Intelligent positioning type detection vehicle for extra-high voltage mutual inductor

Abstract

The application relates to the technical field of extra-high voltage equipment detection, and particularly discloses an extra-high voltage mutual inductor integrated detection operation vehicle with intelligent positioning, which comprises a vehicle body, an insulating arm and an operation platform, a controller is arranged on the vehicle body, and a detection assembly and a separation and resistance assembly are arranged on the insulating arm; the detection assembly comprises a first current intercepting electrode, a second current intercepting electrode and a sampling unit, the first current intercepting electrode and the second current intercepting electrode are arranged on the insulating arm, the first current intercepting electrode and the second current intercepting electrode are electrically connected with the sampling unit, and the sampling unit can detect surface leakage current of the insulating arm; the separation and resistance assembly comprises a blocking piece and a separation piece, the separation piece is used for arranging a separation barrier between the blocking piece and the insulating arm, and the blocking piece can actively change the surface topography of the insulating arm according to a detection signal obtained by the sampling unit, so that formation and development of leakage current are effectively inhibited. The application has the effects of improving the safety of detection operation and the reliability of detection results.

Description

Technical Field

[0001] This application relates to the field of ultra-high voltage equipment testing technology, and in particular to an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning. Background Technology

[0002] In ultra-high voltage (UHV) power transmission systems, UHV transmission technology has become an important technical means for cross-regional power transmission due to its large transmission capacity, long distance, and low loss. UHV instrument transformers, as key equipment in voltage and current measurement and protection systems, are widely deployed in substations and line bays, and their operating status directly affects the accuracy of power grid metering and the reliability of relay protection. To ensure the insulation performance and operational safety of UHV instrument transformers, insulation withstand voltage tests, discharge treatments, and condition monitoring are typically carried out before equipment commissioning and during the operating cycle.

[0003] Currently, such testing vehicles typically include a vehicle chassis, a multi-stage insulated arm structure, and a working platform. Each stage of the insulated arm unfolds or folds sequentially via a mechanical connection structure to meet the needs of different heights and working radii. Simultaneously, at critical connection points between adjacent insulated arm sections, specialized insulation structures are usually installed. These insulation structures achieve segmented potential isolation, reducing the overall potential gradient and thus improving the insulation safety of the entire unit under high-voltage environments. The testing process for ultra-high voltage transformers generally involves first grounding and discharging the equalizing ring, then confirming its potential state through voltage verification, and finally applying a specified test voltage to the equalizing ring to complete the insulation withstand voltage test.

[0004] However, while the aforementioned multi-stage insulating arm structure achieves basic insulation isolation capabilities in its structural design, its insulation performance still exhibits significant dynamic changes under long-term outdoor service conditions. Current technologies for assessing the condition of insulating arms primarily rely on periodic offline testing or visual inspections, typically focusing on overall withstand voltage capacity or single parameter indicators, lacking real-time sensing capabilities for the differences in insulation status among different stages within the multi-stage insulating arm structure. Because insulation degradation is gradual and non-uniform, performance degradation in a particular insulating arm segment or section is difficult to detect promptly using existing testing methods, leaving the overall insulation safety uncontrollable between testing cycles. Consequently, during withstand voltage insulation testing of the equalizing rings of ultra-high voltage transformers, the insulation status of the testing vehicle itself is uncertain, affecting the reliability of the test results and operational safety. Summary of the Invention

[0005] This application provides an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning. During operation, the testing vehicle has a closed-loop mechanism of "segmented perception - signal decoupling - state determination - active intervention" to realize online monitoring and dynamic control of the insulation performance of multi-level insulation arms.

[0006] Firstly, this application provides an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning, which adopts the following technical solution: An integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning includes a vehicle body, an insulating arm, and a working platform. A load-bearing chassis is mounted on the vehicle body, and a controller is mounted on the load-bearing chassis. Three sets of insulating arms are mounted on the load-bearing chassis, connected end-to-end in sequence. The working platform is mounted on the insulating arms. Its distinguishing feature is: The detection component includes a first current-blocking electrode, a second current-blocking electrode, and a sampling unit. The first current-blocking electrode is disposed at one end of the insulating arm, and the second current-blocking electrode is disposed at the other end of the insulating arm. The first and second current-blocking electrodes are used to intercept leakage current flowing along the surface of the insulating arm, and the outer surface area of ​​the insulating arm between the first and second current-blocking electrodes constitutes a corresponding detection section. The sampling unit is disposed on the supporting chassis and is electrically connected to the controller. Both the first and second current-blocking electrodes are electrically connected to the sampling unit, and the sampling unit can detect surface leakage current of the insulating arm. An isolation assembly is disposed at both ends of the insulating arm. The isolation assembly includes a blocking element and an isolating element, which are disposed on the insulating arm. The blocking element is disposed on one side of the isolating element. The isolating element is used to form an isolation barrier between the blocking element and the insulating arm. The blocking element can actively deform according to the magnitude of the surface leakage current obtained by the sampling unit to change the morphology of the surface of the insulating arm, thereby extending the creepage path and weakening the formation conditions of the continuous conductive film.

[0007] By adopting the above technical solution, a first current-cutting electrode and a second current-cutting electrode are set at both ends of the insulating arm to directionally intercept and segment the leakage current that was originally continuously distributed along the surface of the insulating arm. This divides the outer surface of the insulating arm into multiple detection segments with clear current boundaries, thereby realizing the transformation from traditional overall insulation condition detection to distributed insulation condition detection and significantly improving the ability to identify local insulation degradation. Compared to existing technologies that rely solely on multi-level insulation structures for potential segmentation and primarily depend on periodic offline testing or overall withstand voltage tests to assess insulation status, this technical solution connects each current-cutting electrode to the sampling unit, enabling independent acquisition and analysis of leakage current in each detection section. This allows for real-time quantitative assessment of insulation performance differences at different locations of the multi-level insulation arm, solving the problem of real-time insulation status detection in existing technologies. Based on this, the isolation components can actively deform according to the changes in leakage current detected by the sampling unit, so that the surface morphology of the insulating arm can be dynamically adjusted according to the changes in insulation state. In this way, when the local leakage current increases, it actively extends the creepage path and destroys the conditions for the formation of continuous conductive film, thereby achieving feedforward suppression of the insulation degradation process. This establishes a closed-loop regulation mechanism of "segmented detection - insulation state judgment - structural control", transforming the insulating arm from a traditional passive insulation structure into an intelligent insulation system with active control capabilities. This allows the insulating arm to maintain the stability of its insulation state in real time during the detection operation, significantly improving the safety of the detection operation and the reliability of the detection results under the ultra-high voltage environment.

[0008] Optionally, a connecting assembly is provided between two adjacent sets of insulating arms. The connecting assembly includes a first connecting sleeve, a second connecting sleeve, and a connecting tube. The three sets of insulating arms are sequentially configured as a lower arm segment, a middle arm segment, and an upper arm segment. The first connecting sleeve is fixedly sleeved on one end of the lower arm segment, and the second connecting sleeve is fixedly sleeved on one end of the middle arm segment. One end of the connecting tube is connected to the first connecting sleeve, and the other end of the connecting tube is connected to the second connecting sleeve. A rotating shaft is fixed on the first connecting sleeve, and the second connecting sleeve is rotatably connected to the first connecting sleeve through the rotating shaft.

[0009] By adopting the above technical solution, multi-level insulating arms are sequentially rotated and connected by setting up connecting components. This ensures the flexibility of the insulating arms when unfolding while improving the structural stability of the connecting parts. It provides a basis for forming a clear segmented structure between each level of insulating arms, which is conducive to the construction of segmented detection zones and the hierarchical identification of insulation status.

[0010] Optionally, the isolation element includes an isolation sleeve, a fixing ring, and a sliding ring. The isolation sleeve is sleeved on one end of the insulating arm and is made of weather-resistant insulating material. The fixing ring is fixedly sleeved on the insulating arm and is fixedly connected to one end of the isolation sleeve. The other end of the isolation sleeve is fixedly connected to the sliding ring, and the end of the isolation sleeve connected to the sliding ring is overlapped on the other end of the isolation sleeve.

[0011] By adopting the above technical solution, an isolation component consisting of an isolation sleeve, a fixing ring, and a sliding ring is set up to construct a stable and continuous insulation barrier between the insulating arm and the blocking component. This allows the isolation assembly to be reliably installed in an independent electrical isolation environment, thereby avoiding interference with the insulation performance of the insulating arm body during the deformation of the blocking component.

[0012] Optionally, the blocking component includes a blocking airbag and an air pump. The blocking airbag is sleeved on the isolation sleeve and disposed on one side of the sliding ring. One end of the blocking airbag is connected to the insulating arm, and the other end of the blocking airbag is connected to the sliding ring. The blocking airbag is filled with inert gas. The air pump is fixed on the insulating arm and electrically connected to the controller. The output end of the air pump is connected to the blocking airbag. When the surface leakage current detected by the sampling unit increases, the air pump controls the blocking airbag to actively deform in order to change the morphology of the surface of the insulating arm, thereby extending the creepage path and weakening the formation conditions of the continuous conductive film.

[0013] By adopting the above technical solution, and by setting up an air pump and a blocking airbag electrically connected to the controller, the surface structure of the insulating arm can actively adjust based on the leakage current changes detected by the sampling unit. When the leakage current increases, the blocking airbag is driven to undergo controllable deformation, thereby reconstructing the surface morphology of the insulating arm. On the one hand, by forming an undulating structure, the creepage path is significantly extended and the local electric field intensity is dispersed; on the other hand, by disrupting the formation conditions of the continuous conductive film on the surface of the insulating arm, it is difficult for the contamination layer or water film to form a stable conductive path, thus suppressing the further development of leakage current from the source. This achieves a dynamic response based on leakage current changes, constructing a negative feedback control mechanism of "increased leakage current - enhanced structural deformation - suppressed current," thereby transforming the insulation system from passive protection to active control, improving the adaptability and long-term operational stability of the insulating arm in complex environments.

[0014] Optionally, the outer peripheral surface of the isolation sleeve facing away from the insulating arm is provided with an identification coating, and the cross-sections of the fixing ring and the sliding ring are provided with rounded rectangular cross-sections. When the blocking airbag deforms, the blocking airbag will drive the sliding ring to move to one side, thereby making the identification coating visible.

[0015] By adopting the above technical solution, an identification coating is set on the outer periphery of the isolation sleeve, and the deformation of the blocking airbag causes the sliding ring to move, making the marking visible. This transforms the leakage current changes on the surface of the insulating arm into an intuitive and identifiable visual state, achieving synchronous visualization of the insulation status of each detection section. At the same time, this visualization method does not rely on additional electronic display equipment and can work stably in strong electric field environments, thus avoiding the problem of status information distortion caused by electromagnetic interference or system failure. In addition, through the one-to-one correspondence between the marking display position and the detection section, the insulation degradation area can be quickly located, forming a dual criterion with the control system, improving the safety and reliability of the operation process and the efficiency of fault identification.

[0016] Optionally, the outer peripheral wall of the blocking airbag is designated as the first deformation zone, and the inner peripheral wall of the blocking airbag is designated as the second deformation zone. The first deformation zone is configured for wrinkling deformation, and the second deformation zone is configured for elastic tensile deformation. The deformation performance of the second deformation zone is superior to that of the first deformation zone. Multiple sets of shaped ribs are fixedly embedded on the inner wall of the first deformation zone. The length direction of the shaped ribs is parallel to the length direction of the insulating arm. The shaped ribs are made of weather-resistant insulating material. A first guide groove and a second guide groove are respectively opened on the shaped ribs. The first guide groove is located on one side of the shaped ribs, and the second guide groove is located on the other side of the shaped ribs. The first guide groove and the second guide groove are arranged alternately. Multiple sets of the first guide groove and the second guide groove are provided on the shaped ribs.

[0017] By adopting the above technical solution, the blocking airbag is divided into a first deformation zone and a second deformation zone with different deformation characteristics. The deformation process of the airbag is guided by the set molding ribs and intersecting guide grooves. Under controlled drive, the airbag preferentially forms a stable wrinkled structure on the outside, while the inside remains in a restricted tensile state, thereby avoiding overall disordered bulging or local collapse. On this basis, the deformation is spatially constrained by the molding ribs and guide grooves, so that the surface of the insulating arm forms a corrugated structure that extends axially and disperses circumferentially. This not only significantly extends the creepage path, but also transforms the original continuous conductive path into multiple discrete conductive segments by dividing and destroying the continuous conductive film on the surface. This effectively suppresses the formation and development of leakage current and improves the stability, controllability and repeatability of insulation control effect.

[0018] Optionally, the forming rib is provided with a thin strip-shaped ligament, one end of which is fixed to one side of the first guide groove, and the other end of which is fixed to the other side of the first guide groove. Multiple sets of ligaments are provided, and the multiple sets of ligaments are arranged in a one-to-one correspondence with the first guide groove and the second guide groove.

[0019] By adopting the above technical solution, multiple sets of thin strip-shaped ligaments are set on the molded ribs and span across both sides of the guide groove. This allows for directional constraint and elastic control of the deformation process of the airbag, enabling the airbag to form a stable corrugated structure along a preset path when it deforms. This avoids disordered bulging or local collapse during the deformation process. At the same time, the elastic properties of the ligaments provide buffering and rebound control for the deformation process, improving the controllability and repeatability of structural deformation. This ensures that the creepage path structure formed on the surface of the insulating arm remains stable and consistent, thereby enhancing the reliability of the insulation control effect and the long-term stability of use.

[0020] Optionally, the first current-cutting electrode is configured as an annular conductive strip, with both ends of the first current-cutting electrode having smooth edge transitions, and the cross-section of the first current-cutting electrode being configured as a streamlined cross-section with an outward convex arc. The first current-cutting electrode is made of a material that has both good conductivity and corrosion resistance. A first conductor connection portion is provided on the first current-cutting electrode, and the first current-cutting electrode is electrically connected to the sampling unit through the first conductor connection portion. An insulating coating is provided on the entire outer peripheral surface of the first current-cutting electrode. The second current-cutting electrode has the same features as the first current-cutting electrode. The second current-cutting electrode is fixed with a second conductor connection portion, and the second current-cutting electrode is electrically connected to the sampling unit through the second conductor connection portion.

[0021] By adopting the above technical solution, and by setting the current-cutting electrode to a streamlined structure and using insulation coating, the risk of electric field concentration and partial discharge is reduced, while the stability of leakage current acquisition and anti-interference ability are improved, thereby enhancing detection accuracy and system operation safety.

[0022] On the other hand, this application provides an application method for an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning, including the following steps: S1. Obtain map and equipment information of the target substation, and construct the working environment model and motion constraint model of the detection vehicle; S2. Before entering the high-voltage environment, the power module in the sampling unit applies a low-energy test excitation signal to each level of insulating arm, performs self-test on each detection section, obtains the initial insulation state parameters of each level of insulating arm, and completes the calibration of the sampling channel. The vehicle monitoring system scans and locates the surrounding environment, and the energy storage power system and various functional modules are activated under the control of the controller. S3. Control the detection vehicle to enter the mutual inductance verification area of ​​the target substation according to the preset driving path, and use the environmental perception sensors set around the vehicle to perceive the surrounding equipment, road boundaries and obstacles in real time, so as to dynamically correct the driving path. S4. After the inspection vehicle reaches the predetermined work position, control the gravity assist system on the chassis to lift the vehicle body and stably support it on the ground; then drive the multi-stage insulated arm to unfold, so that the work platform moves to the predetermined work position close to the equalizing ring of the ultra-high voltage transformer, and adjust the posture of the work platform by adjusting the arm. S5. After entering the ultra-high voltage electric field environment, multiple sets of current-cutting electrodes segmentally intercept and guide the leakage current generated by each level of insulating arms and connection parts. The current signal of each channel is converted into a voltage signal by the sampling resistor and the transimpedance amplifier module and then input to the controller. The controller collects and compares the signals of each detection section in real time to obtain the distributed insulation status information of the multi-level insulating arms. The controller judges the insulation performance based on the magnitude and trend of the leakage current in each detection section. When the detection signal of a certain section exceeds the preset threshold, the air pump at the corresponding position is controlled to change the gas pressure inside the blocking airbag, thereby driving the isolation component to undergo structural deformation and forming a corrugated structure on the surface of the insulating arm to extend the creepage path, so as to reduce the leakage current of that section and inhibit the development of insulation degradation. When a continuous increase in leakage current is detected in a certain section and the control effect of the isolation component is insufficient, the controller determines the insulation risk level by feeding back information through the pressure sensor and angle sensor, and restricts the continued extension of the insulating arm or adjusts the position of the work platform. If necessary, the operation is terminated and a safe recovery operation is performed to ensure the insulation safety of the whole machine. S6. Under the premise that the insulation condition meets the safety requirements, after the work platform reaches the predetermined work position, the inspection robot installed on the work platform performs the inspection operation on the equalizing ring of the transformer under inspection. The inspection robot first performs grounding discharge treatment on the equalizing ring of the ultra-high voltage transformer to release the residual charge, and then performs voltage testing operation to confirm that the equalizing ring is in a safe, de-energized or controllable potential state. S7. After completing the discharge and voltage detection, the specified test voltage is applied to the equalizing ring through the vehicle-mounted high voltage generator to perform the insulation withstand voltage test. The controller compares the transformer step-up parameters, transformer withstand voltage parameters and transformer step-down parameters with the preset verification thresholds to determine whether the transformer under test is qualified. During the test, the detection component continuously monitors the leakage current changes in each section of the insulating arm to ensure the stability of the insulation state of the testing vehicle itself, thereby ensuring the accuracy of the test results. S8. After the test is completed, the controller shuts down the high-voltage generator, retrieves the work platform and retracts the multi-stage insulated arms in sequence, then releases the gravity assist system support to restore the vehicle to its driving state; finally, the test data is stored and analyzed to provide a basis for subsequent maintenance and condition assessment.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. A first current-cutting electrode and a second current-cutting electrode are set at both ends of the insulating arm to directionally intercept and segment the leakage current that was originally continuously distributed along the surface of the insulating arm. This divides the outer surface of the insulating arm into multiple detection segments with clear current boundaries, thereby realizing the transformation from traditional overall insulation condition detection to distributed insulation condition detection and significantly improving the ability to identify local insulation degradation. 2. By setting up an air pump and a blocking airbag electrically connected to the controller, the surface structure of the insulating arm can actively adjust based on the leakage current changes detected by the sampling unit. When the leakage current increases, the blocking airbag is driven to undergo controllable deformation, thereby reconstructing the surface morphology of the insulating arm. On the one hand, by forming an undulating structure, the creepage path is significantly extended and the local electric field intensity is dispersed; on the other hand, by disrupting the formation conditions of the continuous conductive film on the surface of the insulating arm, it is difficult for the contamination layer or water film to form a stable conductive path, thus suppressing the further development of leakage current from the source. This achieves a dynamic response based on leakage current changes, constructing a negative feedback control mechanism of "increased leakage current - enhanced structural deformation - suppressed current," thereby transforming the insulation system from passive protection to active control, improving the adaptability and long-term operational stability of the insulating arm in complex environments. 3. An isolation component consisting of an isolation sleeve, a fixing ring, and a sliding ring is installed to construct a stable and continuous insulation barrier between the insulating arm and the blocking component. This allows the isolation assembly to be reliably installed in an independent electrical isolation environment, thereby avoiding interference with the insulation performance of the insulating arm body during the deformation of the blocking component. At the same time, an identification coating is applied to the outer periphery of the isolation sleeve, and the deformation of the blocking airbag causes the sliding ring to move, making the identification visible. This transforms the leakage current changes on the surface of the insulating arm into an intuitive and identifiable visual state, achieving synchronous visualization of the insulation status of each detection section. Attached Figure Description

[0024] Figure 1 This is an overall schematic diagram of the inspection vehicle in the embodiments of this application.

[0025] Figure 2 This is a schematic diagram of the overall structure of the inspection vehicle in the embodiments of this application.

[0026] Figure 3 This is a schematic diagram of the overall structure of the insulating arm in the embodiment of this application.

[0027] Figure 4 yes Figure 3 Enlarged diagram of part B.

[0028] Figure 5 This is a partial cross-sectional schematic diagram of the isolation component in an embodiment of this application.

[0029] Figure 6 This is a schematic diagram of the overall structure of the molded rib in the embodiment of this application.

[0030] Reference numerals: 1. Vehicle body; 11. Chassis; 12. Controller; 13. High-voltage generator; 14. Test high-voltage generator; 15. Energy storage power system; 16. Backup generator set; 17. Gravity-assisted system; 18. Solar panel; 2. Insulating arm; 21. Lower arm section; 22. Middle arm section; 23. Upper arm section; 3. Operating platform; 4. Detection component; 41. First current-cutting electrode; 411. First conductor connection; 42. Second current-cutting electrode; 43. Sampling unit; 44. Third current-cutting electrode; 45. Fourth current-cutting electrode; 5. Isolation assembly; 51. Isolation component; 511. Isolation sleeve; 512. Fixing ring; 513. Sliding ring; 52. Blocking component; 521. Blocking airbag; 5211. First deformation zone; 5212. Second deformation zone; 522. Air pump; 523. Molded rib; 5231. First guide groove; 5232. Second guide groove; 524. Ligament; 6. Connecting assembly; 61. First connecting sleeve; 611. Rotating shaft; 612. First lug; 62. Second connecting sleeve; 63. Connecting tube; 64. Second lug. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail below.

[0032] This application discloses an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning.

[0033] Reference Figure 1 and Figure 2 An integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning includes a vehicle body 1, an insulating arm 2, a testing component 4, an isolation component 5, and a working platform 3. One end of the insulating arm 2 is mounted on the vehicle body 1, the testing component 4 and the isolation component 5 are mounted on the insulating arm 2, and the working platform 3 is mounted on the other end of the insulating arm 2. The vehicle body 1 serves as the mounting base for the entire testing vehicle. The insulating arm 2 is used to achieve electrical isolation between personnel and high-potential conductors and to drive the working platform 3 for lifting and moving. The testing component 4 is used to detect changes in the insulation performance of the insulating arm 2 in real time. The isolation component 5 can form a creepage barrier structure on the insulating arm 2 based on the detection information from the testing component 4, thereby delaying insulation failure caused by contamination and moisture on the surface of the insulating arm 2. The working platform 3 provides the working position.

[0034] Reference Figure 2In this embodiment, a support chassis 11 is provided on the vehicle body 1, a controller 12 is provided on the support chassis 11, and a rotating seat is fixed on the support chassis 11. An insulating arm 2 is mounted on the rotating seat. In this embodiment, the insulating arm 2 is a hollow beam structure made of glass fiber reinforced resin composite material and manufactured using an integral molding process. The hollow structure has longitudinal reinforcing ribs and circumferential stiffening ribs to reduce weight and increase bending stiffness while ensuring mechanical strength. A continuous insulating protective layer is provided on the outer surface of the insulating arm 2. This insulating protective layer is formed using a hydrophobic silicone rubber coating material to reduce surface leakage current in humid or polluted environments.

[0035] The insulating arm 2 is provided in three sets, and the three sets of insulating arms 2 are connected end to end in sequence. The three sets of insulating arms 2 are sequentially configured as lower arm section 21, middle arm section 22 and upper arm section 23. One end of the lower arm section 21 is rotatably connected to the rotating seat, the other end of the lower arm section 21 is rotatably connected to one end of the middle arm section 22, and the other end of the middle arm section 22 is rotatably connected to one end of the upper arm section 23. The working platform 3 is fixed on the end of the upper arm section 23 away from the middle arm section 22.

[0036] A connecting assembly 6 is also provided between the lower arm segment 21 and the middle arm segment 22. The connecting assembly 6 includes a first connecting sleeve 61, a second connecting sleeve 62, and a connecting tube 63. The first connecting sleeve 61 is fixedly sleeved on the end of the lower arm segment 21 away from the rotating seat, and the second connecting sleeve 62 is fixedly sleeved on a section of the middle arm segment 22. A first vertical ear 612 is fixedly provided on the first connecting sleeve 61, and a second vertical ear 64 is provided on the second connecting sleeve 62. One end of the connecting tube 63 is fixedly connected to one end of the first vertical ear 612, and the other end of the connecting tube 63 is fixedly connected to the second vertical ear 64. A rotating shaft 611 is fixedly provided on the first connecting sleeve 61, and the second connecting sleeve 62 is rotatably connected to the first connecting sleeve 61 through the rotating shaft 611. The end of the second vertical ear 64 away from the connecting tube 63 is fixedly connected to the rotating shaft 611.

[0037] Similarly, a connecting component 6 is also provided between the middle arm section 22 and the upper arm section 23, and the three sets of insulated arms 2 are rotatably connected through the connecting component 6.

[0038] Meanwhile, a first hydraulic cylinder for driving the lower arm section 21 to deflect is provided between the lower arm section 21 and the rotating seat, a second hydraulic cylinder for driving the middle arm section 22 to deflect is provided between the lower arm section 21 and the middle arm section 22, and a third hydraulic cylinder for driving the upper arm section 23 to deflect is provided between the middle arm section 22 and the upper arm section 23. The first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are all electrically connected to the controller 12.

[0039] In addition, a high-voltage generator 13 and a test high-voltage generator 14 are installed on the chassis 11. An energy storage power system 15 and a backup generator set 16 are also installed on the bottom of the vehicle body 1. Gravity assist system 17 for stabilizing the vehicle body 1 is set on both sides of the vehicle body 1. In this embodiment, the gravity assist system 17 is set as a hydraulic lifting arm. When the inspection vehicle enters the working position, the gravity assist system 17 can lift the vehicle body 1, thereby ensuring the stability of the entire inspection vehicle.

[0040] Meanwhile, a vehicle monitoring system consisting of lidar and vision cameras is also installed around the vehicle body 1, which can perceive the surrounding environment of the vehicle body 1 in real time.

[0041] A solar panel 18 is installed at the front of the vehicle body 1. The solar panel 18 is electrically connected to the energy storage power system 15, which provides power to the vehicle body 1. A small wind turbine is also installed on one side of the solar panel 18, and the wind turbine is electrically connected to the energy storage power system 15.

[0042] Reference Figure 2 , Figure 3 and Figure 4 In this embodiment, the detection component 4 is provided in multiple sets. These multiple sets of detection components 4 are used to monitor the insulation performance of each level of insulating arm 2 and between adjacent insulating arms 2 in real time. The detection component 4 includes a first current-cutting electrode 41, a second current-cutting electrode 42, a third current-cutting electrode 44, a fourth current-cutting electrode 45, and a sampling unit 43. The first current-cutting electrode 41 is configured as an annular conductive strip with rounded edges at both ends. The cross-section of the first current-cutting electrode 41 is a streamlined, outwardly convex arc-shaped cross-section. The first current-cutting electrode 41 is made of a material that combines good conductivity and corrosion resistance. In this embodiment, the first current-cutting electrode 41 can be made of nickel-plated copper strip. A first conductor connection portion 411 is provided on the first current-cutting electrode 41, and the first current-cutting electrode 41 is electrically connected to the sampling unit 43 through the conductor connection portion.

[0043] To avoid adverse effects on the original electric field distribution caused by the current-cutting electrode body and to prevent it from becoming a new discharge starting point, an insulating coating is provided on the entire outer peripheral surface of the first current-cutting electrode 41. In this embodiment, the insulating coating can be set as an epoxy resin coating layer. It should be noted that the insulating coating completely covers the outer surface of the first current-cutting electrode 41, and only the local area connected to the conductor connection part is reserved for electrical connection interface.

[0044] The insulating arm 2 has a first mounting groove and a second mounting groove at both ends. The first current-cutting electrode 41 is fixedly sleeved on the insulating arm 2. The first current-cutting electrode 41 is set in the first mounting groove and the opening of the first mounting groove is smoothly transitioned. The second current-cutting electrode 42 is set in the second mounting groove. The outer surface area of ​​the insulating arm 2 enclosed between the first current-cutting electrode 41 and the second current-cutting electrode 42 constitutes the corresponding detection section.

[0045] The second current-cutting electrode 42 has the same features as the first current-cutting electrode 41. The second current-cutting electrode 42 is fixed with a second conductor connection portion, and the second current-cutting electrode 42 is electrically connected to the sampling unit 43 through the second conductor connection portion.

[0046] The sampling unit 43 is fixed on the supporting chassis 11 and is electrically connected to the controller 12. The sampling unit 43 has multiple sets of access ports. The first conductor connection part 411 is electrically connected to the sampling unit 43 through one set of access ports, and the second conductor connection part is electrically connected to the sampling unit 43 through another set of access ports. The sampling unit 43 contains a sampling resistor and a transimpedance amplifier module. It should be noted that in the ultra-high voltage operating environment, the multi-stage insulating arm 2 is under the influence of a strong electric field. Under conditions of contamination and moisture, a surface conductive path will form on its surface, resulting in a weak leakage current between each stage of the insulating arm 2 and the connecting component 6. The sampling resistor is used to convert the intercepted leakage current into a voltage signal and simultaneously limit the flow path of the leakage current, allowing the leakage current on each stage of the insulating arm 2 to be output independently through the corresponding sampling channel, thereby achieving decoupled measurement of the segmented current of the multi-stage insulating arm 2. This type of leakage current typically presents as a relatively small current signal, superimposed with a capacitive current component generated by spatial electric field coupling. The overall signal amplitude is small, the signal-to-noise ratio is low, and it is easily affected by changes in environmental humidity, temperature, and operating posture. Therefore, while segmenting and guiding the leakage current path using current-cutting electrodes can spatially define the current acquisition boundaries for the two segments of each level of the insulating arm, the obtained current signal is still difficult to directly and stably detect and distinguish accurately.

[0047] Therefore, a transimpedance amplifier module is installed within the sampling unit 43. Its core function is to convert the weak current signal, which is originally difficult to measure directly, into a voltage signal with a considerable amplitude. Specifically, the transimpedance amplifier module linearly converts the tiny leakage current at the input terminal into a corresponding voltage output through a high-gain feedback resistor, thereby achieving highly sensitive detection of currents from the nA to μA level. At the same time, because its input terminal exhibits virtual ground characteristics, it can effectively stabilize the potential of the measurement node and avoid changing the original leakage current distribution path due to additional potential disturbances introduced by the measurement circuit.

[0048] In addition, the sampling unit 43 is equipped with a power module. When the testing vehicle does not enter the UHV operating environment, the power module can actively apply a low-energy, controllable test excitation with known frequency and amplitude to the insulating arm 2, thereby performing a self-test operation on the insulating arm 2.

[0049] The third current-cutting electrode 44 is fixed on the first connecting sleeve 61, and the fourth current-cutting electrode 45 is fixed on the second connecting sleeve 62. The features of the third current-cutting electrode 44 and the fourth current-cutting electrode 45 are the same as those of the first current-cutting electrode 41. The third current-cutting electrode 44 is fixed with a third conductor connection portion, and the fourth current-cutting electrode 45 is fixed with a fourth conductor connection portion. Similarly, the third current-cutting electrode 44 is electrically connected to the sampling unit 43, and the fourth current-cutting electrode 45 is electrically connected to the sampling unit 43. The third current-cutting electrode 44 and the fourth current-cutting electrode 45 are used to intercept the leakage current flowing along the surface of the connecting assembly 6.

[0050] In this embodiment, the first current-cutting electrode 41, the second current-cutting electrode 42, the third current-cutting electrode 44, and the fourth current-cutting electrode 45 are all disposed under the insulating protective layer.

[0051] Reference Figure 3 , Figure 4 and Figure 5 In this embodiment, the isolation component 5 includes an isolation member 51 and a blocking member 52. The isolation member 51 includes an isolation sleeve 511, a fixing ring 512, and a sliding ring 513. The isolation sleeve 511 is sleeved on one end of the insulating arm 2. The isolation sleeve 511 is located on the side of the first connecting sleeve 61 away from the second connecting sleeve 62. The isolation sleeve 511 is made of polyurethane elastomer. An identification coating is provided on the outer peripheral surface of the isolation sleeve 511 away from the insulating arm 2. In this embodiment, the identification coating is set as a red coating. The cross-sections of the fixing ring 512 and the sliding ring 513 are set as rounded rectangular cross-sections. The fixing ring 512 is fixedly sleeved on the insulating arm 2. The fixing ring 512 is fixedly connected to one end of the isolation sleeve 511. The other end of the isolation sleeve 511 is fixedly connected to the sliding ring 513. The isolation sleeve 511 is slidably sleeved on the isolation sleeve 511. The end of the isolation sleeve 511 connected to the sliding ring 513 overlaps on the end of the isolation sleeve 511 connected to the fixing ring 512.

[0052] The blocking component 52 includes a blocking airbag 521 and an air pump 522. The blocking airbag 521 is sleeved on the isolation sleeve 511 and is located between the first connecting sleeve 61 and the sliding ring 513. One end of the blocking airbag 521 is fixedly connected to the end of the first connecting sleeve 61 that is away from the second connecting sleeve 62, and the other end of the blocking airbag 521 is fixedly connected to the sliding ring 513.

[0053] Reference Figure 5 and Figure 6In this embodiment, an inert gas is injected into the blocking airbag 521. In this application, the inert gas can be helium. The outer peripheral wall of the blocking airbag 521 is designated as the first deformation region 5211, and the inner peripheral wall of the blocking airbag 521 is designated as the second deformation region 5212. The first deformation region 5211 is configured to wrinkle deformation, and the second deformation region 5212 is configured to elastic tensile deformation. The deformation performance of the second deformation region 5212 is far superior to that of the first deformation region 5211.

[0054] Multiple sets of forming ribs 523 are fixedly embedded on the inner wall of the first deformation zone 5211. The length direction of the forming ribs 523 is parallel to the length direction of the insulating arm 2. The forming ribs 523 are made of weather-resistant insulating material. A first guide groove 5231 and a second guide groove 5232 are respectively opened on the forming ribs 523. The first guide groove 5231 is located on one side of the forming ribs 523, and the second guide groove 5232 is located on the other side of the forming ribs 523. The first guide groove 5231 and the second guide groove 5232 are arranged in an alternating manner. Multiple sets of the first guide groove 5231 and the second guide groove 5232 are provided on the forming ribs 523.

[0055] Thin, strip-shaped ligaments 524 are provided on the molded rib 523. In this embodiment, the ligaments 524 can be made of EPDM rubber. One end of the ligament 524 is fixed to one side of the first guide groove 5231, and the other end of the ligament 524 is fixed to the other side of the first guide groove 5231. Multiple sets of ligaments 524 are provided, and the multiple sets of ligaments 524 are arranged in a one-to-one correspondence with the first guide groove 5231 and the second guide groove 5232.

[0056] An air pump 522 is fixedly mounted on the inner wall of the insulating arm 2. The air pump 522 is electrically connected to the controller 12. An air guide tube is fixedly mounted on the output end of the air pump 522. One end of the air guide tube is connected to the blocking airbag 521. The blocking airbag 521 is connected to the output end of the air pump 522 through the air guide tube. In addition, a gas storage cylinder filled with compressed helium is installed on the supporting chassis 11. The gas storage cylinder is connected to the input end of the air pump 522.

[0057] More specifically, the blocking airbag 521 initially has a rectangular cylindrical shape, and the outer peripheral wall of the blocking airbag 521 is flush with the outer peripheral wall of the first connecting sleeve 61. The end of the isolation sleeve 511 connected to the sliding ring 513 overlaps the end of the isolation sleeve 511 connected to the fixing ring 512, that is, one end of the isolation sleeve 511 is overlaid on the other end of the isolation sleeve 511. At this time, the blocking airbag 521 is in a fully inflated state. When the sampling unit 43 detects an increase in the surface leakage current on the insulating arm 2, The controller 12 will start the air pump 522, and the helium in the blocking airbag 521 will be gradually drawn out. At this time, the blocking airbag 521 will gradually retract, and the sliding ring 513 will slide away from the fixed ring 512. The forming ribs 523 set on the first deformation zone 5211 will fold together under the guidance of the ligament 524, thereby gradually forming an asymmetrical corrugated structure with alternating peaks and valleys on the first deformation zone 5211, and the heights of the two adjacent sets of peaks are different.

[0058] At the same time, as the sliding ring 513 moves, the side of the isolation sleeve 511 with the red coating will gradually be exposed. This allows the insulating arm 2 to form a structure that extends the creepage path, improves the surface moisture condition, and weakens the conditions for the formation of a continuous conductive film, thereby improving the insulating arm 2's tolerance to contaminated and humid environments. The isolation sleeve 511 also allows the degree of insulation performance degradation of the insulating arm 2 to be visually displayed on the insulating arm 2.

[0059] In other embodiments of this application, a pressure sensor is provided in the blocking airbag 521, and an angle sensor is provided on one end of the insulating arm 2 and another set of insulating arms 2. Both the pressure sensor and the angle sensor are electrically connected to the controller 12. When the blocking airbag 521 contracts to a certain extent, the inner wall of the blocking airbag 521 will act on the pressure sensor. At this time, it indicates that the insulation performance of the insulating arm 2 has seriously deteriorated. The isolation component 5 alone can no longer delay the insulation failure of the insulating arm 2. The controller 12 will then urgently stop the deployment between each level of lifting arm to restrict the spatial posture of the detection vehicle.

[0060] In this embodiment, multiple sets of isolation components 5 are provided. Each set of insulating arm 2 is provided with two sets of isolation components 5. The two sets of isolation components 5 are symmetrically arranged along the length direction of the insulating arm 2, and the two sets of isolation components 5 are located between the first current-cutting electrode 41 and the second current-cutting electrode 42.

[0061] Reference Figure 2In this embodiment, the working platform 3 is installed at the end of the upper arm section 23 away from the middle arm section 22. The working platform 3 includes a bucket and an adjusting arm. One end of the adjusting arm is connected to the upper arm section 23 via a transmission connection, and the other end of the adjusting arm is fixedly connected to the bottom of the bucket. The adjusting arm can adjust the spatial posture of the bucket. In this embodiment, a robot for performing withstand voltage insulation tests on ultra-high voltage transformers is installed inside the bucket. This robot is the same as the robot involved in the patent with application number 2025118990786, which discloses an inspection robot and testing method for simulating equalizing rings. The working principle of the robot installed inside the bucket in this embodiment is the same as its working principle, and will not be described in detail here.

[0062] The implementation principle of the integrated testing vehicle for ultra-high voltage transformers with intelligent positioning in this application embodiment is as follows: When the testing vehicle enters the ultra-high voltage working environment, under the action of the spatial electric field, the surface of the multi-level insulating arm 2 gradually forms a surface conductive channel due to factors such as pollution and moisture, thereby generating a weak leakage current between the segments of each level of insulating arm 2 and their connecting parts. The first current-cutting electrode 41, the second current-cutting electrode 42, the third current-cutting electrode 44 and the fourth current-cutting electrode 45 set at each level of insulating arm 2 and connecting component 6 segmentally intercept and guide the leakage current path, so that the leakage current in different insulation sections is output through the corresponding sampling channel, thereby realizing the current segment decoupling of the multi-level insulation structure. After the leakage current guided by each current-cutting electrode enters the sampling unit 43, it first completes the current-to-voltage conversion through the sampling resistor. Under the action of the transimpedance amplifier module, the weak current signal in the nA to μA range is amplified into a stable and identifiable voltage signal. At the same time, the virtual ground characteristic of the transimpedance amplifier input is used to maintain the potential stability of the measurement node and avoid disturbing the original electric field distribution. Based on the output signals of each channel, the controller 12 compares and analyzes the leakage current levels of different insulating arm 2 segments, thereby obtaining the insulation performance status and changing trend of each level of insulating arm 2 and the connection parts, realizing distributed and real-time perception of insulation degradation.

[0063] Based on this, when the controller 12 determines that the leakage current of a certain insulation section exceeds the preset threshold, it drives the corresponding isolation component 5 to operate. The air pump 522 adjusts the pressure state of the inert gas in the blocking airbag 521, causing the blocking airbag 521 to contract. This causes the sliding ring 513 to shift relative to the fixed ring 512. Under the coordinated guidance of the forming ribs 523 and ligaments 524, a deformation area with an asymmetric corrugated structure is formed on the outer surface of the isolation sleeve 511. This deformation structure can significantly extend the creepage path on the surface of the insulating arm 2, disrupt the formation conditions of the continuous water film or the contaminated conductive film, thereby reducing the surface leakage current and inhibiting further deterioration of the insulation performance. At the same time, the exposed marking layer of the isolation sleeve 511 can also provide a visual indication of the degree of insulation performance degradation.

[0064] When the leakage current continues to increase and the isolation regulation can no longer effectively suppress insulation degradation, the pressure sensor and angle sensor feed back relevant status information to the controller 12. The controller 12 then limits the deployment posture of the insulating arm 2 or stops the operation to prevent the risk of insulation failure from escalating. At the same time, in non-high-voltage environments, the sampling unit 43's built-in power module can apply a low-energy test excitation signal to the insulating arm 2 to perform active self-checks on each detection section, thereby achieving system status calibration before operation.

[0065] This application also discloses an application method for an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning, including the following steps: S1. Basic Information Acquisition and Modeling: Acquire map information and equipment information of the target substation, and acquire vehicle size parameters, kinematic parameters of the insulating arm 2, parameters of the on-board high-voltage equipment, and calibration parameters of various sensors of the inspection vehicle; Based on the map information, equipment information, and parameter information, construct the operating environment model and motion constraint model of the inspection vehicle. S2. Operation preparation and self-test: Before entering the high voltage environment, the power module in the sampling unit 43 applies a low-energy test excitation signal to each level of insulating arm 2, performs self-test on each detection section, obtains the initial insulation state parameters of each level of insulating arm 2, and completes the calibration of the sampling channel. The vehicle monitoring system scans and locates the surrounding environment, and the energy storage power system 15 and its functional modules are activated under the control of the controller 12. S3. Station entry and environmental perception: The control and inspection vehicle enters the mutual inductance verification area of ​​the target substation according to the preset driving path, and uses environmental perception sensors set around the vehicle body 1 to perceive the surrounding equipment, road boundaries and obstacles in real time, so as to dynamically correct the driving path. S4: Vehicle body 1 stabilization and posture deployment: After the inspection vehicle reaches the predetermined working position, the gravity assist system 17 on the bearing chassis 11 is controlled to lift the vehicle body 1 and stably support it on the ground; then, the multi-stage insulating arm 2 is deployed through the rotating seat and the first, second and third hydraulic cylinders, so that the working platform 3 moves to the predetermined working position close to the equalizing ring of the ultra-high voltage transformer, and the posture of the working platform 3 is adjusted by adjusting the arm; S5: Environmental electric field coupling detection: After entering the UHV electric field environment, multiple sets of current-cutting electrodes segmentally intercept and guide the leakage current generated by each level of insulating arm 2 and the connection parts. The current signal of each channel is converted into a voltage signal by the sampling resistor and the transimpedance amplifier module and then input to the controller 12. The controller 12 performs real-time acquisition and comparative analysis of the signals of each detection section to obtain the distributed insulation status information of the multi-level insulating arm 2. The controller 12 judges the insulation performance based on the magnitude and trend of the leakage current in each detection section. When the detection signal of a certain section exceeds the preset threshold, the air pump 522 at the corresponding position is controlled to operate, causing the gas pressure inside the blocking airbag 521 to change, thereby driving the isolation component 5 to undergo structural deformation, forming a corrugated structure on the surface of the insulating arm 2 to extend the creepage path, so as to reduce the leakage current of that section and suppress the development of insulation degradation. When the leakage current in a certain section is detected to be continuously increasing and the control effect of the isolation component 5 is insufficient, the controller 12 determines the insulation risk level by feeding back information through the pressure sensor and angle sensor, and restricts the insulation arm 2 from continuing to extend or adjusts the position of the work platform 3. If necessary, the operation is terminated and a safe recovery operation is performed to ensure the insulation safety of the whole machine. S6: Equalizing ring discharge and voltage detection: Under the premise that the insulation condition meets the safety requirements, after the work platform 3 reaches the predetermined work position, the inspection robot installed on the work platform 3 performs the inspection operation on the equalizing ring of the transformer under inspection. The inspection robot first performs ground discharge treatment on the equalizing ring of the ultra-high voltage transformer to release the residual charge, and then performs voltage detection operation to confirm that the equalizing ring is in a safe, de-energized or controllable potential state. S7: Insulation withstand voltage test: After the discharge and voltage detection are completed, the specified test voltage is applied to the equalization ring through the vehicle-mounted high voltage generator 13 to perform the insulation withstand voltage test. The controller 12 compares the transformer step-up parameters, transformer withstand voltage parameters and transformer step-down parameters with the preset verification thresholds to determine whether the transformer under test is qualified. During the test, the detection component 4 continuously monitors the leakage current changes in each section of the insulating arm 2 to ensure the stability of the insulation state of the detection vehicle itself, thereby ensuring the accuracy of the test results. S8: Operation End and System Reset: After the test is completed, the controller 12 shuts down the high voltage generator 13, retrieves the work platform 3 and sequentially retracts the multi-stage insulated arm 2, then releases the gravity assist system 17 support, so that the vehicle body 1 returns to the driving state; finally, the test data is stored and analyzed to provide a basis for subsequent maintenance and condition assessment.

[0066] The above are all optional embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning, comprising a vehicle body (1), an insulating arm (2), and a working platform (3), wherein a carrier chassis (11) is provided on the vehicle body (1), a controller (12) is provided on the carrier chassis (11), the insulating arm (2) is provided on the carrier chassis (11), and the insulating arm (2) is provided in three sets, the three sets of insulating arms (2) being connected end to end in sequence, and the working platform (3) is provided on the insulating arm (2), characterized in that: The detection component (4) includes a first current-blocking electrode (41), a second current-blocking electrode (42), and a sampling unit (43). The first current-blocking electrode (41) is disposed at one end of the insulating arm (2), and the second current-blocking electrode (42) is disposed at the other end of the insulating arm (2). The first current-blocking electrode (41) and the second current-blocking electrode (42) are used to intercept leakage current flowing along the surface of the insulating arm (2). The outer surface area of ​​the insulating arm (2) between the first current-blocking electrode (41) and the second current-blocking electrode (42) constitutes a corresponding detection section. The sampling unit (43) is disposed on the supporting chassis (11). The sampling unit (43) is electrically connected to the controller (12). The first current-blocking electrode (41) and the second current-blocking electrode (42) are both electrically connected to the sampling unit (43). The sampling unit (43) can detect the surface leakage current of the insulating arm (2). The isolation component (5) is disposed at both ends of the insulating arm (2). The isolation component (5) includes a blocking element (52) and an isolating element (51). The blocking element (52) and the isolating element (51) are disposed on the insulating arm (2). The blocking element (52) is disposed on one side of the isolating element (51). The isolating element (51) is used to set an isolation barrier between the blocking element (52) and the insulating arm (2). The blocking element (52) can actively deform according to the magnitude of the surface leakage current obtained by the sampling unit (43) to change the morphology of the surface of the insulating arm (2), thereby extending the creepage path and weakening the formation conditions of the continuous conductive film.

2. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 1, characterized in that: A connecting assembly (6) is provided between two adjacent sets of insulating arms (2). The connecting assembly (6) includes a first connecting sleeve (61), a second connecting sleeve (62), and a connecting tube (63). The three sets of insulating arms (2) are sequentially set as a lower arm section (21), a middle arm section (22), and an upper arm section (23). The first connecting sleeve (61) is fixedly sleeved on one end of the lower arm section (21), and the second connecting sleeve (62) is fixedly sleeved on one end of the middle arm section (22). One end of the connecting tube (63) is connected to the first connecting sleeve (61), and the other end of the connecting tube (63) is connected to the second connecting sleeve (62). A rotating shaft (611) is fixed on the first connecting sleeve (61), and the second connecting sleeve (62) is rotatably connected to the first connecting sleeve (61) through the rotating shaft (611).

3. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 2, characterized in that: The isolation component (51) includes an isolation sleeve (511), a fixing ring (512), and a sliding ring (513). The isolation sleeve (511) is sleeved on one end of the insulating arm (2). The isolation sleeve (511) is made of weather-resistant insulating material. The fixing ring (512) is fixedly sleeved on the insulating arm (2). The fixing ring (512) is fixedly connected to one end of the isolation sleeve (511). The other end of the isolation sleeve (511) is fixedly connected to the sliding ring (513). The isolation sleeve (511) and the sliding ring (513) are connected at one end and overlapped on the other end of the isolation sleeve (511).

4. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 3, characterized in that: The blocking component (52) includes a blocking airbag (521) and an air pump (522). The blocking airbag (521) is sleeved on the isolation sleeve (511). The blocking airbag (521) is located on one side of the sliding ring (513). One end of the blocking airbag (521) is connected to the insulating arm (2), and the other end of the blocking airbag (521) is connected to the sliding ring (513). The blocking airbag (521) is filled with inert gas. The air pump (522) 22) Fixed on the insulating arm (2), the air pump (522) is electrically connected to the controller (12), and the output end of the air pump (522) is connected to the blocking airbag (521). When the surface leakage current obtained by the sampling unit (43) increases, the air pump (522) controls the blocking airbag (521) to actively deform in order to change the morphology of the surface of the insulating arm (2), thereby extending the creepage path and weakening the formation conditions of the continuous conductive film.

5. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 4, characterized in that: The outer peripheral surface of the isolation sleeve (511) facing away from the insulating arm (2) is provided with a marking coating. The cross-sections of the fixing ring (512) and the sliding ring (513) are set as rounded rectangular cross-sections. When the blocking airbag (521) deforms, the blocking airbag (521) will drive the sliding ring (513) to move to one side, thereby making the marking coating visible.

6. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 5, characterized in that: The outer peripheral wall of the blocking airbag (521) is designated as the first deformation zone (5211), and the inner peripheral wall of the blocking airbag (521) is designated as the second deformation zone (5212). The first deformation zone (5211) is configured to wrinkle deformation, and the second deformation zone (5212) is configured to elastic tensile deformation. The deformation performance of the second deformation zone (5212) is better than that of the first deformation zone (5211). Multiple shaped ribs (523) are fixedly embedded on the inner wall of the first deformation zone (5211). The length direction of the shaped ribs (523) is parallel to the length direction of the insulating arm (2). The forming rib (523) is made of weather-resistant insulating material. The forming rib (523) is provided with a first guide groove (5231) and a second guide groove (5232). The first guide groove (5231) is provided on one side of the forming rib (523), and the second guide groove (5232) is provided on the other side of the forming rib (523). The first guide groove (5231) and the second guide groove (5232) are arranged in an alternating manner. There are multiple sets of the first guide groove (5231) and the second guide groove (5232) on the forming rib (523).

7. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 6, characterized in that: The shaped rib (523) is provided with a thin strip-shaped ligament (524). One end of the ligament (524) is fixed to one side of the first guide groove (5231), and the other end of the ligament (524) is fixed to the other side of the first guide groove (5231). There are multiple sets of the ligament (524), and the multiple sets of the ligament (524) are arranged in a one-to-one correspondence with the first guide groove (5231) and the second guide groove (5232).

8. The integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in claim 7, characterized in that: The first current-cutting electrode (41) is configured as an annular conductive strip. The two ends of the first current-cutting electrode (41) are configured with smooth edge transition. The cross section of the first current-cutting electrode (41) is configured as an arc-shaped convex streamlined cross section. The first current-cutting electrode (41) is made of a material with both good conductivity and corrosion resistance. The first current-cutting electrode (41) is provided with a first conductor connection part (411). The first current-cutting electrode (41) is electrically connected to the sampling unit (43) through the first conductor connection part (411). The entire outer peripheral surface of the first current-cutting electrode (41) is provided with an insulating coating. The second current-cutting electrode (42) has the same features as the first current-cutting electrode (41). The second current-cutting electrode (42) is fixed with a second conductor connection portion. The second current-cutting electrode (42) is electrically connected to the sampling unit (43) through the second conductor connection portion.

9. An application method for an integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning, comprising using the integrated testing vehicle for ultra-high voltage instrument transformers with intelligent positioning as described in any one of claims 1-8, characterized in that, The following steps are adopted: S1. Obtain map and equipment information of the target substation, and construct the working environment model and motion constraint model of the detection vehicle; S2. Before entering the high voltage environment, the power module in the sampling unit (43) applies a low-energy test excitation signal to each level of insulating arm (2), performs self-test on each detection section, obtains the initial insulation state parameters of each level of insulating arm (2), and completes the calibration of the sampling channel. The vehicle monitoring system scans and locates the surrounding environment, and the energy storage power system and various functional modules are started under the control of the controller (12). S3. Control the detection vehicle to enter the mutual inductance verification area of ​​the target substation according to the preset driving path, and use the environmental perception sensors set around the vehicle body (1) to perceive the surrounding equipment, road boundaries and obstacles in real time, so as to dynamically correct the driving path. S4. After the inspection vehicle reaches the predetermined work position, control the gravity assist system on the bearing chassis (11) to lift the vehicle body (1) and support it stably on the ground; then drive the multi-stage insulating arm (2) to unfold, so that the work platform (3) moves to the predetermined work position close to the equalizing ring of the ultra-high voltage transformer, and adjust the posture of the work platform (3) by adjusting the arm. S5. After entering the UHV electric field environment, multiple sets of current-cutting electrodes segmentally intercept and guide the leakage current generated by each level of insulating arm (2) and connection parts. The current signal of each channel is converted into a voltage signal by the sampling resistor and the transimpedance amplifier module and then input to the controller (12). The controller (12) collects and compares the signals of each detection section in real time to obtain the distributed insulation status information of the multi-level insulating arm (2). The controller (12) judges the insulation performance based on the magnitude and trend of the leakage current of each detection section. When the detection signal of a certain section exceeds the preset threshold, the air pump (522) at the corresponding position is controlled to operate, so that the gas pressure in the blocking airbag (521) changes, thereby driving the isolation component (5) to undergo structural deformation, forming a corrugated structure on the surface of the insulating arm (2) to extend the creepage path, so as to reduce the leakage current of the section and suppress the development of insulation degradation. When the leakage current in a certain section is detected to be continuously increasing and the control effect of the isolation component (5) is insufficient, the controller (12) determines the insulation risk level by feeding back information through the pressure sensor and angle sensor, and restricts the insulation arm (2) from continuing to unfold or adjusts the position of the work platform (3). If necessary, the operation is terminated and a safe recovery operation is performed to ensure the insulation safety of the whole machine. S6. Under the premise that the insulation condition meets the safety requirements, after the work platform (3) reaches the predetermined work position, the inspection robot installed on the work platform (3) performs the inspection operation on the equalization ring of the transformer under inspection. The inspection robot first performs ground discharge treatment on the equalization ring of the ultra-high voltage transformer to release the residual charge, and then performs the voltage detection operation to confirm that the equalization ring is in a safe, non-electric or controllable potential state. S7. After the discharge and voltage test are completed, the specified test voltage is applied to the equalization ring through the vehicle-mounted high voltage generator to perform the insulation withstand voltage test. The controller (12) compares the transformer boost parameters, transformer withstand voltage parameters and transformer de-voltage parameters with the preset verification threshold to determine whether the transformer under test is qualified. During the test, the detection component (4) continuously monitors the leakage current changes in each section of the insulating arm (2) to ensure the stability of the insulation state of the detection vehicle itself, thereby ensuring the accuracy of the test results; S8. After the test is completed, the controller (12) shuts off the high voltage generator, retracts the work platform (3) and retracts the multi-stage insulating arm (2) in sequence, and then releases the gravity assist system support to restore the vehicle body (1) to the driving state; finally, the test data is stored and analyzed to provide a basis for subsequent maintenance and condition assessment.

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