CN-122017478-A - Insulator zero value detection device and detection method

CN122017478ACN 122017478 ACN122017478 ACN 122017478ACN-122017478-A

Abstract

The invention provides an insulator zero value detection device and a detection method, which belong to the technical field of power grid line insulation detection. The unmanned aerial vehicle is lifted or put in the detection robot through the frame. The zero value detection component is arranged on the rack. The walking component is fixedly connected to the frame. The control module is in communication connection with the unmanned aerial vehicle and comprises an image acquisition unit and a control unit, the control unit is in communication connection with the image acquisition unit and the unmanned aerial vehicle, and the image acquisition unit is used for acquiring and sending image information of the insulator to the control unit so that the control unit can conveniently identify the detection position and control the unmanned aerial vehicle to put in the detection robot. By matching the image acquisition unit with the control unit in the control module, an automatic positioning and throwing mechanism is constructed. The manual operation error is reduced, and the detection failure probability caused by the throwing offset is reduced.

Inventors

LIU HONGJI
ZHOU ZHANCHAO
ZHAO YUE
Wei Zefan
LV HAILONG
MA CHAO
LIU HAIFENG
Meng chaoyang
XU BEIFANG

Assignees

国网河北省电力有限公司超高压分公司
国家电网有限公司

Dates

Publication Date: 20260512
Application Date: 20260104

Claims (10)

1. The insulator zero value detection device is characterized by comprising an unmanned aerial vehicle and a detection robot, wherein the detection robot comprises: the unmanned aerial vehicle is used for lifting or throwing the detection robot through the rack; the zero value detection assembly is arranged on the rack; a walking assembly fixedly connected to the frame, and The control module is in communication connection with the unmanned aerial vehicle and comprises an image acquisition unit and a control unit, wherein the control unit is in communication connection with the image acquisition unit and the unmanned aerial vehicle, and the image acquisition unit is used for acquiring and sending image information of an insulator to the control unit so that the control unit can identify a detection position and control the unmanned aerial vehicle to throw in the detection robot.
2. The insulator zero-value detection device of claim 1, wherein the housing comprises: the unmanned aerial vehicle is lifted or put in the detection robot through the lifting frame, and The hanging frame is arranged at the top of the arc-shaped bracket; the walking assembly is arranged on the inner wall of the top of the arc-shaped support, and the zero value detection assembly is arranged on the arc-shaped support.
3. The insulator zero-value detection device of claim 2, wherein two traveling assemblies are provided and are symmetrically arranged about a vertical central axis of the arc-shaped bracket.
4. The insulator zero-value detection device of claim 2, wherein the zero-value detection assembly comprises: The zero value detection mechanism is arranged on the side wall of the arc-shaped bracket; the zero value detection control mechanism is arranged at the bottom of the arc-shaped bracket, and the height of the zero value detection control mechanism is lower than that of the zero value detection mechanism.
5. An insulator zero value detection method applied to the insulator zero value detection device as claimed in any one of claims 1 to 4, characterized by comprising the following steps: acquiring information of an insulator image through an unmanned aerial vehicle; identifying a detection position according to the information of the insulation sub-image, and calculating a detection position coordinate so that the unmanned aerial vehicle puts the detection robot into the detection position; calculating a putting position coordinate of the detection robot, and calculating a deviation between the putting position coordinate and the detection position coordinate so that the unmanned aerial vehicle can adjust the posture of the unmanned aerial vehicle according to the deviation; And (5) putting the detection robot, and starting the detection robot to start zero value detection.
6. The insulator zero-value detection method of claim 5, wherein acquiring the insulator sub-image information by the unmanned aerial vehicle comprises: Planning an inspection route of the unmanned aerial vehicle based on the GIS map of the power transmission line and the coordinates of the tower, so that the unmanned aerial vehicle flies to a nearby area of the target insulator at the shortest distance; And obtaining visible light image information and infrared image information of the target insulator.
7. The insulator zero-value detection method of claim 6, wherein identifying the detection position based on the insulator image information and calculating the detection position coordinates so that the unmanned aerial vehicle puts the detection robot at the detection position, comprises: preprocessing visible light image information and infrared image information, and fusing the preprocessed images to obtain fused image information; identifying a detection position according to the fused image information; And calculating the three-dimensional coordinates of the detection position in the unmanned plane coordinate system.
8. The insulator zero-value detection method of claim 5, wherein calculating the delivery position coordinates of the detection robot and calculating the deviation of the delivery position coordinates from the detection position coordinates so that the unmanned aerial vehicle adjusts its own posture according to the deviation, comprises: acquiring local image information of the insulator by detecting a shooting detection position of the robot; converting pixel coordinates of the detection position in the local insulator image information into three-dimensional coordinates of the detection position under a robot coordinate system; converting the three-dimensional coordinate of the detection position in the unmanned aerial vehicle coordinate system into a theoretical coordinate under the robot coordinate system; calculating the actual deviation between the theoretical coordinates in the robot coordinate system and the three-dimensional coordinates of the detection position in the robot coordinate system; And if the deviation does not exceed the deviation threshold, the flight attitude of the unmanned aerial vehicle does not need to be adjusted.
9. The insulator zero-value detection method of claim 8, wherein the actual deviation includes a combined deviation and a vertical deviation.
10. The insulator zero-value detection method of claim 9, wherein adjusting the attitude of the drone if the deviation exceeds a deviation threshold comprises: and if the comprehensive deviation exceeds the comprehensive threshold, adjusting the roll angle and the pitch angle of the unmanned aerial vehicle, and if the vertical deviation exceeds the vertical threshold, adjusting the flying height of the unmanned aerial vehicle.

Description

Insulator zero value detection device and detection method Technical Field The invention belongs to the technical field of power grid line insulation detection, and particularly relates to an insulator zero value detection device and an insulator zero value detection method. Background In the operation of a high-voltage transmission line, the porcelain insulator is influenced by factors such as wind and rain, pollution, an electric field and the like for a long time, zero value defects are easy to occur, and line faults can be caused if the porcelain insulator is not detected in time. The main stream detection scheme in the industry at present is a cooperative mode of unmanned aerial vehicle and detection robot, namely, the unmanned aerial vehicle carries a hoisting mechanism, the unmanned aerial vehicle is hoisted to have a zero value detection function, after flying to the vicinity of a target insulator string, the flying hand is used for controlling the unmanned aerial vehicle to adjust the gesture, the detection robot is put in an insulator specified detection position, and then the detection robot starts to detect and transmit back data. The core of the prior art relies on manual control of a flying hand to finish robot throwing, and has the obvious defects that firstly throwing accuracy is completely dependent on the control proficiency and visual judgment capability of the flying hand, when insulator strings are dense, a pole tower structure is complex or branches and leaves are blocked, the flying hand is difficult to accurately judge a detection position, the robot throwing deviation is easy to occur, so that detection failure is caused, secondly, the detection efficiency is low, the flying hand needs to repeatedly adjust the gesture of an unmanned aerial vehicle to calibrate the throwing position, the single-base pole tower insulator detection time generally exceeds 15 minutes, and the efficiency requirement of large-scale transmission line inspection is difficult to be met. Disclosure of Invention The invention aims to provide an insulator zero value detection device and a control method, and aims to solve the defect that a cooperative mode of an unmanned aerial vehicle and a detection robot in the prior art depends on manual control of a flying hand. In order to achieve the above purpose, the invention adopts the following technical scheme: in a first aspect, there is provided an insulator zero value detection device comprising: unmanned aerial vehicle and detection robot, the detection robot includes: the unmanned aerial vehicle is used for lifting or throwing the detection robot through the rack; the zero value detection assembly is arranged on the rack; a walking assembly fixedly connected to the frame, and The control module is in communication connection with the unmanned aerial vehicle and comprises an image acquisition unit and a control unit, wherein the control unit is in communication connection with the image acquisition unit and the unmanned aerial vehicle, and the image acquisition unit is used for acquiring and sending image information of an insulator to the control unit so that the control unit can identify a detection position and control the unmanned aerial vehicle to throw in the detection robot. In one possible implementation, the rack includes: the unmanned aerial vehicle is lifted or put in the detection robot through the lifting frame, and The hanging frame is arranged at the top of the arc-shaped bracket; the walking assembly is arranged on the inner wall of the top of the arc-shaped support, and the zero value detection assembly is arranged on the arc-shaped support. In one possible embodiment, two running components are provided and are arranged symmetrically with respect to the vertical center axis of the arc-shaped support. In one possible implementation, the zero value detection component includes: The zero value detection mechanism is arranged on the side wall of the arc-shaped bracket; the zero value detection control mechanism is arranged at the bottom of the arc-shaped bracket, and the height of the zero value detection control mechanism is lower than that of the zero value detection mechanism. Compared with the prior art, the insulator zero value detection device has the beneficial effects that an automatic positioning and throwing mechanism is constructed through the cooperation of the image acquisition unit and the control unit in the control module. The image acquisition unit can acquire information of the insulator image in real time and transmit the information to the control unit, and the control unit can accurately identify the detection position through analyzing the image, so that the unmanned aerial vehicle is directly controlled to finish the throwing action. The whole process does not need to manually judge and adjust the gesture of the unmanned aerial vehicle through vision, reduces human operation errors, can ensure that the detection robot is accu