Insulator string live detection robot and detection method

Abstract

The invention relates to the technical field of high-voltage power transmission equipment detection, and provides an insulator string live detection robot and a detection method. The insulator string live detection robot comprises a supporting assembly, a control assembly installed on the supporting assembly, a first crawler belt assembly and a second crawler belt assembly which are installed on the supporting assembly, and a first camera assembly and a second camera assembly which are connected below the crawler belt assemblies. The first track assembly and the second track assembly are obliquely arranged towards each other. A first support and a second support of the supporting assembly are installed on the front side of the control assembly respectively, the first support and the second support are obliquely arranged, the included angle between the first support and the second support ranges from 60 degrees to 120 degrees, a third support and a fourth support are installed on the rear side of the control assembly respectively, the third support and the first support are oppositely arranged, and the fourth support and the second support are oppositely arranged. The first track assembly is mounted at the ends, away from the control assembly, of the first and third brackets; and the second track assembly is mounted at the ends, away from the control assembly, of the second and fourth brackets.

Description

Technical Field

[0001] This invention relates to the field of high-voltage power transmission equipment testing technology, and in particular to a robot and method for testing live insulator strings. Background Technology

[0002] Insulators are crucial insulating components in high-voltage transmission lines, and their performance directly affects the safe and stable operation of the power grid. During long-term operation, insulators can experience a decline in insulation performance due to contamination, aging, lightning strikes, and other factors, resulting in zero-value or low-value insulators, posing serious safety hazards. Therefore, regular inspection of insulator strings is an essential part of power operation and maintenance.

[0003] In the current zero-value testing of insulators, operators need to wear insulated equipment, hold insulated operating rods, and use spark forks to test each insulator sheet one by one. They need to listen for discharge sounds and observe for spark discharges to determine whether the insulator sheets of high-voltage lines are in good condition. This results in high labor intensity, high operational risks, and low testing efficiency for zero-value testing of insulators.

[0004] In recent years, some technical solutions related to insulator inspection robots have emerged. For example, Chinese patent application CN101769971A discloses an insulator inspection robot that uses a horizontally arranged track structure to move on insulator strings. However, this type of robot can only move on horizontally arranged double insulator strings and cannot inspect single insulator strings. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a live-line inspection robot for insulator strings that can solve or at least alleviate the above problems, so as to automatically perform zero-value detection of insulators and be able to crawl stably on a single insulator string.

[0006] The technical solution provided by this invention is: a robot for live-line testing of insulator strings, comprising a support assembly, a control assembly, a first track assembly, a second track assembly, a first camera assembly, a second camera assembly, and a probe device. The control assembly is mounted on the support assembly. The first and second track assemblies are both mounted on the end of the support assembly away from the control assembly. The first camera assembly is connected to the lower side of the first track assembly, and the second camera assembly is connected to the lower side of the second track assembly. The probe device is mounted on the first camera assembly. The first and second track assemblies are respectively inclined towards each other. The support assembly... The component includes a first bracket, a second bracket, a third bracket, and a fourth bracket. The first and second brackets are respectively mounted on the front side of the control component. Both the first and second brackets are inclined, and the included angle between the first and second brackets is in the range of 60°-120°. The third and fourth brackets are respectively mounted on the rear side of the control component. The third bracket is opposite to the first bracket, and the fourth bracket is opposite to the second bracket. The first track assembly is mounted on the end of the first and third brackets away from the control component, and the second track assembly is mounted on the end of the second and fourth brackets away from the control component.

[0007] In some embodiments, the support assembly further includes a first adjustment component and a second adjustment component. The first adjustment component is mounted on the control component and connected between the first bracket and the second bracket. The second adjustment component is mounted on the control component and connected between the third bracket and the fourth bracket.

[0008] In some embodiments, the first adjustment component and the second adjustment component each include a mounting base, a rotating member, a first adjustment member, a second adjustment member, a first connecting base, and a second connecting base; the mounting base is mounted on one side of the control component; the rotating member is rotatably supported in the mounting base and driven by a motor mounted in the control component to move the first adjustment member and the second adjustment member; both the first adjustment member and the second adjustment member are movably fitted into the mounting base, and the rotating member engages between the first adjustment member and the second adjustment member; the first connecting base is mounted on the end of the first adjustment member away from the second adjustment member; the second connecting base is mounted on the end of the second adjustment member away from the first adjustment member.

[0009] In some embodiments, the rotating member is a gear; the first adjusting member and the second adjusting member each include a sleeve fitted in the mounting base and a rack portion disposed at one end of the sleeve, the rotating member engaging with the rack portion.

[0010] In some embodiments, the support assembly further includes a plurality of adjusting cylinders, and the adjusting cylinders are connected between the first bracket and the first track assembly, between the second bracket and the second track assembly, between the third bracket and the first track assembly, and between the fourth bracket and the second track assembly.

[0011] In some embodiments, the first, second, third, and fourth supports each include a first connecting arm and a second connecting arm, with an obtuse angle between the first and second connecting arms; the first adjusting assembly is connected between the first connecting arms of the first and second supports; the second adjusting assembly is connected between the first connecting arms of the third and fourth supports; the first track assembly is rotatably connected to the end of the second connecting arm of the first and third supports away from the first connecting arm; the second track assembly is rotatably connected to the end of the second connecting arm of the second and fourth supports away from the first connecting arm; one end of the adjusting cylinder is rotatably connected to the first connecting arm, and the other end is rotatably connected to the corresponding track assembly.

[0012] Furthermore, the present invention also provides a method for detecting live insulator strings, which utilizes the aforementioned live insulator string detection robot and includes the following steps: S1. The live insulator string inspection robot is connected to the drone via the hook on the control component, and the drone lifts the live insulator string inspection robot to the insulator string to be inspected; S2. After the drone carrying the insulator string live detection robot flies to the insulator string to be detected, it collects the position image of the insulator string in real time through the downward-looking cameras of the first camera assembly and the second camera assembly, and transmits it to the control assembly. S3. Start the drive motors of the first track assembly and the second track assembly to make the insulator string live detection robot move at a constant speed along the insulator string; S4. During the movement, the first probe group or the second probe group of the probe device of the insulator string live detection robot synchronously contacts the steel caps of adjacent insulator pieces and detects the voltage difference based on the spark gap method. When the insulator string live detection robot is placed on the insulator string to be detected, the second probe group detects the insulator at the beginning of the insulator string. When the insulator string live detection robot moves to the end of the insulator string, the first probe group detects the insulator at the end. S5. The control unit analyzes the received data, identifies the location of the defective insulator, and generates an analysis report containing the defect coordinates.

[0013] In some embodiments, in step S2, the spacing and angle of the track assembly are automatically adjusted according to the diameter of the insulator string.

[0014] In some embodiments, in step S2, the control component drives the motor to rotate, causing the rotating member to rotate, and the rack portion causes the first adjusting member and the second adjusting member to move towards or away from each other, thereby adjusting the distance between the first track assembly and the second track assembly; then, the control component further controls the operation of the adjusting cylinder to rotate the first track assembly and the second track assembly relative to the corresponding bracket, so as to adjust the contact angle between the track and the insulator surface.

[0015] In some embodiments, in step S3, the lidar of the control component scans the insulator gaps in real time to avoid gap interference; at the same time, the track assembly achieves autonomous correction through differential drive to maintain straight-line movement; and at the same time, the clamping force between the first track assembly and the second track assembly is detected by the pressure sensor on the track assembly, and the control component adjusts the first adjustment assembly, the second adjustment assembly and the adjustment cylinder in real time according to the detected clamping force.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: 1. The insulator string live-line testing robot and testing method provided by the present invention can automatically perform zero-value detection of insulators and can stably crawl on a single insulator string.

[0017] 2. In this invention, the inclined double track assembly provides symmetrical and balanced clamping force, ensuring smooth movement and strong grip, effectively preventing the risks of slipping, tipping over, and falling on steep insulator strings.

[0018] 3. When the insulator string live-line inspection robot lands on the insulator string to be inspected, the downward-facing cameras of the first and second camera assemblies transmit images of the insulator string to the control assembly in real time. The control assembly controls the motor to operate according to the diameter of the insulator string to be inspected, so as to drive the rotating part to rotate. The rotating part drives the first and second adjusting parts to move towards or away from each other through the corresponding rack and pinion, thereby adjusting the distance between the first and second track assemblies. This ensures that the tracks of the first and second track assemblies fit tightly against the curved surface of the insulator steel cap, thus enabling the insulator string live-line inspection robot to be applicable to insulators of different outer diameters.

[0019] 4. The control component controls the operation of the regulating cylinder to drive the first track assembly and the second track assembly to rotate relative to the corresponding bracket, so that the tracks of the first track assembly and the second track assembly are tightly attached to the curved surface of the insulator steel cap.

[0020] 5. The control component adjusts the first adjustment component, the second adjustment component, and the adjustment cylinder in real time according to the detected clamping force, thereby ensuring that the inclined double track assembly provides a symmetrical and balanced clamping force, improving obstacle crossing ability, and enabling stable crossing of insulators with different outer diameters.

[0021] 6. During the inspection, the live-line inspection robot is placed on the insulator string to be inspected. The third and fourth probes can inspect the insulators at the beginning of the insulator string. When the live-line inspection robot moves to the end of the insulator string, the first and second probes can inspect the insulators at the end, thus ensuring that every insulator can be inspected and avoiding missed inspections. Attached Figure Description

[0022] Figure 1 A perspective view of the insulator string live-line testing robot according to the first embodiment of the present invention is shown.

[0023] Figure 2 It shows Figure 1 The image shows a three-dimensional view of the robot for detecting live insulator strings from another direction.

[0024] Figure 3 A perspective view of an insulator string live-line testing robot according to a second embodiment of the present invention is shown, wherein some components are omitted.

[0025] Figure 4 It shows Figure 3 A 3D view of the adjustment components of the insulator string live-line testing robot.

[0026] Figure 5 It shows Figure 4 An exploded view of the adjustment components shown.

[0027] Figure 6 A perspective view of an insulator string live-line testing robot according to a third embodiment of the present invention is shown, wherein some components are omitted.

[0028] Explanation of reference numerals in the attached drawings: 1-Control component; 11-Hook; 2-Support component; 21-First bracket; 211-Connecting hole; 212-First connecting arm; 213-Second connecting arm; 22-Second bracket; 23-Third bracket; 24-Fourth bracket; 25-First adjusting component; 51-Mounting base; 52-Rotating component; 53-First adjusting component; 531-Sleeve; 532-Rack part; 54-Second adjusting component; 55-First connecting seat; 551-Through groove; 552-Opening; 56-Second connecting seat; 26-Second adjusting component; 27-Adjusting cylinder; 3- First track assembly; 31-First upper support frame; 32-First lower support frame; 4-Second track assembly; 41-Second upper support frame; 42-Second lower support frame; 5-First camera assembly; 6-Second camera assembly; 7-Probe device; 71-First probe assembly; 711-First motor; 712-First probe group; 121-First probe; 122-Second probe; 123-First connecting post; 72-Second probe assembly; 721-Second motor; 722-Second probe group; 221-Third probe; 222-Fourth probe; 223-Second connecting post. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0033] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0034] Example 1 like Figure 1 and Figure 2 As shown, the insulator string live-line inspection robot of the first embodiment of the present invention includes a support component 2, a control component 1, a first track assembly 3, a second track assembly 4, a first camera assembly 5, a second camera assembly 6, and a probe device 7. The control component 1 is mounted on the support component 2. The first track assembly 3 and the second track assembly 4 are both mounted on the end of the support component 2 away from the control component 1. The first camera assembly 5 is connected to the lower side of the first track assembly 3, and the second camera assembly 6 is connected to the lower side of the second track assembly 4. The probe device 7 is mounted on the first camera assembly 5. The first track assembly 3 and the second track assembly 4 are respectively inclined towards each other. A hook 11 is mounted on the upper side of the control component 1. The drone uses the hook 11 to lift the insulator string live-line inspection robot onto the insulator string to be inspected. Preferably, the angle between the lower surface of the first track assembly 3 and the lower surface of the second track assembly 4 is 90°.

[0035] The support assembly 2 includes a first bracket 21, a second bracket 22, a third bracket 23, and a fourth bracket 24. The first bracket 21 and the second bracket 22 are respectively mounted on the front side of the control assembly 1. Both the first bracket 21 and the second bracket 22 are inclined, and the included angle between them ranges from 60° to 120°. The third bracket 23 and the fourth bracket 24 are respectively mounted on the rear side of the control assembly 1, with the third bracket 23 opposite to the first bracket 21 and the fourth bracket 24 opposite to the second bracket 22. Preferably, the included angle between the first bracket 21 and the second bracket 22 is 90°. More preferably, the third bracket 23 is parallel to the first bracket 21, and the fourth bracket 24 is parallel to the second bracket 22. The first track assembly 3 is mounted on the ends of the first support 21 and the third support 23 furthest from the control assembly 1, and the second track assembly 4 is mounted on the ends of the second support 22 and the fourth support 24 furthest from the control assembly 1. This creates an inclined double-track structure, which provides symmetrical and balanced clamping force, ensuring smooth movement and strong grip, effectively preventing slippage, tipping, and falls on steep insulator strings. Preferably, the first support 21 and the third support 23 are both connected to the upwardly inclined first upper support frame 31 of the first track assembly 3, and the second support 22 and the fourth support 24 are both connected to the upwardly inclined second upper support frame 41 of the second track assembly 4. The first camera assembly 5 is connected via a connecting rod to the downwardly inclined first lower support frame 32 of the first track assembly 3. The second camera assembly 6 is connected via a connecting rod to the downwardly inclined second lower support frame 42 of the second track assembly 4. The first camera assembly 5 and the second camera assembly 6 not only observe spark gap discharge but also act as counterweights, ensuring that the tracks of the first track assembly 3 and the second track assembly 4 fit tightly against the curved surface of the insulator cap. Furthermore, the first camera assembly 5 and the second camera assembly 6 are positioned at a certain distance from the insulator string to avoid electromagnetic interference.

[0036] The probe device 7 is mounted on the top of the first camera assembly 5. The probe device 7 includes a first probe assembly 71 and a second probe assembly 72. The first probe assembly 71 includes a first motor 711 mounted on the top of the first camera assembly 5, and a first probe group 712 mounted on the output shaft of the first motor 711. The first probe group 712 includes a first connecting post 123 mounted on the output shaft of the first motor 711, and a first probe 121 and a second probe 122 disposed on the first connecting post 123, with a certain distance between the first probe 121 and the second probe 122. One end of the first connecting post 123 adjacent to the first motor 711 is rotatably supported on a connecting rod of the first camera assembly 5. Operation of the first motor 711 can drive the first connecting post 123 to rotate, thereby driving the first probe 121 and the second probe 122 to rotate, enabling the detection of not only single insulator strings but also two adjacent insulator strings simultaneously. The second probe assembly 72 includes a second motor 721 mounted on the top of the first camera assembly 5, and a second probe group 722 mounted on the output shaft of the second motor 721, with the output shaft of the second motor 721 facing away from the output shaft of the first motor 711. The second probe group 722 includes a second connecting post 223 mounted on the output shaft of the second motor 721, and a third probe 221 and a fourth probe 222 mounted on the second connecting post 223, with a certain distance between them. One end of the second connecting post 223 adjacent to the second motor 721 is rotatably supported on another connecting rod of the first camera assembly 5. Operation of the second motor 721 drives the second connecting post 223 to rotate, thereby driving the third probe 221 and the fourth probe 222 to rotate, enabling the detection of not only single insulator strings but also two adjacent insulator strings simultaneously. Preferably, the arrangement of the first probe 121 and the second probe 122, and the two sets of probes 221 and 222, allows for the detection of insulators at both ends of the insulator strings. For example, during testing, the live-line testing robot is placed on the insulator string to be tested. The third probe 221 and the fourth probe 222 can test the insulators at the beginning of the insulator string. When the live-line testing robot moves to the end of the insulator string, the first probe 121 and the second probe 122 can test the insulators at the end, thereby ensuring that every insulator can be tested and avoiding missed tests.

[0037] During insulator zero-value testing, the UAV hoists the insulator string live-line testing robot onto the insulator string to be tested via hook 11. The downward-facing cameras of the first camera assembly 5 and the second camera assembly 6 transmit position images in real time to assist in precise landing. The tracks of the first track assembly 3 and the second track assembly 4 are tightly fitted onto the curved surface of the insulator steel cap. The lidar of the control assembly 1 scans the insulator gaps in real time to avoid gap interference. The tracks of the first track assembly 3 and the second track assembly 4 achieve autonomous correction through differential drive and move at a constant speed along the insulator string. The first probe group 712 or the second probe group 722 simultaneously contacts the adjacent insulator steel caps and detects the voltage difference based on the spark gap method. During this process, intact insulators generate spark discharge, while zero-value insulators do not discharge. The data is transmitted to the control unit via the antenna on the control assembly 1. After the test is completed, the UAV hoists the insulator string live-line testing robot back, and the control unit generates an analysis report containing the coordinates of the defect location.

[0038] Example 2 Figure 3 A second embodiment of the insulator string live-line inspection robot of the present invention is shown. This second embodiment differs from the first embodiment in that the support assembly 2 further includes a first adjustment assembly 25 and a second adjustment assembly 26. The first adjustment assembly 25 is mounted on the control assembly 1 and connected between the first support 21 and the second support 22, while the second adjustment assembly 26 is mounted on the control assembly 1 and connected between the third support 23 and the fourth support 24. Preferably, the first adjustment assembly 25 and the second adjustment assembly 26 have the same structure. The following description uses the first adjustment assembly 25 as an example.

[0039] Also refer to Figures 3 to 5The first adjustment assembly 25 includes a mounting base 51, a rotating member 52, a first adjustment member 53, a second adjustment member 54, a first connecting base 55, and a second connecting base 56. The mounting base 51 is mounted on one side of the control assembly 1. Preferably, the mounting base 51 is generally U-shaped. The rotating member 52 is rotatably supported in the mounting base 51. Preferably, the rotating member 52 is a gear. The rotating member 52 is driven by a motor installed in the control assembly 1 to move the first adjustment member 53 and the second adjustment member 54. The first adjustment member 53 and the second adjustment member 54 are movably fitted in the mounting base 51, and the rotating member 52 engages between the first adjustment member 53 and the second adjustment member 54. The first adjustment member 53 and the second adjustment member 54 have the same structure, and the following description uses the first adjustment member 53 as an example. The first adjustment member 53 includes a sleeve 531 fitted in the mounting base 51, and a rack portion 532 provided on one end of the sleeve 531, and the rotating member 52 engages with the rack portion 532. The sleeve 531 is generally a hollow square column with open ends. When the rotating member 52 rotates, the first adjusting member 53 and the second adjusting member 54 move towards or away from each other through the cooperation of the rotating member 52 and the corresponding rack portion 532. During the process of the first adjusting member 53 and the second adjusting member 54 moving towards each other, the rack portion 532 of the first adjusting member 53 can extend into the sleeve of the second adjusting member 54, and the rack portion of the second adjusting member 54 can extend into the sleeve 531 of the first adjusting member 53. The first connecting seat 55 is installed on the end of the sleeve 531 of the first adjusting member 53 away from the rack portion 532 of the first adjusting member 53, and is fitted onto the first bracket 21. The second connecting seat 56 is installed on the end of the sleeve of the second adjusting member 54 away from the rack portion of the second adjusting member 54, and is fitted onto the second bracket 22. The first connecting seat 55 and the second connecting seat 56 have the same structure, and the first connecting seat 55 will be used as an example for explanation. The first connecting seat 55 has a through groove 551 along the direction of the first bracket 21, and the first bracket 21 passes through the through groove 551. The first bracket 21 has a plurality of connecting holes 211, and the through groove 551 has at least two openings 552. The connector passes through the openings 552 and the connecting holes 211 to install the first connecting seat 55 on the first bracket 21.

[0040] When the live-line inspection robot lands on the insulator string to be inspected, the downward-facing cameras of the first camera assembly 5 and the second camera assembly 6 transmit images of the insulator string to the control assembly 1 in real time. The control assembly 1 controls the motor to operate according to the diameter of the insulator string to be inspected, so as to drive the rotating part 52 to rotate. The rotating part 52 drives the first adjusting part 53 and the second adjusting part 54 to move towards or away from each other through the corresponding rack part 532, thereby adjusting the distance between the first track assembly 3 and the second track assembly 4, so that the tracks of the first track assembly 3 and the second track assembly 4 are closely attached to the curved surface of the insulator steel cap. This makes the live-line inspection robot suitable for insulators with different outer diameters and effectively prevents the risk of slipping, tipping over and falling on steep insulator strings.

[0041] Example 3 Figure 6 A third embodiment of the insulator string live-line inspection robot of the present invention is shown. This third embodiment differs from the second embodiment in that the support assembly 2 further includes multiple adjusting cylinders 27. Adjusting cylinders 27 are connected between the first support 21 and the first track assembly 3, between the second support 22 and the second track assembly 4, between the third support 23 and the first track assembly 3, and between the fourth support 24 and the second track assembly 4. The first support 21, the second support 22, the third support 23, and the fourth support 24 each include a first connecting arm 212 and a second connecting arm 213, with an obtuse angle between the first connecting arm 212 and the second connecting arm 213. A first adjusting assembly 25 is connected between the first connecting arm 212 of the first support 21 and the second support 22. A second adjusting assembly 26 is connected between the first connecting arm 212 of the third support 23 and the fourth support 24. The first track assembly 3 is rotatably connected to the end of the second connecting arm 213 of the first support 21 and the third support 23 away from the first connecting arm 212. The second track assembly 4 is rotatably connected to the end of the second connecting arm 213 of the second bracket 22 and the fourth bracket 24 away from the first connecting arm 212. One end of the adjusting cylinder 27 is rotatably connected to the first connecting arm 212, and the other end is rotatably connected to the corresponding track assembly.

[0042] When the insulator string live-line inspection robot lands on the insulator string to be inspected, the downward-facing cameras of the first camera assembly 5 and the second camera assembly 6 transmit images of the insulator string to the control assembly 1 in real time. The control assembly 1 controls the motor to operate according to the diameter of the insulator string to be inspected, so as to drive the rotating part 52 to rotate. The rotating part 52 drives the first adjusting part 53 and the second adjusting part 54 to move towards or away from each other through the corresponding rack part 532, thereby adjusting the distance between the first track assembly 3 and the second track assembly 4 so that the distance between the first track assembly 3 and the second track assembly 4 can be adapted to insulator strings with different outer diameters. Then, the control assembly 1 controls the operation of the adjusting cylinder 27 to drive the first track assembly 3 and the second track assembly 4 to rotate relative to the corresponding support, so that the tracks of the first track assembly 3 and the second track assembly 4 are tightly attached to the curved surface of the insulator steel cap.

[0043] Example 4 This invention also provides a method for live-line detection of insulator strings, utilizing the aforementioned live-line detection robot. This method can automatically and efficiently perform live-line detection on insulator strings on high-voltage transmission lines, identifying zero-value or low-value insulators, thereby ensuring the safe operation of the power grid. The live-line detection method for insulator strings includes the following steps: S1. Connect the live-line insulator string inspection robot to the drone via the hook 11 on the control component 1. The drone, acting as a transport carrier, hoists the live-line insulator string inspection robot to the vicinity of the insulator string to be inspected.

[0044] S2. The drone carrying the robot flies above the insulator string and uses the downward-facing cameras of the first camera assembly 5 and the second camera assembly 6 to collect real-time images of the insulator string's position, transmitting the data to the control assembly 1. The control assembly 1 adjusts the first track assembly 3 and the second track assembly 4 based on the data, ensuring that the first track assembly 3 and the second track assembly 4 are respectively attached to both sides of the insulator string. Preferably, the control assembly 1 automatically adjusts the spacing and angle of the track assemblies according to the diameter of the insulator string to ensure that the tracks are tightly attached to the curved surface of the insulator steel cap. Specifically, the control assembly 1 drives the motor to rotate, causing the rotating component 52 to rotate. This, through the rack portion 532, causes the first adjusting component 53 and the second adjusting component 54 to move towards or away from each other, thereby adjusting the distance between the first track assembly 3 and the second track assembly 4. Then, the control assembly 1 further controls the operation of the adjusting cylinder 27, causing the first track assembly 3 and the second track assembly 4 to rotate relative to their respective supports, thereby adjusting the contact angle between the tracks and the curved surface of the insulator.

[0045] S3. Control component 1 starts the drive motors of the first track assembly 3 and the second track assembly 4, causing the insulator string live-line inspection robot to move at a constant speed along the insulator string. During this period, the lidar of control component 1 scans the insulator gaps in real time to avoid gap interference; at the same time, the track assemblies achieve autonomous correction through differential drive to maintain straight-line movement. Simultaneously, based on the pressure sensors on the track assemblies detecting the clamping force between the first track assembly 3 and the second track assembly 4, control component 1 adjusts the first adjustment assembly 25, the second adjustment assembly 26, and the adjustment cylinder 27 in real time according to the detected clamping force, thereby ensuring that the inclined dual-track assembly provides a symmetrical and balanced clamping force.

[0046] S4. During movement, the first probe group 712 or the second probe group 722 of the insulator string live-line inspection robot simultaneously contacts the steel caps of adjacent insulator discs, detecting the voltage difference based on the spark gap method. When the insulator string live-line inspection robot is placed on the insulator string to be inspected, the second probe group 722 inspects the insulator at the beginning of the insulator string. When the insulator string live-line inspection robot moves to the end of the insulator string, the first probe group 712 inspects the insulator at the end. Specifically, if the insulator is intact, a spark discharge occurs between the probes; if the insulator has a zero or low value, there is no discharge phenomenon. The detection data is transmitted in real time to the remote control unit via the antenna on the control component 1. After adjustment, the insulator string live-line inspection robot provides symmetrical clamping force through the inclined double track assembly to ensure stable attachment on the insulator string and prevent slippage or falling.

[0047] S5, the control unit analyzes the received data, identifies the location of defective insulators, and generates an analysis report containing the coordinates of the defects. After the inspection is completed, the drone-lifted insulator string live-line inspection robot returns, completing the operation.

[0048] The above detection method is illustrated below with a specific example. The above detection method is used to periodically perform zero-value tests on a single-span insulator string of a 110kV transmission line. This insulator string consists of multiple disc insulators, with a string length of approximately 1.5 meters and insulator cap diameters ranging from 200mm to 300mm. The operator attaches the live-line testing robot to a drone via hook 11 and starts the robot and drone system. The drone flies to approximately 1 meter above the insulator string, and the downward-facing cameras of the first camera assembly 5 and the second camera assembly 6 begin transmitting real-time images. The control assembly 1 identifies the position of the insulator string and guides the drone to descend slowly, allowing the first track assembly 3 and the second track assembly 4 of the live-line testing robot to initially contact one end of the insulator string. Based on the camera images and lidar data, the control assembly 1 determines that the diameter of the insulator cap is approximately 250mm. Subsequently, the control motor drives the first adjustment component 25 and the second adjustment component 26 to adjust the distance between the first track component 3 and the second track component 4 to a position suitable for a 250mm diameter. The control component 1 further controls the operation of the adjustment cylinder 27, causing the first track component 3 and the second track component 4 to rotate relative to their respective supports, ensuring the tracks closely fit the curved surface of the insulator and the robot stably attaches. The robot begins to move along the insulator string at a speed of approximately 0.5 meters per minute. During the movement, the dual probes of the first probe group 712 or the second probe group 722 sequentially contact the steel cap of each insulator to perform spark gap detection. When the fifth insulator is detected, the probe shows no discharge, and the control unit records this location as a suspected zero-value insulator. The detection data is transmitted to the ground control unit in real time. After the insulator string energized inspection robot completes the inspection of the entire string, the drone lifts it back to the ground. The control unit generates an analysis report, marking the fifth insulator as defective and providing its GPS coordinates for subsequent processing by maintenance personnel.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An insulator string live detection robot, comprising a support assembly, a control assembly, a first crawler assembly, a second crawler assembly, a first camera assembly, a second camera assembly and a probe device, the control assembly is installed on the support assembly, the first crawler assembly and the second crawler assembly are both installed on one end of the support assembly away from the control assembly, the first camera assembly is connected on the lower side of the first crawler assembly, the second camera assembly is connected on the lower side of the second crawler assembly, and the probe device is installed on the first camera assembly; characterized in that, The first track assembly and the second track assembly are respectively arranged obliquely towards each other; the support assembly comprises a first support, a second support, a third support and a fourth support, the first support and the second support are respectively mounted on the front side of the control assembly, the first support and the second support are both arranged obliquely, and the included angle between the first support and the second support ranges from 60° to 120°, the third support and the fourth support are respectively mounted on the rear side of the control assembly, and the third support is arranged opposite to the first support, and the fourth support is arranged opposite to the second support; the first track assembly is mounted on one end of the first support and the third support away from the control assembly, and the second track assembly is mounted on one end of the second support and the fourth support away from the control assembly.

2. The live line detection robot for an insulator string according to claim 1, characterized in that, The support assembly further comprises a first adjusting assembly and a second adjusting assembly, the first adjusting assembly is mounted on the control assembly and connected between the first support and the second support, and the second adjusting assembly is mounted on the control assembly and connected between the third support and the fourth support.

3. The live line insulator string detection robot of claim 2, wherein, The first adjusting assembly and the second adjusting assembly respectively comprise a mounting seat, a rotating piece, a first adjusting piece, a second adjusting piece, a first connecting seat and a second connecting seat; the mounting seat is mounted on one side of the control assembly; the rotating piece is rotatably supported in the mounting seat and driven by a motor mounted in the control assembly to move the first adjusting piece and the second adjusting piece; the first adjusting piece and the second adjusting piece are movably sleeved in the mounting seat, and the rotating piece is engaged between the first adjusting piece and the second adjusting piece; the first connecting seat is mounted on one end of the first adjusting piece away from the second adjusting piece; and the second connecting seat is mounted on one end of the second adjusting piece away from the first adjusting piece.

4. The live line insulator string detection robot of claim 3, wherein, The rotating piece is a gear; the first adjusting piece and the second adjusting piece respectively comprise a sleeve sleeved in the mounting seat and a rack portion arranged on one end of the sleeve, and the rotating piece is engaged with the rack portion.

5. The live line insulator string detection robot of claim 4, wherein, The support assembly further comprises a plurality of adjusting cylinders, the adjusting cylinders are connected between the first support and the first track assembly, between the second support and the second track assembly, between the third support and the first track assembly, and between the fourth support and the second track assembly.

6. The live line insulator string detection robot of claim 5, wherein, The first support, the second support, the third support and the fourth support all comprise a first connecting arm and a second connecting arm, the included angle between the first connecting arm and the second connecting arm is an obtuse angle; the first adjusting assembly is connected between the first connecting arms of the first support and the second support; the second adjusting assembly is connected between the first connecting arms of the third support and the fourth support; the first track assembly is rotatably connected on one end of the second connecting arms of the first support and the third support away from the first connecting arms; the second track assembly is rotatably connected on one end of the second connecting arms of the second support and the fourth support away from the first connecting arms; one end of the adjusting cylinder is rotatably connected on the first connecting arm, and the other end is rotatably connected on the corresponding track assembly.

7. A method of detecting a live insulator string, characterized by, The detection is performed by using the insulator string live detection robot according to claim 6, and includes the following steps: S1, connecting the insulator string live detection robot with the unmanned aerial vehicle through the hook on the control assembly, and hoisting the insulator string live detection robot to the insulator string to be detected by the unmanned aerial vehicle; S2, after the unmanned aerial vehicle carrying the insulator string live detection robot flies above the insulator string to be detected, the position image of the insulator string is collected in real time by the downward-looking camera of the first camera assembly and the second camera assembly, and is transmitted to the control assembly; S3, starting the drive motor of the first track assembly and the second track assembly to make the insulator string live detection robot move at a constant speed along the insulator string; S4, in the moving process, the first probe group or the second probe group of the probe device of the insulator string live detection robot synchronously contacts the steel cap of the adjacent insulator piece, and the voltage difference is detected based on the spark gap method, wherein when the insulator string live detection robot is placed on the insulator string to be detected, the second probe group detects the insulator at the starting end of the insulator string, and when the insulator string live detection robot moves to the end of the insulator string, the first probe group detects the insulator at the end; S5, analyzing the received data by the control unit, identifying the position of the defective insulator, and generating an analysis report containing the defect coordinates.

8. The insulator string detection method of claim 7, wherein, In step S2, the distance and angle of the track assembly are automatically adjusted according to the diameter size of the insulator string.

9. The insulator string detection method of claim 8, wherein, In step S2, the control assembly drives the motor to operate, drives the rotating member to rotate, moves the first adjusting member and the second adjusting member towards or away from each other through the rack part, so as to adjust the distance between the first track assembly and the second track assembly; then, the control assembly further controls the adjusting cylinder to operate, drives the first track assembly and the second track assembly to rotate relative to the corresponding support, so as to adjust the contact angle of the track with the insulator curved surface.

10. The method of claim 7, wherein the method further comprises: In step S3, the laser radar of the control assembly scans the insulator gap in real time to avoid gap interference; at the same time, the track assembly realizes self-correction by differential drive to keep straight walking; at the same time, the clamping force between the first track assembly and the second track assembly is detected by the pressure sensor on the track assembly, and the control assembly adjusts the first adjusting assembly, the second adjusting assembly and the adjusting cylinder in real time according to the detected clamping force.

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