Electrified zero value detection system and method based on unmanned aerial vehicle

Abstract

The invention provides a charged zero value detection system and method based on an unmanned aerial vehicle, and the system comprises the unmanned aerial vehicle which is provided with a first connection part at the bottom; the connecting seat is provided with a second connecting part matched with the first connecting part, the second connecting part is detachably connected with the first connecting part, and the connecting seat is further provided with a third connecting part; the test module comprises a tester and a probe detachably connected with the tester, and the tester is connected with the connecting seat through a third connecting part; the ground control station is in communication connection with the unmanned aerial vehicle and the tester and is used for controlling flight of the unmanned aerial vehicle and obtaining sampling data; the tester is used for carrying out data sampling on the insulators, carrying out target processing on the sampled data and then transmitting the sampled data to the ground receiving station based on a pre-negotiated communication protocol, and the ground receiving station determines a target voltage parameter of each insulator according to the sampled data and carries out electrified zero value diagnosis on each insulator in combination with the target voltage parameter.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of power equipment state detection, in particular to a live zero value detection system and method based on a UAV. BACKGROUND

[0002] At present, the detection scheme commonly used in the industry is artificial equipotential live working. The main process of this scheme is that a live working personnel who has been trained professionally wears a thick conductive shielding suit, climbs a portal frame or structure in a substation up to dozens of meters, approaches a live insulator string, and uses a handheld zero value detector (or a spark gap device) to detect each insulator closely. When the insulator is zero value, the detector will issue an audible and visual alarm.

[0003] Defects of the prior art: Very high safety risk: (1) Electric shock risk: After the worker climbs to the structure, the distance between the body and the high-voltage live wire is much smaller than the safety distance, and is always in a high-voltage electric field, which poses a fatal electric shock risk.

[0004] (2) High-altitude fall risk: The worker climbs with heavy weight, consumes a lot of physical strength, and the shielding suit is heavy and affects flexibility, increasing the possibility of high-altitude fall.

[0005] (3) Equipment risk: If the handheld tool or part falls by accident, it may cause equipment short circuit or damage.

[0006] Low detection efficiency and quality: (1) Time-consuming and labor-intensive: The worker needs to climb the structure one by one and detect each piece, and a full detection of a conventional 110kV substation takes a whole day, which is a great test for the worker's physical strength.

[0007] (2) Easily interfered and misjudged: In the outdoor strong light environment, the audible and visual alarm of the detector is not easy to be accurately observed and heard, and the worker often needs to measure repeatedly to confirm the result, which is highly subjective and has a high misjudgment rate.

[0008] (3) Single detection angle: The worker holds the detector by hand and cannot conveniently and comprehensively detect each angle of the insulator string. SUMMARY

[0009] To solve the above technical problems, the embodiment of the present application provides a live zero value detection system based on a UAV, comprising: a UAV having a first connecting portion at the bottom; a connecting seat having a second connecting portion matched with the first connecting portion, the second connecting portion being detachably connected with the first connecting portion, and the connecting seat further having a third connecting portion; The test module comprises a tester and a probe detachably connected with the tester, the tester is connected with the connecting seat through the third connecting part, and further connected with the unmanned aerial vehicle; and The ground control station is in communication connection with the unmanned aerial vehicle and the tester, used for controlling the unmanned aerial vehicle to fly and interacting with the tester to obtain sampling data. The tester samples data of the insulator of the high-voltage transformer substation by using the probe at a fixed sampling rate, and after target processing of the sampling data, transmits the sampling data to the ground receiving station based on a pre-negotiated communication protocol, and the ground receiving station determines the target voltage parameter of each insulator according to the sampling data, and combines the target voltage parameter to diagnose the live zero value of each insulator.

[0010] In an embodiment, one side of the second connecting part opposite to the first connecting part is matched with the structure of the first connecting part, so that the first connecting part and the second connecting part can be matched and abutted. The second connecting part comprises a binding belt, which is detachably connected with the fuselage of the unmanned aerial vehicle.

[0011] In an embodiment, the third connecting part is arranged on the side of the connecting seat away from the unmanned aerial vehicle, the third connecting part comprises a clamping groove and a locking piece movably arranged on the groove wall, the tester is placed in the clamping groove, and the tester is locked in the clamping groove by the locking piece.

[0012] In an embodiment, the third connecting part comprises two side plates oppositely arranged on the connecting seat, the side plates cooperate with the connecting seat to form the clamping groove, the locking piece is at least one, the locking piece is screwed on the side plate, and one end of the locking piece abutting against the tester is provided with a rubber pad.

[0013] In an embodiment, the probe is at least two, both of the probes are rod-shaped, the tester is provided with a steering mechanism, one end of the probe is connected with the steering mechanism, so as to ensure that the electrode at the other end of the probe and the insulator to be measured always maintain parallel and constant detection distance through the steering mechanism.

[0014] In an embodiment, the steering mechanism comprises a connecting shaft and a fisheye joint bearing connected with the connecting shaft, one end of the fisheye joint bearing is in the shape of a fisheye and has a through hole, the fisheye joint bearing is rotationally connected with the connecting shaft through the through hole, and the other end of the fisheye joint bearing is threadedly connected with the probe.

[0015] Another embodiment of the present application simultaneously provides a live zero value detection method based on an unmanned aerial vehicle, which is applied to the live zero value detection system based on the unmanned aerial vehicle as described in any one of the above embodiments, and the method comprises: The ground control station determines a flight orbit based on the position information of the insulator to be tested, and controls the unmanned aerial vehicle to fly to the insulator to be tested based on the flight orbit, so that the tester samples data of the insulator by using the probe; The tester performs target processing on the sampled data, and transmits the processed sampled data to the ground receiving station based on a pre-negotiated communication protocol; The ground receiving station receives the processed sampled data, and checks the sampled data; If the checking is passed, the ground receiving station determines a target voltage parameter of each insulator according to the processed sampled data, and performs live zero value diagnosis on each insulator according to the target voltage parameter.

[0016] In an embodiment, the target processing of the tester on the sampled data comprises: The sampled data is subjected to mean value filtering and IIR low-pass filtering; The filtered sampled data is configured in a data frame structure according to a pre-negotiated communication protocol, the data frame structure comprising a frame header, a data length, a packet sequence number, a command word, voltage data, a battery power and CRC16, the battery power being the battery power of the tester, and the voltage data being determined based on the sampled data; The processed sampled data is transmitted to the ground receiving station, comprising: The processed sampled data is transmitted to the ground receiving station in an interrupt mode; The method further comprises: An automatic retransmission mechanism is automatically run, the automatic retransmission mechanism comprising starting a timer after the sampled data is sent, and determining whether the number of retransmissions reaches an upper limit if a specified acknowledgement packet is not received within a preset time period, and performing retransmission of the sampled data if the number of retransmissions does not reach the upper limit.

[0017] In an embodiment, the ground receiving station receives the processed sampled data, and checks the sampled data, comprising: The ground receiving station searches for a frame header of the received processed sampled data, so as to determine a data length according to the frame header position and a preset data frame structure, and perform subsequent reception of the sampled data based on the data length; A packet sequence number of the received sampled data is determined, and a response is performed based on the packet sequence number; The received sampled data is subjected to CRC checking.

[0018] In one embodiment, the ground receiving station determines the target voltage parameter for each insulator based on the sampled data, and performs a zero-voltage diagnosis on each insulator using the processed target voltage parameter, including: Based on the length and type of the insulator string to which the insulator belongs, construct a voltage distribution model for the insulator string; The theoretical voltage value of each insulator is calculated based on the voltage distribution model. The voltage deviation rate is calculated based on the actual voltage value and theoretical voltage value of each insulator in the sampled data; Each insulator is subjected to zero-voltage diagnosis based on its actual voltage value, theoretical voltage value, and deviation rate.

[0019] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0020] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the UAV-based zero-charge detection system in an embodiment of the present invention.

[0023] Figure 2 This is a partial structural diagram of the UAV-based zero-charge detection system in an embodiment of the present invention.

[0024] Figure 3 This is a flowchart illustrating the method for detecting zero-charge values ​​based on unmanned aerial vehicles (UAVs) in an embodiment of the present invention.

[0025] Figure label: 1-UAV; 2-Connector; 3-Probe; 4-Strap; 5-Locking component; 6-Steering mechanism; 7-Fisheye joint bearing; 8-Tester; 9-Connecting shaft. Detailed Implementation

[0026] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but these are not intended to limit the scope of the invention.

[0027] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the following description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope of this disclosure will be apparent to those skilled in the art.

[0028] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0029] These and other features of the invention will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0030] It should also be understood that although the invention has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the invention, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0031] The above and other aspects, features and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0032] Specific embodiments of the present disclosure are described thereafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure and can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure the present disclosure. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of substantially any suitable detailed structures.

[0033] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in other embodiments,” all of which may refer to one or more of the same or different embodiments according to this disclosure.

[0034] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a UAV-based zero-charge detection system, comprising: The drone 1 has a first connecting part at its bottom; The connector 2 has a second connecting part that matches the first connecting part, the second connecting part being detachably connected to the first connecting part, and the connector 2 also has a third connecting part; The test module includes a tester 8 and a probe 3 detachably connected to the tester 8. The tester 8 is connected to the connector 2 via the third connector, and thus connected to the drone 1; and The ground control station is communicatively connected to the UAV 1 and the test instrument 8, and is used to control the flight of the UAV 1 and interact with the test instrument 8 to obtain sampling data. The tester 8 uses the probe 3 to sample data from the insulators of the high-voltage substation at a fixed sampling rate. After processing the sampled data, it transmits the sampled data to the ground receiving station based on a pre-negotiated communication protocol. The ground receiving station determines the target voltage parameters of each insulator based on the sampled data and performs zero-voltage diagnosis on each insulator in conjunction with the target voltage parameters.

[0036] In this embodiment, the tester 8 is made lightweight and its software is configured. Combined with the connecting seat 2, it can be stably and flexibly mounted on the multi-rotor drone 1. The drone 1 carries the tester 8 for high-altitude testing, replacing manual approach to the insulator string. This achieves safe, efficient, and accurate testing from a distance, without contact. The test data is processed by the tester 8 and transmitted to the ground control station. The ground control station then uses the collected test data to diagnose the zero-point value of each insulator. This not only improves testing efficiency but also completely eliminates the risk of falls from heights and electric shock to workers, achieving inherent safety.

[0037] Specifically, as shown in the figure, in this embodiment, the side of the second connecting part that abuts against the first connecting part matches the structure of the first connecting part, so that the first connecting part and the second connecting part can fit together and abut. The second connecting part includes a strap 4, which is detachably connected to the fuselage of the drone 1. For example, the sides of the first connecting part and the second connecting part that abut against each other are both planar, one end of the strap 4 is fixedly connected to the second connecting part, and the other end is bound to the drone 1. In application, the strap 4 can be a leather strap 4 or a non-woven fabric strap 4, the specific type is not fixed. The connecting seat 2 as a whole can be an integrated structure designed based on 3D modeling software (such as SolidWorks) and formed by 3D printing or CNC machining.

[0038] Furthermore, the third connecting part is located on the side of the connecting seat 2 opposite to the drone 1. The third connecting part includes a slot and a locking member 5 movably disposed on the slot wall. The tester 8 is placed in the slot and locked in the slot by the locking member 5. Specifically, the third connecting part includes two side plates disposed opposite to each other on the connecting seat 2. The side plates cooperate with the connecting seat 2 to form a U-shaped slot. There is at least one locking member 5, for example, there can be two or four, etc. The locking member 5 is screwed onto the side plate. When there are multiple locking members 5, they can be symmetrically disposed on the two side plates to clamp the tester 8. If there is only one locking member 5, the tester 8 is clamped and limited based on the locking member 5 and the corresponding side plate. In order to increase friction and improve the fixing force on the tester 8, and to reduce wear on the tester 8, in this embodiment, the end of the locking member 5 that abuts against the tester 8 is provided with a rubber pad.

[0039] In application, the size and shape of the slot can be matched with the tester 8 to facilitate the installation and positioning of the tester 8, while ensuring accurate positioning. The use of the locking element 5 in conjunction with the slot, and the strap 4 in conjunction with the drone 1, allows for quick assembly and disassembly of the tester 8 without the use of additional tools. It also allows for the rapid and secure installation of the entire device onto the drone 1's landing gear or dedicated mounting point, effectively preventing loosening due to vibration during flight and testing. The connecting seat 2 can be made of carbon fiber reinforced composite material or high-strength engineering plastic, ensuring sufficient structural strength while achieving extreme lightweight and excellent insulation performance.

[0040] Furthermore, the tester 8 in this embodiment has at least two probes 3, both of which are rod-shaped. The tester 8 is provided with a steering mechanism 6. One end of the probe 3 is connected to the steering mechanism 6, and the other end is the detection end. The probe 3 ensures through the steering mechanism 6 that the electrode at the other end of the probe 3 always maintains parallelism and a constant detection distance with the insulator to be tested.

[0041] Specifically, the steering mechanism 6 in this embodiment includes a connecting shaft 9 and a fisheye joint bearing 7 connected to the connecting shaft 9. One end of the fisheye joint bearing 7 is fisheye-shaped, and its overall shape is approximately ellipsoidal with a through hole. The fisheye joint bearing 7 is rotatably connected to the connecting shaft 9 through the through hole. The fisheye-shaped structure limits the swing range of the probe 3, thereby ensuring that the electrode at the other end of the probe 3 and the insulator under test always remain parallel and at a constant detection distance. The other end of the fisheye joint bearing 7 is nut-shaped, covering the end of the probe 3 and threadedly connected to the end of the probe 3. Alternatively, as an alternative, a universal ball joint damping hinge can be used as the steering mechanism 6.

[0042] likeFigure 3 As shown, another embodiment of the present invention also provides a method for detecting zero-charge values ​​based on unmanned aerial vehicles (UAVs), applied to the UAV-based zero-charge value detection system as described in any of the above descriptions, the method comprising: S1: The ground control station determines the flight trajectory based on the position information of the insulator to be tested, and controls the UAV to fly to the insulator to be tested based on the flight trajectory, so that the test instrument can use the probe to sample data from the insulator; S2: After the tester performs target processing on the sampled data, it transmits the processed sampled data to the ground receiving station based on the pre-negotiated communication protocol; S3: The ground receiving station receives the processed sampling data and verifies the sampling data; S4: If the verification passes, the ground receiving station determines the target voltage parameter of each insulator based on the processed sampling data, and performs zero-voltage diagnosis on each insulator based on the target voltage parameter.

[0043] Specifically, the testing instrument performs target processing on the sampled data, including: S201: Perform mean filtering and IIR low-pass filtering on the sampled data; S202: Configure the data frame structure of the filtered sampled data according to the pre-negotiated communication protocol. The data frame structure includes a frame header, data length, packet sequence number, command word, voltage data, battery power, and CRC16. The battery power is the battery power of the tester, and the voltage data is determined based on the sampled data. The processed sampled data is transmitted to the ground receiving station, including: S203: Transmit the processed sampling data to the ground receiving station using an interrupt method; The method further includes: S204: Automatic retransmission mechanism is automatically run. The automatic retransmission mechanism includes starting a timer after sending the sampled data. If a specified acknowledgment packet is not received within a preset time period, it is determined whether the number of retransmissions has reached the upper limit. If not, the sampled data is retransmitted.

[0044] For example, the tester in this embodiment is equipped with a battery, i.e., a step-down module. The signal detected by the probe is adjusted and processed, then transmitted in real-time to the ground control station via a wireless transmission module for further processing, display, and recording. The tester in this embodiment uses an ADC driver to acquire data; specifically, the ADC is configured in timer-triggered mode, sampling at a fixed sampling rate (e.g., 1kHz) to ensure data continuity. When filtering the sampled data, the filtering algorithms involved include mean filtering, IIR low-pass filtering, and RMS value calculation, etc., which are not limited to these. The mean filtering involves continuously collecting N points, sorting them, removing the maximum and minimum values, and calculating the average of the remaining points. IIR low-pass filtering is used to suppress high-frequency noise. Its formula is simple, with low computational load, making it very suitable for embedded systems. Specifically: ; Where x(n) is the current sampled value, y(n) is the filtered output, and α is the filter coefficient (0<α<1), which determines the bandwidth.

[0045] The effective value is calculated using the root mean square algorithm for AC signals. To reduce computational complexity, approximate calculations or lookup table methods are typically employed.

[0046] After processing the sampled data, the tester sends the processed data to the ground control station. The communication protocol stack involved operates above the LoRa physical layer and defines a lightweight application layer protocol. The data frame structure used includes: |Frame header (2 bytes)|Data length (1 byte)|Packet sequence number (1 byte)|Command word (1 byte)|Voltage data (4 bytes)|Battery power (1 byte)|CRC16 (2 bytes)|.

[0047] Among them, the frame header is a fixed value, such as 0xAA55, used for data synchronization.

[0048] Packet sequence number: Used to detect packet loss and retransmission.

[0049] Command words: distinguish data types (such as real-time data, status information).

[0050] Voltage data: Transmits calculated floating-point voltage values.

[0051] The data transmission strategy used is interrupt-driven to avoid blocking the main loop. Of course, other transmission strategies can also be used to send data.

[0052] To avoid errors during data transmission, this embodiment also configures an automatic retransmission mechanism for the tester, including starting a timer after transmission. If an ACK confirmation packet is not received from the handheld terminal within a set time, the data is retransmitted, with a limited number of retries (e.g., 3 times).

[0053] Furthermore, the ground receiving station receives the processed sampling data and verifies the sampling data, including: S301: The ground receiving station searches for the frame header of the processed sampled data, determines the data length based on the frame header position and the preset data frame structure, and receives subsequent sampled data based on the data length; S302: Determine the sequence number of the received sampled data packet and respond based on the sequence number; S303: Perform CRC verification on the received sampled data.

[0054] For example, the ground receiving station continuously searches the frame header of the received data through a data parsing state machine or related programs. Once found, it determines the "data length" field based on it, then receives subsequent data according to this field, and finally performs a CRC check. Only data that passes the check is processed for further diagnostics. In addition, the ground control station also employs an ACK response mechanism, that is, for each valid data packet received, it immediately replies with an ACK packet containing the sequence number of the just received packet, so that the sending end can confirm its identity.

[0055] Furthermore, the ground receiving station determines the target voltage parameter for each insulator based on the sampled data, and performs a zero-voltage diagnosis on each insulator using the processed target voltage parameter, including: S401: Based on the length and type of the insulator string to which the insulator belongs, construct a voltage distribution model for the insulator string; S402: Calculate the theoretical voltage value of each insulator based on the voltage distribution model; S403: Calculate the voltage deviation rate based on the actual voltage value and theoretical voltage value of each insulator in the sampled data; S404: Perform zero-value energization diagnosis on each insulator based on the actual voltage value, theoretical voltage value, and deviation rate of the insulator.

[0056] Specifically, in this embodiment, the sampling data is the voltage value of each insulator in each string of insulators, denoted as V[i]. During diagnosis, the control station will establish an idealized voltage distribution model (which can be a linear model or a more accurate capacitor chain-based model) based on the length and type of the insulator string, and then calculate the theoretical voltage value of each insulator based on the model, denoted as V_theory[i].

[0057] Next, the voltage deviation rate of each insulator is calculated, including the deviation rate between the actual voltage and the theoretical voltage for each insulator, denoted as Deviation[i].

[0058] Deviation[i] = (V[i]- V_theory[i]) / V_theory[i].

[0059] After calculating the target voltage parameters, the diagnostic process begins, which includes: Normal: If Deviation[i] is within the threshold range (e.g., ±20%), it is considered normal.

[0060] Low / zero value insulator: If V[i] is much lower than V_theory[i] (e.g., Deviation[i] < -50%), it is judged as low or zero value. This is because the impedance of the insulator drops, it is almost short-circuited, and the voltage it shares also drops sharply.

[0061] Abnormally high value: If V[i] is significantly higher than V_theory[i] (e.g., Deviation[i]>+30%), it indicates that other insulators (usually adjacent ones) may have deteriorated, causing voltage transfer to this piece, which is at risk of breakdown.

[0062] The configuration of the above-mentioned detection system and method can bring about the following beneficial effects: Drones replace human labor in entering high-voltage danger zones, fundamentally eliminating electric shock and fall-from-height accidents, and achieving an inherent safety upgrade of "machines replacing humans".

[0063] Drones are highly mobile and can quickly fly to various testing points. It only takes a few seconds to test an insulator, and the testing time for the entire substation can be shortened from one day to 2-3 hours, increasing efficiency by more than 300%.

[0064] Unlike existing drone inspection systems that require large drones to enter substations, this embodiment simplifies the weight of the equipment carried by the drone, thus ensuring that the substation requires small drones with a diameter of less than 500mm to enter the energized area for flight.

[0065] By using carbon fiber reinforced composite materials and 3D printing to construct the connector, and combining it with nylon materials to configure the straps, extreme lightweighting and excellent insulation can be achieved.

[0066] This modular design, utilizing a connector, is compatible with various UAV models and has wide applicability. The configured steering mechanism and rod-shaped probe allow the tester's probe to adapt to various complex insulator string arrangements.

[0067] With its quick-release locking mechanism, the operator can securely install and remove the tester within 2 minutes.

[0068] High accuracy and reliability when performing voltage detection on insulators: (1) Close-range, multi-angle detection with strong signal and minimal interference from ambient light.

[0069] (2) Flexible multi-angle installation ensures the stability of detection distance and angle, and accurate and reliable readings.

[0070] (3) Digital transmission avoids subjective errors caused by human interpretation.

[0071] The device has a wide range of applications; it is not only suitable for substations, but with slight modifications, it can also be used for insulator testing of transmission lines.

[0072] Another embodiment of the present invention also provides an electronic device for forming the ground control station, the electronic device comprising: One or more processors; Memory, configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the UAV-based zero-value charge detection method as described in any one of the above descriptions.

[0073] Furthermore, one embodiment of the present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the UAV-based method for detecting zero-charge values ​​as described above. It should be understood that the various solutions in this embodiment have the corresponding technical effects in the above-described method embodiments, and will not be repeated here.

[0074] Furthermore, embodiments of the present invention also provide a computer program product, which is tangibly stored on a computer-readable medium and includes computer-readable instructions that, when executed, cause at least one processor to perform a method for detecting zero-charge values ​​based on a drone, such as the embodiment described above.

[0075] It should be noted that the computer storage medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access storage medium (RAM), a read-only storage medium (ROM), an erasable programmable read-only storage medium (EPROM or flash memory), an optical fiber, a portable compact disk read-only storage medium (CD-ROM), an optical storage medium, a magnetic storage medium, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program configured for use by or in connection with an instruction execution system, system, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, antenna, optical fiber, RF, etc., or any suitable combination thereof.

[0076] Furthermore, those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0077] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 processor, 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0078] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

Claims

1. A UAV-based zero-charge detection system, characterized in that, include: The drone has a first connecting part at its bottom; A connector has a second connector that matches a first connector, the second connector being detachably connected to the first connector, and the connector also has a third connector. The test module includes a tester and a probe detachably connected to the tester. The tester is connected to the connector via the third connector, and thus connected to the drone. as well as The ground control station is communicatively connected to the UAV and the testing instrument, and is used to control the flight of the UAV and interact with the testing instrument to obtain sampling data; The tester uses the probe to sample data from the insulators of the high-voltage substation at a fixed sampling rate. After performing target processing on the sampled data, the tester transmits the sampled data to the ground receiving station based on a pre-negotiated communication protocol. The ground receiving station determines the target voltage parameters for each insulator based on the sampled data and performs zero-voltage diagnosis on each insulator in conjunction with the target voltage parameters.

2. The UAV-based zero-charge detection system according to claim 1, characterized in that, The side of the second connecting part that abuts against the first connecting part is structurally matched with the first connecting part so that the first connecting part and the second connecting part can fit together and abut; The second connection includes a strap that is detachably connected to the fuselage of the drone.

3. The UAV-based zero-charge detection system according to claim 1, characterized in that, The third connecting part is located on the side of the connecting seat away from the UAV. The third connecting part includes a slot and a locking member movably provided on the slot wall. The tester is placed in the slot and locked in the slot by the locking member.

4. The UAV-based zero-charge detection system according to claim 3, characterized in that, The third connecting part includes two side plates that are disposed opposite to each other on the connecting seat. The side plates and the connecting seat cooperate to form the slot. There is at least one locking member. The locking member is screwed onto the side plate. The end of the locking member that abuts against the tester is provided with a rubber pad.

5. The UAV-based zero-charge detection system according to claim 1, characterized in that, The tester has at least two probes, both of which are rod-shaped. The tester is equipped with a steering mechanism, and one end of each probe is connected to the steering mechanism to ensure that the electrode at the other end of the probe and the insulator under test always remain parallel and at a constant detection distance.

6. The zero-charge detection system for unmanned aerial vehicles according to claim 5, characterized in that, The steering mechanism includes a connecting shaft and a fisheye spherical bearing connected to the connecting shaft. One end of the fisheye spherical bearing is fisheye-shaped and has a through hole. The fisheye spherical bearing is rotatably connected to the connecting shaft through the through hole. The other end of the fisheye spherical bearing is threadedly connected to the probe.

7. A method for detecting zero-charge value based on a UAV, applied to a UAV-based system for detecting zero-charge value as described in any one of claims 1-6, the method comprising: The ground control station determines the flight trajectory based on the position information of the insulator to be tested, and controls the UAV to fly to the insulator to be tested based on the flight trajectory, so that the test instrument can use the probe to sample data from the insulator; After performing target processing on the sampled data, the tester transmits the processed sampled data to the ground receiving station based on a pre-negotiated communication protocol. The ground receiving station receives the processed sampling data and verifies the sampling data; If the verification is successful, the ground receiving station determines the target voltage parameter of each insulator based on the processed sampling data, and performs zero-voltage diagnosis on each insulator based on the target voltage parameter.

8. The method for detecting zero-charge value based on unmanned aerial vehicles according to claim 7, characterized in that, The testing instrument performs target processing on the sampled data, including: The sampled data are subjected to mean filtering and IIR low-pass filtering; The filtered sampled data is configured with a data frame structure according to a pre-negotiated communication protocol. The data frame structure includes a frame header, data length, packet sequence number, command word, voltage data, battery power, and CRC16. The battery power is the battery power of the tester, and the voltage data is determined based on the sampled data. The processed sampled data is transmitted to the ground receiving station, including: The processed sampling data is transmitted to the ground receiving station using an interrupt method. The method further includes: An automatic retransmission mechanism is automatically implemented. The automatic retransmission mechanism includes starting a timer after sending the sampled data. If a specified acknowledgment packet is not received within a preset time period, it is determined whether the number of retransmissions has reached the upper limit. If not, the sampled data is retransmitted.

9. The method for detecting zero-charge value based on unmanned aerial vehicles according to claim 8, characterized in that, The ground receiving station receives the processed sampling data and verifies the sampling data, including: The ground receiving station searches for the frame header of the processed sampled data, determines the data length based on the frame header position and a preset data frame structure, and receives subsequent sampled data based on the data length. Determine the sequence number of the received sampled data and respond based on the sequence number; Perform CRC verification on the received sampled data.

10. The method for detecting zero-charge value based on a UAV according to claim 7, characterized in that, The ground receiving station determines the target voltage parameters for each insulator based on the sampled data, and performs zero-voltage value diagnosis on each insulator in conjunction with the processed target voltage parameters, including: Based on the length and type of the insulator string to which the insulator belongs, construct a voltage distribution model for the insulator string; The theoretical voltage value of each insulator is calculated based on the voltage distribution model. The voltage deviation rate is calculated based on the actual voltage value and theoretical voltage value of each insulator in the sampled data; Each insulator is subjected to zero-voltage diagnosis based on its actual voltage value, theoretical voltage value, and deviation rate.

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