A composite insulator detection system and method based on terahertz technology

Abstract

This application relates to the field of fault diagnosis technology and provides a composite insulator detection system and method based on terahertz technology. The composite insulator detection system includes a host computer, a drone equipped with a terahertz time-domain spectroscopy module, a robotic arm connected to the drone, and a terahertz transceiver array connected to the robotic arm. A wireless network data transmission channel is established between the host computer and the drone. The terahertz transceiver array includes a ring-shaped base and multiple terahertz transceiver units evenly distributed along the circumference of the ring-shaped base. The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, the coordinates of the aging area are stored. When the identification result indicates that the composite insulator has defects, a defect status report is generated. This application can improve the detection efficiency of composite insulators in terms of aging and defects.

Description

Technical Field

[0001] This application belongs to the field of fault diagnosis technology, and in particular relates to a composite insulator detection system and detection method based on terahertz technology. Background Technology

[0002] Composite insulators are core insulation and support components in power systems, and their condition directly affects the safety and stability of the entire power system. With increasing system voltage levels, longer lines, and more complex operating environments, the service conditions for composite insulators are becoming increasingly demanding.

[0003] Currently, the inspection of composite insulators mainly relies on manual inspection. This method requires inspectors to observe closely or use simple tools, which not only poses safety risks such as climbing and electric shock, but also limits the ability of the naked eye to detect minute internal defects in composite insulators. Furthermore, manual inspection is inefficient and cannot monitor the operating status of composite insulators in real time or provide early warnings, which can lead to untimely troubleshooting and affect the safe and stable operation of the power system. Therefore, how to detect the aging and defects of composite insulators is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] The purpose of this application is to provide a composite insulator detection system based on a causal discovery network, which aims to solve the technical problem of how to detect the aging and defects of composite insulators.

[0005] In a first aspect, embodiments of this application provide a composite insulator detection system based on terahertz technology. The composite insulator detection system includes a host, a drone equipped with a terahertz time-domain spectroscopy module, a robotic arm connected to the drone, and a terahertz transceiver array connected to the robotic arm. A wireless network data transmission channel is established between the host and the drone. The terahertz transceiver array includes a ring base and multiple terahertz transceiver units evenly distributed along the circumference of the ring base. The host is used to send flight commands to the drone through the data transmission channel. The flight commands are instructions to fly to the area where the composite insulators of the power system are located. The drone is used to receive and execute flight commands. When the flight position is in the area where the composite insulator of the power system is located, the drone's coordinate information and the image information of the composite insulator are input into the coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs the spatial coordinate information, axial length data and surface curvature data of the composite insulator into the control module. The control module generates the motion path of the terahertz transceiver array. The drone is used to move the terahertz transceiver array along the motion path by using a robotic arm, and transmit terahertz waves to the composite insulator through multiple terahertz transceiver units. It records the terahertz reflection signal received by each terahertz transceiver unit. The terahertz reflection signal is the reflection signal of the terahertz wave on the composite insulator. The UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator, and sends the time-frequency domain information and imaging results of the composite insulator to the host. The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it obtains the aging assessment value of the composite insulator. When the aging assessment value is greater than the aging threshold, it marks the aging area in the imaging result of the composite insulator and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into the report template to generate a defect status report for the composite insulator.

[0006] In one possible implementation of the first aspect, the terahertz time-domain spectroscopy module consists of a terahertz signal radiation source, a femtosecond laser device, a terahertz detection component, a time delay control unit, and a signal acquisition module, wherein the terahertz signal radiation source is used to generate terahertz waves.

[0007] In one possible implementation of the first aspect, the tail joint of the robotic arm is connected to the interface at the bottom of the drone via a quick-release locking structure, and the connection part is equipped with an anti-loosening device.

[0008] In one possible implementation of the first aspect, the UAV is used to receive and execute flight commands. When the flight position is in the area where the composite insulator of the power system is located, the coordinate information of the UAV and the image information of the composite insulator are input into a coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs the spatial coordinate information, axial length data, and surface curvature data of the composite insulator into a control module. The control module generates the motion path of the terahertz transceiver array, including: The drone is used to receive and execute flight commands, and obtain its current flight position. When the flight position is in the area where the composite insulator of the power system is located, it collects image information of the composite insulator through a camera and coordinate information of the drone through a built-in position sensing system. The coordinate information of the drone and the image information of the composite insulator are input into a coordinate transformation module, which generates spatial coordinate information of the composite insulator. It also collects axial length data and surface curvature data of the composite insulator and inputs the spatial coordinate information, axial length data, and surface curvature data of the composite insulator into a control module. The control module generates the motion path of the terahertz transceiver array.

[0009] In one possible implementation of the first aspect, a drone is used to move a terahertz transceiver array along a motion path via a robotic arm, and transmits terahertz waves to a composite insulator through multiple terahertz transceiver units, recording the terahertz reflected signals received by each terahertz transceiver unit, including: The drone is used to move a terahertz transceiver array along a motion path via a robotic arm. During the movement of the terahertz transceiver array, the terahertz radiation source of the terahertz time-domain spectroscopy module is controlled to generate terahertz waves. The terahertz waves are transmitted to multiple terahertz transceiver units on the terahertz transceiver array of the robotic arm through the built-in optical fiber. The multiple terahertz transceiver units then transmit terahertz waves to the composite insulator, and the terahertz reflection signal received by each terahertz transceiver unit is recorded.

[0010] In one possible implementation of the first aspect, the UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to a terahertz time-domain spectroscopy module, generate time-frequency domain information and imaging results of the composite insulator through the terahertz time-domain spectroscopy module, and send the time-frequency domain information and imaging results of the composite insulator to the host, including: The drone is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module through the optical fiber built into the robotic arm. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator. The time-frequency domain information and imaging results of the composite insulator are then sent to the host through the data transmission channel.

[0011] In one possible implementation of the first aspect, the host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result for the composite insulator. When the identification result indicates that the composite insulator is defect-free, an aging assessment value for the composite insulator is obtained. When the aging assessment value exceeds an aging threshold, an aging region is marked in the imaging result of the composite insulator, and the coordinates of the aging region are stored. When the identification result indicates that the composite insulator has a defect, the defect type and geometric information of the defect area are written into a report template to generate a defect status report for the composite insulator, including: The host computer is used to extract the time-frequency amplitude and phase offset value of the composite insulator from the time-frequency domain information of the composite insulator, and to extract the edge contour feature parameters of the composite insulator from the imaging results; When the time-frequency amplitude of the composite insulator is within the preset time-frequency amplitude range, the phase offset value of the composite insulator is within the preset offset range, and the edge contour parameters of the composite insulator are within the preset contour parameter range, the identification result of the composite insulator is determined to be that the composite insulator is defect-free. The edge contour parameters of the composite insulator are input into the aging assessment model, and the aging assessment value of the composite insulator is generated through the aging assessment model. When the aging assessment value of the composite insulator is greater than the aging threshold, the aging area is marked in the imaging result of the composite insulator, and the coordinates of the aging area are stored. When any of the following conditions are met: the time-frequency amplitude of the composite insulator is not within the preset time-frequency amplitude range, the phase offset value of the composite insulator is not within the preset offset range, or the edge contour parameters of the composite insulator are not within the preset contour parameter range, the composite insulator is identified as having a defect. The coordinates of the defect area of ​​the composite insulator are marked in the imaging result of the composite insulator. Based on the coordinates, the imaging features of the defect area of ​​the composite insulator are extracted from the imaging result of the composite insulator. The imaging features are input into the preset defect assessment model. The defect type of the composite insulator is generated through the defect assessment model. The length, width, and depth of the defect area of ​​the composite insulator are combined to form the geometric information of the defect area of ​​the composite insulator. The defect type and the geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator.

[0012] In one possible implementation of the first aspect, the composite insulators of the power system include composite insulators on the power transmission lines and composite insulators on the substation equipment of the power system.

[0013] Secondly, embodiments of this application provide a detection method for the aforementioned composite insulator detection system, the detection method comprising: The host creates a display window to show the defect status report of the composite insulator and determines whether the current time is the push time. If the current time is the push time, a defect status report of the composite insulator is pushed to the user terminal.

[0014] In one possible implementation of the first aspect, after pushing a defect status report of the composite insulator to the user terminal if the current time is the push time, the detection method includes: Defect status reports of composite insulators are stored in a database.

[0015] The beneficial effects of the embodiments of this application are as follows: Firstly, the host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it obtains the aging assessment value of the composite insulator. When the aging assessment value exceeds the aging threshold, it marks the aging area in the imaging result of the composite insulator and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into a report template to generate a defect status report of the composite insulator. This solves the technical problem of how to detect the aging and defects of composite insulators, reduces the aging detection time and defect detection time of composite insulators, and helps to improve the detection efficiency of composite insulators in terms of aging and defects. Secondly, when the identification result of the composite insulator is that the composite insulator has defects, the defect type and geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator. This is not subject to manual intervention and helps to improve the reliability of the defect status report of the composite insulator. Attached Figure Description

[0016] Figure 1 This is a schematic block diagram of the composite insulator testing system provided in the embodiments of this application; Figure 2 This is an application flowchart of the composite insulator testing system provided in the embodiments of this application; Figure 3 This is a flowchart illustrating the implementation of the detection method provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0018] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0019] It should be understood that in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "comprising," "including," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0020] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0021] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0022] Example 1 Referring to Figure 1, which is a schematic block diagram of the composite insulator testing system provided in an embodiment of this application, detailed below: A composite insulator detection system based on terahertz technology, the composite insulator detection system includes a host, a drone equipped with a terahertz time-domain spectroscopy module, a robotic arm connected to the drone, and a terahertz transceiver array connected to the robotic arm. A wireless network data transmission channel is established between the host and the drone. The terahertz transceiver array includes a ring base and multiple terahertz transceiver units evenly distributed along the circumference of the ring base. The host is used to send flight commands to the drone through the data transmission channel. The flight commands are instructions to fly to the area where the composite insulators of the power system are located. The drone is used to receive and execute flight commands. When the flight position is in the area where the composite insulator of the power system is located, the drone's coordinate information and the image information of the composite insulator are input into the coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs the spatial coordinate information, axial length data and surface curvature data of the composite insulator into the control module. The control module generates the motion path of the terahertz transceiver array. The drone is used to move the terahertz transceiver array along the motion path by using a robotic arm, and transmit terahertz waves to the composite insulator through multiple terahertz transceiver units. It records the terahertz reflection signal received by each terahertz transceiver unit. The terahertz reflection signal is the reflection signal of the terahertz wave on the composite insulator. The UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator, and sends the time-frequency domain information and imaging results of the composite insulator to the host. The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it obtains the aging assessment value of the composite insulator. When the aging assessment value is greater than the aging threshold, it marks the aging area in the imaging result of the composite insulator and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into the report template to generate a defect status report for the composite insulator.

[0023] The host device includes, but is not limited to, servers, mobile phones, tablets, wearable devices, in-vehicle devices, and laptops.

[0024] Optionally, the number of multiple terahertz transceiver units includes, but is not limited to, 4 terahertz transceiver units, 5 terahertz transceiver units, and 6 terahertz transceiver units; the number of multiple terahertz transceiver units is not limited here.

[0025] The terahertz time-domain spectroscopy module consists of a terahertz signal radiation source, a femtosecond laser device, a terahertz detection component, a time delay control unit, and a signal acquisition module. The terahertz signal radiation source is used to generate terahertz waves.

[0026] The terahertz signal radiation source is the core component for generating terahertz detection signals, used to generate and radiate terahertz signals with detectable characteristics. The femtosecond laser device provides the excitation light source for the terahertz signal radiation source, triggering the radiation source to generate terahertz signals by emitting femtosecond laser pulses, which is the foundation for terahertz signal generation. The terahertz detection component is responsible for receiving the combined detection light and terahertz pulses, converting the mixed optical signal into a recognizable electrical signal through photoelectric conversion, and finally completing the detection and measurement of the terahertz signal. The time delay control unit is used to precisely control the time difference between the terahertz emission signal and the detection signal. The signal acquisition module converts the captured signal into digital data that can be subsequently analyzed.

[0027] The tail joint of the robotic arm is connected to the interface at the bottom of the drone via a quick-release locking structure, and the connection part is equipped with an anti-loosening device.

[0028] Among them, the quick-release locking structure is a design that achieves quick connection and reliable locking of components through mechanical principles. The core of the quick-release locking structure lies in using mechanisms such as eccentric wheels, springs or buckles to fasten components without the need for tools.

[0029] The UAV is used to receive and execute flight commands. When its flight position is within the area where the composite insulator of the power system is located, it inputs the UAV's coordinate information and the composite insulator's image information into a coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs these data into a control module. The control module then generates the motion path of the terahertz transceiver array, including: The drone is used to receive and execute flight commands, and obtain its current flight position. When the flight position is in the area where the composite insulator of the power system is located, it collects image information of the composite insulator through a camera and coordinate information of the drone through a built-in position sensing system. The coordinate information of the drone and the image information of the composite insulator are input into a coordinate transformation module, which generates spatial coordinate information of the composite insulator. It also collects axial length data and surface curvature data of the composite insulator and inputs the spatial coordinate information, axial length data, and surface curvature data of the composite insulator into a control module. The control module generates the motion path of the terahertz transceiver array.

[0030] The drone is used to move the terahertz transceiver array along a motion path via a robotic arm, and transmits terahertz waves to the composite insulator through multiple terahertz transceiver units. It records the terahertz reflected signals received by each terahertz transceiver unit, including: The drone is used to move a terahertz transceiver array along a motion path via a robotic arm. During the movement of the terahertz transceiver array, the terahertz radiation source of the terahertz time-domain spectroscopy module is controlled to generate terahertz waves. The terahertz waves are transmitted to multiple terahertz transceiver units on the terahertz transceiver array of the robotic arm through the built-in optical fiber. The multiple terahertz transceiver units then transmit terahertz waves to the composite insulator, and the terahertz reflection signal received by each terahertz transceiver unit is recorded.

[0031] The UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator, and sends these information and imaging results to the host computer, including: The drone is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module through the optical fiber built into the robotic arm. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator. The time-frequency domain information and imaging results of the composite insulator are then sent to the host through the data transmission channel.

[0032] The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it acquires the aging assessment value. If the aging assessment value exceeds the aging threshold, it marks the aging area in the imaging result and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into a report template to generate a defect status report, including: The host computer is used to extract the time-frequency amplitude and phase offset value of the composite insulator from the time-frequency domain information of the composite insulator, and to extract the edge contour feature parameters of the composite insulator from the imaging results; When the time-frequency amplitude of the composite insulator is within the preset time-frequency amplitude range, the phase offset value of the composite insulator is within the preset offset range, and the edge contour parameters of the composite insulator are within the preset contour parameter range, the identification result of the composite insulator is determined to be that the composite insulator is defect-free. The edge contour parameters of the composite insulator are input into the aging assessment model, and the aging assessment value of the composite insulator is generated through the aging assessment model. When the aging assessment value of the composite insulator is greater than the aging threshold, the aging area is marked in the imaging result of the composite insulator, and the coordinates of the aging area are stored. When any of the following conditions are met: the time-frequency amplitude of the composite insulator is not within the preset time-frequency amplitude range, the phase offset value of the composite insulator is not within the preset offset range, or the edge contour parameters of the composite insulator are not within the preset contour parameter range, the composite insulator is identified as having a defect. The coordinates of the defect area of ​​the composite insulator are marked in the imaging result of the composite insulator. Based on the coordinates, the imaging features of the defect area of ​​the composite insulator are extracted from the imaging result of the composite insulator. The imaging features are input into the preset defect assessment model. The defect type of the composite insulator is generated through the defect assessment model. The length, width, and depth of the defect area of ​​the composite insulator are combined to form the geometric information of the defect area of ​​the composite insulator. The defect type and the geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator.

[0033] The defect assessment model employs a deep learning model.

[0034] Composite insulators for power systems include composite insulators on power transmission lines and composite insulators on substation equipment.

[0035] Among them, the defect status report of composite insulators can present the defect type and geometric information of the defect area of ​​composite insulators, providing clear and direct execution basis for maintenance personnel to carry out targeted maintenance and replacement work, and avoiding inefficiency and waste of resources caused by blind maintenance.

[0036] For ease of explanation, the following example is provided: By displaying the defect status report of composite insulators, maintenance personnel no longer need to carry testing tools to climb and inspect each insulator on every tower of the transmission line. Instead, they can directly reach the area where the composite insulators are located in the power system based on the defect type marked in the defect status report and then carry out targeted maintenance or replacement work.

[0037] The beneficial effects of the embodiments of this application are as follows: Firstly, the host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, the aging assessment value of the composite insulator is obtained. When the aging assessment value exceeds the aging threshold, the aging area is marked in the imaging result of the composite insulator, and the coordinates of the aging area are stored. When the identification result indicates that the composite insulator has a defect, the defect type and geometric information of the defect area are written into the report template to generate a defect status report of the composite insulator. This solves the technical problem of how to detect the aging and defects of composite insulators, reduces the aging detection time and defect detection time of composite insulators, and helps to improve the detection efficiency of composite insulators in terms of aging and defects. Secondly, when the identification result of the composite insulator is that the composite insulator has defects, the defect type and geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator. This is not subject to manual intervention and helps to improve the reliability of the defect status report of the composite insulator.

[0038] Example 2 Figure 2 The application flowchart of the composite insulator testing system provided in the embodiments of this application is described in detail below: S201, The host processes the time-frequency domain information and imaging results of the composite insulator to generate the identification result of the composite insulator; S202, determine whether there is a defect in the identification result of the composite insulator. If yes, proceed to S204; otherwise, proceed to S204. S203, when the aging assessment value of the composite insulator is greater than the aging threshold, mark the aging area in the imaging result of the composite insulator and store the coordinates of the aging area. S204. When the identification result of the composite insulator is that the composite insulator has a defect, the defect type and geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator. S205, controls the drone to move to the next area to be inspected; S206: When the UAV's sensing system detects that the terahertz transceiver array has reached the termination coordinates of the composite insulator, the detection is complete, and a defect status report of the composite insulator is displayed.

[0039] In this embodiment of the application, a defect status report of the composite insulator is displayed. The defect status report provides detailed and reliable information for power operation and maintenance personnel, which helps them to quickly locate problems with the composite insulator, effectively avoid line short circuits and power outages caused by composite insulator failures, and ensure the stable operation of the power system.

[0040] Example 3 refer to Figure 3 , Figure 3 The following is a flowchart illustrating the implementation of the detection method provided in this application embodiment, detailed below: S301, The host creates a display window, which displays the defect status report of the composite insulator and determines whether the current time is the push time; S302, if the current time is the push time, push the defect status report of the composite insulator to the user terminal.

[0041] After pushing the defect status report of the composite insulator to the user terminal if the current time is the push time, the detection method includes: Defect status reports of composite insulators are stored in a database.

[0042] In this embodiment of the application, the defect status report of the composite insulator is stored in a database. The database can store the defect status reports of the composite insulator under different operating environments, which is convenient for locating high-frequency defect types.

[0043] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and sub-samples of some embodiments may be included in or replace parts and sub-samples of other embodiments. Moreover, the terminology used herein is for descriptive purposes only and is not intended to limit the claims.

[0044] In this document, each embodiment focuses on describing the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0045] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0046] The methods and products disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some sub-samples may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0047] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, any software tools or components not belonging to this company that appear in the embodiments of this application are merely illustrative examples and do not represent actual use.

Claims

1. A composite insulator detection system based on terahertz technology, characterized in that, The composite insulator detection system includes a host, a drone equipped with a terahertz time-domain spectroscopy module, a robotic arm connected to the drone, and a terahertz transceiver array connected to the robotic arm. A wireless network data transmission channel is established between the host and the drone. The terahertz transceiver array includes a ring base and multiple terahertz transceiver units evenly distributed along the circumference of the ring base. The host is used to send flight commands to the drone through the data transmission channel. The flight commands are instructions to fly to the area where the composite insulators of the power system are located. The drone is used to receive and execute flight commands. When the flight position is in the area where the composite insulator of the power system is located, the drone's coordinate information and the image information of the composite insulator are input into the coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs the spatial coordinate information, axial length data and surface curvature data of the composite insulator into the control module. The control module generates the motion path of the terahertz transceiver array. The drone is used to move the terahertz transceiver array along the motion path by using a robotic arm, and transmit terahertz waves to the composite insulator through multiple terahertz transceiver units. It records the terahertz reflection signal received by each terahertz transceiver unit. The terahertz reflection signal is the reflection signal of the terahertz wave on the composite insulator. The UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator, and sends the time-frequency domain information and imaging results of the composite insulator to the host. The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it obtains the aging assessment value of the composite insulator. When the aging assessment value is greater than the aging threshold, it marks the aging area in the imaging result of the composite insulator and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into the report template to generate a defect status report for the composite insulator.

2. The composite insulator testing system as described in claim 1, characterized in that, The terahertz time-domain spectroscopy module consists of a terahertz signal radiation source, a femtosecond laser device, a terahertz detection component, a time delay control unit, and a signal acquisition module. The terahertz signal radiation source is used to generate terahertz waves.

3. The composite insulator testing system as described in claim 1, characterized in that, The tail joint of the robotic arm is connected to the interface at the bottom of the drone via a quick-release locking structure, and the connection part is equipped with an anti-loosening device.

4. The composite insulator testing system as described in claim 1, characterized in that, The drone is used to receive and execute flight commands. When its flight position is within the area of ​​the composite insulator in the power system, it inputs the drone's coordinate information and the composite insulator's image information into a coordinate transformation module. The coordinate transformation module generates the spatial coordinate information of the composite insulator, collects the axial length data and surface curvature data of the composite insulator, and inputs these data into a control module. The control module then generates the motion path of the terahertz transceiver array, including: The drone is used to receive and execute flight commands, and obtain its current flight position. When the flight position is in the area where the composite insulator of the power system is located, it collects image information of the composite insulator through a camera and coordinate information of the drone through a built-in position sensing system. The coordinate information of the drone and the image information of the composite insulator are input into a coordinate transformation module, which generates spatial coordinate information of the composite insulator. It also collects axial length data and surface curvature data of the composite insulator and inputs the spatial coordinate information, axial length data, and surface curvature data of the composite insulator into a control module. The control module generates the motion path of the terahertz transceiver array.

5. The composite insulator testing system as described in claim 1, characterized in that, The drone is used to move a terahertz transceiver array along a motion path via a robotic arm, and transmits terahertz waves to the composite insulator through multiple terahertz transceiver units. It records the terahertz reflected signals received by each terahertz transceiver unit, including: The drone is used to move a terahertz transceiver array along a motion path via a robotic arm. During the movement of the terahertz transceiver array, the terahertz radiation source of the terahertz time-domain spectroscopy module is controlled to generate terahertz waves. The terahertz waves are transmitted to multiple terahertz transceiver units on the terahertz transceiver array of the robotic arm through the built-in optical fiber. The multiple terahertz transceiver units then transmit terahertz waves to the composite insulator, and the terahertz reflection signal received by each terahertz transceiver unit is recorded.

6. The composite insulator testing system as described in claim 1, characterized in that, The UAV is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator, and sends these information and imaging results to the host computer, including: The drone is used to transmit the terahertz reflected signals received by each terahertz transceiver unit to the terahertz time-domain spectroscopy module through the optical fiber built into the robotic arm. The terahertz time-domain spectroscopy module generates the time-frequency domain information and imaging results of the composite insulator. The time-frequency domain information and imaging results of the composite insulator are then sent to the host through the data transmission channel.

7. The composite insulator testing system as described in claim 1, characterized in that, The host computer processes the time-frequency domain information and imaging results of the composite insulator to generate an identification result. When the identification result indicates that the composite insulator is defect-free, it acquires the aging assessment value. If the aging assessment value exceeds the aging threshold, it marks the aging area in the imaging result and stores the coordinates of the aging area. When the identification result indicates that the composite insulator has a defect, it writes the defect type and geometric information of the defect area into a report template to generate a defect status report, including: The host computer is used to extract the time-frequency amplitude and phase offset value of the composite insulator from the time-frequency domain information of the composite insulator, and to extract the edge contour feature parameters of the composite insulator from the imaging results; When the time-frequency amplitude of the composite insulator is within the preset time-frequency amplitude range, the phase offset value of the composite insulator is within the preset offset range, and the edge contour parameters of the composite insulator are within the preset contour parameter range, the identification result of the composite insulator is determined to be that the composite insulator is defect-free. The edge contour parameters of the composite insulator are input into the aging assessment model, and the aging assessment value of the composite insulator is generated through the aging assessment model. When the aging assessment value of the composite insulator is greater than the aging threshold, the aging area is marked in the imaging result of the composite insulator, and the coordinates of the aging area are stored. When any of the following conditions are met: the time-frequency amplitude of the composite insulator is not within the preset time-frequency amplitude range, the phase offset value of the composite insulator is not within the preset offset range, or the edge contour parameters of the composite insulator are not within the preset contour parameter range, the composite insulator is identified as having a defect. The coordinates of the defect area of ​​the composite insulator are marked in the imaging result of the composite insulator. Based on the coordinates, the imaging features of the defect area of ​​the composite insulator are extracted from the imaging result of the composite insulator. The imaging features are input into the preset defect assessment model. The defect type of the composite insulator is generated through the defect assessment model. The length, width, and depth of the defect area of ​​the composite insulator are combined to form the geometric information of the defect area of ​​the composite insulator. The defect type and the geometric information of the defect area of ​​the composite insulator are written into the report template to generate a defect status report of the composite insulator.

8. The composite insulator testing system as described in claim 1, characterized in that, Composite insulators in power systems include composite insulators on power transmission lines and composite insulators on power substation equipment.

9. A detection method based on the composite insulator detection system of claim 1, characterized in that, The detection methods include: The host creates a display window to show the defect status report of the composite insulator and determines whether the current time is the push time. If the current time is the push time, the database pushes the defect status report of the composite insulator to the user terminal.

10. The detection method as described in claim 9, characterized in that, After pushing the defect status report of the composite insulator to the user terminal if the current time is the push time, the detection method includes: Defect status reports of composite insulators are stored in a database.

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