Insulator cleaning device carried by unmanned aerial vehicle

Abstract

The invention discloses an insulator cleaning device carried by an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle insulator cleaning, and the insulator cleaning device carried by the unmanned aerial vehicle comprises an unmanned aerial vehicle body, six groups of rotor wings are arranged on the side face of the unmanned aerial vehicle body, and two groups of supporting rods are symmetrically arranged at the bottom of the unmanned aerial vehicle body left and right; a water-free cleaning agent storage box is arranged below a connecting plate of the supporting cross beam, a high-pressure spray pipe is arranged at the top of the battery frame above the connecting plate, a rotating spray head assembly is arranged on the high-pressure spray pipe, and a miniature high-pressure water pump is arranged on a fixing plate on the upper portions of the supporting rods; a water outlet pipe of the water-free cleaning agent storage box is communicated with a high-pressure spray pipe through a micro high-pressure water pump; remote unmanned aerial vehicle operation is achieved through wireless communication between the host and the ground control station, operators can complete insulator cleaning control without approaching high-voltage equipment, potential safety hazards caused by view blind areas are avoided, and the contamination residual rate is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle insulator cleaning, and particularly relates to an insulator cleaning device carried by an unmanned aerial vehicle. BACKGROUND

[0002] As a core component for ensuring insulation performance in power systems, insulators are widely used in outdoor substations and overhead transmission lines. However, insulators are easily adsorbed with industrial dust, sand, bird droppings and other contaminants due to long-term exposure to the atmospheric environment. These contaminants can significantly reduce the insulation resistance of insulators under humid conditions, greatly increasing the probability of pollution flashover accidents, and in severe cases, can cause line tripping, equipment damage and significant economic losses. Therefore, regular and efficient cleaning and maintenance of insulators is a key link to ensure reliable operation of the power grid.

[0003] Currently, insulator cleaning and maintenance mainly relies on traditional manual wiping and aerial high-pressure washing, which has certain defects in actual application. Manual cleaning requires maintenance personnel to climb towers or ride insulated boom trucks to approach live equipment, which poses direct risks such as falling and heatstroke during high-altitude operations. More seriously, most insulators need to be cleaned under high-voltage or extra-high-voltage live conditions. Even with insulation protection measures, electric shock accidents can still occur due to equipment surface moisture, improper safety distance control or operational errors, posing a serious threat to the safety of operating personnel.

[0004] Insulators are mostly disc-shaped with complex shapes such as deep grooves and edges, making it difficult for hard brushes and cloths to reach hidden areas during manual wiping, resulting in high contamination residue rates. Meanwhile, tools such as steel balls used in some operations can scratch the insulator glaze or RTV anti-pollution flashover coating, damaging its smooth surface properties and exacerbating subsequent contamination attachment, forming a vicious cycle of "the more you wash, the dirtier it gets", which seriously affects the long-term insulation performance of insulators.

[0005] Among them, Chinese patent CN119872885A controls the extension state of the first electric push rod to adjust the opening state of the adjusting arm, and can control the angle of the spray pipe, but this control method is too low in efficiency and practicality. SUMMARY

[0006] The present application provides an insulator cleaning device carried by an unmanned aerial vehicle.

[0007] The unmanned aerial vehicle-mounted insulator cleaning device comprises an unmanned aerial vehicle body, six groups of rotors are fixedly arranged on the side of the unmanned aerial vehicle body through bolts, two groups of supporting rods are symmetrically arranged on the bottom of the unmanned aerial vehicle body, a cross bar is fixedly and connectively arranged at the bottom of the two groups of supporting rods on one side through bolts, a supporting cross beam is arranged between the upper parts of the two groups of supporting rods symmetrically arranged on the bottom of the unmanned aerial vehicle body, a connecting plate is fixedly arranged on the supporting cross beam through bolts, a water-free cleaning agent storage tank is arranged below the connecting plate, a battery frame is arranged above the connecting plate, two groups of H-shaped fixing members are parallelly arranged on the top of the battery frame, a high-pressure spray pipe is fixedly arranged on the H-shaped fixing member, a rotary spray head assembly is arranged at the end of the high-pressure spray pipe away from the unmanned aerial vehicle body, water pipe interfaces are arranged on the left and right sides of the end of the high-pressure spray pipe close to the unmanned aerial vehicle body, a fixing plate is fixedly arranged on the upper part of the two groups of supporting rods on one side through bolts, a micro high-pressure water pump is fixedly arranged on the fixing plate, a water outlet pipe is arranged at the bottom of the water-free cleaning agent storage tank, an insulating water pipe one is arranged on the water outlet on the left and right sides of the water outlet pipe, the other end of the insulating water pipe one is connected with the input interface of the micro high-pressure water pump, the output interface of the micro high-pressure water pump is provided with an insulating water pipe two, and the other end of the insulating water pipe two is in communication with the water pipe interface on the high-pressure spray pipe. A host is arranged in the unmanned aerial vehicle body, a wireless image transmission module and an insulator identification module are arranged in the host, the host is used for controlling the starting of the unmanned aerial vehicle and the identification of the insulator and controlling the working of the micro high-pressure water pump, the host is electrically connected with a ground control station, the top of the water-free cleaning agent storage tank is fixedly and connectively connected with the connecting plate through buckles and slide rails, the micro high-pressure water pump is used for transporting the cleaning liquid in the water-free cleaning agent storage tank to the rotary spray head assembly, and the rotary spray head assembly is used for automatically rotating to spray and wash the insulator under the control of the host.

[0008] Preferably, a plurality of batteries are fixedly arranged on the battery frame, a sheet metal bent plate one is fixedly arranged on the front side of the battery frame through bolts, an industrial camera is fixedly arranged on the sheet metal bent plate one, a sheet metal bent plate two is fixedly arranged on the rear side of the battery frame through bolts, a 4G transmission unit is fixedly arranged on the sheet metal bent plate two, the industrial camera is electrically connected with the 4G transmission unit, and a power supply interface is fixedly arranged on the side of the battery frame. The wireless image transmission module adopts a 4G image transmission scheme and is composed of an industrial camera, a 4G transmission unit and a cloud server arranged on a bearing frame; the insulator identification module is based on a YOLO visual detection algorithm and comprises a pre-training model and a data processing unit. The ground control station is composed of a remote controller and a visual processing platform, wherein the remote controller integrates unmanned aerial vehicle control and cleaning control functions, and the visual processing platform is arranged as a local computer or a cloud server.

[0009] Preferably, four connecting rods are arranged on the top of the battery frame, and the connecting rods are used for fixedly connecting the top of the battery frame and the unmanned aerial vehicle body through bolts.

[0010] Preferably, the top front side of the water-free cleaning agent storage tank is provided with a water inlet, and a tank cover is arranged on the water inlet.

[0011] Preferably, the upper and lower sides of the end of the high-pressure spray pipe away from the unmanned aerial vehicle body are symmetrically provided with protrusions one, and through holes are arranged on the protrusions one, and a circular spray head is arranged between the through holes of the upper and lower sides of the protrusions one, and a rotating shaft protrusion is fixedly arranged on the upper and lower left and right sides of the circular spray head, and a servo motor one is fixedly arranged on the rotating shaft protrusion on the upper side of the circular spray head, and the rotating shaft one of the servo motor one is connected and fixed with the rotating shaft protrusion on the upper side of the circular spray head, and a servo motor two is fixedly arranged on the rotating shaft protrusion on the upper right side of the circular spray head. A spherical spray head is arranged on one side of the high-pressure spray pipe away from the unmanned aerial vehicle body, and the spherical spray head is symmetrically provided with protrusions two on the left and right sides close to the high-pressure spray pipe, and through holes are arranged on the protrusions two, which are matched with the rotating shaft protrusions on the left and right sides of the circular spray head, and the rotating shaft two of the servo motor two is connected and fixed with the rotating shaft protrusion on the right side of the circular spray head. The servo motor one is used for controlling the rotation of the circular spray head in the horizontal direction through the rotating shaft protrusion, and the servo motor two is used for controlling the rotation of the circular spray head in the vertical direction through the rotating shaft protrusion.

[0012] Preferably, a spray head two is fixedly arranged in the high-pressure spray pipe on the left side of the circular spray head.

[0013] Preferably, a buffer sleeve is arranged on the left and right sides of the horizontal rod, and the buffer sleeve is used for buffering when the device lands.

[0014] Compared with the prior art, the beneficial effects of the present application are: The device adopts an unmanned aerial vehicle hoisting integrated cleaning scheme, realizes remote operation through wireless communication between the host and the ground control station, and the operator can complete the cleaning control without approaching the high-voltage equipment, thereby fundamentally eliminating the double risks of high-altitude falling and high-voltage electric shock, and realizing the essential safety operation mode of man-machine separation. At the same time, the device is designed with full-link insulation of the insulating water pipe one and the insulating water pipe two, and cooperates with the insulation protection treatment of the unmanned aerial vehicle body, thereby further avoiding the risk of electric leakage in live-line work, and ensuring the safety of operation even in an ultra-high voltage line environment. The real-time monitoring system composed of the 4G transmission unit and the industrial camera can enable the operator to clearly understand the operation state and avoid safety hazards caused by visual blind area.

[0015] The six groups of rotors carried by the unmanned aerial vehicle body give the device strong flight performance, which can quickly reach the insulator operation point of different towers and different positions, greatly shortening the transfer time. The insulator identification module based on the YOLO visual detection algorithm can realize automatic and rapid positioning and type judgment of the insulator. With the integrated control function of the ground control station, the cleaning process can be started without manual aiming. The stable high-pressure jet provided by the miniature high-pressure water pump is combined with the automatic operation of the rotating nozzle, completely abandoning the traditional mode of piece-by-piece wiping.

[0016] The rotating nozzle assembly designed by the device can realize the full-dimensional rotation of the circular nozzle in the horizontal and vertical directions through the cooperative control of servo motor one and servo motor two, and can form 360° dead angle cleaning coverage through the multi-directional jet layout of the spherical nozzle and nozzle two. The combination application of water-free cleaning agent and high-pressure jet can not only soften stubborn dirt through chemical action, but also completely remove the remaining dirt through physical impact force, and avoid scratching the insulator glaze surface with hard tools, effectively ensuring the long-term insulation performance. After detection, the cleanliness of the insulator surface cleaned by the device completely meets the operation standard of power equipment, and the pollution residual rate is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A perspective structural schematic diagram of an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 2 A planar structural schematic diagram of an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 3 A perspective structural schematic diagram of the bottom of the unmanned aerial vehicle body in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 4 A perspective structural schematic diagram of a battery frame in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 5 A perspective structural schematic diagram of the rear side of a battery frame in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 6 A perspective structural schematic diagram of a support frame in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 7 A perspective structural schematic diagram of a rotating nozzle assembly in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 8 An exploded perspective structural schematic diagram of a rotating nozzle assembly in an insulator cleaning device carried by an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 9 Fig. 1 is a perspective view of the unmanned aerial vehicle body and the rotors of an unmanned aerial vehicle-mounted insulator cleaning device according to an embodiment of the present disclosure.

[0018] 1, unmanned aerial vehicle body; 2, water-free cleaning agent storage tank; 3, battery frame; 4, 4G transmission unit; 5, rotating spray head assembly; 101, support rod; 102, fixed plate; 103, cross rod; 1031, buffer sleeve; 104, rotor; 105, support cross beam; 106, connecting plate; 201, water outlet pipe; 202, insulating water pipe; 203, tank cover; 204, miniature high-pressure water pump; 301, power interface; 302, battery; 303, sheet metal bending plate; 304, industrial camera; 305, H-shaped fixing piece; 306, connecting rod; 501, high-pressure spray pipe; 502, servo motor; 503, servo motor; 504, ball-shaped spray head; 505, second rotating shaft; 506, second spray head; 507, circular spray head; 508, second protrusion. DETAILED DESCRIPTION

[0019] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings represent the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0020] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0021] In addition, for the sake of brevity, a number of specific details are not described in detail herein. Those skilled in the art should understand that the various embodiments described and pictured herein can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to avoid obscuring the subject matter of the present disclosure.

[0022] Reference Figures 1-8 As shown, the unmanned aerial vehicle-mounted insulator cleaning device of the present embodiment includes an unmanned aerial vehicle body 1, which serves as the bearing and flight core of the device. Six groups of rotors 104 are fixedly arranged on the side of the unmanned aerial vehicle body 1 through bolts. The six groups of rotors 104 are symmetrically distributed to provide stable lift and flight controllability, ensuring that the device can accurately reach the insulator operation position.

[0023] The bottom of the unmanned aerial vehicle body 1 is provided with two groups of support rods 101 which are symmetrically arranged left and right, and the support rods 101 provide support and fixing functions for the bottom part of the device; the bottoms of the two groups of support rods 101 on one side are fixedly connected by bolts and are provided with a cross bar 103, and the left and right sides of the cross bar 103 are sleeved with a buffer sleeve 1031, which can absorb impact force when the device lands, so as to avoid direct collision between the support rods 101 and the ground and cause damage, thereby prolonging the service life of the device.

[0024] The upper parts of the two groups of support rods 101 which are symmetrically arranged on the bottom of the unmanned aerial vehicle body 1 are provided with a support beam 105, and the support beam 105 is fixedly provided with a connecting plate 106 through bolts, and the bolt connection mode facilitates the disassembly, maintenance and assembly of the connecting plate 106; the water-free cleaning agent storage tank 2 is fixedly connected below the connecting plate 106 through the combination of buckles and sliding rails, and the combination structure of the buckles and the sliding rails not only ensures the stable fixation of the storage tank, but also facilitates quick disassembly and refilling of the cleaning agent; a water inlet is arranged on the top front side of the storage tank 2, and a tank cover 203 is arranged on the water inlet to prevent leakage of the cleaning agent or entry of foreign matter from the outside.

[0025] A battery frame 3 is arranged above the connecting plate 106, and the top of the battery frame 3 is provided with four groups of connecting rods 306 which are fixedly connected to the top of the battery frame 3 and the unmanned aerial vehicle body 1 through bolts, thereby enhancing the connection strength between the battery frame 3 and the unmanned aerial vehicle body 1 and avoiding shaking during flight; a plurality of batteries 302 are fixedly arranged on the battery frame 3, and the batteries 302 provide power support for the power-consuming components of the entire device; a metal bent plate one 303 is fixedly arranged on the front side of the battery frame 3 through bolts, an industrial camera 304 is fixedly arranged on the metal bent plate one 303, the industrial camera 304 is used for real-time shooting of insulator pictures to provide image data for subsequent identification and monitoring; a metal bent plate two is fixedly arranged on the rear side of the battery frame 3 through bolts, and a 4G transmission unit 4 is fixedly arranged on the metal bent plate two, the industrial camera 304 is electrically connected with the 4G transmission unit 4, and the 4G transmission unit 4 can transmit the image data shot by the camera to a cloud server or a ground control station in real time; a power supply interface 301 is fixedly arranged on the side surface of the battery frame 3, and the power supply interface 301 facilitates charging of the batteries 302 or connection of external power supply equipment.

[0026] The top of the battery frame 3 is provided in parallel with two groups of H-shaped fixing members 305, and the H-shaped fixing members 305 are fixedly provided with high-pressure spray pipes 501. The H-shaped fixing members 305 can firmly fix the high-pressure spray pipes 501 to prevent displacement of the spray pipes during flight or cleaning. The high-pressure spray pipes 501 are provided with a rotating nozzle assembly 5 at one end away from the unmanned aerial vehicle body 1, and are provided with water pipe interfaces on the left and right sides of the other end close to the unmanned aerial vehicle body 1. The upper parts of the two groups of support rods 101 on one side are fixedly provided with fixed plates 102 by bolts, and the fixed plates 102 are fixedly provided with micro high-pressure water pumps 204. The fixed plates 102 provide a stable mounting base for the water pumps. The bottom of the water-based cleaning agent storage tank 2 is provided with a water outlet pipe 201, and the left and right sides of the water outlet pipe 201 are provided with insulated water pipes 202. One end of the insulated water pipes 202 is connected with the input interface of the micro high-pressure water pump 204, and the output interface of the micro high-pressure water pump 204 is provided with an insulated water pipe 202. The other end of the insulated water pipe 202 is in communication with the water pipe interface on the high-pressure spray pipe 501. The insulated water pipes 202 and the insulated water pipe 202 can avoid the risk of electric leakage during cleaning. When the micro high-pressure water pump 204 works, the cleaning agent in the storage tank 2 can be pressurized and delivered to the high-pressure spray pipe 501 through the insulated water pipes, and finally sprayed out from the rotating nozzle assembly 5.

[0027] The unmanned aerial vehicle body 1 is provided with a host computer, and the host computer is provided with a wireless image transmission module and an insulator identification module. The wireless image transmission module adopts a 4G image transmission scheme and is composed of an industrial camera 304, a 4G transmission unit 4 and a cloud server arranged on the battery frame 3. The wireless image transmission module can realize remote transmission of image and control signal. The insulator identification module is based on a YOLO visual detection algorithm and includes a pre-trained model and a data processing unit. The insulator identification module can quickly identify the position and type of insulator. The host computer is used to control the start and flight of the unmanned aerial vehicle, identify the insulator and control the micro high-pressure water pump 204 to work. The host computer is in electrical communication connection with the ground control station. The ground control station is composed of a remote controller and a visual processing platform. The remote controller integrates the unmanned aerial vehicle control and cleaning control functions. The visual processing platform is set as a local computer or a cloud server. The operator can remotely control the entire cleaning operation process through the ground control station.

[0028] The specific structure of the rotating spray head assembly 5 is that the high-pressure spray pipe 501 is symmetrically provided with protrusions one on the upper and lower sides of the end away from the unmanned aerial vehicle body 1, the protrusions one are provided with through holes, the through holes between the protrusions one on the upper and lower sides are provided with a circular spray head 507, and the circular spray head 507 is fixedly provided with a rotating shaft protrusion on the upper, lower, left and right sides. A servo motor one 502 is fixedly arranged on the rotating shaft protrusion on the upper side of the circular spray head 507, the rotating shaft one of the servo motor one 502 is connected and fixed with the rotating shaft protrusion on the upper side of the circular spray head 507, and the servo motor one 502 can control the circular spray head 507 to rotate in the horizontal direction left and right through the rotating shaft protrusion. A servo motor two 503 is fixedly arranged on the rotating shaft protrusion on the right side of the circular spray head 507, the rotating shaft protrusion on the right side of the circular spray head 507 is connected and fixed with the rotating shaft two 505 of the servo motor two 503, and the servo motor two 503 can control the circular spray head 507 to rotate in the vertical direction up and down through the rotating shaft protrusion. A spherical spray head 504 is arranged on one side of the high-pressure spray pipe 501 away from the unmanned aerial vehicle body 1, the spherical spray head 504 is symmetrically provided with protrusions two 508 on the left and right sides close to the high-pressure spray pipe 501, the protrusions two 508 are provided with through holes, and the through holes are matched with the rotating shaft protrusions on the left and right sides of the circular spray head 507. A spray head two 506 is fixedly arranged in the high-pressure spray pipe 501 on the left side of the circular spray head 507, and through the cooperative control of the servo motor one 502 and the servo motor two 503, the spherical spray head 504 and the spray head two 506 can realize 360° dead angle-free cleaning and cover the deep grooves and corners of insulators.

[0029] In some examples, the outer side of the industrial camera 304 is provided with a transparent dustproof and waterproof cover, the dustproof and waterproof cover is fixedly connected with the sheet metal bent plate one 303 through buckling, the dustproof and waterproof cover can prevent dust and rain from adhering to the camera lens during outdoor operation, avoid affecting the image shooting clarity, and ensure that the insulator identification module can accurately obtain insulator information.

[0030] In some examples, the outer side of the 4G transmission unit 4 is provided with a signal enhancement antenna, the signal enhancement antenna is connected with the signal interface of the 4G transmission unit 4 through threads, and when operating in remote mountainous areas or signal weak areas, the signal enhancement antenna can enhance the 4G signal receiving and transmission capability, avoid operation out of control due to signal interruption, and ensure the stability of remote control.

[0031] In some examples, the side of the battery 302 is provided with a fast charging interface, the fast charging interface is electrically connected with the internal cell of the battery 302, when the battery power is insufficient, a special charger is connected through the fast charging interface, the battery charging time can be shortened, the equipment standby waiting time is reduced, and the single-day operation efficiency is improved.

[0032] In some examples, the side of the micro high-pressure water pump 204 is provided with a pressure adjusting button which is electrically connected with the water pump internal pressure control module, and the operator can remotely control the pressure adjusting button through the ground control station according to the surface contamination degree of the insulator, so as to adjust the water pump output pressure, avoid damage to the insulator glaze due to excessive pressure, or cause the contamination to be unable to be completely removed due to insufficient pressure.

[0033] The working principle of the present application is: First, according to the insulator cleaning operation scene, such as 110kV overhead line and substation equipment, the assembly and function debugging of each component of the device are completed to ensure that each part is reliably connected and the system communication is smooth.

[0034] An industrial six-rotor unmanned aerial vehicle with a load of 30kg is selected as the unmanned aerial vehicle body 1, and six groups of rotors 104 fixed on the side of the unmanned aerial vehicle body 1 can provide stable lifting force and precise control; the two groups of support rods 101 symmetrically arranged at the bottom of the unmanned aerial vehicle body 1 are used as the bearing base, the bottom of one side support rod 101 is fixed with a horizontal rod 103 through bolts, and the buffer sleeves 1031 sleeved on both sides of the horizontal rod 103 can absorb impact force in subsequent landing to avoid direct collision between the support rod 101 and the ground; the support beam 105 between the upper parts of the two side support rods 101 is fixedly connected with the connecting plate 106 through bolts, and the 20L water-free cleaning agent storage tank 2 is fixed below the connecting plate 106 through the buckle and slide rail combination, the buckle and slide rail structure not only ensures the stability of the storage tank 2, but also facilitates subsequent disassembly and refilling of the cleaning agent, and the tank cover 203 of the water inlet at the top front side of the storage tank 2 can prevent the cleaning agent from leaking; the battery frame 3 above the connecting plate 106 is bolted to the unmanned aerial vehicle body 1 through the four groups of connecting rods 306 at the top, so as to ensure that the battery frame 3 does not shake during flight, and the multiple groups of batteries 302 fixed on the frame provide power for the entire device, such as industrial camera 304, 4G transmission unit 4 and micro high-pressure water pump 204, and the power supply interface 301 on the side of the battery frame 3 can be used for battery charging; the two groups of H-shaped fixing members 305 fixed on the top of the battery frame 3 are parallel to each other and fixed with the high-pressure spray pipe 501, so as to prevent the spray pipe from shifting during flight or cleaning, and the fixed plate 102 on the upper part of one side support rod 101 is the micro high-pressure water pump 204, which provides a stable installation base for the rated pressure of 10MPa, the water outlet pipe 201 at the bottom of the storage tank 2 is connected with the water pump input interface through the insulated water pipe one 202, and the water pump output interface is connected with the water pipe interface of the high-pressure spray pipe 501 through the insulated water pipe two, so as to avoid the risk of electric leakage caused by water conduction during cleaning.

[0035] An industrial camera 304 with a resolution of 1920x1080 and a frame rate of 30 fps is fixed on a sheet metal bending plate one 303 on the front side of the battery frame 3. The camera is electrically connected to a 4G transmission unit 4 on a sheet metal bending plate two on the rear side of the frame to form an image transmission link from camera collection to 4G transmission to ground reception. The ground control station is composed of a remote controller integrating unmanned aerial vehicle control and cleaning control functions and a visual processing platform carrying an i7 processor + 16G memory (Windows 10 system). The visual processing platform is installed with a YOLOv8 algorithm framework and is electrically connected to the main machine in the unmanned aerial vehicle body 1 to establish a control link from ground instructions to main machine response to component execution. After loading a pre-trained insulator identification model, the communication delay of the 4G transmission unit 4 and the ground control station is debugged to ensure that the transmission delay of the insulator picture taken by the industrial camera 304 is less than 0.5s, laying a foundation for subsequent accurate identification and remote control.

[0036] The water-free cleaning liquid is filled into the water-free cleaning agent storage tank 2. After the tank cover 203 is tightly covered, the miniature high-pressure water pump 204 is started. The pump draws the cleaning agent from the storage tank 2 through the insulating water pipe one 202, and after being pressurized, it is delivered to the high-pressure spray pipe 501 through the insulating water pipe two, and finally sprayed out from the rotating spray head assembly 5. At this time, the connection sealing of the insulating water pipe one 202 and the insulating water pipe two is checked to avoid leakage, and the spray head water pressure is tested to 8 MPa and the flow rate is 5 L / min to ensure that the pressure output of the miniature high-pressure water pump 204 is stable and the rotating spray head assembly 5 sprays normally, providing reliable power and spraying protection for subsequent cleaning operations.

[0037] After the device is prepared, safe and efficient cleaning of the insulator is realized through remote control of the unmanned aerial vehicle and intelligent identification, and the working principles of each link are as follows: The operator sends a start command to the main machine in the unmanned aerial vehicle body 1 through the remote controller in the ground safety area 50m away from the operation point. The main machine controls the operation of the six groups of rotors 104 to drive the unmanned aerial vehicle to take off. After the unmanned aerial vehicle hovers 10m above the target insulator string, the main machine starts the industrial camera 304. The camera takes real-time pictures of the insulator, and the pictures are transmitted to the visual processing platform of the ground control station through the 4G transmission unit 4. The insulator identification module based on the YOLO visual detection algorithm in the visual processing platform includes a pre-trained model and a data processing unit to analyze the pictures and automatically frame the insulator string. The recognition confidence is 0.92, the position coordinates and size of the insulator string are calculated through the data processing unit, and the information is fed back to the main machine. The main machine adjusts the rotor speed 104 to ensure that the unmanned aerial vehicle is accurately positioned in the peripheral area of the insulator string.

[0038] In the positioning process, the insulator recognition module synchronously analyzes the surface contamination degree of the insulator, such as moderate contamination, and a contamination level of grade 2, and transmits the contamination data to the host computer; the host computer automatically triggers the pressure regulation function of the miniature high-pressure water pump 204 according to the contamination degree, adjusts the water pump output pressure to 9 MPa, and adjusts the flow to 6 L / min; the operator sends a descending instruction to the host computer through the remote controller, and the host computer controls the rotor 104 to slow down, so that the unmanned aerial vehicle hovers at a distance of 2 m from the side of the insulator string, and at the same time, the host computer sends an angle adjustment instruction to the rotating nozzle assembly 5: in the rotating nozzle assembly 5, the servo motor one 502 controls the left and right horizontal rotation of the nozzle through the shaft protrusion on the upper side of the circular nozzle 507, and the servo motor two 503 controls the up and down vertical rotation of the nozzle through the shaft protrusion on the right side of the circular nozzle 507, until the spraying direction is at an angle of 45° with the surface of the insulator, so as to ensure that the cleaning agent can accurately act on the contaminated area.

[0039] The operator presses the "cleaning start" button of the remote controller, and the instruction is transmitted to the host computer through 4G, and the host computer controls the miniature high-pressure water pump 204 to start: the pump draws the cleaning agent from the water-free cleaning agent storage tank 2, and delivers it to the high-pressure spray pipe 501 through the insulating water pipe one 202 and the insulating water pipe two, and then to the rotating nozzle assembly 5 through the high-pressure spray pipe 501; the host computer synchronously controls the servo motor one 502 and the servo motor two 503 to operate, and drives the circular nozzle 507 to rotate at a speed of 60° / s, while the ball-shaped nozzle 504 on the high-pressure spray pipe 501 and the nozzle two 506 in the left high-pressure spray pipe of the circular nozzle 507 are cooperatively sprayed to form a 360° dead angle-free cleaning coverage; the water-free cleaning agent softens stubborn contamination through chemical action, and the high-pressure jet flow completely removes the contamination through physical impact force; during the cleaning process, the industrial camera 304 continuously collects the cleaning picture, and the insulator recognition module dynamically monitors the gray value of the insulator surface in the picture, and when the gray value of a certain area is greater than 150, indicating that the residual contamination exceeds the threshold value, the module sends a prompt to the ground control station, and the operator sends a position fine adjustment instruction to the host computer through the remote controller, and the host computer adjusts the rotating speed of the rotor 104 to move the unmanned aerial vehicle forward and backward by ±0.5 m, so as to ensure that the residual contaminated area is fully washed, and the cleaning time of a single string of insulators is about 3 min.

[0040] After cleaning, the operator presses the cleaning stop button, and the main unit controls the micro high-pressure water pump 204 to shut off, stopping the delivery of cleaning agent. The main unit then controls the rotating nozzle assembly 5 to stop rotating, and at the same time starts the rotor 104 to accelerate, driving the drone slowly away from the work point. During the drone's return to the ground, the buffer sleeves 1031 on both sides of the crossbar 103 are in a buffering state in advance. When the drone lands on the ground, the buffer sleeves 1031 contact the ground first, absorbing the impact of landing and protecting the support rod 101 and other components. After landing, the operator uses the buckle and slide rail to disassemble the waterless cleaning agent storage tank 2, cleans the residual cleaning agent in the rotating nozzle assembly 5, and checks whether the insulating water pipe, high-pressure nozzle 501, industrial camera 304 and other components are damaged, so as to reserve the equipment in good condition for the next operation.

[0041] After each cleaning operation is completed, the insulator images captured by the industrial camera 304, including images of special weather conditions and new types of insulators, are stored on the cloud server via the 4G transmission unit 4. The operator annotates the images, marking the outline of the insulators and the contaminated areas, and adds the annotated new data to the YOLO model training set. Transfer learning is initiated on the vision processing platform of the ground control station, and the pre-trained model of the insulator recognition module is iteratively trained using the new data. By adjusting the model parameters, the recognition accuracy is improved, enabling the model to adapt to insulator recognition under more working conditions, and providing better algorithm support for accurate positioning and contamination judgment in subsequent cleaning operations.

[0042] For battery 302 on battery frame 3, connect the testing equipment through power interface 301 to measure battery capacity. Replace the battery when the capacity is lower than 80% of the rated capacity to ensure stable power supply. For miniature high-pressure water pump 204, start the water pump to test the stability of pressure output. If the pressure fluctuation exceeds ±0.5MPa, check the impeller and seals inside the water pump and replace the parts if necessary. For industrial camera 304, observe the clarity of the camera's image through the vision processing platform. If the image is blurry, clean the lens or replace the camera. At the same time, check the aging of insulating water pipe 1 202 and insulating water pipe 2. If cracks or seal failures occur, replace the insulating water pipes in time to ensure long-term reliable operation of the device and extend the service life of the equipment.

[0043] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An unmanned aerial vehicle-mounted insulator cleaning device, characterized in that, Include: The unmanned aerial vehicle body (1), the side of the unmanned aerial vehicle body (1) is provided with six groups of rotors (104) by bolt fixing, the bottom of the unmanned aerial vehicle body (1) is provided with two groups of support rods (101) symmetrically, the bottom of the two groups of support rods (101) on one side is provided with a cross bar (103) by bolt fixing connection, the upper part between the two groups of support rods (101) provided symmetrically on the bottom of the unmanned aerial vehicle body (1) is provided with a support beam (105), the support beam (105) is provided with a connecting plate (106) by bolt fixing, the lower part of the connecting plate (106) is provided with a water cleaning agent storage tank (2), the upper part of the connecting plate (106) is provided with a battery frame (3), the top of the battery frame (3) is provided with two groups of H-shaped fixing parts (305) in parallel, the H-shaped fixing part (305) is fixedly provided with a high-pressure spray pipe (501), the end of the high-pressure spray pipe (501) away from the unmanned aerial vehicle body (1) is provided with a rotary spray head assembly (5), the left and right sides of the end of the high-pressure spray pipe (501) close to the unmanned aerial vehicle body (1) are provided with water pipe interfaces, the upper part of the two groups of support rods (101) on one side is provided with a fixed plate (102) by bolt fixing, the fixed plate (102) is fixedly provided with a micro high-pressure water pump (204), the bottom of the water cleaning agent storage tank (2) is provided with a water outlet pipe (201), the left and right sides of the water outlet pipe (201) are provided with an insulated water pipe (202), the other end of the insulated water pipe (202) is connected with the input interface of the micro high-pressure water pump (204), the output interface of the micro high-pressure water pump (204) is provided with an insulated water pipe (202), and the other end of the insulated water pipe (202) is communicated with the water pipe interface on the high-pressure spray pipe (501); The main machine is arranged in the unmanned aerial vehicle body (1), the wireless image transmission module and the insulator identification module are carried in the main machine, the main machine is used for controlling the start of the unmanned aerial vehicle and identifying the insulator and controlling the micro high-pressure water pump (204) to work, the main machine is electrically connected with the ground control station, the top of the water cleaning agent storage tank (2) is fixedly connected with the connecting plate (106) through the buckle and slide rail combination, the micro high-pressure water pump (204) is used for transporting the cleaning liquid in the water cleaning agent storage tank (2) to the rotary spray head assembly (5), and the rotary spray head assembly (5) is used for automatically rotating under the control of the main machine to spray and wash the insulator. 2.The unmanned aerial vehicle-mounted insulator cleaning device according to claim 1, characterized in that, A plurality of batteries (302) are fixedly arranged on the battery frame (3), a metal sheet bent plate (303) is fixedly arranged on the front side of the battery frame (3) by bolt fixing, an industrial camera (303) is fixedly arranged on the metal sheet bent plate (303), a metal sheet bent plate (303) is fixedly arranged on the rear side of the battery frame (3) by bolt fixing, a 4G transmission unit (4) is fixedly arranged on the metal sheet bent plate (303), the industrial camera (303) is electrically connected with the 4G transmission unit (4), and a power supply interface (301) is fixedly arranged on the side of the battery frame (3). The wireless image transmission module adopts a 4G image transmission scheme and is composed of an industrial camera (304) disposed on the bearing frame, a 4G transmission unit (4), and a cloud server; the insulator identification module is based on a YOLO visual detection algorithm and includes a pre-trained model and a data processing unit; The ground control station is composed of a remote controller and a visual processing platform, wherein the remote controller integrates unmanned aerial vehicle control and cleaning control functions, and the visual processing platform is set as a local computer or a cloud server. 3.The unmanned aerial vehicle-mounted insulator cleaning device according to claim 2, characterized in that, The top of the battery frame (3) is provided with four connecting rods (306), which are used to fix the top of the battery frame (3) and the unmanned aerial vehicle body (1) by bolt connection. 4.The unmanned aerial vehicle-mounted insulator cleaning device of claim 1, wherein The top front side of the water-free cleaning agent storage tank (2) is provided with a water inlet, and the water inlet is provided with a tank cover (203).

5. The unmanned aerial vehicle mounted insulator cleaning device of claim 1, wherein, The upper and lower sides of one end of the high-pressure spray pipe (501) away from the unmanned aerial vehicle body (1) are symmetrically provided with protrusions one, and the protrusions one are provided with through holes. The side of the high-pressure spray pipe (501) away from the unmanned aerial vehicle body (1) is provided with a spherical spray head (504), the side of the spherical spray head (504) close to the high-pressure spray pipe (501) is symmetrically provided with protrusions two (508), the protrusions two (508) are provided with through holes, the through holes are matched with the shaft protrusions on the left and right sides of the circular spray head (507), and the shaft protrusion on the right side of the circular spray head (507) is fixedly connected with a shaft two (505) of a servo motor two (503). The servo motor one (502) is used for controlling the circular spray head (507) to rotate horizontally left and right through the shaft protrusions, and the servo motor two (503) is used for controlling the circular spray head (507) to rotate vertically up and down through the shaft protrusions. 6.The unmanned aerial vehicle-mounted insulator cleaning device according to claim 5, characterized in that, The left side of the circular spray head (507) is fixedly provided with a spray head two (506) in the high-pressure spray pipe (501). 7.The unmanned aerial vehicle-mounted insulator cleaning device according to claim 1, wherein The left and right sides of the horizontal rod (103) are provided with buffer sleeves (1031), which are used to give buffer when the device lands.

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