Method and device for detecting insulator through multi-rotor unmanned aerial vehicle

Abstract

The invention relates to a method and a device for detecting an insulator through a multi-rotor unmanned aerial vehicle. The device comprises a multi-rotor unmanned aerial vehicle, as well as an onboard control computer of a flight control system, a positioning device, an unmanned aerial vehicle steering engine controller, a height measuring device, a speed measuring device, a high-definition camera, an unmanned aerial vehicle PCM (Pulse-Code Modulation) remote control receiver, an onboard wireless communication unit and a lifting device which are arranged on the multi-rotor unmanned aerial vehicle; the lifting device drives a probing lower pole to move; the onboard wireless communication unit communicates with a ground station; the unmanned aerial vehicle steering engine controller controls a servo steering engine; the servo steering engine controls a multi-rotor module; a probing upper pole and the probing lower pole are respectively connected with respective voltage sensors; the two voltage sensors are connected with an A / D (Analogue-to-Digital) conversion unit, a DSP (Digital Signal Processor) unit and the onboard control computer of the flight control system. The method and the device provided by the invention can be used for knowing and control the operation condition of a circuit insulator in time; the risk when a detector climbs up to carry out near-distance electrified operation can be further avoided; and meanwhile, the detection efficiency can be improved.

Description

technical field [0001] The invention relates to a method and a device for detecting an insulator by a drone, in particular to a method and a device for detecting an insulator by a multi-rotor drone. Background technique [0002] In recent years, the sustained and rapid development of my country's national economy has put forward higher and higher requirements for my country's electric power industry. At present, my country has formed six inter-provincial power grids in North China, Northeast China, East China, Central China, Northwest China and South China. The contradictions have been basically alleviated. Due to our country's vast territory and complex terrain, in order to provide safe and reliable power supply, the automation and modernization of line inspection maintenance has increasingly shown its urgency. [0003] Insulators are insulators used to support conductors, and insulators can ensure sufficient insulation for live bodies such as cross-arms, pole towers, and ...

AI Technical Summary

Problems solved by technology

[0009] (1) The robot still needs to be manually transported from the ground to the tower for use, and it is impossible to completely avoid the close-range live operation of personnel;

[0010] (2) The robot does not have the function of walking across the distance between towers or line items, that is, it can only inspect the insulator strings at the connection of a single wire and a single tower at a time. If you want to inspect the insulator strings at the connection of different wires or different towers, you still need to Manual location movement

[0012] (1) The system for detecting insulators described in the patent "A Flying Robot for Detecting Transmission Line Insulators" is a target recognition system, which only uses visual methods to judge whether an insulator is normal from its appearance. This method has a low detection accuracy rate. Defects that do not change significantly in appearance cannot be detected;

[0013] (2) The insulator tester described in the patent "New Test Device for Insulator Performance" is not equipped with a liftable device, that is, the distance between the two detection probes of the insulator tester is a fixed value, which is not applicable to insulator detection with various spacings. limited scope;

[0014] (3) Neither of the above two patents mentions the pop-up command setting after a reliable signal is detected. Since the multi-rotor UAV generally does not interfere with the normal power supply of the line when it detects the insulator, most of them are live detection. The detection time of close-distance or even contact with insulators should be minimized to improve detection safety

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