CN110947563A - Outdoor insulator online detection and coating device based on unmanned aerial vehicle and control method thereof - Google Patents
Outdoor insulator online detection and coating device based on unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN110947563A CN110947563A CN201911151717.5A CN201911151717A CN110947563A CN 110947563 A CN110947563 A CN 110947563A CN 201911151717 A CN201911151717 A CN 201911151717A CN 110947563 A CN110947563 A CN 110947563A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0421—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with rotating spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/06—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation
- B05D3/061—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation using U.V.
- B05D3/065—After-treatment
- B05D3/067—Curing or cross-linking the coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
- B05D5/005—Repairing damaged coatings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/24—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials for applying particular liquids or other fluent materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D2530/00—Rubber or the like
Abstract
The invention discloses an outdoor insulator online detection and coating device based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a controller, an electromagnetic valve, a high-voltage storage, a conveying pipeline, a high-definition camera, an infrared distance meter, an atomizing nozzle, an ultraviolet LED array and a light supplementing lamp, wherein the controller is connected with the electromagnetic valve; the outdoor insulator on-line detection and coating device based on the unmanned aerial vehicle utilizes the unmanned aerial vehicle technology to identify and repair the insulator defects, can save a large amount of manpower and material resources, greatly improves the working efficiency, can realize remote control, judges whether the insulator is damaged or not by utilizing data returned to the ground by a high-definition camera, can spray photosensitive silicone rubber by utilizing an atomizing nozzle device, enhances the hydrophobicity of the insulator through LED ultraviolet light instant curing, and ensures that the insulator maintains good insulating property, thereby providing a new intelligent scheme for the outdoor insulator on-line detection and coating.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an outdoor insulator online detection and coating device based on an unmanned aerial vehicle and a control method thereof.
Background
The outdoor insulator is used for electrical equipment or conductor electrical insulation and mechanical fixing of electrical equipment at different electric potentials, and is an important component for maintaining the safety of a power grid. In the operation process, the insulator is influenced by the external working environment, phenomena such as breakage, string falling, material aging and the like may occur, and the stability of a power system is threatened. With the continuous development of the ultrahigh voltage power transmission and transformation project in China, the equipment of the ultrahigh voltage power transmission and transformation project has two basic characteristics of high structural parameters and high operation parameters, so that the difficulty and the workload of insulator maintenance are increased.
In order to master the operation condition of the insulator on the line and timely eliminate possible faults, a power grid company needs to spend a large amount of manpower and material resources for line patrol every year. The method has the advantages of high labor intensity, long consumed time and low efficiency, and the damage conditions of the conductor spacer, the insulator, the line fitting and other objects cannot be clearly seen only by human eyes, and meanwhile, some lines are influenced by topographic factors and even cannot be subjected to inspection. At present, unmanned aerial vehicle's development provides new platform for power line's the work of patrolling the line, utilizes unmanned aerial vehicle to carry on patrolling and examining equipment and patrols the line and can reduce cost, and protection personal safety also can observe comparatively little insulating impaired condition more meticulously simultaneously. Some research and practice show that the unmanned aerial vehicle technique and the manual work are used for patrolling the line and matching, so that the working efficiency can be greatly improved, and the burden of operators is reduced. However, the currently reported unmanned aerial vehicle line patrol technology can only find obvious defects, and how to perform subsequent repair work is still a great problem.
At present, porcelain insulators, glass insulators and organic composite insulators are in large-scale service in power grids as three widely used insulator types. Although silicone rubber composite insulators are widely favored for their excellent stain resistance. However, the porcelain insulator is still widely used for lines of various voltage classes due to the advantages of weather change resistance, heat resistance, flexible assembly and the like. The glass insulator has small size and high mechanical strength, is self-explosion and broken when in fault, and is easy to be found out by line patrol personnel, so the glass insulator is widely applied to the transmission lines in China. At present, room temperature vulcanized silicone Rubber (RTV) is coated manually to maintain the electrical resistance of the three types of outdoor insulators, the time consumption is long, the construction difficulty is increased due to high-altitude operation, and in addition, in order to guarantee the life safety of operators, the lines need to be ensured to be in an uncharged state during operation, and the requirements of online repair cannot be met. Therefore, it is necessary to develop an integrated device for online detection and repair of outdoor insulators.
Disclosure of Invention
In order to overcome the defects of the background art, the invention aims to provide an outdoor insulator online detection and coating device based on an unmanned aerial vehicle and a control method thereof.
The technical solution for realizing the purpose of the invention is as follows:
an outdoor insulator online detection and coating device based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a controller, an electromagnetic valve, a high-voltage storage, a conveying pipeline, a high-definition camera, an infrared distance meter, an atomizing nozzle, an ultraviolet LED array and a light supplementing lamp; a controller is arranged at one end of the top of the unmanned aerial vehicle body, and a high-pressure storage device is arranged at the other end of the top of the unmanned aerial vehicle body; the high-pressure reservoir is connected with one end of the conveying pipeline, the other end of the conveying pipeline is connected with the atomizing nozzle, and the atomizing nozzle is positioned below the foot rest of the unmanned aerial vehicle; the conveying pipeline is provided with an electromagnetic valve, the control end of the electromagnetic valve is electrically connected with the controller, and the controller controls the on-off of the electromagnetic valve; the top of the unmanned aerial vehicle foot stand is provided with a high-definition camera, the high-definition camera is electrically connected with the controller, and the high-definition camera transmits acquired video signals to the controller; an ultraviolet LED array is arranged at the bottom of the unmanned aerial vehicle foot stand, an infrared distance meter is arranged on one side of the ultraviolet LED array, and a light supplement lamp is arranged on the other side of the ultraviolet LED array; the infrared distance measuring instrument, the ultraviolet LED array and the light supplementing lamp are electrically connected with the controller, the infrared distance measuring instrument transmits collected distance signals to the controller, and the controller controls the on-off of the ultraviolet LED array and the light supplementing lamp.
Preferably, the drone is a quad-rotor drone.
Preferably, the controller is connected with the ground remote controller through a wireless network, and the controller performs information interaction with the ground remote controller through the wireless network.
Preferably, the high-pressure reservoir contains a photosensitive silicone rubber which can be polymerized by ultraviolet light initiation.
Preferably, the viscosity of the photosensitive silicone rubber is adjusted to be within the range of 50-1000 mPa.s by a solvent.
Preferably, the atomizing nozzle is a rotatable atomizing nozzle, and switching of any pitch angle can be realized.
Preferably, the ultraviolet LED array adopts a light source array consisting of LED lamp beads with the wavelength of 365 nm.
Preferably, the ultraviolet LED array is located right behind the atomizing nozzle, and a cooling fan is arranged on the back of the ultraviolet LED array.
A control method of an outdoor insulator online detection and coating device based on an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps: firstly, ground personnel control the unmanned aerial vehicle to fly to a specified test area through a remote controller, then an infrared distance meter calculates the distance between the unmanned aerial vehicle and an insulator to be tested, and the unmanned aerial vehicle is adjusted to a proper position through the infrared distance meter; the specific direction of the unmanned aerial vehicle is adjusted through image information transmitted by the high-definition camera in real time, and an integral external appearance diagram of the insulator is obtained through shooting by the high-definition camera;
step two: according to the insulator grade classification judgment basis, ground personnel judge whether obvious physical defects such as breakage, chip missing and the like exist according to the overall external appearance graph; if the insulator exists, making a record, marking as Level 1, after the test is finished, transferring to the next insulator for observation; if no obvious defect exists, executing a third step;
step three: further adjusting the position of the unmanned aerial vehicle according to the distance data acquired by the infrared distance meter in real time, shooting a local topographic map of the insulator by using a high-definition camera again, judging by ground personnel according to the local topographic map, if no obvious aging cracks or dirt accumulation traces exist on the surface, marking the surface as Level 4 or Level 5 without processing, and transferring to the next insulator for observation after the test is finished; on the contrary, if the obvious aging or pollution accumulation phenomenon exists, recording the aging or pollution accumulation phenomenon as Level 2 or Level 3 according to specific conditions, and continuously executing the fourth step;
step four: the ground personnel send an instruction to the controller through the remote controller, the controller sends a signal, the electromagnetic valve is opened, and the photosensitive silicone rubber is sprayed; the spraying time is determined according to the aging condition, the spraying time is longer under the condition of more serious aging and is maintained within the range of 20-30s, and the spraying time is shorter under the condition of less aging and is maintained within the range of 5-10 s;
step five: after spraying is finished, the electromagnetic valve is closed, meanwhile, the controller sends a signal, the ultraviolet LED lamp is turned on, and the sprayed liquid silicone rubber is polymerized into a solid state;
step six: thirdly, shooting by using a high-definition camera to obtain the overall external appearance of the insulator, judging whether the whole disc surface is uniformly and completely coated by ground personnel according to the overall external appearance, if so, finishing the test, and then transferring to the next insulator for observation; and if the coating is not uniform and complete, executing the step three to circulate until the whole insulator is repaired.
Compared with the prior art, the invention has the following remarkable advantages:
the outdoor insulator on-line detection and coating device based on the unmanned aerial vehicle utilizes the high-definition camera to observe, so that the defects of the insulator can be found in time, and the safety of a power grid is guaranteed; the photosensitive silicone rubber is used for repairing, and the common 365nm ultraviolet LED lamp is used for instant curing, so that the time is greatly saved, and meanwhile, the energy is saved; the insulator defect is identified and repaired by using the unmanned aerial vehicle technology, so that a large amount of manpower and material resources can be saved, and the working efficiency is greatly improved. The distance between the unmanned aerial vehicle and the insulator can be adjusted in time in the detection and spraying processes by adopting the infrared distance measuring instrument, so that the unmanned aerial vehicle is ensured to be in a safe working range and the overhead line cannot be damaged; the rotatable atomizing nozzle is adopted, so that the spraying uniformity can be ensured; the unmanned aerial vehicle is additionally provided with a light supplement lamp, so that the detection and the spraying process can be ensured to be smoothly carried out under the condition of bad weather or dark sky; the compact space design of the invention reduces the volume of the equipment, enhances the flexibility of operation, and simplifies the difficulty of equipment operation by the integrated hardware layout and friendly man-machine interaction; the operation of ground personnel is easier due to the wireless transmission mode and integrated control; machine identification and manual judgment are combined, so that the normative and the reliability of operation are ensured; unmanned aerial vehicle can realize detecting and prosthetic integration to an insulator maintenance scheme of high-efficient intelligence is provided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an outdoor insulator online detection and coating device based on an unmanned aerial vehicle.
Fig. 2 is a flow chart of the control method of the outdoor insulator on-line detection and coating device based on the unmanned aerial vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1, an outdoor insulator online detection and coating device based on an unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a controller 2, an electromagnetic valve 3, a high-pressure storage 4, a conveying pipeline 5, a high-definition camera 6, an infrared distance meter 7, an atomizing nozzle 8, an ultraviolet LED array 9 and a light supplement lamp 10; a controller 2 is arranged at one end of the top of the unmanned aerial vehicle 1, and a high-pressure storage device 4 is arranged at the other end of the top of the unmanned aerial vehicle 1; the high-pressure reservoir 4 is connected with one end of the conveying pipeline 5, the other end of the conveying pipeline 5 is connected with the atomizing nozzle 8, and the atomizing nozzle 8 is positioned below a foot rest of the unmanned aerial vehicle 1; the conveying pipeline 5 is provided with an electromagnetic valve 3, the control end of the electromagnetic valve 3 is electrically connected with the controller 2, and the controller 2 controls the on-off of the electromagnetic valve 3; the top of a foot stand of the unmanned aerial vehicle 1 is provided with a high-definition camera 6, the high-definition camera 6 is electrically connected with the controller 2, and the high-definition camera 6 transmits acquired video signals to the controller 2; an ultraviolet LED array 9 is arranged at the bottom of a foot rest of the unmanned aerial vehicle 1, an infrared distance meter 7 is arranged on one side of the ultraviolet LED array 9, and a light supplement lamp 10 is arranged on the other side of the ultraviolet LED array 9; the infrared distance measuring instrument 7, the ultraviolet LED array 9 and the light supplementing lamp 10 are electrically connected with the controller 2, the infrared distance measuring instrument 7 transmits collected distance signals to the controller 2, and the controller 2 controls the on-off of the ultraviolet LED array 9 and the light supplementing lamp 10.
The unmanned aerial vehicle 1 frame is used as a carrier to undertake the tasks of flying and hovering, is preferably a four-rotor unmanned aerial vehicle, has the characteristics of stable operation and hovering, large load capacity and the like, and can take off and land vertically.
The controller 2 is connected with a ground remote controller through a wireless network, and the controller 2 is in information interaction with the ground remote controller through the wireless network; on one hand, the controller 2 transmits data obtained in real time to the ground remote controller through a wireless network, and on the other hand, the controller 2 controls each device to execute corresponding operations according to instructions sent by an operator through the remote controller.
The high-pressure storage 4 can be loaded with different types of low-viscosity liquids, in this embodiment, a commercially-available photosensitive silicone rubber which can be polymerized by ultraviolet light initiation is stored in the high-pressure storage 4, the viscosity of the photosensitive silicone rubber is adjusted to a range of 50-1000 mpa.s by a solvent, the type of the solvent can be one of ethanol, isopropanol and acetone, and the solvent can be volatilized in time in a curing process without affecting the electrical performance of a paint film.
The electromagnetic valve 3 is used as a switch of the high-pressure storage 4 and is connected in series in the conveying pipeline 5 to control whether the atomizing nozzle 8 works or not, the control end of the electromagnetic valve 3 is electrically connected with the controller 2, and the controller 2 controls the on-off of the electromagnetic valve 3.
The infrared distance meter 7 is positioned at the lower left of the unmanned aerial vehicle, and is used for measuring distance through infrared light to calculate the distance to the insulator, so that ground personnel can conveniently adjust the space position of the unmanned aerial vehicle; the infrared distance measuring instrument 7 is electrically connected with the controller 2, and the infrared distance measuring instrument 7 transmits the distance signal to the controller 2 in real time and then sends the distance signal to the ground remote controller through the controller 2.
The atomizing nozzle 8 is a rotatable atomizing nozzle and is positioned below the unmanned aerial vehicle, so that the switching of any pitch angle can be realized, and the spraying efficiency and uniformity are facilitated; the aperture of the nozzle of the atomizing nozzle 8 can be changed according to the viscosity of the liquid, a large-aperture nozzle is selected when the viscosity is higher, and a small-aperture nozzle is selected when the viscosity is lower.
The main function of the light supplement lamp 10 is to use the light supplement lamp in poor weather conditions or when high-precision detailed images are needed, the control end of the light supplement lamp 10 is electrically connected with the controller 2, and the controller 2 controls the on-off of the light supplement lamp 10.
In the device of this embodiment, controller 2 and high-pressure reservoir 4 are located the both ends at fuselage top respectively to maintain the balance of quality, guarantee unmanned aerial vehicle's stable flight.
As shown in fig. 2, a method for controlling an outdoor insulator online detection and coating device based on an unmanned aerial vehicle includes the following steps:
the method comprises the following steps: firstly, ground personnel control the unmanned aerial vehicle to fly to a specified test area through a remote controller, then an infrared distance meter calculates the distance between the unmanned aerial vehicle and an insulator to be tested, and the unmanned aerial vehicle is adjusted to a proper position through the infrared distance meter; the specific direction of the unmanned aerial vehicle is adjusted through image information transmitted by the high-definition camera in real time, and an integral external appearance diagram of the insulator is obtained through shooting by the high-definition camera;
step two: according to the insulator grade classification judgment basis, ground personnel judge whether obvious physical defects such as breakage, chip missing and the like exist according to the overall external appearance graph; if the insulator exists, making a record, marking as Level 1, after the test is finished, transferring to the next insulator for observation; if no obvious defect exists, executing a third step;
step three: further adjusting the position of the unmanned aerial vehicle according to the distance data acquired by the infrared distance meter in real time, shooting a local topographic map of the insulator by using a high-definition camera again, judging by ground personnel according to the local topographic map, if no obvious aging cracks or dirt accumulation traces exist on the surface, marking the surface as Level 4 or Level 5 without processing, and transferring to the next insulator for observation after the test is finished; on the contrary, if the obvious aging or pollution accumulation phenomenon exists, recording the aging or pollution accumulation phenomenon as Level 2 or Level 3 according to specific conditions, and continuously executing the fourth step;
step four: the ground personnel send an instruction to the controller through the remote controller, the controller sends a signal, the electromagnetic valve is opened, and the photosensitive silicone rubber is sprayed; the spraying time is determined according to the aging condition, the spraying time is longer under the condition of more serious aging and is maintained within the range of 20-30s, and the spraying time is shorter under the condition of less aging and is maintained within the range of 5-10 s;
step five: after spraying is finished, the electromagnetic valve is closed, meanwhile, the controller sends a signal, the ultraviolet LED lamp is turned on, and the sprayed liquid silicone rubber is polymerized into a solid state;
step six: thirdly, shooting by using a high-definition camera to obtain the overall external appearance of the insulator, judging whether the whole disc surface is uniformly and completely coated by ground personnel according to the overall external appearance, if so, finishing the test, and then transferring to the next insulator for observation; and if the coating is not uniform and complete, executing the step three to circulate until the whole insulator is repaired.
Insulator grade classification judgment basis:
| rank of | Insulator string |
| Level | |
| 1 | Obvious string dropping and bulk |
| Level | |
| 2 | Has local deletion or serious |
| Level | |
| 3 | Severe aging or |
| Level | |
| 4 | Slight aging or presence of only minor soiling |
| Level 5 | No obvious aging phenomenon and no filth accumulation phenomenon |
In conclusion, the outdoor insulator online detection and coating device based on the unmanned aerial vehicle utilizes the high-definition camera to observe, so that the defects of the insulator can be found in time, and the safety of a power grid is guaranteed; the photosensitive silicone rubber is used for repairing, and the common 365nm ultraviolet LED lamp is used for instant curing, so that the time is greatly saved, and meanwhile, the energy is saved; the insulator defect is identified and repaired by using the unmanned aerial vehicle technology, so that a large amount of manpower and material resources can be saved, and the working efficiency is greatly improved. The distance between the unmanned aerial vehicle and the insulator can be adjusted in time in the detection and spraying processes by adopting the infrared distance measuring instrument, so that the unmanned aerial vehicle is ensured to be in a safe working range and the overhead line cannot be damaged; the rotatable atomizing nozzle is adopted, so that the spraying uniformity can be ensured; the unmanned aerial vehicle is additionally provided with a light supplement lamp, so that the detection and the spraying process can be ensured to be smoothly carried out under the condition of bad weather or dark sky; the compact space design of the invention reduces the volume of the equipment, enhances the flexibility of operation, and simplifies the difficulty of equipment operation by the integrated hardware layout and friendly man-machine interaction; the operation of ground personnel is easier due to the wireless transmission mode and integrated control; machine identification and manual judgment are combined, so that the normative and the reliability of operation are ensured; unmanned aerial vehicle can realize detecting and prosthetic integration to an insulator maintenance scheme of high-efficient intelligence is provided.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An outdoor insulator online detection and coating device based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle (1), a controller (2), an electromagnetic valve (3), a high-pressure storage (4), a conveying pipeline (5), a high-definition camera (6), an infrared distance meter (7), an atomizing nozzle (8), an ultraviolet LED array (9) and a light supplement lamp (10); a controller (2) is arranged at one end of the top of the unmanned aerial vehicle (1) body, and a high-pressure storage device (4) is arranged at the other end of the top of the unmanned aerial vehicle (1) body; the high-pressure storage device (4) is connected with one end of the conveying pipeline (5), the other end of the conveying pipeline (5) is connected with the atomizing nozzle (8), and the atomizing nozzle (8) is located below a foot rest of the unmanned aerial vehicle (1); the conveying pipeline (5) is provided with an electromagnetic valve (3), the control end of the electromagnetic valve (3) is electrically connected with the controller (2), and the controller (2) controls the on-off of the electromagnetic valve (3); the top of a foot rest of the unmanned aerial vehicle (1) is provided with a high-definition camera (6), the high-definition camera (6) is electrically connected with the controller (2), and the high-definition camera (6) transmits acquired video signals to the controller (2); an ultraviolet LED array (9) is arranged at the bottom of a foot rest of the unmanned aerial vehicle (1), an infrared distance meter (7) is arranged on one side of the ultraviolet LED array (9), and a light supplement lamp (10) is arranged on the other side of the ultraviolet LED array (9); the infrared distance measuring instrument (7), the ultraviolet LED array (9) and the light supplementing lamp (10) are electrically connected with the controller (2), the infrared distance measuring instrument (7) transmits collected distance signals to the controller (2), and the controller (2) controls the on-off of the ultraviolet LED array (9) and the light supplementing lamp (10).
2. The unmanned aerial vehicle-based outdoor insulator online detection and coating device according to claim 1, wherein the unmanned aerial vehicle (1) is a quad-rotor unmanned aerial vehicle.
3. The outdoor insulator online detection and coating device based on the unmanned aerial vehicle of claim 1, wherein the controller (2) is connected with a ground remote controller through a wireless network, and the controller (2) is in information interaction with the ground remote controller through the wireless network.
4. The unmanned aerial vehicle-based outdoor insulator online detection and coating device according to claim 1, wherein photosensitive silicone rubber capable of polymerization initiated by ultraviolet light is stored in the high-pressure storage (4).
5. The unmanned aerial vehicle-based outdoor insulator online detection and coating device of claim 4, wherein the viscosity of the photosensitive silicone rubber is adjusted to be within a range of 50-1000 mPa.s by a solvent.
6. The unmanned aerial vehicle-based outdoor insulator online detection and coating device according to claim 1, wherein the atomizing nozzle (8) is a rotatable atomizing nozzle, and switching of any pitch angle can be realized.
7. The unmanned aerial vehicle-based outdoor insulator online detection and coating device of claim 1, wherein the ultraviolet LED array (9) adopts a light source array composed of LED lamp beads with the wavelength of 365 nm.
8. The unmanned aerial vehicle-based outdoor insulator online detection and coating device according to claim 1, wherein the ultraviolet LED array (9) is located right behind the atomizing nozzle (8), and a cooling fan is arranged on the back of the ultraviolet LED array (9).
9. The unmanned aerial vehicle-based outdoor insulator online detection and coating device control method according to claim 1, characterized by comprising the following steps:
the method comprises the following steps: firstly, ground personnel control the unmanned aerial vehicle to fly to a specified test area through a remote controller, then an infrared distance meter calculates the distance between the unmanned aerial vehicle and an insulator to be tested, and the unmanned aerial vehicle is adjusted to a proper position through the infrared distance meter; the specific direction of the unmanned aerial vehicle is adjusted through image information transmitted by the high-definition camera in real time, and an integral external appearance diagram of the insulator is obtained through shooting by the high-definition camera;
step two: according to the insulator grade classification judgment basis, ground personnel judge whether obvious physical defects such as breakage, chip missing and the like exist according to the overall external appearance graph; if the insulator exists, making a record, marking as Level 1, after the test is finished, transferring to the next insulator for observation; if no obvious defect exists, executing a third step;
step three: further adjusting the position of the unmanned aerial vehicle according to the distance data acquired by the infrared distance meter in real time, shooting a local topographic map of the insulator by using a high-definition camera again, judging by ground personnel according to the local topographic map, if no obvious aging cracks or dirt accumulation traces exist on the surface, marking the surface as Level 4 or Level 5 without processing, and transferring to the next insulator for observation after the test is finished; on the contrary, if the obvious aging or pollution accumulation phenomenon exists, recording the aging or pollution accumulation phenomenon as Level 2 or Level 3 according to specific conditions, and continuously executing the fourth step;
step four: the ground personnel send an instruction to the controller through the remote controller, the controller sends a signal, the electromagnetic valve is opened, and the photosensitive silicone rubber is sprayed; the spraying time is determined according to the aging condition, the spraying time is longer under the condition of more serious aging and is maintained within the range of 20-30s, and the spraying time is shorter under the condition of less aging and is maintained within the range of 5-10 s;
step five: after spraying is finished, the electromagnetic valve is closed, meanwhile, the controller sends a signal, the ultraviolet LED lamp is turned on, and the sprayed liquid silicone rubber is polymerized into a solid state;
step six: thirdly, shooting by using a high-definition camera to obtain the overall external appearance of the insulator, judging whether the whole disc surface is uniformly and completely coated by ground personnel according to the overall external appearance, if so, finishing the test, and then transferring to the next insulator for observation; and if the coating is not uniform and complete, executing the step three to circulate until the whole insulator is repaired.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111665456A (en) * | 2020-05-29 | 2020-09-15 | 中国南方电网有限责任公司超高压输电公司昆明局 | Control method for self safety of unmanned aerial vehicle and safety of converter station equipment |
| CN112944287A (en) * | 2021-02-08 | 2021-06-11 | 西湖大学 | Aerial repair system with active light source |
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2019
- 2019-11-22 CN CN201911151717.5A patent/CN110947563A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111665456A (en) * | 2020-05-29 | 2020-09-15 | 中国南方电网有限责任公司超高压输电公司昆明局 | Control method for self safety of unmanned aerial vehicle and safety of converter station equipment |
| CN111665456B (en) * | 2020-05-29 | 2023-02-28 | 中国南方电网有限责任公司超高压输电公司昆明局 | Control method for self safety of unmanned aerial vehicle and safety of converter station equipment |
| CN112944287A (en) * | 2021-02-08 | 2021-06-11 | 西湖大学 | Aerial repair system with active light source |
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