CN106595762A - Hot-line work robot tension insulator detection method - Google Patents

Abstract

The invention proposes a detection method for a tension insulator of a live working robot. The mechanical arm of the robot responds to the control data, carrying a partial discharge detector, an insulator zero value tester and a current transformer, as well as a high-definition camera, an infrared camera and an electronic ultraviolet flaw detector, for movement and data detection around the tension insulator; data processing The control system processes the detection data of each detection equipment, and compares the obtained relevant index values with the normal values in the database to judge the working status of the tension insulator, thereby forming a detection report. In the present invention, the mechanical arm of the live working robot performs live detection on the tension insulator through shaking operation or autonomous operation, which avoids the danger caused by the operator working near the live high-voltage line, simplifies the operation steps, and improves the detection efficiency. precision.

Description

A detection method for tension insulators of live working robots

technical field

The invention belongs to the technical field of electric power, and in particular relates to a detection method for a tension insulator of a live working robot.

Background technique

Tensile insulators are the most common and indispensable devices in the transmission and distribution lines of power systems today. They are devices used to increase the creepage distance between conductors at different potentials or between conductors and ground potential components.

With the development of distribution network, the use of tension insulators is huge. Usually, tension insulators require regular manual maintenance. The usual method is to conduct power outages for maintenance. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of power supply enterprises. Many researchers are now actively studying the method of on-line monitoring of tensile insulators, but this method needs to modify the line and cannot be applied to the original line. Tension insulators can also be maintained manually, and operators will work near high-voltage live lines, which poses certain safety hazards.

Contents of the invention

The technical problem to be solved by the present invention is to propose a live working robot insulator live detection method, which can carry out live detection on tension insulators under the condition of uninterrupted power supply, and avoid the accidents caused by workers working near live high-voltage lines. Dangerous, the operation steps are simplified, and the detection results are more scientific and accurate than manual detection.

In order to solve the above technical problems, the present invention provides a method for detecting tension insulators of a live working robot. The live working robot has a mechanical arm arranged on a robot platform, including a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm. The robotic arm, the second robotic arm, and the auxiliary robotic arm do the following in response to the control data:

Partial discharge detectors, insulator zero value testers and current transformers are respectively installed at the ends of the first manipulator, the second manipulator and the auxiliary manipulator; each manipulator is equipped with partial discharge detectors, insulator zero testers and current transformers. Move near the tension insulator string to be detected, and conduct an all-round inspection on the tension insulator string, and obtain the partial discharge data of each piece of tension insulator, the zero value data of the tension insulator, and the size data of the leakage current of the tension insulator;

The first robotic arm, the second robotic arm, and the auxiliary robotic arm are equipped with high-definition cameras, infrared cameras, and electronic ultraviolet flaw detectors respectively; each robotic arm is equipped with high-definition cameras, infrared cameras, and electronic ultraviolet flaw detectors. Mobile, conduct all-round inspection on the tension insulator string, obtain ultraviolet flaw detection map, infrared heat map and high-definition image;

The data processing and control system judges the working status of the tension insulator based on the partial discharge data, zero value data and leakage current data, as well as ultraviolet flaw detection maps, infrared heat maps and high-definition images.

Further, before the operation, the first mechanical arm and the end of the second mechanical arm are equipped with a clamping tool, and the insulating shielding material is clamped by the clamping tool to insulate and shield the marked charged body; after the operation is completed, the first mechanical arm and the second mechanical arm A gripping tool is installed at the end of the second mechanical arm, and the insulating and shielding material covered on the electrified body is removed with the gripping tool.

Further, after the data processing and control system obtains the detection data of the partial discharge detector, the insulator zero value tester and the current transformer, as well as the high-definition camera, the infrared camera and the electronic ultraviolet flaw detector, according to the relevant index value and the normal value in the database The results of numerical comparison are firstly analyzed; for the detection points corresponding to the abnormal index value, the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm carry corresponding detection equipment to carry out detection again; Relevant index values can be used to judge the working status of the tension insulator.

Further, the control data is the expected angle value of the joint movement of each mechanical arm, and the expected angle value is calculated and obtained by the data processing and control system of the live working robot according to the angle change data of each joint of the main operator set in the insulated bucket arm vehicle; The operator includes the first main operator, the second main operator and the auxiliary main operator; the first main operator, the second main operator and the auxiliary main operator are respectively connected with the first mechanical arm, the second The corresponding arm constitutes a master-slave operation relationship.

Further, a control room is provided on the insulated arm truck, and the data processing and control system includes a first industrial computer, a second industrial computer, a display screen and a main operator, the second industrial computer has a built-in image processor, and the display screen and the main operator are located in the control room; the operation scene image collected by the camera is sent to the second industrial computer, and the image processor processes the operation scene image to obtain a 3D virtual operation scene and sends it to the monitor for display.

Further, the control data is the expected angle value of the joint movement of each mechanical arm; the data processing and control system of the live working robot uses the Cartesian space path planning method to plan each The space path of the manipulator, and then calculate the expected angle value of each manipulator joint motion according to the space path.

Further, the live working robot includes an insulated arm truck, a robot platform mounted on the insulated bucket truck, and a mechanical arm installed on the robot platform; the mechanical arm includes a first mechanical arm, a second mechanical arm and an auxiliary The mechanical arm, the camera includes a binocular camera, the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm are equipped with a binocular camera, and the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm cooperate Complete the live work, wherein the auxiliary mechanical arm is used to clamp the work object, and the first mechanical arm and the second mechanical arm use the working tool to perform the work operation; the data processing and control system includes the first industrial computer and the second industrial computer, The second industrial computer has a built-in image processor and a live work action sequence library, and the action sequence data corresponding to each live work is pre-stored in the live work action sequence library; the operation scene image collected by the camera is sent to the second industrial computer , the image processor processes the image of the job scene to obtain the relative positional relationship between the manipulator and the work object, and the second industrial computer plans the spatial path of the manipulator according to the relative positional relationship and the action sequence corresponding to the specific live work , and send the spatial path data of the mechanical arm to the first industrial computer; the first industrial computer calculates the control data according to the spatial path of the mechanical arm.

Further, the mechanical arm or the main manipulator is a six-degree-of-freedom mechanism, including a base, a waist joint whose rotation axis direction is perpendicular to the plane of the base, a shoulder joint connected to the waist joint, an arm connected to the shoulder joint, and a large arm connected to the shoulder joint. The elbow joint connected with the arm, the forearm connected with the elbow joint, and the wrist joint connected with the forearm, the wrist joint is composed of three rotation joints, which are respectively wrist pitch joint, wrist swing joint and wrist rotation joint; the six degrees of freedom Each joint in the mechanism has a corresponding orthogonal rotary encoder and servo drive motor, the orthogonal rotary encoder is used to collect the angle data of each joint, and the servo drive motor is used to control the movement of each joint; The expected value of the joint angle is controlled by the servo drive motor to control the movement of each joint of the mechanical arm.

Compared with the prior art, the present invention has the following remarkable advantages: (1) The present invention can detect the liveness of the tension insulator through the mechanical arm of the live working robot under the condition of uninterrupted power supply and no load, avoiding the damage caused by power failure. Negative impact, greatly reducing the power outage time, improving the reliability of power supply, and alleviating the contradiction of electricity complaints; (2) The present invention uses live working robots instead of humans to carry out live detection operations, which has more functions than the remote observation method; ( 3) Compared with the detection method that requires close-distance insulating gloves to work on strain insulators, the present invention uses a live working robot, which can avoid consideration of burns to the human body, electric shock hazards, and high-altitude fall problems when electric arcs are generated; (4) the present invention uses live working The robot is controlled by the joystick of the operator, which requires less labor intensity for the operators, reduces the situation of human errors caused by high-intensity operations, greatly improves the safety during the operation, and can reduce the occurrence of accidents to a certain extent.

Description of drawings

Fig. 1 is the overall structure schematic diagram of an embodiment of the live working robot of the present invention;

Fig. 2 is a block diagram of the system composition of the insulating bucket arm car in the present invention;

Fig. 3 is the structural representation of robot platform among the present invention;

Fig. 4 is a structural schematic diagram of the mechanical arm in the present invention.

Fig. 5 is a flow chart of the method of the present invention.

Fig. 6 is a schematic diagram of the working environment of the live working robot for live detection of tension insulators according to the present invention.

Among them, 100 is a pole tower, 111 is a wire, 103 is a crossarm, and 110 is a string of tension insulators; 1 is an insulated arm truck, 2 is a control room, 3 is a telescopic arm, and 4 is a robot platform; 46 is an insulator, and 43 is a robot platform. The first mechanical arm, 44 is the second mechanical arm, 42 is the auxiliary mechanical arm, 48 is the first industrial computer, 45 is the binocular camera, 41 is the panoramic camera, 410 is the depth camera, 49 is the battery, 47 is dedicated to the mechanical arm Toolbox; 431 is a base, 432 is a waist joint, 433 is a shoulder joint, 434 is a large arm, 435 is an elbow joint, 436 is a small arm, and 437 is a wrist joint.

detailed description

It is easy to understand that, according to the technical solution of the present invention, without changing the essence of the present invention, those skilled in the art can imagine various implementations of the live working robot insulator live detection method of the present invention. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the entirety of the present invention or as a limitation or limitation on the technical solution of the present invention.

With reference to the accompanying drawings, the live working robot includes an insulated arm truck 1 , a control room 2 , a telescopic arm 3 , and a robot platform 4 . Among them, the control room 2 and the telescopic arm 3 are erected on the insulated bucket truck 1, and the end of the telescopic arm 3 is connected to the robot platform 4, and the fiber optic Ethernet communication or wireless network communication is used between the robot platform 4 and the control room 2.

The insulated arm truck 1 can be driven by an operator to transport the robot platform 4 to the job site. The insulating bucket truck 1 is equipped with supporting legs, and the supporting legs can be unfolded, so as to firmly support the insulating bucket truck 1 and the ground. A generator is installed on the insulated arm truck 1 to supply power to the control room 2 and the telescopic arm 3 .

The telescopic arm 3 is provided with a driving device along the telescopic direction, and the operator can control the driving device to lift the robot platform 4 to the working height. The telescopic arm 3 is made of insulating material, and is used to realize the insulation between the robot platform 4 and the control room 2 . In the present invention, the telescopic arm 3 can be replaced by a scissor lift mechanism or other mechanisms.

As an implementation, the control room 2 is provided with a second industrial computer, a display screen, a first main operator, a second main operator, an auxiliary main operator, a communication module, and the like.

As an embodiment, the robot platform 4 includes an insulator 46, a first mechanical arm 43, a second mechanical arm 44, an auxiliary mechanical arm 42, a first industrial computer 48, a binocular camera 45, a panoramic camera 41, a depth camera 410, and a storage battery. 49. Special toolbox 47. Communication module.

The insulator 46 of the robot platform 4 is used to support the first robot arm 43 , the second robot arm 44 , and the auxiliary robot arm 42 , and insulate the shells of these three robot arms from the robot platform 4 .

The battery 49 supplies power for the first industrial computer 48, the first mechanical arm 43, the second mechanical arm 44, the auxiliary mechanical arm 42, the panoramic camera 41, the binocular camera 45, the depth camera 410, and the communication module.

As an implementation, there are three binocular cameras 45, which are respectively installed on the wrist joints 437 of the first mechanical arm 43, the second mechanical arm 44, and the auxiliary mechanical arm 42, responsible for collecting image data of the operation scene, and The image data is sent to the second industrial computer. The binocular camera 45 is made up of two industrial cameras whose optical axes are parallel, and the distance between the parallel optical axes is fixed.

The depth camera 410 is installed on the side of the robot platform 4 facing the operation scene, and is responsible for collecting the depth of field data of the operation scene, and sending the depth of field data to the second industrial computer.

The panoramic camera 41 is installed on the top of the robot platform 4 through a bracket, and is responsible for collecting the panoramic image data of the operation scene, sending the image data to the second industrial computer, and displaying it on the display, so that the operator can monitor the operation scene through the panoramic image.

The special tool box 47 is a place where working tools such as grippers and wrenches are placed. A tool quick change device is installed at the end of the robotic arm. The mechanical arm goes to the special tool box 47 according to the type of the job task and uses the tool quick change device to obtain the job tool.

The first main operator, the second main operator and the auxiliary main operator in the control room 2 are operating devices for manual remote operation of the mechanical arm, and they are connected with the first mechanical arm 43, the second mechanical arm 44 and the auxiliary mechanical The arm 42 constitutes a master-slave operating relationship. The mechanical arm and the main operator have the same structure, but the size of the main operator is smaller than that of the mechanical arm to facilitate the operation of the operator. The mechanical arm and the main operator have six joints, and each joint has a photoelectric encoder to collect angle data, and the micro-controller of each main operator sends the angle data of the six joints to the second industrial computer through the serial port.

As an embodiment of the present invention, the mechanical arm is a six-degree-of-freedom mechanism, including a base 431, a waist joint 432 whose rotation axis direction is perpendicular to the plane of the base, a shoulder joint 433 connected to the waist joint 432, and a shoulder joint 433 The upper arm 434, the elbow joint 435 connected with the upper arm 434, the forearm 436 connected with the elbow joint 435, and the wrist joint 437 connected with the forearm 436, the wrist joint 437 is composed of three rotation joints, which are respectively wrist pitch joints , wrist swing joints and wrist rotation joints; each joint in the six-degree-of-freedom mechanism has a corresponding orthogonal rotary encoder 31 and a servo drive motor, and the orthogonal rotary encoder 31 is used to collect the angle data of each joint, and the servo drive The motor is used to control the movement of each joint; the first industrial computer calculates the movement angle of each joint according to the space path of the manipulator, and controls the servo drive motor to control the movement of each joint of the manipulator according to the movement angle.

As an implementation manner, the data transmission between the robot platform 4 and the control room 2 is transmitted through optical fiber cable, or through wireless network transmission. The communication module on the robot platform 4 is a fiber optic transceiver. The fiber optic transceiver is used to realize the mutual conversion between the optical signal in the fiber and the electrical signal in the twisted pair, so as to realize the electrical isolation between the robot platform 4 and the control room 2 in communication. The communication module in the control room 2 is a fiber optic transceiver. The fiber optic transceiver is used to realize the mutual conversion between the optical signal in the fiber and the electrical signal in the twisted pair, so as to realize the electrical isolation between the robot platform 4 and the control room 2 in terms of communication.

As an implementation manner, the second industrial computer can complete the following tasks:

Build an action sequence library. Each live work task is decomposed into action sequences in advance to form an action sequence library, which is stored in the second industrial computer and used for path planning of the manipulator.

Build a job object model library. Prepare in advance the 3D model and target recognition model of the work objects involved in various live work tasks, for example, make the 3D model and target recognition model based on the actual devices such as power towers, wires, tension insulators, isolation switches, and lightning arresters. It is used for live working robots to automatically identify work objects and construct a three-dimensional virtual scene of the work scene.

Build libraries of robotic arms and specialized tooling models. Prefabricate the 3D model and target recognition model of the manipulator and special tools, such as wrench, etc., for the live working robot to automatically construct the 3D virtual scene of the work scene, and plan the space path of the manipulator.

Get image data. Obtain the data information of panoramic image, depth image and binocular image.

Identify and track job targets based on image data.

Obtain the angle, angular velocity and angular acceleration data of the main operator, and obtain the angle, angular velocity and angular acceleration data of the mechanical arm.

Process and calculate the relevant image data, obtain the position of the manipulator, obtain the position of the work object, obtain the relative position between the manipulator and the work object, and plan the space path of the manipulator according to the relative position and the work task.

The three-dimensional scene of the work object is constructed according to the image data, the relative position of the manipulator and the work object is obtained according to the angle information of the manipulator and the three-dimensional scene of the work object, and the spatial path of the manipulator is planned according to the relative position and the work task.

Process and calculate the relevant image data, build a 3D virtual operation scene, send it to the monitor for display, and the operator monitors the operation process according to the 3D virtual operation scene. Compared with the panoramic image, the 3D virtual operation scene integrates the depth image information and the binocular image information, and the judgment of the relative position between the robot arm and the operation object, between the robot arms, and between the operation object and the operation environment is more accurate. And there will be no visual dead ends. Therefore, the operator monitors the operation through the 3D virtual operation scene, the operation accuracy is higher, the collision can be prevented, and the safety is improved. At the same time, the 3D virtual operation scene is displayed on the monitor in the control room 2, away from the operation site of the mechanical arm, which improves the personal safety of human operators.

As an implementation, the first industrial computer can complete the following tasks:

According to the angle information of each joint of the main manipulator sent by the second industrial computer, the movement of each joint of the mechanical arm is controlled.

Obtain the spatial path data of the robotic arm sent by the second industrial computer, and calculate the angular data motion of each joint of the robotic arm according to the action sequence of the job task, and control the movement of each joint of the robotic arm.

In the present invention, the first mechanical arm and the second mechanical arm cooperate with each other to complete live work by imitating the operation sequence of two hands of a person. Considering the flexibility, a strong auxiliary manipulator can be added. At this time, the auxiliary manipulator is responsible for powerful actions such as device clamping, while the first manipulator and the second manipulator perform related business operations.

According to the combination of different tasks completed by the second industrial computer and the first industrial computer, the live working robot of the present invention can not only be operated remotely by operators to complete live work, but also can perform live work autonomously. Before carrying out live work, the operator first moves the robot platform 4 to the vicinity of the work object by observing the panoramic image.

If manual remote operation is selected, the second industrial computer constructs a 3D virtual operation scene based on the number image and depth image and sends it to the monitor for display. The operator monitors the operation process through the 3D virtual operation scene, and controls the movement of the mechanical arm through the main operator. To complete live work. In this process, after the operator changes the posture of the main operator, the photoelectric encoders of each joint in the main operator collect the angles of each joint, and the micro-controllers of each main operator send the angle data of each joint to the second industrial computer through the serial port . The second industrial computer sends the angle data of each joint of the main operator as the expected value of each joint angle of the mechanical arm to the first industrial computer, and the first industrial computer controls the movement of each joint of the mechanical arm through a servo motor according to the expected angle value, and the live work has been completed .

If you choose to work autonomously, the second industrial computer calculates and obtains the relative positional relationship between the work object and the manipulator based on the number image and the depth image, and then plans the space path of the manipulator according to the action sequence corresponding to the work task, and divides the space The path is sent to the first industrial computer, and the first industrial computer calculates the angle data that each joint of the mechanical arm needs to rotate as the expected value of the angle of each joint of the mechanical arm. The movement of each joint of the mechanical arm is controlled by a servo motor, and the live work has been completed.

The process of using the above-mentioned live working robot to detect the tension insulator is as follows:

1. Preparation stage

The staff prepares for the live work robot to detect the tension insulator string 110, checks the meteorological conditions, checks the number of the tower, sets up safety guardrails, operation signs, and related warning signs at the work site, and uses an insulation resistance tester to test the insulators used. The appliance is tested for surface insulation resistance, and the resistance value is not less than 700 megohms.

The driver of the insulating bucket truck drives the insulating bucket truck 1 into a position near the pole tower 100 and arranges the site. The working position is specifically the position near the pole tower 100 to be operated and avoids nearby power lines and obstacles, and avoids parking on the ditch cover. After the legs are supported in place, the front, rear, left, and right sides of the vehicle are level. The operator in the control room 2 operates the joystick to control the telescopic arm 3 according to the real scene image displayed on the monitor, and moves the robot platform 4 to the vicinity of the working position. The operator in the control room 2 marks the charged objects within the insulation safety distance in the working range according to the real scene image returned by the binocular camera 45 on the mechanical arm.

2. Working stage

The first mechanical arm 43, the second mechanical arm 44 and the auxiliary mechanical arm 42 complete the following tasks in response to the control data:

Clamping tools are installed at the ends of the first mechanical arm 43 and the second mechanical arm 44, and the insulating and shielding materials are clamped by the clamping tools to insulate and shield the marked charged body. Insulation shielding materials such as insulation sheath, epoxy glass cloth, etc. The first manipulator 43, the second manipulator 44 and the auxiliary manipulator 42 move to the top of the manipulator tool box 47, and then carry the partial discharge detector 107, the insulator zero value tester and the current transformer on the tension insulator 110 to be tested. Move around, and use the partial discharge detector 107, the insulator zero value tester and the current transformer to detect the tensile insulator 110. Partial discharge detector 107, insulator zero value tester and special current transformer obtain the partial discharge situation of each piece of insulator, whether the insulator is zero value or not, and the data of leakage current are returned to the data processing of the live working robot in real time through the communication system and the control system, such as returning to the first industrial computer 48 on the robot platform 4 or the second industrial computer in the control room 2 .

The first mechanical arm 43 and the second mechanical arm 44 move above the special tool box 47 for the mechanical arm. The first mechanical arm 43, the second mechanical arm 44, and the auxiliary mechanical arm 42 are equipped with a high-definition camera 105, an infrared camera 106, and an electronic ultraviolet flaw detector respectively. The first mechanical arm 43, the second mechanical arm 44 and the auxiliary mechanical arm 42 carry the high-definition camera 105, the infrared camera 106 and the electronic ultraviolet flaw detector to move around the tension insulator string 110 to be detected, using the high-definition camera 10, the infrared camera 106 and the The electronic ultraviolet flaw detector detects the tension insulator string 110 . The high-definition camera 105, infrared camera 106 and electronic ultraviolet flaw detector return the high-definition image, infrared heat map and ultraviolet flaw detection map data of each insulator to the data processing and control system of the live working robot through the communication system, for example, to the robot The first industrial computer 48 on the platform 4, the second industrial computer and the display in the control room 2.

The aforementioned images and data can be sent to the display by the data processing and control system for display.

The data processing and control system judges the working status of the tension insulator based on the partial discharge data, zero value data and leakage current data, as well as ultraviolet flaw detection maps, infrared heat maps and high-definition images. For the accuracy of the detection, two or more detections can be carried out on the tensile insulator, for example: the data processing and control system obtains the partial discharge detector 107, the insulator zero value tester and the current transformer, and the high-definition camera 105 , the infrared camera 106 and the electronic ultraviolet flaw detector detection data, according to the results of the comparison between the relevant index value and the normal value in the database, first conduct a preliminary analysis; for the detection point corresponding to the abnormal index value, the first mechanical arm 43, the second The manipulator 44 and the auxiliary manipulator 42 carry the corresponding testing equipment for re-testing; the data processing and control system judges the working status of the tension insulator according to the relevant index values obtained again.

After the detection is completed, the first mechanical arm 43 and the second mechanical arm 44 move above the special tool box 47 for the mechanical arm, and install the clamping tool. The first mechanical arm 43 and the second mechanical arm 44 clamp the insulating and shielding material to remove the insulation and shielding of the marked charged body.

The current transformer can use an electronic core-through toroidal transformer.

The ultraviolet flaw detection map mainly checks the surface partial discharge and corrosion phenomenon under the working condition of the tension insulator string 110; the infrared thermal image mainly checks whether the tension insulator string 110 has heat during operation; the high-definition image mainly checks whether the tension insulator string 110 is If there are cracks, trachoma, etc., whether the angle between the axis of the tension insulator string 110 and the ground meets the requirements.

When using the insulator zero value tester to test the tensile insulator piece by piece, if a zero value insulator is found, it should be confirmed repeatedly 2-3 times. The purpose of measuring the leakage current of an insulator is to detect the degree of pollution on the surface of the insulator.

Claims (8)

1. a kind of hot line robot strain insulator detection method, it is characterised in that hot line robot has and arranges Mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm, Two mechanical arms and auxiliary mechanical arm complete following work in response to control data：

First mechanical arm, second mechanical arm and auxiliary mechanical arm end are respectively mounted Partial discharge detector, insulator null value Tester and current transformer；Each mechanical arm carries Partial discharge detector, insulator null detection instrument and Current Mutual Inductance Device is moved near strain insulator string to be detected, and comprehensive detection is carried out to strain insulator string, obtains every strain insulator The big decimal of the Partial Discharge Data of insulator, exhausted insulator null value whether data and the exhausted insulator Leakage Current of strain insulator According to；

First mechanical arm, second mechanical arm and auxiliary mechanical arm are changed the outfit high-definition camera, infrared camera and electronics respectively Ultraviolet crack inspection instrument；Each mechanical arm carries high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument to be detected resistance to Open and move near insulator chain, comprehensive detection is carried out to strain insulator string, obtain ultraviolet crack inspection figure, infrared chart And high-definition image；

Data processing and control system are according to the Partial Discharge Data, null value whether data and Leakage Current data, Yi Jizi Outside line defectogram, infrared chart and high-definition image, judge the working condition of strain insulator.

2. strain insulator detection method as claimed in claim 1, it is characterised in that before operation, first mechanical arm and second Clamping device is installed in mechanical arm end, carries out insulation masking to the electrical body of labelling with clamping device clamping insulation masking material； After operation is finished, clamping device is installed in first mechanical arm and second mechanical arm end, is covered in clamping device removing powered Insulation masking material on body.

3. strain insulator detection method as claimed in claim 1, it is characterised in that the data processing is being obtained with control system Obtain Partial discharge detector, insulator null detection instrument summation current transformer, and high-definition camera, infrared camera and electronics After the detection data of ultraviolet crack inspection instrument, according to index of correlation numerical value and the result of regime values contrast in data base, first carry out Preliminary analyses；For the test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm are taken Detected with corresponding testing equipment again；Data processing, is judged according to the index of correlation numerical value for obtaining again with control system The working condition of strain insulator.

4. strain insulator detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm The angle expected value of motion, the angle expected value is by hot line robot data processing and control system according to being arranged at insulation The each joint angles delta data of the in-car main manipulator of arm is resolved and is obtained；Main manipulator includes the first main manipulator, the second master Manipulator and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with first mechanical arm, Second mechanical arm is corresponding with auxiliary mechanical arm, constitutes master-slave operation relation.

5. strain insulator detection method as claimed in claim 4, it is characterised in that control is provided with the aerial lift device with insulated arm Room, the data processing and control system include the first industrial computer, the second industrial computer, display screen and main manipulator, the second industry control It is indoor that machine Built-in Image processor, display screen and main manipulator are located at control；The working scene image of the camera acquisition is sent out The second industrial computer is given, the 3D dummy activity scenes that image processor is obtained after processing to working scene image, and send display Device shows.

6. strain insulator detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm The angle expected value of motion；Hot line robot data processing and control system are relative with manipulating object according to each mechanical arm Position and job task action sequence, cook up the space path of each mechanical arm using cartesian space paths planning method, Then the angle expected value of each joint of mechanical arm motion is calculated according to space path.

7. strain insulator detection method as claimed in claim 6, it is characterised in that the hot line robot, including it is exhausted Edge bucket arm vehicle, the robot platform being mounted on aerial lift device with insulated arm, the mechanical arm on robot platform；

The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera, Binocular camera be equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm, the first mechanical arm, second Mechanical arm and auxiliary mechanical arm cooperation complete livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm Job Operations are carried out using power tool with second mechanical arm；

The data processing and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor With livewire work action sequence storehouse,

The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；

The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image Relative position relation between the mechanical arm obtained after process and manipulating object, the second industrial computer according to the relative position relation with And concrete action sequence corresponding to livewire work plans the space path of mechanical arm, and by the space path number of the mechanical arm According to being sent to the first industrial computer；

First industrial computer calculates the control data according to the space path of the mechanical arm.

8. the strain insulator detection method as described in claim 1 to 7, it is characterised in that the mechanical arm or main manipulator For mechanism in six degree of freedom, including pedestal, rotate the direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint Section, the large arm being connected with shoulder joint, the elbow joint being connected with large arm, the forearm being connected with elbow joint, the wrist being connected with forearm are closed Section, carpal joint are made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；Described six certainly Corresponding orthogonal rotary encoder and servo drive motor are respectively provided with by each joint in degree mechanism, orthogonal rotary encoder is used for The angle-data in each joint is gathered, servo drive motor is used for the motion for controlling each joint；

Expected value of first industrial computer according to each joint angles of mechanical arm, presses mechanical arm by control servo drive motor control each Joint motions.