CN105067484B - Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane - Google Patents
Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane Download PDFInfo
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- CN105067484B CN105067484B CN201510433491.3A CN201510433491A CN105067484B CN 105067484 B CN105067484 B CN 105067484B CN 201510433491 A CN201510433491 A CN 201510433491A CN 105067484 B CN105067484 B CN 105067484B
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- 239000002131 composite material Substances 0.000 title claims abstract description 61
- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
- 238000012360 testing method Methods 0.000 title claims abstract description 22
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- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 18
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- 150000001875 compounds Chemical class 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000002209 hydrophobic effect Effects 0.000 description 6
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Abstract
The invention discloses a kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, including unmanned plane, unmanned plane is provided with wireless remote controller, water injector and image acquisition and transmission device, water injector includes water tank, water pump and nozzle, water pump is connected with water tank, and water pump is connected by sprinkler conduit with nozzle；Image acquisition and transmission device includes camera and image generator, and image generator is connected with camera；Wireless remote controller includes wireless remote controlled receiver, wireless communication module, nozzle remote-control gear, camera remote-control gear and starting mode of pump device, and wireless remote controlled receiver is connected with nozzle remote-control gear, camera remote-control gear and starting mode of pump device respectively；Nozzle remote-control gear is connected with nozzle, and camera remote-control gear is connected with camera, and starting mode of pump device is connected with water pump.The present invention excludes hidden danger efficiency high, simple and convenient, easy operation, can largely mitigate personnel labor intensity, guarantee personal safety.
Description
Technical field
The present invention relates to the technical field of unmanned plane, and in particular to one kind can be widely applied to power industry, on shaft tower
The hydrophobicity of composite insulator of power transmission line based on unmanned plane that the composite insulator being used carries out hydrophobicity detection is powered
Test device.
Background technology
Insulator plays two basic roles in overhead transmission line, that is, supports wire and prevent electric current from going back to ground, this two
Individual effect must be guaranteed, and insulator should not the various electromechanical stress caused by environment and electric load condition change
And fail, otherwise insulator would not produce great effect, damage use and the service life of whole piece circuit.Composite insulator
Because antifouling property is good, using more and more extensive on power circuit.Composite insulator is the external insulation device for needing longtime running
Part, its service life of design requirement are generally at least 30 ~ 50 years.In longtime running, loading that composite insulator is born
It is change, but main basic load is tensile load, and therefore, the research to its long-term mechanical properties is mainly tensile property
Research.At present, the compound rate of national insulator is higher than 50%.But composite insulator is at runtime long afterwards, its hydrophobic
Property will with weathering, drenching with rain etc. reduces, decreasing insulating, and the accidents such as flashover easily occur, threaten the safe operation of circuit.
The method that Hydrophobicity of Composite Insulator detection method includes appearance inspection method and water spray.Visual examination can divide ground
Look in the distance and sem observation and step on bar inspection, check the positions such as sheath, full skirt, gold utensil whether there is cracking, galvanic corrosion, dendroid passage, efflorescence,
The aging signs such as trace, it should be changed immediately if any above phenomenon；The method of water spray is to compound using watering can or other similar devices
Insulator is sprayed water, according to the hydrophobicity rank of the water droplet condition adjudgement composite insulator on the full skirt surface of composite insulator.In the past
In work about electric power, hydrophobic test is carried out to composite insulator, usually removed composite insulator from circuit after rod-rising tower,
After the composite insulator that circuit is removed is fixed with assembly pulley, tested on the ground, rod-rising tower is installed again after off-test
The composite insulator of pass the test replaces substandard product and installs new qualified composite insulator.In order to reduce work
Sequence, staff step on after tower and carry out hydrophobic test to composite insulator using Special insulative operating rod, and whole process is to work
Personnel requirement is higher, extremely labor intensive.
Unmanned plane has small volume, simple in construction, control is flexible；Being capable of VTOL；Hovering, inverted flight, the winged ability in side are strong；
Flight safety；The advantages that noise is small, it is widely used in rescue and relief work, the field such as news is taken photo by plane, geologic survey, pipeline inspection.Cause
This, unmanned plane can be applied in power system, reduce the operation of staff's rod-rising tower, save manpower and time.Due to nobody
The problem of machine is operated, and the personnel that can solve the problem that make an inspection tour visual angle deficiency and must go up tower operation on the ground, substantially increases work
Make efficiency, prospect is widely used in power circuit.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of transmission line composite insulator based on unmanned plane to hate
Water-based live testing device, hydrophobic test is carried out to composite insulator in the air using unmanned plane, has widened unmanned air vehicle technique
Application in power system, reduces manpower, improves the efficiency of Hydrophobicity of Composite Insulator detection.
In order to achieve the above object, the technical scheme is that：A kind of transmission line of electricity compound inslation based on unmanned plane
Sub- hydrophobicity live testing device, including unmanned plane, the unmanned plane are adopted provided with wireless remote controller, water injector and image
Collect transmitting device, the water injector includes water tank, water pump and nozzle, and water pump is connected with water tank, and water pump passes through sprinkler conduit
It is connected with nozzle；Described image collecting transmitter includes camera and image generator, image generator and camera phase
Connection；The wireless remote controller includes wireless remote controlled receiver, wireless communication module, nozzle remote-control gear, camera remote control
Mechanism and starting mode of pump device, wireless remote controlled receiver respectively with nozzle remote-control gear, camera remote-control gear and starting mode of pump device
It is connected；The nozzle remote-control gear is connected with nozzle, and camera remote-control gear is connected with camera, starting mode of pump device with
Water pump is connected.
Support is provided with the middle part of shown unmanned plane, pedestal upper end is provided with symmetrical wing；It is solid that the support bottom is provided with first
Determine frame, frame upper is provided with the second fixed mount；The mid-stent is provided with wireless remote controlled receiver, and the first fixed mount is provided with water
Case, water pump and nozzle, the second fixed mount are provided with camera and image generator.
The unmanned plane is four rotor wing unmanned aerial vehicles.
The nozzle remote-control gear is arranged on the rear end of nozzle, and camera remote-control gear is arranged on the rear end of camera.
The wireless communication module is arranged on support, and wireless remote controlled receiver passes through wireless communication module and ground remote control
Device is connected, and image generator is connected by wireless communication module with chart display, realizes the transmission of data.
The chart display integrates with ground remote control device.
Described image transmitter rear end is provided with memory and hydrophobicity detection module, and hydrophobicity detection module is from memory
The shape and size information of the globule and/or water mark is obtained in compound inslation sub-image data, and according to the globule and/or the shape of water mark
Shape and dimension information obtain the hydrophobicity rank of composite insulator.
The hydrophobicity detection module uses image comparison method, and carrying out contrast with standard picture judges hating for composite insulator
Water-based grade.
The present invention can realize the control of unmanned plane, camera, nozzle using ground remote control device, solve the sprinkling side of current
The factor such as water mark selection, shooting angle, shooting distance, sample constituency form and dimension in image in the collecting work of formula and image
Influence to judging Hydrophobicity of Composite Insulator；Efficient work can be achieved, reduce the labor intensity of people to the full extent；No
Left unused by topography and geomorphology, possess the ability of full landform work；Ensure the safe operation of transmission line of electricity to greatest extent, send out ahead of time
Existing potential safety hazard；Human cost is low, in same time economic limit, the safety of the guarantee circuit of maximizing；Mobility
By force, can work continuously.Therefore, the present invention, which possesses, excludes hidden danger efficiency high, simple and convenient, the features such as easily operating, can be very
Mitigate personnel labor intensity in big degree, guarantee personal safety.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram of the present invention.
Fig. 3 is the standard picture of Hydrophobicity of Composite Insulator grade of the present invention.
Wherein, 1 is support, and 2 be wing, and 3 be the second fixed mount, and 4 be image generator, and 5 be camera, and 6 be wireless remote
Receiver is controlled, 7 be the first fixed mount, and 8 be water tank, and 9 be water pump, and 10 be nozzle, and 11 be sprinkler conduit, and 12 be that nothing communicates mould
Block, 13 be nozzle remote-control gear, and 14 be camera remote-control gear, and 15 be starting mode of pump device, and 16 be ground remote control device, and 17 be ground
Display, 18 be memory, and 19 be hydrophobicity detection module.
Embodiment
Specifically described below by drawings and examples of the invention.
A kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, as depicted in figs. 1 and 2,
Including unmanned plane, unmanned plane is provided with wireless remote controller, water injector and image acquisition and transmission device.Unmanned plane can be four
Rotor wing unmanned aerial vehicle, its small volume, simple in construction, control is flexible；Being capable of VTOL；Hovering, inverted flight, the winged ability in side are strong.Nobody
Support 1 is provided with the middle part of machine, the upper end of support 1 is provided with symmetrically arranged wing 2.The bottom of support 1 is provided with the first fixed mount 7, and first is solid
Determine the upper end of frame 7 and be provided with the second fixed mount 3.
Water injector is arranged on the first fixed mount 7, including water tank 8, water pump 9 and nozzle 10, water pump 9 pass through water pipe and water
Case 8 is connected, and water pump 9 is connected by sprinkler conduit 11 with nozzle 10.Water pump 9 is provided with starting mode of pump device 15, for controlling
The start and stop of water pump 9.I.e. unmanned plane reaches the compound inslation period of the day from 11 p.m. to 1 a.m to be detected, just opening starting mode of pump device 15, using nozzle 10 to
Composite insulator atomized water spray.When completing to spray water to whole composite insulator circumference, switch off the pump starter 15, completes water spray behaviour
Make.The rear end of nozzle 10 is provided with nozzle remote-control gear 13, for the direction for controlling nozzle 10 to be sprayed water to composite insulator, so as to realize
The multi-angle of nozzle 10 is sprayed water to composite insulator.
Image acquisition and transmission device is located at the upper end of water injector, is arranged on the second fixed mount 3.IMAQ transmission dress
Put and be connected including camera 5 and image generator 4, image generator 4 with camera 5.Before camera 5 is arranged on unmanned plane
End, the picture for its front end of records photographing.Image generator 4 launches the picture that camera 5 is shot.After camera 5
End is provided with camera remote-control gear 14, for controlling the direction of camera 5, so as to realize the bat comprehensive to composite insulator
Take the photograph.
Wireless remote controller includes wireless remote controlled receiver 6, wireless communication module 12, nozzle remote-control gear 13, camera
Remote-control gear 14 and starting mode of pump device 15.Wireless remote controlled receiver 6, wireless communication module 12 are arranged on the middle part of support 1, are located at
Between first fixed mount 7 and the second fixed mount 3.Wireless remote controlled receiver 6 is remotely controlled machine with nozzle remote-control gear 13, camera respectively
Structure 14 is connected with starting mode of pump device 15, by controlling wireless remote controlled receiver 6 to adjust nozzle remote-control gear 13, camera
The direction of remote-control gear 14, and the unlatching of starting mode of pump device 15 can be controlled, that is, realize and the shooting of camera 5 orientation, water pump are opened
The unlatching of dynamic device 15, the control of the injection direction of nozzle 10.Wireless remote controlled receiver 6 is distant by wireless communication module 12 and ground
Control device 16 is connected, i.e., wireless remote controlled receiver 6 can receive ground remote control device 16 by the transmission of wireless communication module 12
Control instruction, so as to realize the control to camera 5, nozzle 10, water pump 9.Meanwhile ground remote control device 16 should also have control nothing
The function of man-machine heading.
Image generator 4 is connected by wireless communication module 12 with chart display 17, realizes the transmission of shooting image.
Chart display 17 shows the image that camera 5 is shot, and staff can determine according to the image information of chart display 17,
The position of nozzle 10 and composite insulator to be detected is determined, is realized so as to better profit from ground remote control device 16 to be detected
Composite insulator is accurately positioned.Therefore, chart display 17 and ground remote control device 16 can be integrated, it is convenient very fast
Ground rises to unmanned plane at composite insulator to be detected, control that can also preferably to nozzle 10 and camera 5.
Further, the rear end of image generator 4 is provided with memory 18 and hydrophobicity detection module 19.Memory 18 can be deposited
The picture that camera 5 is shot is stored up, hydrophobicity detection module 19 can search compound inslation sub-image data from memory 18, and
The shape and size information of the globule and/or water mark on the compound inslation subgraph after water spray is obtained, and according to the globule and/or water
The hydrophobicity rank of the shape and size information acquisition composite insulator of mark.Meanwhile hydrophobicity detection module 19 will can detect
As a result sent by wireless communication module 12 to chart display 17, staff is according to its hydrophobicity rank and chart display
The image of composite insulator after the water spray of 17 displays judges whether to change the composite insulator.
Hydrophobicity of Composite Insulator, which can weaken, can cause pollution flashover, the pollution flashover voltage of composite insulator by pollution layer surface hydrophobic
Character condition together decides on pollution degree.Surface hydrophobicity of composite insulator is divided into seven grades of HC1-HC7, its standard such as institute of table 1
Show, HC1 levels correspond to the best state of hydrophobicity, and HC7 then corresponds to the surface of total hydrophilic.Hydrophobicity of Composite Insulator grade
HC1-HC6 standard picture is provided with 6 width, as shown in Figure 3.Hydrophobicity detection module 19 is judged compound exhausted using image processing techniques
Edge hydrophobicity rank.
The present invention uses image comparison method to realize, specifically：The composite insulator water spray figure that unmanned plane camera is obtained
As being contrasted with standard picture, by analyzing the similitude of testing image and each standard picture and being retouched with reference to the feature of HC grades
State to be classified.The image and Fig. 3 of composite insulator umbrella skirt after the water spray that hydrophobicity detection module 19 gathers camera
In standard picture contrasted, such as find to be in HC5 ~ HC7 more than the hydrophobicity of 50% full skirt, hydrophobicity detection module 19 is sentenced
Break to change composite insulator, and the hydrophobicity rank of composite insulator is sent to ground by wireless communication module 12 and shown
Device 17 is simultaneously shown.Meanwhile the image rough estimate composite insulator that can also be shown according to chart display 17 of staff
Hydrophobicity rank.
The surface hydrophobicity of composite insulator grade of table 1
The composite insulator on transmission line of electricity is tested using said apparatus, test result indicates that, the present invention can be with
The accurate hydrophobicity rank for judging composite insulator.Therefore, the present invention is entered to composite insulator in the air using unmanned plane
Row hydrophobic test, the control of unmanned plane, camera 5, nozzle 10 can be realized using ground remote control device 16, the spray for solving current
Spill in mode and IMAQ work in image water mark selection, shooting angle, shooting distance, sample constituency form and dimension etc. because
The plain influence to judging Hydrophobicity of Composite Insulator；The composite insulator water spray image for being obtained unmanned plane using image comparison method
Contrasted with standard picture, by analyzing the similitude of testing image and each standard picture and with reference to the spy of hydrophobicity HC grades
Sign is described to be classified, and therefore, the present invention realizes efficient detection Hydrophobicity of Composite Insulator, reduces to the full extent
The labor intensity of people, ensure the safe operation of transmission line of electricity to greatest extent；Exclude hidden danger efficiency high, simple and convenient, easy behaviour
Make, and can largely mitigate personnel labor intensity, guarantee personal safety；Unmanned air vehicle technique has been widened in power system
In application, improve Hydrophobicity of Composite Insulator detection efficiency.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (6)
1. a kind of hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane, including unmanned plane, its feature
It is：The unmanned plane is provided with wireless remote controller, water injector and image acquisition and transmission device, and the water injector includes
Water tank（8）, water pump（9）And nozzle（10）, water pump（9）With water tank（8）It is connected, water pump（9）Pass through sprinkler conduit（11）With spray
Mouth（10）It is connected；Described image collecting transmitter includes camera（5）And image generator（4）, image generator（4）With
Camera（5）It is connected；The wireless remote controller includes wireless remote controlled receiver（6）, wireless communication module（12）, nozzle it is distant
Control mechanism（13）, camera remote-control gear（14）With starting mode of pump device（15）, wireless remote controlled receiver（6）It is remotely controlled respectively with nozzle
Mechanism（13）, camera remote-control gear（14）With starting mode of pump device（15）It is connected；The nozzle remote-control gear（13）With nozzle
（10）It is connected, camera remote-control gear（14）With camera（5）It is connected, starting mode of pump device（15）With water pump（9）It is connected；
The wireless communication module（12）It is arranged on support（1）On, wireless remote controlled receiver（6）Pass through wireless communication module（12）
With ground remote control device（16）It is connected, image generator（4）Pass through wireless communication module（12）With chart display（17）It is connected
Connect, realize the transmission of data；
Support is provided with the middle part of the unmanned plane（1）, support（1）Upper end is provided with symmetrical wing（2）；The support（1）Bottom is set
There is the first fixed mount（7）, support（1）Top is provided with the second fixed mount（3）；The support（1）Middle part receives provided with wireless remote control
Device（6）, the first fixed mount（7）It is provided with water tank（8）, water pump（9）And nozzle（10）, the second fixed mount（3）It is provided with camera
（5）And image generator（4）.
2. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 1, its
It is characterised by, the unmanned plane is four rotor wing unmanned aerial vehicles.
3. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 1, its
It is characterised by, the nozzle remote-control gear（13）It is arranged on nozzle（10）Rear end, camera remote-control gear（14）It is arranged on and takes the photograph
As head（5）Rear end.
4. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 1, its
It is characterised by, the chart display（17）With ground remote control device（16）Integrate.
5. the dress of the hydrophobicity of composite insulator of power transmission line live testing based on unmanned plane according to claim 1 or 4
Put, it is characterised in that described image transmitter（4）Rear end is provided with memory（18）With hydrophobicity detection module（19）, hydrophobicity
Detection module（19）From memory（18）The shape and size of the globule and/or water mark are obtained in middle compound inslation sub-image data
Information, and according to the globule and/or the hydrophobicity rank of the shape and size information acquisition composite insulator of water mark.
6. the hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane according to claim 5, its
It is characterised by, the hydrophobicity detection module（19）Using image comparison method, carry out contrast with standard picture and judge compound inslation
The hydrophobicity rank of son.
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| CN201510433491.3A CN105067484B (en) | 2015-07-22 | 2015-07-22 | Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane |
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| CN201510433491.3A CN105067484B (en) | 2015-07-22 | 2015-07-22 | Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane |
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| CN105067484A CN105067484A (en) | 2015-11-18 |
| CN105067484B true CN105067484B (en) | 2018-01-26 |
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| CN111855501B (en) * | 2020-07-30 | 2024-02-20 | 华北电力大学（保定） | Automatic water spraying composite insulator hydrophobicity detection system and method based on unmanned aerial vehicle |
| CN111855500A (en) * | 2020-07-30 | 2020-10-30 | 华北电力大学（保定） | Intelligent composite insulator aging degree detection method based on deep learning |
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