阅读说明：本技术 一种高压线绝缘子涂层测厚装置及其使用方法 (High-voltage wire insulator coating thickness measuring device and using method thereof ) 是由 滕藤 桑英军 范媛媛 耿伟 郝云荣 周恒瑞 于 2021-08-05 设计创作，主要内容包括：一种高压线绝缘子涂层测厚装置使用方法,通过超声波测厚仪的探头对绝缘子涂层的厚度进行测量；具体的操作步骤如下：步骤1：启动系统,运行遥控小车；步骤2：由工作人员操作将遥控小车运行至检测点,开启电磁刹车装置,将遥控小车固定在指定的位置处；步骤3：开启相机对绝缘子进行拍照,将照片实时传入终端控制设备,并对照片进行比对处理；步骤4：由工作人员根据照片决定是否对绝缘子进行清扫；步骤5：确定绝缘子的外观无问题后,开启超声波测厚仪,完成对绝缘子涂层的厚度测量,将测量结果传输至终端控制设备；步骤6：操作完成,遥控小车返回。本发明具有检测效率高、检测精度高的优点。能更好的利用现代科技实现对高危工作的替代。(The application method of the high-voltage wire insulator coating thickness measuring device comprises the steps of measuring the thickness of an insulator coating through a probe of an ultrasonic thickness gauge; the specific operation steps are as follows: step 1: starting the system and operating the remote control trolley; step 2: the remote control trolley is operated by a worker to move to a detection point, an electromagnetic brake device is started, and the remote control trolley is fixed at a specified position; and step 3: starting a camera to photograph the insulator, transmitting the photograph into the terminal control equipment in real time, and comparing the photograph; and 4, step 4: determining whether to clean the insulator or not by a worker according to the picture; and 5: after the appearance of the insulator is determined to be free of problems, starting an ultrasonic thickness gauge to complete thickness measurement of the insulator coating, and transmitting a measurement result to terminal control equipment; step 6: and after the operation is finished, the remote control trolley returns. The invention has the advantages of high detection efficiency and high detection precision. Can better utilize modern science and technology to realize the replacement of high-risk work.)

1. The application method of the high-voltage wire insulator coating thickness measuring device is characterized in that: measuring the thickness of the insulator coating through a probe of an ultrasonic thickness gauge; the specific operation steps are as follows:

step 1: starting the system and operating the remote control trolley;

step 2: the remote control trolley is operated by a worker to move to a specified detection point, an electromagnetic brake device is started, and the remote control trolley is fixed at a specified position;

and step 3: when the trolley is in a static state, starting a camera to photograph the insulator, transmitting the photograph to the terminal control equipment in real time, comparing the photographed pictures, and giving a comparison result;

and 4, step 4: determining whether to clean the insulator or not by a worker according to the picture shot in the step 3 and the comparison result; if the insulator needs to be cleaned, a cleaning function is started to clean the insulator; if the cleaning is not needed, directly entering the next step;

and 5: after the insulator is determined to have no problem in appearance, starting an ultrasonic thickness gauge, and contacting a probe of the ultrasonic thickness gauge to a coating outside the insulator; the transmitting circuit transmits signals, the receiving circuit receives the signals, the thickness measurement of the insulator coating is completed, and the measurement result is transmitted to the terminal control equipment;

step 6: and after the measurement is finished, the operation is finished, and the remote control trolley returns.

2. The use method of the high-voltage wire insulator coating thickness measuring device according to claim 1, characterized in that: in step 3, after the photo is transmitted to the terminal control device, the terminal control device compares the received exit, and the specific operation steps are as follows:

step 3.1: matching the template picture with a camera shooting picture;

step 3.2: extracting relevant feature points of the image;

step 3.3: positioning the characteristic points in the constructed scale space;

step 3.4: determining the main direction of the characteristic points;

step 3.5: and generating feature descriptors and realizing image matching.

3. The use method of the high-voltage wire insulator coating thickness measuring device according to claim 1, characterized in that: the relevant feature points of the extracted image in the step 3.2 are spots on insulators in the extracted image, and a calculation formula for detecting the spots on the insulators in the extracted image is as follows: the determinant of the Hessian matrix can realize the extraction of the image characteristic points, and the formula is as follows:

(1)

wherein each feature point can be used to determine a matrix；

Before obtaining the Hessian matrix, the characteristic points need to have scale independence, so that gaussian filtering needs to be carried out on the characteristic points, and the Hessian calculation is carried out after filtering to obtain a formula as follows:

(2)

wherein the content of the first and second substances,the scale of the shot image;performing convolution operation on the Gaussian model and the corresponding image;

because the feature points need to be found on the shot image and then the positions of the feature points are reflected to the original image, the approximate value of the determinant of each pixel in the Hessian matrix is as follows:

(3)

wherein the content of the first and second substances,for the introduced error weight isRear endApproximate values of (1), general research theory=0.9。

4. The use method of the high-voltage wire insulator coating thickness measuring device according to claim 1, characterized in that: and 4, the cleaning function comprises spraying a cleaning agent to the insulator and cleaning the insulator.

5. The use method of the high-voltage wire insulator coating thickness measuring device according to claim 1, characterized in that: the ultrasonic thickness gauge is internally provided with control software for measuring the thickness of the insulator, and the specific working flow of the control software in the ultrasonic thickness gauge is as follows:

step 5.1: firstly, initializing the system, and judging whether the system is started or not by software; if the starting is finished, the next step is carried out;

step 5.2: the system controls the transmitting circuit to transmit signals, and the system controls the timing circuit to start timing while the transmitting signals are transmitted;

step 5.3: when the system controls the transmitting circuit to transmit signals, the system controls the receiving circuit to prepare for receiving the signals, when the receiving circuit does not receive the signals within a certain time, the system controls the transmitting circuit to transmit the signals again, and the timing circuit times again; until the receiving circuit receives the signal within a certain time, when the receiving circuit receives the signal, the system controls the timing circuit to finish timing;

step 5.4: the system control timing circuit sends the obtained time to the microprocessor for calculation, and the microprocessor transmits the calculated thickness value of the insulator coating to the wireless terminal equipment through the wireless communication module;

step 5.5: the system detects whether the thickness value of the insulator coating is received by the wireless terminal equipment, and if the thickness value is not received by the wireless terminal equipment, the system controls the microprocessor to send the value again; if the wireless terminal equipment receives the numerical value, the system judges that the operation is finished and finishes the measurement operation.

6. The use method of the high-voltage wire insulator coating thickness measuring device according to claim 2, characterized in that: the thickness value of the insulator coating obtained by the calculation in the step 5.4 is obtained by calculating through the following formula:

G=0.5×t×v （4）；

in the above formula, G is the thickness of the insulator coating, and t is the propagation time of the ultrasonic wave in the object, including the time used between the direct wave and the reflected wave, which is the timing time obtained by the timing circuit; v is the propagation velocity of the ultrasonic wave in the object, and this value is set from the previous stage or a value known from the previous stage.

7. A high-voltage wire insulator coating thickness measuring device, which can be applied to the use method of the high-voltage wire insulator coating thickness measuring device of any one of claims 1 to 6, and is characterized in that: the high-voltage wire insulator coating thickness measuring device comprises a remote control car, wherein the remote control car is arranged on the rail device; the remote control car is provided with an ultrasonic thickness gauge and a camera, the remote control car, the ultrasonic thickness gauge and the camera are respectively provided with an independent microcontroller and a wireless communication module I, and are in signal connection with terminal equipment through the wireless communication module I for signal transmission; the terminal equipment is provided with a main controller, and the main controller is provided with a wireless communication module II which is in signal connection with the wireless communication module I, the ultrasonic thickness gauge and the camera; the remote control car receives signals of the terminal equipment, drives according to the received signals and sends the ultrasonic thickness gauge to a detection point; the ultrasonic thickness gauge and the camera transmit acquired data to a main controller of the terminal equipment through the wireless communication module.

8. The high-voltage wire insulator coating thickness measuring device of claim 7, wherein: the rail device comprises an annular rail which is arranged on the upper side of the insulator string and is parallel to the horizontal plane, and a support post of the insulator string is fixed in the middle of the annular rail; the driving trolley capable of moving along the annular rail is mounted on the annular rail, a vertical rail perpendicular to a horizontal plane is fixedly connected to one side of the driving trolley, and the remote control car is mounted on the vertical rail and capable of moving up and down along the vertical rail; the bottom of the vertical track is connected with the support of the insulator string through a connecting cross rod and a bearing.

9. The high-voltage wire insulator coating thickness measuring device according to claim 7 or 8, wherein: the annular track and the vertical track both adopt I-shaped tracks, and the bases of the I-shaped tracks are provided with anti-skid devices; the remote control car and the driving trolley adopt an embedded remote control trolley and an embedded driving trolley, and the embedded remote control trolley and the embedded driving trolley are arranged on the I-shaped rail and move along the I-shaped rail.

10. The high-voltage wire insulator coating thickness measuring device of claim 7, wherein: and electromagnetic brake devices are arranged at the bottoms of the remote control car and the driving trolley.

Technical Field

The invention relates to the technical field of high-voltage electric maintenance detection, in particular to a high-voltage line insulator coating thickness measuring device and a using method thereof.

Background

Nowadays, in the rapid development of electric power, high-voltage electricity is always the guarantee of remote power transmission. A number of problems are also encountered in high voltage power transmission where insulators play an important and irreplaceable role. In general, the surface of the insulator is easily contaminated by dirt, so that flashover discharge is caused to cause damage to a power grid.

With the progress of modern science and technology, more countries coat a layer of antifouling material on high-voltage insulators, so that the occurrence of power grid flashover can be greatly reduced, but the coating can be oxidized and damaged along with the time. This requires manual inspection of the coating thickness. The detection technology still detects the thickness of the insulator coating by workers working aloft, which causes huge labor cost and easily causes safety accidents.

Disclosure of Invention

In order to solve the technical problems, the invention provides a high-voltage wire insulator coating thickness measuring device and a using method thereof, which can effectively solve the technical problems.

The invention is realized by the following technical scheme:

the application method of the high-voltage wire insulator coating thickness measuring device comprises the steps of measuring the thickness of an insulator coating through a probe of an ultrasonic thickness gauge; the specific operation steps are as follows:

step 1: starting the system and operating the remote control trolley;

step 2: the remote control trolley is operated by a worker to move to a specified detection point, an electromagnetic brake device is started, and the remote control trolley is fixed at a specified position;

and step 3: when the trolley is in a static state, starting a camera to photograph the insulator, transmitting the photograph to the terminal control equipment in real time, comparing the photographed pictures, and giving a comparison result;

and 4, step 4: determining whether to clean the insulator or not by a worker according to the picture shot in the step 3 and the comparison result; if the insulator needs to be cleaned, a cleaning function is started to clean the insulator; if the cleaning is not needed, directly entering the next step;

and 5: after the insulator is determined to have no problem in appearance, starting an ultrasonic thickness gauge, and contacting a probe of the ultrasonic thickness gauge to a coating outside the insulator; the transmitting circuit transmits signals, the receiving circuit receives the signals, the thickness measurement of the insulator coating is completed, and the measurement result is transmitted to the terminal control equipment;

step 6: and after the measurement is finished, the operation is finished, and the remote control trolley returns.

Further, in step 3, after the photo is transmitted to the terminal control device, the terminal control device compares the received exit, and the specific operation steps are as follows:

step 3.1: matching the template picture with a camera shooting picture;

step 3.2: extracting relevant feature points of the image;

step 3.3: positioning the characteristic points in the constructed scale space;

step 3.4: determining the main direction of the characteristic points;

step 3.5: and generating feature descriptors and realizing image matching.

Further, the extracting of the relevant feature points of the image in step 3.2 is to extract the spots on the insulators in the image, and the calculation formula for detecting the spots on the insulators in the image is as follows: the determinant of the Hessian matrix can realize the extraction of the image characteristic points, and the formula is as follows:

(1)

wherein each feature point can be used to determine a matrix；

Before obtaining the Hessian matrix, the characteristic points need to have scale independence, so that gaussian filtering needs to be carried out on the characteristic points, and the Hessian calculation is carried out after filtering to obtain a formula as follows:

(2)

wherein the content of the first and second substances,the scale of the shot image;performing convolution operation on the Gaussian model and the corresponding image;

because the feature points need to be found on the shot image and then the positions of the feature points are reflected to the original image, the approximate value of the determinant of each pixel in the Hessian matrix is as follows:

(3)

wherein the content of the first and second substances,for the introduced error weight isRear endApproximate values of (1), general research theory=0.9。

Further, the cleaning function in step 4 includes spraying a cleaning agent to the insulator and cleaning the insulator.

Furthermore, control software for measuring the thickness of the insulator is arranged in the ultrasonic thickness gauge, and the specific working flow of the control software in the ultrasonic thickness gauge is as follows:

step 5.1: firstly, initializing the system, and judging whether the system is started or not by software; if the starting is finished, the next step is carried out;

step 5.2: the system controls the transmitting circuit to transmit signals, and the system controls the timing circuit to start timing while the transmitting signals are transmitted;

step 5.3: when the system controls the transmitting circuit to transmit signals, the system controls the receiving circuit to prepare for receiving the signals, when the receiving circuit does not receive the signals within a certain time, the system controls the transmitting circuit to transmit the signals again, and the timing circuit times again; until the receiving circuit receives the signal within a certain time, when the receiving circuit receives the signal, the system controls the timing circuit to finish timing;

step 5.4: the system control timing circuit sends the obtained time to the microprocessor for calculation, and the microprocessor transmits the calculated thickness value of the insulator coating to the wireless terminal equipment through the wireless communication module;

step 5.5: the system detects whether the thickness value of the insulator coating is received by the wireless terminal equipment, and if the thickness value is not received by the wireless terminal equipment, the system controls the microprocessor to send the value again; if the wireless terminal equipment receives the numerical value, the system judges that the operation is finished and finishes the measurement operation.

Further, the thickness value of the insulator coating obtained by the calculation in the step 5.4 is obtained by calculating according to the following formula:

G=0.5×t×v （4）；

in the above formula, G is the thickness of the insulator coating, and t is the propagation time of the ultrasonic wave in the object, including the time used between the direct wave and the reflected wave, which is the timing time obtained by the timing circuit; v is the propagation velocity of the ultrasonic wave in the object, and this value is set from the previous stage or a value known from the previous stage.

A high-voltage line insulator coating thickness measuring device comprises a remote control car, wherein the remote control car is arranged on a rail device; the remote control car is provided with an ultrasonic thickness gauge and a camera, the remote control car, the ultrasonic thickness gauge and the camera are respectively provided with an independent microcontroller and a wireless communication module I, and are in signal connection with terminal equipment through the wireless communication module I for signal transmission; the terminal equipment is provided with a main controller, and the main controller is provided with a wireless communication module II which is in signal connection with the wireless communication module I, the ultrasonic thickness gauge and the camera; the remote control car receives signals of the terminal equipment, drives according to the received signals and sends the ultrasonic thickness gauge to a detection point; the ultrasonic thickness gauge and the camera transmit acquired data to a main controller of the terminal equipment through the wireless communication module.

Furthermore, the rail device comprises an annular rail which is arranged on the upper side of the insulator string and is parallel to the horizontal plane, and a support of the insulator string is fixed in the middle of the annular rail; the driving trolley capable of moving along the annular rail is mounted on the annular rail, a vertical rail perpendicular to a horizontal plane is fixedly connected to one side of the driving trolley, and the remote control car is mounted on the vertical rail and capable of moving up and down along the vertical rail; the bottom of the vertical track is connected with the support of the insulator string through a connecting cross rod and a bearing.

Furthermore, the annular track and the vertical track both adopt I-shaped tracks, and the bases of the I-shaped tracks are provided with anti-skid devices; the remote control car and the driving trolley adopt an embedded remote control trolley and an embedded driving trolley, and the embedded remote control trolley and the embedded driving trolley are arranged on the I-shaped rail and move along the I-shaped rail.

Furthermore, electromagnetic brake devices are arranged at the bottoms of the remote control car and the driving trolley.

Furthermore, the remote control car is provided with a cleaning function, and the cleaning function comprises a function of spraying a cleaning agent to the insulator and a function of cleaning the insulator.

Furthermore, the remote control trolley can be provided with a wireless charging function according to requirements, a wireless charging module is arranged in the remote control trolley, and a wireless charging device corresponding to the wireless charging module is arranged on the edge of the I-shaped track of the high-voltage wire frame.

Advantageous effects

Compared with the prior art, the high-voltage wire insulator coating thickness measuring device and the using method thereof provided by the invention have the following beneficial effects:

(1) according to the technical scheme, the ultrasonic thickness gauge with the probe, the signal transmitting unit, the signal receiving unit and the microcontroller is installed on the rail-type remote control trolley, the camera module, the wireless communication module and the wireless terminal control equipment are combined, so that the coating thickness of the high-voltage wire insulator can be measured and the appearance of the high-voltage wire insulator can be photographed. When the detection result of the ultrasonic thickness gauge is lower than the standard, the wireless terminal device sends out prompt tone. The device can enable workers to work without high altitude, thereby greatly reducing the risk of safety accidents, reducing the cost of manpower and material resources, and simultaneously having the advantages of high detection efficiency and high detection precision. Can better utilize modern science and technology to realize the replacement of high-risk work.

(2) This technical scheme sets up through the cooperation of annular rail, drive dolly, perpendicular track and telecar for perpendicular track can rotate around insulator chain according to annular rail's orbit under the drive of drive dolly, thereby can make the detection, the shooing, the cleanness at 360 degrees no dead angles of remote control dolly realization insulator chain.

(3) According to the technical scheme, the cleaning device arranged on the remote control trolley is used for spraying a special cleaning agent when the outside of the insulator is determined not to be damaged and needs to be cleaned, and then the cleaning device on the remote control trolley is driven to rotate by the driving trolley, so that the insulator string is cleaned.

Drawings

Fig. 1 is an overall schematic view of a remote control cart according to embodiment 1 of the present invention.

Fig. 2 is a schematic view of the tail of the remote control car in the embodiment 1 of the invention.

Fig. 3 is a schematic side view of an i-shaped rail according to embodiment 1 of the present invention.

Fig. 4 is a schematic front (non-slip) view of an i-shaped rail according to example 1 of the present invention.

Fig. 5 is a hardware operation diagram of the ultrasonic thickness gauge in embodiment 1 of the present invention.

Fig. 6 is a schematic structural view of a rail device according to embodiment 1 of the present invention.

Fig. 7 is a schematic diagram of system schematic diagram connection according to embodiment 1 of the present invention.

Fig. 8 is a software flow chart of the ultrasonic thickness gauge in embodiment 1 of the present invention.

FIG. 9 is a flowchart of the system operation in embodiment 1 of the present invention.

FIG. 10 is a schematic view of the operation of example 2 of the present invention.

The labels in the figures are: 1-remote control trolley, 11-vehicle tail, 2-ultrasonic thickness gauge, 3-probe, 4-camera, 5-brake fixing device, 6-I-shaped rail, 61-anti-skid rail, 71-annular rail, 72-driving trolley, 73-vertical rail, 74-insulator string, 75-pillar, 76-connecting beam and 77-bearing.

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.

Example 1:

as shown in fig. 1-6, a high-voltage line insulator coating thickness measuring device comprises a remote control car, wherein the remote control car adopts a rail-type remote control car; the rail type remote control trolley is arranged on the rail device, can move along with the rail device, sends the detection instrument to the detection point, and can be controlled by the terminal wireless equipment.

The rail device comprises an annular rail which is arranged on the upper side of the insulator string and is parallel to the horizontal plane, and a support post of the insulator string is fixed in the middle of the annular rail; the driving trolley capable of moving along the annular rail is mounted on the annular rail, a vertical rail perpendicular to a horizontal plane is fixedly connected to one side of the driving trolley, and the remote control car is mounted on the vertical rail and capable of moving up and down along the vertical rail; the bottom of the vertical track is connected with the support of the insulator string through a connecting cross rod and a bearing.

The annular track and the vertical track both adopt I-shaped tracks, and the bases of the I-shaped tracks are provided with anti-skid devices; the remote control car and the driving trolley adopt an embedded remote control trolley and an embedded driving trolley, and the embedded remote control trolley and the embedded driving trolley are arranged on the I-shaped rail and move along the I-shaped rail. Electromagnetic brake devices are arranged at the bottoms of the remote control car and the driving trolley.

The remote control car is provided with a main controller, and an ultrasonic thickness gauge, an anti-shake camera, a cleaning device, a wireless charging module and a wireless communication module I which are in signal connection with the main controller; the ultrasonic thickness gauge and the camera transmit acquired data to the main controller, and the main controller transmits the data to the terminal equipment through the first wireless communication module; the remote control car is arranged on the vertical rail and slides up and down along the vertical rail, the vertical rail is arranged on the annular rail through the driving trolley and does annular motion along the annular rail, so that the remote control car can rotate around the insulator string.

The ultrasonic thickness gauge is arranged on the upper portion of the remote control trolley, the ultrasonic thickness gauge sends a command through the wireless terminal equipment, the command is received and sent out through the internal microprocessor, the signal is sent out through the probe through the signal transmitting circuit, the signal receiving circuit receives the signal, and the microprocessor processes the signal and transmits the signal to the wireless terminal equipment to be displayed. The camera has two functions, the first function is: when the robot climbs to a position higher than the eyes of a human body and cannot accurately see the eyes of the human body, the robot can be used as the eyes of the human body to point; the second function is: and photographing the outside of the insulator during detection. And transmitting the photos into the wireless terminal equipment in real time. The remote control trolley, the ultrasonic thickness gauge and the camera are communicated with the wireless control terminal device in a near-remote mode through a wireless communication technology.

The ultrasonic thickness gauge is arranged on the upper side of the remote control trolley as shown in figure 1, the probe of the ultrasonic thickness gauge is arranged in front of the trolley as shown in figure 1, and the probe which can be vertically, horizontally and telescopically arranged is adopted, so that the probe is protected, and more applicable scenes can be realized. During measurement, the ultrasonic wave transmits real-time data to the terminal equipment, and the terminal equipment gives out prompt tone when the measurement result is lower than a standard value. The function of the camera is utilized, the camera is arranged above the ultrasonic thickness gauge as shown in figure 1, the up-down and left-right telescopic hydraulic columns are adopted to cooperate with the camera, and meanwhile, the camera can move up, down, left and right to be suitable for more working scenes. The real-time picture of the camera is transmitted to the wireless terminal equipment through the wireless communication module, so that the control and measurement of workers are facilitated.

The mechanism of the ultrasonic thickness gauge is shown in fig. 5, the ultrasonic thickness gauge is provided with a microprocessor, and the microprocessor is connected with a signal transmitting circuit, a signal receiving circuit and a timing circuit; the output end of the signal transmitting circuit and the input end of the signal receiving circuit are connected with a probe used for contacting the insulator. The microprocessor is also connected with a wireless communication module and is in signal connection with the master controller through the wireless communication module.

The remote control car is provided with a cleaning function, and the cleaning function comprises a function of spraying a cleaning agent and cleaning the insulator. The remote control trolley can be provided with a wireless charging function according to requirements, a wireless charging module is arranged in the remote control trolley, and a wireless charging device corresponding to the wireless charging module is arranged on the edge of the I-shaped track of the high-voltage wire frame.

The remote control trolley is added with a cleaning function, and after the camera photographing result is transmitted back, a worker determines whether to spray a cleaning agent and clean the insulator. The remote control trolley is added with a wireless charging module, and the wireless charger is arranged near the I-shaped track. The annular rail is arranged above the insulator string and drives the vertical rail to perform the operation of winding around the insulator string, and as shown in fig. 6, the dead-angle-free measurement and cleaning of the insulator string can be realized.

The working principle is as follows: the staff controls the wireless terminal equipment, and the trolley is safely sent to the detection point by combining the monorail type remote control trolley and the camera. And opening a probe of the ultrasonic thickness gauge by the terminal equipment according to the picture provided by the camera, and sending the probe to the contact surface of the insulator coating for measurement. As shown in the working schematic diagram of the ultrasonic thickness gauge in fig. 4, when the probe of the ultrasonic thickness gauge extends to the coating contact surface, the microprocessor transmits a signal through the signal transmitting circuit, the signal receiving circuit receives a return signal and transmits the return signal to the microprocessor for processing, and the processed data is transmitted to the wireless terminal device through the wireless communication module. After the terminal equipment receives the data, if the measured data is lower than the standard value, the equipment will give out a prompt tone, and if the measured data is higher than the standard value, the equipment will not give out the prompt tone.

As shown in the working schematic diagram of the ultrasonic insulator measurement shown in fig. 7, the probe is composed of a receiving probe and a transmitting probe, the transmitting probe transmits 5-7 MHZ ultrasonic waves, direct waves pass through the insulator, reflected waves return to be received by the receiving probe, and part of the transmitted waves continuously penetrate through other insulators, so that the whole measurement process is completed. In order to ensure the accuracy of measurement, the ultrasonic thickness gauge cannot be started when the embedded remote control trolley is in a dynamic process; when the trolley is in a static state, the probe of the ultrasonic thickness gauge can contact the insulator coating, so that accurate measurement can be realized, and the trolley is kept static by an electromagnetic brake device. The camera will take a picture of the whole insulator and transmit the picture to the terminal equipment, so that the appearance state of the insulator is clearer. And after the measurement is finished, the remote control trolley returns the original path.

In this embodiment, the main controller uses an STC89C52 single chip microcomputer as the main controller. The remote control trolley is communicated with the wireless terminal equipment through the A/D analog-to-digital converter and the wireless communication module; the ultrasonic thickness gauge adopts a high-precision UT300 type ultrasonic thickness gauge, is arranged on a remote control trolley as shown in figure 1, and is communicated with wireless terminal equipment through an A/D (analog-to-digital) converter and a wireless communication module; the camera module adopts an MGS502-H2 (color) industrial digital camera module, is arranged on a remote control trolley as shown in figure 1, and realizes communication with wireless terminal equipment through an A/D (analog-to-digital) converter and a wireless communication module; the wireless terminal equipment comprises wireless communication module, main control unit, LCD1602 liquid crystal display, bee calling organ, and wherein wireless communication module realizes with the communication of remote control dolly, and LCD1602 liquid crystal display shows the measured data of receiving, and bee calling organ is used for playing the prompt action when being less than the standard value to the measuring result. As shown in fig. 7, the circuit connection diagram communicatively connects the modules.

Example 2:

as shown in fig. 10, in a method for using the high-voltage wire insulator coating thickness measuring device, the thickness of the insulator coating is measured by a probe of an ultrasonic thickness gauge; the specific operation steps are as follows:

step 1: starting the system and operating the remote control trolley;

step 2: the remote control trolley is operated by a worker to move to a specified detection point, an electromagnetic brake device is started, and the remote control trolley is fixed at a specified position;

and step 3: when the trolley is in a static state, starting a camera to photograph the insulator, transmitting the photograph to the terminal control equipment in real time, comparing the photographed pictures, and giving a comparison result;

after the photo is transmitted into the terminal control equipment, the terminal control equipment compares the received back, and the specific operation steps are as follows:

step 3.1: matching the template picture with a camera shooting picture;

step 3.2: extracting relevant feature points of the image; the relevant characteristic points of the extracted image are spots on the insulators in the extracted image, and a calculation formula for detecting the spots on the insulators in the extracted image is as follows: the determinant of the Hessian matrix can realize the extraction of the image characteristic points, and the formula is as follows:

(1)

wherein each feature point can be used to determine a matrix；

Before obtaining the Hessian matrix, the characteristic points need to have scale independence, so that gaussian filtering needs to be carried out on the characteristic points, and the Hessian calculation is carried out after filtering to obtain a formula as follows:

(2)

wherein the content of the first and second substances,the scale of the shot image;performing convolution operation on the Gaussian model and the corresponding image;

because the feature points need to be found on the shot image and then the positions of the feature points are reflected to the original image, the approximate value of the determinant of each pixel in the Hessian matrix is as follows:

(3)

wherein the content of the first and second substances,for the introduced error weight isRear endApproximate values of (1), general research theory=0.9。

Step 3.3: positioning the characteristic points in the constructed scale space;

step 3.4: determining the main direction of the characteristic points;

step 3.5: and generating feature descriptors and realizing image matching.

And 4, step 4: determining whether to clean the insulator or not by a worker according to the picture shot in the step 3 and the comparison result; the cleaning function comprises spraying cleaning agent to the insulator and cleaning the insulator. If the insulator needs to be cleaned, a cleaning function is started to clean the insulator; if no cleaning is needed, the next step is directly carried out.

And 5: after the insulator is determined to have no problem in appearance, starting an ultrasonic thickness gauge, and contacting a probe of the ultrasonic thickness gauge to a coating outside the insulator; the transmitting circuit transmits signals, the receiving circuit receives the signals, the thickness measurement of the insulator coating is completed, and the measurement result is transmitted to the terminal control equipment;

control software for measuring the thickness of the insulator is arranged in the ultrasonic thickness gauge, and the specific working flow of the control software in the ultrasonic thickness gauge is as follows:

step 5.1: firstly, initializing the system, and judging whether the system is started or not by software; if the starting is finished, the next step is carried out;

step 5.2: the system controls the transmitting circuit to transmit signals, and the system controls the timing circuit to start timing while the transmitting signals are transmitted;

step 5.3: when the system controls the transmitting circuit to transmit signals, the system controls the receiving circuit to prepare for receiving the signals, when the receiving circuit does not receive the signals within a certain time, the system controls the transmitting circuit to transmit the signals again, and the timing circuit times again; until the receiving circuit receives the signal within a certain time, when the receiving circuit receives the signal, the system controls the timing circuit to finish timing;

step 5.4: the system control timing circuit sends the obtained time to the microprocessor for calculation, and the microprocessor transmits the calculated thickness value of the insulator coating to the wireless terminal equipment through the wireless communication module; the thickness value of the insulator coating obtained by calculation is obtained by calculating through the following formula:

G=0.5×t×v （4）；

in the above formula, G is the thickness of the insulator coating, and t is the propagation time of the ultrasonic wave in the object, including the time used between the direct wave and the reflected wave, which is the timing time obtained by the timing circuit; v is the propagation velocity of the ultrasonic wave in the object, and this value is set from the previous stage or a value known from the previous stage.

Step 5.5: the system detects whether the thickness value of the insulator coating is received by the wireless terminal equipment, and if the thickness value is not received by the wireless terminal equipment, the system controls the microprocessor to send the value again; if the wireless terminal equipment receives the numerical value, the system judges that the operation is finished and finishes the measurement operation.

Step 6: and after the measurement is finished, the operation is finished, and the remote control trolley returns.