-voltage pulse measurement loop of the zero-value detection device 5 according to the size of the distribution voltage, and detection sampling is performed;

[0149] The insulating walking mechanism 2 is controlled to walk to the measurement position of the next insulator and perform detection sampling in sequence until the end of the insulator string is reached, and the zero-value detection is completed.

[0150] The step of detecting the position of the robot on the insulator string based on sensors includes:

[0151] When the robot is walking and measuring normally on the insulator, the second lidar 802, located in the middle of the control unit housing of the control and counterweight module 8, faces upwards towards the center of the insulator. Based on the distance obtained by the second lidar 802, it is calculated whether the position facing the second lidar 802 is an insulator piece or a steel cap. Then, based on the robot's walking speed, the position of the robot moving to the insulator is determined, and the spacing between the insulator pieces is calculated.

[0152] The robot determines whether it has moved to the outermost position by using the first lidar 801 and the third lidar 804, which are symmetrically arranged on both sides of the control unit housing of the control and counterweight module 8, to identify the insulator ceramic piece.

[0153] like Figure 12 As shown, the insulator zero-value detection operation process is as follows: After the insulator string 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, and then stop moving. The robot controls the measuring probe to swing inward to the insulator steel cap below the robot. First, the distributed voltage of this insulator is collected. Then, according to the magnitude of the existing distributed voltage, the high-voltage pulse measurement circuit is started, and the insulator is judged based on whether it has broken down. When there are two strings of insulators, the robot controls the measuring probe to swing outward to detect the opposite insulator.

[0154] Three lidar sensors automatically locate the insulators:

[0155] When the robot moves and measures on the insulator, the central ranging sensor is directly facing the center of the insulator. Based on the distance obtained by the sensor, it can be calculated whether the sensor is facing an insulator piece or a steel cap. Then, based on the robot's walking speed and the sensor's fixed position within the robot, the robot can move precisely to any position on the insulator to calculate the piece spacing. Determining the piece spacing ensures that the measuring probe accurately touches the measurement position (steel cap) each time. Two other lidar sensors are symmetrically distributed on either side. When the robot is in the middle of the insulator string, these two sensors can measure either the insulator piece or the steel cap as the robot moves. However, when the robot moves close to the outermost insulator, the lidar sensor in the direction of movement no longer sees the insulator piece, indicating that the robot has reached the outermost position and stops detecting further. Conversely, the endpoint in the other direction is detected by the other lidar sensor on the side.

[0156] Example 4, based on the same inventive concept as the other examples, introduces 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.

[0157] Example 5, based on the same inventive concept as the other examples, introduces a computer device comprising 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 comprising instructions for performing the method of the second aspect.

[0158] As will be appreciated by one skilled in the art, embodiments of the present application can be provided as a method, system, or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, magnetic disks, CD-ROMs, optical storage media such as DVD s, etc.) embodying computer program code thereon for use by a computer or an internal processing device.

[0159] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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 illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0160] 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 functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0161] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable data processing devices provide a process for implementing the functions specified in the flowchart Figure 1 one flow or a plurality of flows and / or the functions specified in the flowchart Figure 1 one flow or a plurality of flows and / or the functions specified in the flowchart

[0162] The above description is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should also be considered as 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 robot, including: Barbed skeleton (1); The barbed skeleton (1) is provided with one insulating walking mechanism (2) for moving on insulator on left and right sides; The barbed skeleton (1) is further connected with zero value detection device (5) and probe swing mechanism (4); The upper of the barbed skeleton (1) is mounted with unmanned aerial vehicle mounting module (3); The lower of the barbed skeleton (1) is connected with energy dissipation module (6) and transmission motor module (7) away from one end of insulator;The energy dissipation module (6) includes arc striking ring (601) and high-voltage resistor (602);Arc striking ring (601) is connected with the metal shielding shell of transmission motor module (7) by high-voltage resistor (602), and arc striking ring (601) is located between high-voltage insulator (11) and transmission motor module (7); The transmission motor module (7) is connected with insulating walking mechanism (2) and probe swing mechanism (4) by drive shaft respectively; The barbed skeleton (1) includes left skeleton (101), right skeleton (102) and lower skeleton (103), wherein left skeleton (101) is fixedly connected with right skeleton (102), and right skeleton (102) is fixedly connected with downwardly extending lower skeleton (103) on right side;The lower of the left skeleton (101) and right skeleton (102) is provided with the insulating walking mechanism (2) respectively, and the left side of the left skeleton (101) is provided with the zero value detection device (5) and probe swing mechanism (4); The lower end of the lower skeleton (103) is sequentially provided with the energy dissipation module (6), transmission motor module (7) and control and counterweight module (8);The control and counterweight module (8) is drivingly connected with the transmission motor module (7), and is driven by the transmission motor module (7) to adjust the gravity center of the whole robot; The control and counterweight module (8) includes configuration control unit and counterweight unit connected by connecting rod, and 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 outputs gravity center adjustment signal to the transmission motor module (7) to make the transmission motor module (7) deflect and adjust 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 judging 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 the transmission motor module (7) cooperatively constitute binocular camera, and the horizontal and vertical distances of the robot relative to insulator are measured through binocular algorithm of the two cameras, so as to plan the best path of unmanned aerial vehicle automatic navigation; The unmanned aerial vehicle mounting module (3) includes guide support (301), guide magnet (302) and 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); The bottom of the guide support (301) is further provided with an anti-twisting groove (303); Further comprising: a docking tool (9), 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 to 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 further provided with a magnet (905) corresponding to the position of the guide magnet (302) and being attracted to 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).

2. The insulator null detection robot of claim 1, wherein, The insulating walking mechanism (2) comprises a soft rubber track (202) in contact with the insulator, a driving wheel driving the soft rubber track (202) to walk, and a track support (201) accommodating the soft rubber track and the driving wheel and connected 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.

3. The insulator null detection robot of claim 1, wherein, The outer cover plate (901) is made of aluminum alloy, and the circuit part connected with the switch (903), the charging port (904) and the motor lead screw (907) is arranged in the outer cover plate (901).

4. The insulator null detection robot of claim 1, 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 to 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.

5. The insulator null detection robot of claim 1, 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).

6. The insulator null detection robot of claim 1, 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).

7. A control method of the insulator zero-value detection robot according to any one of claims 1 to 6, 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 for 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.

8. The control method of the insulator null detection robot according to claim 7, 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 for the unmanned aerial vehicle to accurately dock 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.

9. The control method of the insulator null detection robot according to claim 7, 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.

10. A detection method of the insulator zero-value detection robot according to any one of claims 1 to 6, 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.

11. The detection method according to claim 10, characterized in that, 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.

12. The detection method of claim 11, 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.

13. The method of claim 10, 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.

14. A computer-readable storage medium storing one or more programs, the one or more programs comprising instructions for: 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 7-9.

15. 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 10-13. 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 10-13.

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