Power transmission tower insulator state maintenance method and system

Abstract

The embodiment of the invention provides a power transmission tower insulator state maintenance method and system, which is applied to maintaining the state of an insulator of a power transmission tower, and comprises the following steps: detecting that an aircraft moves to a detection position of the insulator of the power transmission tower, and obtaining a multispectral image of the insulator; and the central control server obtains the real-time state of the insulator at least based on the multispectral image of the insulator, and the cleaning aircraft moves to the cleaning position of the insulator in the state needing to be cleaned to clean the insulator in the state needing to be cleaned. According to the method, the state of the insulator can be comprehensively diagnosed through the multispectral image, the actual state of the insulator is comprehensively and accurately evaluated, and the accuracy and reliability of state recognition are improved; moreover, the whole automatic power transmission tower insulator maintenance system composed of the detection aircraft, the central control server and the cleaning aircraft does not need manual intervention, can achieve the full-process automation, remarkably improves the operation and maintenance efficiency, and reduces the labor cost and operation risks.

Description

Technical Field

[0001] This application relates to the field of power transmission, specifically to a method and system for condition maintenance of insulators on power transmission towers. Background Technology

[0002] Insulators on transmission towers are critical components of power transmission networks, their core function being to ensure electrical insulation and mechanical fixation. In natural environments, dust, salt, bird droppings, and other contaminants gradually accumulate on the surface of insulators, forming a contamination layer. In humid weather (such as fog, dew, rain, and snow), the conductivity of this contamination layer increases dramatically after becoming damp, leading to two main types of faults: first, corona and partial arc discharge, which consumes insulation material and accelerates aging; and second, flashover accidents, where surface flashover occurs on the insulators, causing grounding faults and potentially leading to large-scale power outages, posing a serious threat to the safe operation of the power grid. Summary of the Invention

[0003] In view of this, the embodiments of this application are committed to providing a method and system for maintaining the condition of transmission tower insulators, so as to solve the technical problem that the formation of a pollution layer on the surface of existing insulators leads to corona and arc partial discharge or flashover accidents, resulting in large-scale power outages and posing a serious threat to the safe operation of the power grid.

[0004] The first aspect of this application provides a method for maintaining the condition of insulators on transmission towers, which is applied to maintaining the condition of insulators on transmission towers; The method for maintaining the condition of transmission tower insulators includes: The detection aircraft moves to the detection position of the insulator of the designated transmission tower and acquires a multispectral image of the insulator, which includes a visible light image, an infrared image, and an ultraviolet image. The central control server obtains the real-time status of the insulator based at least on the multispectral image of the insulator, and the real-time status includes a normal status and a status that needs cleaning. The cleaning aircraft moves to the cleaning position of the insulator that needs cleaning and performs the cleaning operation on the insulator.

[0005] In one embodiment of this application, the step of the central control server acquiring the real-time status of the insulator based at least on the multispectral image of the insulator includes: The central control server acquires the visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status of the insulator based at least on the multispectral image of the insulator. The central control server obtains the real-time status of the insulator based on its visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status.

[0006] In one embodiment of this application, the step of the central control server acquiring the real-time status of the insulator based at least on the multispectral image of the insulator includes: The central control server obtains the real-time status of the insulator based on the multispectral image of the insulator and the environmental parameters of the location of the insulator.

[0007] In one embodiment of this application, the step of detecting the aircraft moving to the detection position of the insulator of the designated transmission tower includes: The detection aircraft obtains the geographical location of the insulator, which includes the latitude, longitude, and altitude of the insulator. The detection aircraft obtains the detection location of the insulator based on the insulator's geographical location; The detection aircraft moves to the detection position of the insulator on the designated transmission tower.

[0008] In one embodiment of this application, the step of moving the detection aircraft to the detection position of an insulator on a designated transmission tower and acquiring a multispectral image of the insulator includes: The detection aircraft moves to at least three detection positions on the insulator of the designated transmission tower and acquires multispectral images of the insulator at at least three different angles.

[0009] In one embodiment of this application, before the step of the detection aircraft moving to the detection position of the insulator of the designated transmission tower and acquiring a multispectral image of the insulator, the method further includes: The central control server generates corresponding detection routes based on the detection positions of the insulators of each set transmission tower; The step of moving the detection aircraft to the detection position of the insulator on the designated transmission tower and acquiring a multispectral image of the insulator includes: The detection aircraft moves sequentially to the detection positions of the insulators of each designated transmission tower according to the detection route, and acquires multispectral images of each insulator.

[0010] In one embodiment of this application, before the step of the cleaning aircraft moving to the cleaning position of the insulator in a state requiring cleaning and performing a cleaning operation on the insulator in a state requiring cleaning, the following method is further included: The central control server generates corresponding cleaning routes based on the cleaning positions of the insulators of each designated transmission tower that are in a state requiring cleaning. The cleaning aircraft moves to the cleaning position of the insulator that needs cleaning, and the steps for cleaning the insulator that needs cleaning include: The cleaning aircraft moves sequentially to the cleaning positions of each insulator that needs cleaning, following a cleaning route, and performs cleaning operations on each insulator that needs cleaning.

[0011] In one embodiment of this application, it further includes: The detection aircraft moves to the detection position of the cleaned insulator and acquires a multispectral image of the insulator; The central control server acquires the real-time status of the insulator based at least on the multispectral image of the insulator that has been cleaned; If there are insulators that need cleaning among the insulators that have been cleaned, the cleaning aircraft moves to the cleaning position of the insulator that needs cleaning and performs cleaning operations on the insulator that needs cleaning until the real-time state of the insulator is no longer in a state that needs cleaning.

[0012] In one embodiment of this application, the real-time status further includes a maintenance-required status; The method for maintaining the condition of transmission tower insulators also includes: The central control server outputs a maintenance alarm signal corresponding to the insulator that is in the maintenance-required state.

[0013] Another aspect of this application provides a condition maintenance system for transmission tower insulators, applied to the condition maintenance of insulators on transmission towers, and includes a central control server, a detection aircraft, and a cleaning aircraft; The detection aircraft is configured to move to the detection position of an insulator on a designated transmission tower and acquire a multispectral image of the insulator, the multispectral image including ultraviolet, infrared, and visible light images; The central control server is configured to acquire the real-time status of the insulator based at least on the multispectral image of the insulator, the real-time status including normal status and cleaning-required status; The cleaning aircraft is configured to move to the cleaning location of an insulator that is in a state requiring cleaning, and to perform a cleaning operation on the insulator.

[0014] The transmission tower insulator condition maintenance method of this application embodiment can comprehensively diagnose the insulator condition through multispectral images, comprehensively and accurately assess the actual condition of the insulator, avoid the limitations of a single method, and greatly improve the accuracy and reliability of condition identification. Furthermore, the automated maintenance system constructed using the transmission tower insulator condition maintenance method of this application embodiment, consisting of a detection aircraft, a central control server, and a cleaning aircraft, can achieve full-process automation without human intervention, significantly improving operation and maintenance efficiency, reducing labor costs and operational risks, and providing strong technical support for the safe and stable operation of the power grid. Attached Figure Description

[0015] It should be understood that the following figures only show some embodiments of this application and should not be regarded as a limitation on the scope.

[0016] It should be understood that the same or similar reference numerals are used in the accompanying drawings to denote the same or similar elements.

[0017] It should be understood that the accompanying drawings are only schematic, and the dimensions and scales of the elements in the drawings are not necessarily precise.

[0018] Figure 1 This is a schematic diagram of the structure of a transmission tower.

[0019] Figure 2 This is a schematic diagram illustrating the steps of the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0024] Figure 7 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0025] Figure 8 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0026] Figure 9 This is a schematic diagram of another step in the transmission tower insulator condition maintenance method according to an embodiment of this application.

[0027] Figure 10 This is a schematic diagram of the structure of the transmission tower insulator condition maintenance system according to an embodiment of this application.

[0028] Attached image labels: 10. Transmission tower; 11. Insulator; 21. Inspection aircraft; 22. Central control server; 23. Cleaning aircraft. Detailed Implementation

[0029] Numerous specific details are set forth below to provide an understanding of the structure, function, and use of the embodiments described and illustrated in the specification and figures. It is to be understood that the embodiments described and illustrated herein are non-limiting examples, and thus it will be appreciated that the particular structural and functional details disclosed herein are representative and exemplary. Variations and changes may be made to these embodiments without departing from the scope of the claims.

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] like Figures 1 to 9 As shown, this application provides a method for maintaining the condition of insulators on a transmission tower 10. The insulator 11 suspends the conductor and, by providing sufficient creepage distance and arc distance, electrically isolates the overhead conductor from the transmission tower 10, ensuring the long-term safe operation of the overhead line.

[0032] It is understandable that many transmission towers 10 need to be installed in overhead lines, and as... Figure 1 As shown, each transmission tower 10 is equipped with multiple insulators 11. Therefore, the insulators 11 can be pre-coded; for example, the code ID of a certain insulator 11 is N123-IA, where N123 represents the number of the transmission tower 10, I represents line I, the same transmission tower 10 may be equipped with one or more lines, and A represents phase A line.

[0033] Specifically, such as Figure 2 As shown, the transmission tower insulator condition maintenance method of this application embodiment includes: S101: The detection aircraft 21 moves to the detection position of the insulator 11 of the set transmission tower 10 and acquires a multispectral image of the insulator 11.

[0034] Specifically, the detection aircraft 21 can be a drone equipped with a detection camera. This detection camera can acquire visible light images, infrared images, and ultraviolet images. In this way, during the operation of the detection aircraft 21, it can fly to the detection position of the insulator 11 of the designated transmission tower 10 and use its detection camera to take pictures of the insulator 11 of the designated transmission tower 10, thereby obtaining a multispectral image of the insulator 11. The multispectral image includes visible light images, infrared images, and ultraviolet images.

[0035] S102: The central control server 22 obtains the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11.

[0036] After the detection aircraft 21 flies to the detection position of the insulator 11 of the designated transmission tower 10, it uses its detection camera to take pictures of the insulator 11 of the designated transmission tower 10, thereby obtaining a multispectral image of the insulator 11. Then, it can use mobile networks or other means to send the multispectral image of the insulator 11 to the central control server 22. The central control server 22 can judge the multispectral image of the insulator 11 and obtain the real-time status of the insulator 11.

[0037] The real-time status of insulator 11 includes a normal status and a cleaning-required status. The normal status indicates that the insulation of insulator 11 is normal and does not require cleaning. The cleaning-required status indicates that a contaminant layer exists on the surface of insulator 11, affecting its insulation performance and requiring cleaning to remove the contaminant layer. In one embodiment of this application, the real-time status of insulator 11 also includes a maintenance-required status, indicating that the insulator 11 has cracks, damage, or other issues requiring repair or replacement.

[0038] like Figure 3 As shown, in one embodiment of this application, S102: The step of the central control server 22 acquiring the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11 includes: S1021: The central control server 22 acquires the visible light diagnostic status, infrared diagnostic status and ultraviolet diagnostic status of the insulator 11 based at least on the multispectral image of the insulator 11.

[0039] S1022: The central control server 22 obtains the real-time status of the insulator 11 based on the visible light diagnostic status, infrared diagnostic status and ultraviolet diagnostic status of the insulator 11.

[0040] That is, the central control server 22 can obtain the visible light diagnostic status of the insulator 11 based on the visible light image in the multispectral image of the insulator 11, obtain the infrared diagnostic status of the insulator 11 based on the infrared image of the insulator 11, obtain the infrared diagnostic status of the insulator 11 based on the ultraviolet image of the insulator 11, and then obtain the real-time status of the insulator 11 based on the visible light diagnostic status, infrared diagnostic status and ultraviolet diagnostic status of the insulator 11.

[0041] As shown in the table below, the relationship between the visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status of insulator 11 and the real-time status of insulator 11 is as follows.

[0042] Understandably, the central control server 22 can directly determine whether there is dirt, damage, cracks, foreign objects, etc. on the surface of the insulator 11 based on the visible light image of the insulator 11. The central control server 22 can determine whether there is abnormal heating on the surface of the insulator 11 based on the infrared image of the insulator 11; after the insulation performance of the insulator 11 deteriorates, some current will flow through the surface, causing abnormal heating. The central control server 22 can determine whether there is abnormal corona discharge, arc discharge, etc. on the surface of the insulator 11 based on the ultraviolet image of the insulator 11; after a significant deterioration in the insulation performance of the insulator 11, abnormal discharge will occur, requiring timely cleaning of the insulator 11.

[0043] Specifically, in one embodiment of this application, the central control server 22 can take the visible light image, infrared image, and ultraviolet image of the insulator 11 as input, perform preprocessing such as registration and denoising on the images, and then obtain the visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status of the insulator 11 based on a pre-trained neural network image recognition model or image recognition algorithm, and then obtain the real-time status of the insulator 11. In this way, the overall judgment logic can be divided into three independent modules, so that the three independent modules can be independently optimized and updated, improving the flexibility and maintainability of the transmission tower insulator status maintenance method of this application embodiment. In another embodiment of this application, the central control server 22 can directly obtain the real-time status of the insulator 11 based on the multispectral image of the insulator 11 using a pre-trained neural network image recognition model.

[0044] S103: The cleaning aircraft 23 moves to the cleaning position of the insulator 11 that needs to be cleaned and performs a cleaning operation on the insulator 11 that needs to be cleaned.

[0045] Understandably, after the central control server 22 obtains the real-time status of the insulator 11 based on at least the multispectral image of the insulator 11, the cleaning aircraft 23 can move to the cleaning position of the insulator 11 that needs cleaning and perform cleaning operations on the insulator 11 to remove the dirt layer on the surface of the insulator 11, thereby restoring the insulation performance of the insulator 11. Specifically, the cleaning aircraft 23 can be a drone equipped with a cleaning device and a positioning camera. The positioning camera can locate the actual position of the insulator 11, and the cleaning device can perform cleaning actions such as blowing and spraying on the insulator 11 to remove the dirt layer on the surface of the insulator 11.

[0046] As can be seen, the transmission tower insulator condition maintenance method of this application embodiment can comprehensively diagnose the condition of insulator 11 through multispectral images, comprehensively and accurately assess the actual condition of insulator 11, avoid the limitations of a single method, and greatly improve the accuracy and reliability of condition identification. Furthermore, the automated maintenance system constructed using the transmission tower insulator condition maintenance method of this application embodiment, consisting of detection aircraft 21, central control server 22, and cleaning aircraft 23, does not require manual intervention and can achieve full-process automation, significantly improving operation and maintenance efficiency, reducing labor costs and operational risks, and providing strong technical support for the safe and stable operation of the power grid.

[0047] Furthermore, such as Figure 4 As shown, in one embodiment of this application, S102: The step of the central control server 22 acquiring the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11 includes: S202: The central control server 22 obtains the real-time status of insulator 11 based on the multispectral image of insulator 11 and the environmental parameters of the location of insulator 11.

[0048] The central control server 22 obtains the real-time status of the insulator 11 based on the multispectral image of the insulator 11 and the environmental parameters of the location of the insulator 11. The environmental parameters may include parameters such as ambient temperature, humidity, and solar radiation intensity. Specifically, during the process of acquiring the multispectral image of the insulator 11, the detection aircraft 21 can simultaneously record the environmental parameters of the location of the insulator 11 through its onboard environmental sensors, and upload them to the central control server 22 along with the image data.

[0049] When performing analysis, the central control server 22 can simultaneously consider the multispectral image of insulator 11 and the environmental parameters of its location. For example, the neural network image recognition model or algorithm used by the central control server 22 can take into account the influence of ambient temperature and solar radiation intensity on the surface temperature of insulator 11 when analyzing infrared images, avoiding misjudging normal temperature rise of insulator 11 caused by direct sunlight as abnormal. Similarly, high humidity may affect the discharge intensity of insulator 11 and the clarity of visible light images, and the neural network image recognition model or algorithm used by the central control server 22 can also weight or correct the diagnostic results accordingly.

[0050] As can be seen, the transmission tower insulator condition maintenance method of this application effectively overcomes the interference of environmental changes on the condition judgment of insulator 11 by introducing environmental parameters as compensation variables for insulator 11 condition diagnosis. This makes the transmission tower insulator condition maintenance method of this application more environmentally adaptable, significantly reducing the false alarm rate and missed alarm rate under different seasons and weather conditions, thereby improving the reliability and accuracy of the transmission tower insulator condition maintenance method of this application in all-weather and all-region applications.

[0051] like Figure 5 As shown, in one embodiment of this application, the step S101: detecting the movement of the aircraft 21 to the detection position of the insulator 11 of the designated transmission tower 10 includes: S301: Detect aircraft 21 to obtain the geographical location of insulator 11.

[0052] S302: The detection aircraft 21 obtains the detection position of the insulator 11 based on the geographical location of the insulator 11; S303: The detection aircraft 21 moves to the detection position of the insulator 11 of the set transmission tower 10.

[0053] It is understandable that the geographical location of insulator 11 includes its latitude and longitude and its altitude; the detection position of insulator 11 of transmission tower 10 is set as the position that the detection aircraft 21 needs to be in when acquiring multispectral images of insulator 11. This position is usually a nearby position of insulator 11, and a certain distance is maintained between it and insulator 11 to ensure that the detection aircraft 21 can acquire complete multispectral images of insulator 11.

[0054] During the operation of the detection aircraft 21 in this embodiment, it first acquires geographical location information including the latitude, longitude, and altitude of the insulator 11. Then, based on the geographical location of the insulator 11, it obtains the nearest location of the insulator 11 as the detection position of the insulator 11 according to a preset algorithm. The detection aircraft 21 can then move to the designated detection position of the insulator 11 on the transmission tower 10 and point its detection camera towards the insulator 11 to acquire a multispectral image of the insulator 11. Specifically, after reaching the nearest location of the insulator 11, the detection aircraft 21 can use its detection camera for precise positioning to ensure that it maintains a relative position with the insulator 11 that is both clear for imaging and absolutely safe.

[0055] As can be seen, in the transmission tower insulator condition maintenance method of this application embodiment, the detection aircraft 21 does not need to rely on the pilot to manually operate the detection aircraft 21, which improves the automation level and efficiency of the detection operation; the detection aircraft 21 can be guided by precise geographical location to quickly and reliably reach each detection location, ensuring the standardization and consistency of image acquisition location, thereby improving the accuracy of subsequent image analysis.

[0056] like Figure 6 As shown, in one embodiment of this application, S101: the step of detecting the aircraft 21 moving to the detection position of the insulator 11 of the set transmission tower 10 and acquiring a multispectral image of the insulator 11 includes: S401: The detection aircraft 21 moves to at least three detection positions of the insulator 11 of the set transmission tower 10 and acquires multispectral images of the insulator 11 of the set transmission tower 10 at at least three different angles.

[0057] When the detection aircraft 21 moves to the detection position of the insulator 11 of the designated transmission tower 10 and acquires the multispectral image of the insulator 11, the detection aircraft 21 can move to at least three detection positions of the insulator 11 of the designated transmission tower 10 and acquire the multispectral image of the insulator 11 at each position. This allows the aircraft to acquire the multispectral image of the insulator 11 of the designated transmission tower 10 at at least three different angles, thus ensuring that the multispectral image of the insulator 11 can cover all angles of the circumference of the insulator 11. This captures the entire surface condition of the insulator 11 without blind spots, eliminating the visual blind spots present in single-angle or two-angle shooting. It can more comprehensively display the surface condition of the insulator 11, significantly improving the detection rate of hidden defects and local anomalies on the surface of the insulator 11, and the results obtained are more accurate.

[0058] like Figure 7As shown, in one embodiment of this application, the transmission tower insulator condition maintenance method of this application further includes the following steps before the step of detecting the aircraft 21 moving to the detection position of the insulator 11 of the designated transmission tower 10 and acquiring a multispectral image of the insulator 11: S501: The central control server 22 generates corresponding detection routes based on the detection positions of the insulators 11 of each set transmission tower 10; S101: The step of detecting the aircraft 21 moving to the detection position of the insulator 11 of the designated transmission tower 10 and acquiring a multispectral image of the insulator 11 includes: S502: The detection aircraft 21 moves sequentially to the detection position of the insulator 11 of each set transmission tower 10 according to the detection route, and acquires multispectral images of each insulator 11.

[0059] In the transmission tower insulator condition maintenance method of this application embodiment, the central control server 22 can perform global path planning based on the detection positions of the insulators 11 of each set transmission tower 10 to generate corresponding detection routes. Then, the detection aircraft 21 can move sequentially to the detection positions of the insulators 11 of each set transmission tower 10 according to the detection routes to acquire multispectral images of each insulator 11, thereby completing the acquisition of multispectral images of each insulator 11. In this way, the required flight path of the detection aircraft 21 can be shortened, the repeated take-off and landing of the detection aircraft 21 can be avoided, the detection efficiency can be improved, the invalid flight time and energy consumption of the detection aircraft 21 can be reduced, and the operation and maintenance costs can be reduced.

[0060] Understandably, the insulators 11 of transmission tower 10 requiring condition maintenance can be manually selected by staff, and then the central control server 22 can perform global path planning based on the detection location of the selected insulators 11 to generate the corresponding detection route. Alternatively, the central control server 22 can automatically select the insulators 11 of transmission tower 10 requiring condition maintenance according to a preset maintenance cycle.

[0061] like Figure 7 As shown, in one embodiment of this application, before the cleaning aircraft 23 moves to the cleaning position of the insulator 11 in a state requiring cleaning and performs the cleaning operation on the insulator 11 in a state requiring cleaning, the following steps are included: S503: The central control server 22 generates a corresponding cleaning route based on the cleaning position of the insulators 11 of each set transmission tower 10 that is in a state that needs cleaning. S103: The cleaning aircraft 23 moves to the cleaning position of the insulator 11 that needs cleaning, and the steps for cleaning the insulator 11 that needs cleaning include: S504: The cleaning aircraft 23 moves sequentially to the cleaning position of each insulator 11 that needs to be cleaned according to the cleaning route, and performs cleaning operations on each insulator 11 that needs to be cleaned.

[0062] In the transmission tower insulator condition maintenance method of this application embodiment, the central control server 22 can perform global path planning based on the cleaning positions of the insulators 11 of each transmission tower 10 that are in a cleaning state, and generate corresponding cleaning routes. Then, the detection aircraft 21 can move sequentially to the cleaning positions of each insulator 11 that is in a cleaning state according to the cleaning routes, and perform cleaning operations on each insulator 11 that is in a cleaning state. In this way, the required flight path of the cleaning aircraft 23 can be shortened, the cleaning aircraft 23 can avoid repeated take-off and landing, improve cleaning efficiency, reduce the ineffective flight time and energy consumption of the cleaning aircraft 23, and ensure that the cleaning aircraft 23 completes more cleaning tasks in a single sortie, which greatly improves the overall efficiency and economy of the cleaning operation and reduces the operation and maintenance costs.

[0063] like Figure 8 As shown, in one embodiment of this application, the method for maintaining the condition of transmission tower insulators further includes: S604: The detection aircraft 21 moves to the detection position of the insulator 11 that has been cleaned and acquires a multispectral image of the insulator 11.

[0064] S605: The central control server 22 acquires the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11 that has been cleaned.

[0065] S606: If there is an insulator 11 that needs to be cleaned among the insulators 11 that have been cleaned, the cleaning aircraft 23 moves to the cleaning position of the insulator 11 that needs to be cleaned and performs cleaning operation on the insulator 11 that needs to be cleaned until the real-time state of the insulator 11 is no longer in the state that needs to be cleaned.

[0066] In the transmission tower insulator status maintenance method of this application embodiment, after the cleaning aircraft 23 completes the cleaning operation on a certain insulator 11, the central control server 22 can reschedule the detection aircraft 21 to return to the detection position of the insulator 11 and re-acquire multispectral images of the insulator 11; the central control server 22 then obtains the real-time status of the insulator 11 based on the multispectral images of the cleaned insulator 11. If the cleaning by the cleaning aircraft 23 is insufficient or there are omissions, resulting in the insulator 11 still being in a state requiring cleaning, the cleaning aircraft 23 is triggered again to re-clean the insulator 11 until the insulator 11 is completely cleaned.

[0067] The transmission tower insulator condition maintenance method of this application embodiment can effectively deal with the actual situation of incomplete cleaning in a single cleaning and stubborn contaminants on the surface of insulator 11 by adding a re-inspection and secondary cleaning step after cleaning. It ensures that each insulator 11 can be completely cleaned, eliminates the safety hazards left by inadequate cleaning, and greatly improves the reliability and effectiveness of maintenance work.

[0068] like Figure 9 As shown, in one embodiment of this application, when the real-time status of insulator 11 also includes a maintenance-required status, the transmission tower insulator status maintenance method of this application embodiment further includes: S704: The central control server 22 outputs a maintenance alarm signal corresponding to the insulator 11 that is in a maintenance-required state.

[0069] As mentioned above, the maintenance-required status of insulator 11 indicates that insulator 11 has cracks, damage, or other issues and needs to be repaired or replaced. The central control server 22 outputs a maintenance alarm signal for the insulator 11 in the maintenance-required status, promptly alerting the operation and maintenance personnel to repair or replace the insulator 11 that has suffered substantial damage, thereby avoiding more serious accidents such as power transmission interruptions and providing stronger technical support for the safe and stable operation of the power grid.

[0070] like Figure 10 As shown in the embodiment of this application, a transmission tower insulator condition maintenance system is also provided, which is applied to the condition maintenance of insulators 11 of transmission tower 10, and includes a central control server 22, a detection aircraft 21 and a cleaning aircraft 23; The detection aircraft 21 is configured to move to the detection position of the insulator 11 of the designated transmission tower 10 and acquire a multispectral image of the insulator 11, which includes an ultraviolet image, an infrared image and a visible light image. The central control server 22 is configured to acquire the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11, including the normal status and the status requiring cleaning. The cleaning aircraft 23 is configured to move to the cleaning position of the insulator 11 that is in a state that needs cleaning, and to perform a cleaning operation on the insulator 11 that is in a state that needs cleaning.

[0071] The transmission tower insulator condition maintenance system of this application embodiment can comprehensively diagnose the condition of insulator 11 through multispectral images, comprehensively and accurately assess the actual condition of insulator 11, avoid the limitations of a single method, and greatly improve the accuracy and reliability of condition identification. Furthermore, the transmission tower insulator condition maintenance system of this application embodiment does not require manual intervention and can achieve full-process automation, significantly improving operation and maintenance efficiency, reducing labor costs and operational risks, and providing strong technical support for the safe and stable operation of the power grid.

[0072] It is understood that the number of detection aircraft 21 and cleaning aircraft 23 in the transmission tower insulator condition maintenance system of this application embodiment can be selected as needed, and no limitation is made here.

[0073] Furthermore, in one embodiment of this application, the central control server 22 is configured to acquire the visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status of the insulator 11 based at least on the multispectral image of the insulator 11, and to acquire the real-time status of the insulator 11 based on the visible light diagnostic status, infrared diagnostic status, and ultraviolet diagnostic status of the insulator 11.

[0074] Furthermore, in one embodiment of this application, the central control server 22 is configured to acquire the real-time status of the insulator 11 based at least on the multispectral image of the insulator 11 and the environmental parameters of the location of the insulator 11.

[0075] Furthermore, in one embodiment of this application, the detection aircraft 21 is configured to acquire the geographical location of the insulator 11, including the latitude and longitude of the insulator 11 and its altitude, and based on the geographical location of the insulator 11, acquire the detection position of the insulator 11, and then move to the detection position of the insulator 11 on the designated transmission tower 10.

[0076] Furthermore, in one embodiment of this application, the detection aircraft 21 is configured to move to at least three detection positions of the insulator 11 of the set transmission tower 10 to acquire multispectral images of the insulator 11 of the set transmission tower 10 at at least three different angles.

[0077] Furthermore, in one embodiment of this application, the central control server 22 is configured to generate corresponding detection routes based on the detection positions of the insulators 11 of each set transmission tower 10; the detection aircraft 21 is configured to move sequentially to the detection positions of the insulators 11 of each set transmission tower 10 according to the detection routes, and acquire multispectral images of each insulator 11.

[0078] Furthermore, in one embodiment of this application, the central control server 22 is configured to generate a corresponding cleaning route based on the cleaning position of each insulator 11 of the set transmission tower 10 that is in a cleaning state; the cleaning aircraft 23 is configured to move sequentially to the cleaning position of each insulator 11 that is in a cleaning state according to the cleaning route, and perform cleaning operations on each insulator 11 that is in a cleaning state.

[0079] Furthermore, in one embodiment of this application, the detection aircraft 21 is also configured to move to the detection position of the insulator 11 that has been cleaned, and acquire a multispectral image of the insulator 11, the multispectral image including an ultraviolet image, an infrared image and a visible light image; the central control server 22 is configured to acquire the real-time status of the insulator 11 based at least on the detection position of the cleaned insulator 11; the cleaning aircraft 23 is configured to, if there is an insulator 11 in a state that needs cleaning among the cleaned insulators 11, move to the cleaning position of the insulator 11 in a state that needs cleaning, and perform cleaning operations on the insulator 11 in a state that needs cleaning, until the real-time status of the insulator 11 is no longer a state that needs cleaning.

[0080] Furthermore, in one embodiment of this application, the real-time status also includes a maintenance-required status; the central control server 22 is also configured to output a maintenance alarm signal corresponding to the insulator 11 in the maintenance-required status.

[0081] The technical effects of the above-described device embodiments can be referred to in part of the technical effects of the aforementioned methods, and will not be repeated here.

[0082] It should be noted that the elements described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0083] It should be understood that multiple components and / or parts can be provided by a single integrated component or part. Alternatively, a single integrated component or part can be divided into multiple separate components and / or parts. The use of the public designation "a" or "an" to describe a component or part does not imply the exclusion of other components or parts.

[0084] It should be understood that while terms such as "first" or "second" may be used in this application to describe various elements, these elements are not limited by these terms; these terms are merely used to distinguish one element from another. The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms "a," "the," and "the" as used in one or more embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0085] In this document, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, and not to define the absolute position of these related parts. Terms such as "equal" and "same" are not strict mathematical and / or geometric limitations, and also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several subranges contained therein.

[0086] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0087] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for condition maintenance of transmission tower insulators, characterized in that, It is used for maintaining the condition of insulators (11) of transmission towers (10); The method for maintaining the condition of transmission tower insulators includes: The detection aircraft (21) moves to the detection position of the insulator (11) of the set transmission tower (10) and acquires a multispectral image of the insulator (11), which includes a visible light image, an infrared image and an ultraviolet image; The central control server (22) acquires the real-time status of the insulator (11) based at least on the multispectral image of the insulator (11), the real-time status including normal status and cleaning status; The cleaning aircraft (23) moves to the cleaning position of the insulator (11) that is in a state that needs cleaning and performs a cleaning operation on the insulator (11) that is in a state that needs cleaning.

2. The method for condition maintenance of transmission tower insulators according to claim 1, characterized in that, The steps by which the central control server (22) acquires the real-time status of the insulator (11) based at least on the multispectral image of the insulator (11) include: The central control server (22) acquires the visible light diagnostic status, infrared diagnostic status and ultraviolet diagnostic status of the insulator (11) based at least on the multispectral image of the insulator (11); The central control server (22) obtains the real-time status of the insulator (11) based on the visible light diagnostic status, infrared diagnostic status and ultraviolet diagnostic status of the insulator (11).

3. The method for maintaining the condition of transmission tower insulators according to claim 1, characterized in that, The steps by which the central control server (22) acquires the real-time status of the insulator (11) based at least on the multispectral image of the insulator (11) include: The central control server (22) obtains the real-time status of the insulator (11) based on the multispectral image of the insulator (11) and the environmental parameters of the location of the insulator (11).

4. The method for maintaining the condition of transmission tower insulators according to claim 1, characterized in that, The step of the detection aircraft (21) moving to the detection position of the insulator (11) of the designated transmission tower (10) includes: The detection aircraft (21) obtains the geographical location of the insulator (11), which includes the latitude and longitude of the insulator (11) and its altitude; The detection aircraft (21) obtains the detection position of the insulator (11) based on the geographical location of the insulator (11); The detection aircraft (21) moves to the detection position of the insulator (11) of the set transmission tower (10).

5. The method for condition maintenance of transmission tower insulators according to claim 1, characterized in that, The step of the detection aircraft (21) moving to the detection position of the insulator (11) of the designated transmission tower (10) and acquiring a multispectral image of the insulator (11) includes: The detection aircraft (21) moves to at least three detection positions of the insulator (11) of the set transmission tower (10) and acquires multispectral images of the insulator (11) of the set transmission tower (10) at at least three different angles.

6. The method for maintaining the condition of transmission tower insulators according to claim 1, characterized in that, Before the step of the detection aircraft (21) moving to the detection position of the insulator (11) of the designated transmission tower (10) and acquiring a multispectral image of the insulator (11), the following steps are also included: The central control server (22) generates corresponding detection routes based on the detection positions of the insulators (11) of each set transmission tower (10); The step of the detection aircraft (21) moving to the detection position of the insulator (11) of the designated transmission tower (10) and acquiring a multispectral image of the insulator (11) includes: The detection aircraft (21) moves sequentially to the detection position of the insulator (11) of each set transmission tower (10) according to the detection route, and acquires multispectral images of each insulator (11).

7. The method for condition maintenance of transmission tower insulators according to claim 1, characterized in that, Before the step of the cleaning aircraft (23) moving to the cleaning position of the insulator (11) in a state requiring cleaning and performing a cleaning operation on the insulator (11) in a state requiring cleaning, the following steps are also included: The central control server (22) generates a corresponding cleaning route based on the cleaning position of the insulators (11) of each of the designated transmission towers (10) that are in a state requiring cleaning; The cleaning aircraft (23) moves to the cleaning position of the insulator (11) that needs cleaning, and the steps of cleaning the insulator (11) that needs cleaning include: The cleaning aircraft (23) moves sequentially to the cleaning position of each insulator (11) that needs cleaning according to the cleaning route, and performs cleaning operation on each of the insulators (11) that needs cleaning.

8. The method for condition maintenance of transmission tower insulators according to claim 1, characterized in that, Also includes: The detection aircraft (21) moves to the detection position of the insulator (11) that has been cleaned and acquires a multispectral image of the insulator (11); The central control server (22) acquires the real-time status of the insulator (11) based at least on the multispectral image of the insulator (11) that has been cleaned; If there is an insulator (11) that needs cleaning among the insulators (11) that have been cleaned, the cleaning aircraft (23) moves to the cleaning position of the insulator (11) that needs cleaning and performs cleaning operation on the insulator (11) that needs cleaning until the real-time state of the insulator (11) is no longer in a state that needs cleaning.

9. The method for condition maintenance of transmission tower insulators according to any one of claims 1 to 8, characterized in that, The real-time status also includes maintenance-required status; The method for maintaining the condition of transmission tower insulators also includes: The central control server (22) outputs a maintenance alarm signal corresponding to the insulator (11) that is in the maintenance state.

10. A condition maintenance system for transmission tower insulators, characterized in that, It is used for condition maintenance of insulators (11) of transmission towers (10) and includes a central control server (22), a detection aircraft (21) and a cleaning aircraft (23). The detection aircraft (21) is configured to move to the detection position of the insulator (11) of the designated transmission tower (10) and acquire a multispectral image of the insulator (11), the multispectral image including an ultraviolet image, an infrared image and a visible light image; The central control server (22) is configured to acquire the real-time status of the insulator (11) based at least on the multispectral image of the insulator (11), the real-time status including normal status and cleaning status; The cleaning aircraft (23) is configured to move to the cleaning position of the insulator (11) in the state of needing cleaning and to perform a cleaning operation on the insulator (11) in the state of needing cleaning.

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