CN115452867A

CN115452867A - Unmanned high-altitude X-ray nondestructive inspection system and nondestructive inspection method for power transmission line

Info

Publication number: CN115452867A
Application number: CN202211118941.6A
Authority: CN
Inventors: 郑尚高
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-05
Filing date: 2022-09-15
Publication date: 2022-12-09

Abstract

The invention discloses an unmanned high-altitude X-ray nondestructive inspection system and a nondestructive inspection method for a power transmission line, which comprise the following steps: the wire clamping device can be fixed on a to-be-detected wire in a fixed-point positioning manner and is provided with a through hole for the static rope to pass through; a rope motor-lifter that is capable of climbing and descending along the static rope; the ray source is arranged on the left side wall of the shell of the rope electric elevator through the clamping mechanism; the detection plate is hung on the right side wall of the shell of the rope electric elevator; the mechanical arm is used for grabbing the ray source and the detection plate and is fixed on the front side wall of the shell of the rope electric elevator; a 3D camera fixed on top of the cord lift. When the X-ray nondestructive detection is carried out on the tension clamp of the power transmission line by adopting the X-ray nondestructive detection device, manual tower climbing operation is not needed, the operation efficiency is high, and the safety risk of high-altitude operation possibly caused by operating personnel is avoided.

Description

Unmanned high-altitude X-ray nondestructive inspection system and nondestructive inspection method for power transmission line

Technical Field

The invention relates to the technical field of power transmission line maintenance equipment, in particular to an unmanned aerial X-ray nondestructive inspection system and a nondestructive inspection method for a power transmission line.

Background

The power transmission line runs in an outdoor complex and severe natural environment for a long time, a large number of key stress parts need periodic or irregular detection, for example, traditional transmission line strain clamp nondestructive detection is adopted, and the traditional transmission line strain clamp is a manned tower climbing aerial work which can only be carried out in a line power failure state at present. The main disadvantages of this mode of operation are as follows:

(1) The operating personnel who need to possess the qualification of ascending a height and the qualification of radiographic inspection ascend a tower and operate, the current person who ascends a tower usually does not have the safeguard measure of preventing falling in the process of ascending a tower, namely the operation process has certain safety risk.

(2) The working efficiency of tower climbing operation is low, the blackout time of the power transmission line is very limited, and the actual requirement is difficult to meet.

Disclosure of Invention

The invention provides an unmanned high-altitude X-ray nondestructive inspection system and a nondestructive inspection method for a power transmission line, and aims to solve the problems of safety risk and low working efficiency of the existing nondestructive inspection.

In order to solve the technical problems, the invention provides the following technical scheme:

an unmanned high-altitude X-ray nondestructive inspection system for a power transmission line comprises:

the wire clamping device can be fixed on a wire to be detected in a fixed-point positioning mode, and is provided with a through hole for the static rope to pass through;

a rope motor hoist that is capable of climbing and descending along a static rope;

the ray source is used for emitting X rays and is arranged on the left side wall of the shell of the rope electric elevator through the clamping mechanism;

the detection plate is used for converting X-ray energy into an electric signal for recording and is hung on the right side wall of the rope electric elevator shell;

the mechanical arm is used for grabbing the ray source and the detection plate and is fixed on the front side wall of the shell of the rope electric elevator;

the battery is used for providing electric energy for the whole set of equipment and is arranged on the rear side wall of the shell of the rope electric elevator through a balance mechanism;

the guide device comprises a guide device body, wherein the guide device body comprises a guide rod and a guide part, the guide part is used for clamping a wire to be detected and is arranged at the top end of the guide rod, and the lower end of the guide rod is fixed on the top wall of the shell of the rope electric elevator.

The 3D camera is used for acquiring three-dimensional space information around the detected part and the posture and position of the mechanical arm in real time and is fixed at the top of the rope elevator

The wire clamping device comprises a left wire clamping support frame, a right wire clamping support frame and a clamping block module for clamping a wire to be detected, wherein the left wire clamping support frame and the right wire clamping support frame are rotatably connected through a rotating shaft, a return spring is sleeved outside the rotating shaft, and the through hole penetrates through the left wire clamping support frame and the right wire clamping support frame; the clamping block module is positioned on one downward side of the left wire clamping support frame and the right wire clamping support frame or on two vertically symmetrical sides.

The clamping mechanism comprises a ray source protection box, two supporting clamps and two elastic positioning clamps, wherein the ray source protection box is fixed on the left side wall of the shell of the rope electric elevator, the supporting clamps are arranged on one side of a ray source radiation groove, and the two elastic positioning clamps are symmetrically arranged on the side walls of the left side and the right side of the ray source protection box; the supporting point of the elastic positioning clamp exceeds the radius of the front end cylinder of the ray source.

Wherein, the top of the ray source is provided with a ray source rope hanging ring and a ray source end actuator.

The detection plate comprises a detection plate rack, a hook, a detection fixing frame and a detector plate, wherein the hook and the detection fixing frame are respectively arranged on two sides of the detection plate rack; the top of rope electric lift casing is equipped with the fixed column that uses with surveying the mount cooperation.

The tail end of the mechanical arm is provided with a mechanical arm tail end actuator, and a mechanical arm tail end camera is further arranged at a position close to the tail end of the mechanical arm.

The balance mechanism comprises a screw rod support, a motor, a screw rod and a connecting plate, the screw rod support is fixed on the rear side wall of the shell of the rope electric elevator, an output shaft of the motor is connected with the screw rod, the motor is fixed at one end of the screw rod support, the screw rod is rotatably connected with the other end of the screw rod support, a sliding block is sleeved on the screw rod and fixedly connected with the connecting plate, and the battery is fixed on the connecting plate; the rope electric elevator is provided with an angle sensor.

The orientation part is a Y-shaped orientation part and is composed of a containing part with an opening angle larger than 90 degrees and a vertical groove, or the orientation part is a wave-shaped orientation part and is a multi-arc groove surface composed of a plurality of concave arcs, and the radius of each arc is not smaller than that of the wire to be detected.

The top of the rope electric elevator shell is provided with a 3D camera, and black color mark marks are arranged on the rope electric elevator shell and the irradiated surface of the detector plate.

A nondestructive inspection method adopting the unmanned high-altitude X-ray nondestructive inspection system for the power transmission line comprises the following steps:

(1) The rope penetrates through a wire clamp, the rope crosses over a to-be-detected lead by using an unmanned aerial vehicle or other lifting equipment, a rope buckle is arranged at a proper position at the tail end of the wire clamp, and the rope crossing over the to-be-detected lead penetrates through the rope buckle; the rope which does not cross the detection lead is called as an auxiliary rope, and the rope which crosses the detection lead is called as a main rope;

(2) Pulling the main rope to pull the wire clamping device on a wire to be detected and clamping a certain wire;

(3) Inserting the main rope into the rope electric lifter to penetrate through the rope electric lifter, tensioning the auxiliary rope, starting the rope electric lifter to enable the rope electric lifter to climb upwards along the main rope to be separated from the ground, and clamping the wire by the wire clamping device under the action of gravity of the rope electric lifter to fix the wire to be detected;

(4) Clamping a ray source to the left side wall of a shell of the rope electric elevator, and fixing a detector control plate on the right side wall of the shell of the rope electric elevator through a detection fixing frame and a fixing column;

(5) Connecting a remote control terminal, sending an instruction by using the remote control terminal, and monitoring the state of the aerial equipment by using a 3D camera;

(6) Starting the electric rope lifter again, climbing upwards along the main rope until the orientator contacts the wire to trigger a lifting stopping condition, finally sending a lifting stopping instruction by combining with the video information, and stopping lifting by the lifter; the elevator now hovers the entire apparatus at this location;

(7) The 3D camera sends collected 3D data to the remote control terminal through the wireless controller, the remote control terminal generates a real-time three-dimensional model after calculation, and calculates the relative position coordinates of each part;

(8) The remote control terminal sends a command for grabbing the detection plate to the mechanical arm, the mechanical arm reaches the appointed coordinate for connection according to the command and the path sent by the remote control terminal, and the detection plate is hung on the appointed lead and then the end effector of the detector is released to return to the initial position;

(9) The remote control terminal sends a ray source grabbing instruction to the mechanical arm, the mechanical arm reaches appointed coordinates according to the instruction and the path sent by the remote control terminal to be connected, after connection, a ray source emitting head is aligned to a detection position to be detected, and data are sent to the ground control station.

(10) After receiving the nondestructive testing data, the ground control station sends an instruction to store the ray source into the ray source protective box, and the mechanical arm returns to the initial position;

(11) The remote control terminal sends a command for taking down the detection plate to the mechanical arm, the mechanical arm reaches a specified coordinate for connection according to the command and the path sent by the remote control terminal, and the detection plate is taken down from the lead and then placed at a specified position for fixing, and then the mechanical arm returns to the initial position;

(12) At the moment, the detection process of one detection point is finished, and if a plurality of equipment points are detected, 8-12 steps are repeated;

(13) The remote control terminal sends a descending instruction to the rope electric lifter, the rope electric lifter descends to a proper position on the ground, and the detection plate and the ray source are taken down;

(14) The elevator descends to the ground to take out the main rope, the wire clamping device releases the conducting wire after being not stressed, the auxiliary rope is pulled to pull the rope buckle to the ground, and the wire clamping device is taken out; and (4) accommodating all detection equipment components, and finishing detection work.

Advantageous effects

The invention provides an unmanned high-altitude X-ray nondestructive inspection system and a nondestructive inspection method for a power transmission line, which have the following beneficial effects:

1. the invention uses a rope electric elevator as a carrier to lift the X-ray detection equipment from the ground to a lead. If the rope is an insulating rope, the detection equipment can be also brought into a high-voltage electric field from the ground for development operation, and the original manual lifting of the equipment from the ground to the strain clamp is replaced; the middle wire clamping device can realize fixed-point positioning of the detection equipment, and ensure that the detection equipment cannot move or slide along the direction of a lead during working; the direction finder ensures that the detection equipment cannot rotate clockwise or anticlockwise in the horizontal direction or the direction vertical to the lead, and has a double-Y-shaped mode (for a single lead) and a double-wave mode (applicable to multiple leads, and the mode can also realize the left-right swing limitation of the detection equipment on the surface vertical to the lead);

2. the X-ray detector is hung on a target position of a part to be detected as an independent part, the X-ray emitter is also designed as an independent part, and the X-ray emitter is lifted to a relative preset position on a detection plate by the mechanical arm; the detector plate and the marks preset on the detection plate are automatically identified through an image system on the mechanical arm, and the mechanical arm automatically lifts the X-ray emitter to a relative preset position on the detection plate with high precision so as to ensure the quality of detection results; according to the requirement of the precision of an automatic guide recognition system, a plurality of marks are preset on a detection plate, an X-ray machine and a body of a mechanical arm so as to realize quick high-precision positioning; the main purposes of the source and the detection plate as two separate components are two: one is to reduce the loading capacity required by the mechanical arm to the maximum extent (only the weight of the ray machine and the detection plate is required); another is to improve the ease with which the detection device can be brought into a detection position.

3. The invention presets marks on the detection plate and the mechanical arm, thereby greatly improving the image measurement precision, ensuring that the absolute precision reaches 3 mm, meeting the use requirement, and achieving the positioning function of the space position and the posture of the equipment by using a cheap camera, the marks and the calculation of the measurement calculation software thereof.

4. When the method is adopted for the high-altitude X-ray nondestructive detection of the power transmission line, manual tower climbing operation is not needed, the working efficiency of operating personnel is high, and the safety risk possibly caused in the high-altitude tower climbing process is avoided. The wavy director not only has easy groove positioning, but also has the function of ensuring that the detection equipment does not generate left-right swing perpendicular to the lead relative to the lead.

5. The information transmission and the control signal transmission at high altitude and on the ground both adopt a wireless transmission mode.

Drawings

FIG. 1 is a schematic view of the structure of a nondestructive inspection system of the present invention (single wire mode);

FIG. 2 is a schematic structural view of another perspective of the nondestructive inspection system of the present invention (single wire mode);

FIG. 3 is a schematic view of the structure of the nondestructive inspection system of the present invention (single wire mode, operating condition);

FIG. 4 is a schematic view of the non-destructive inspection system of the present invention (multi-wire mode, operating condition);

FIG. 5 is a schematic structural view of a wire gripper according to the present invention;

FIG. 6 is a schematic structural view of a snap-fit structure according to the present invention;

FIG. 7 is a schematic view of another view of the engaging structure of the present invention;

FIG. 8 is a schematic view of the structure of a probe plate according to the present invention;

FIG. 9 is a schematic view of the structure of the Y-shaped director of the present invention;

fig. 10 is a schematic diagram of the structure of the wave-type director of the present invention.

In the drawing, 1: a thread clamping device, 1-1: a through hole, 1-2: a left thread clamping support frame, 1-3: a right thread clamping support frame, 1-4: a clamping block module, 1-5: a rotating shaft, 1-6: a reset spring, 2: a main rope, 3: an auxiliary rope, 4: a ray source, 5: a ray source protection box, 6: a support clamp, 7: an elastic positioning clamp, 8: a clamping groove, 9: a ray source rope hanging ring, 10: a ray source end actuator, 11: a detection plate, 11-1: a detection plate rack, 11-2: a hook, 11-3: a detection fixing frame, 11-4: a detector plate, 11-5: a detector end actuator, 11-6: a detection plate rope hanging ring, 11-7: a detector fixing plate, 12: a fixing column, 13: a mechanical arm, 14: a mechanical arm end actuator, 15: a mechanical arm end camera, 16: a battery, 17: a screw rod support, 18: a motor, 19: a magic bandage, 21: a connecting plate, 22.Y-type directional connecting plate, 22-1: a rope containing part, 22-2: a vertical wire clamping groove, 23: 23.23: a vertical wire clamp part, 24.23: a lifting mark part, and a lifting mark part, 26.25.25.25: a to-3: a to-shaped lifting mark part are arranged on a to be detected.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1 to 10, the present embodiment provides an unmanned aerial X-ray nondestructive inspection system for a power transmission line, including: the device comprises a wire clamping device 1, a rope electric elevator 27, a ray source 4, a detection plate 11, a mechanical arm 13, a battery 16 and a direction finder.

The wire clamping device 1 can be fixed on a wire 26 to be detected in a fixed-point positioning manner, and the wire clamping device 1 is provided with a through hole 1-1 for the static rope to pass through; the wire clamping device 1 solves the problem that the detection position cannot be fixed due to the fact that the position of the hanging point of the detection equipment deviates due to external force, and meanwhile, the wire can be protected from being damaged in the operation process; the wire clamping device 1 comprises a left wire clamping support frame 1-2, a right wire clamping support frame 1-3 and a clamping block module 1-4 used for clamping a wire 26 to be detected, the left wire clamping support frame 1-2 and the right wire clamping support frame 1-3 are rotatably connected through a rotating shaft 1-5, a reset spring 1-6 is sleeved outside the rotating shaft 1-5, and a through hole 2 penetrates through the left wire clamping support frame 1-2 and the right wire clamping support frame 1-3; the clamping block module 1-4 is positioned at the downward single side or the vertically symmetrical double sides of the left wire clamping support frame 1-2 and the right wire clamping support frame 1-3. When the clamping device is clamped downwards, the clamping device is stressed, and when the clamping device is not stressed, the left side and the right side of the clamping device are opened under the action of the torsion spring, so that the clamping device is changed from a clamping state to a loosening state; the rope threading device is of a hollow structure, so that the rope threading is convenient, and the included angle between the left part and the right part is less than 180 degrees, so that the rope threading device is convenient to go up and down; the clamping opening of the wire clamping device is designed into a module, and can be replaced according to the diameters of different wires, so that the practicability of the wire clamping device is improved. Wherein, the static rope connecting rope electric elevator 27 is a main rope 2, and the rope connected to the main rope 2 button is an auxiliary rope 3; the main rope 2 may be either a normal static rope or an insulating rope, and functions to climb the rope electric elevator 27. The

auxiliary ropes

3 and 2 are common static ropes or insulating ropes and are used for unlocking the main rope 2 from the detected object, so that the main rope 2 and the wire clamp are separated from the lead 26 to be detected.

The wire clamping device 1 adopted by the invention is a power line wire clamping device defined in the Chinese patent (CN 114566908A) applied by the applicant, and is not described herein again.

The rope elevator 27 can ascend and descend along the static rope; is an existing rope motorized hoist 27 that can ascend and descend along a rope.

The ray source 4 is used for emitting X rays and is arranged on the left side wall of the shell of the rope electric elevator 27 through a clamping mechanism; clamping mechanism includes radiation source protective housing 5, support and presss from both sides 6, elastic positioning presss from both sides 7 and draw-in groove 8, and radiation source protective housing 5 utilizes draw-in groove 8 and bolt fastening on the left side wall of rope electric lift 27 casing, supports to press from both sides 6 to establish radiation source protective housing 5's bottom and 4 front end cylinder portion cooperations of radiation source, and support clamp 6 is the effect that plays support and balanced effect to radiation source 4. The two elastic positioning clamps 7 are symmetrically arranged on the side walls of the left side and the right side of the radiation source protective box 5; the elastic locating clip 7 has certain elasticity and pressure, and the supporting point of the elastic locating clip 7 exceeds the radius of the cylinder at the front end of the ray source 4. The radiation source 4 is fixed by means of elastic pressure, the magnitude of which depends on the mass of the radiation source 4 and the nominal load of the robot arm 13. Ray source 4 top is fixed with ray source string becket 9 and ray source end effector 10, and ray source string becket 9 hangs to have one to hang between the point with the lift frame and restricts, and this string has certain length and has certain elasticity, prevents that equipment from dropping in the protective housing, and ray

source end effector

10 and 4 bolt fixed connection of ray source use with 14 cooperations of arm end effector, and the effect is to take out or put back ray source protective housing with ray source 4.

The detection plate 11 is used for converting X-ray energy into electric signal digital information which can be recorded, the electric signal digital information is transmitted to the ground control station through the wireless controller, the ground control station reconstructs a two-dimensional graph on the detection plate 11 through an image reconstruction algorithm, and the two-dimensional graph is processed through special software of an X-ray imaging system to obtain a clear structural image inside the detected object. The detection plate 11 is hung on the right side wall of the shell of the rope electric elevator 27; the detection plate 11 comprises a detection plate rack 11-1, a hook 11-2, a detection fixing frame 11-3 and a detector plate 11-4, the hook 11-2 and the detection fixing frame 11-3 are respectively arranged on two sides of the detection plate rack 11-1, the hook 11-2 is positioned at the top of the detection plate rack 11-1, the detection fixing frame 11-3 is positioned at the bottom of the detection plate rack 11-1, the detector plate 11-4 is fixed in a frame of the detection fixing frame 11-3, and a detector end actuator 11-5 and a detection plate rope hanging ring 11-6 are fixed at the bottom of the detection plate 11; the top of the casing of the rope electric elevator 27 is provided with a fixed column 12 which is matched with the detection fixed frame 11-3. The hook 11-2 is used for hanging the detection plate 11 on an object to be detected, the hook 11-2 (fixed on the detection plate rack 11-1 through a bolt, the detection plate rack 11-1 and the detection fixing frame 11-3 are of an integrated structure, the detector end actuator 11-5 is fixed on the detection plate rack 11-1 through a bolt, the detector plate 11-4 fixes the detector plate 11-4 in the detection fixing frame 11-3 through the detection fixing frame 11-3 and the front and back detector fixing plates 11-7, and the detector fixing plate 11-7 is provided with an opening corresponding to the battery part of the detection plate 11, so that the battery can be conveniently replaced.

The detecting plate rope hanging ring 11-6 is a lifting bolt, a hanging rope is arranged between the detecting plate rope hanging ring 11-6 and a hanging point of the elevator frame, the hanging rope has a certain length and has certain elasticity, the detecting plate 11 is prevented from falling off from the hanging point due to strong wind or other reasons, in addition, due to the elastic action of the hanging rope, the equipment has certain downward tension, the detecting plate 11 can be better hung on the detecting equipment, the hanging connection is firmer, the contact is tighter, and the detection quality is effectively improved.

The mechanical arm 13 is used for grabbing the ray source 4 and the detection plate 11 and is fixed on the front side wall of the shell of the rope electric elevator 27; the end of the mechanical arm 13 is provided with an end effector 14 of the mechanical arm, the end effector of the mechanical arm 13 is fixed on the end joint of the mechanical arm 13 by bolts, and a camera 15 of the end of the mechanical arm is arranged at a position close to the end of the mechanical arm 13.

The battery 16 is used for supplying electric energy to the whole set of equipment, adopts a high-performance lithium battery, and is arranged on the rear side wall of the shell of the rope electric elevator 27 through a balance mechanism; the balance mechanism comprises a screw rod support 17, a motor 18, a screw rod (not shown in the figure) and a connecting plate 19, the screw rod support 17 is fixed on the rear side wall of the shell of the rope electric elevator 27, the output shaft of the motor 18 is connected with the screw rod, the motor 18 is fixed at one end of the screw rod support 17, the screw rod is rotatably connected with the other end of the screw rod support 17, a sliding block (not shown in the figure) is sleeved on the screw rod, the sliding block is fixedly connected with the connecting plate 19, the battery 16 is fixed on the connecting plate 19 and is fixed by a magic bandage 20 connected with the connecting plate 19, the disassembly and the assembly are convenient, and the fixation is firm; the rope elevator 27 is provided with an angle sensor (not shown) 27, which sends a command to the balancer adjusting motor 18 when the angle exceeds a set value, and the motor 18 rotates to drive the power supply battery 16 mounted on the screw to move laterally, thereby achieving the effect of adjusting the overall balance. This balancing mechanism is only effective when securing a single wire.

The front and the rear parts of the electric rope elevator 27 are respectively provided with an orientator which comprises a connecting rod 21 and an orientation part, the orientation part is used for clamping a positioning lead of the clamp 26 to be detected and is arranged at the top end of the connecting rod 21, and the lower end of the connecting rod 21 is fixed on the top wall of the shell of the electric rope elevator 27. The purpose of the orientator is two, one is to prevent the equipment from rotating or turning over in the horizontal direction (relative movement perpendicular to the direction of the wire) in the air, and the other is to set the distance between the equipment and the wire;

the guide device is a Y-shaped guide device 22, is suitable for a single wire and comprises an accommodating part 22-1 with an opening angle larger than 90 degrees and a vertical groove 22-2, so that the wire can conveniently enter the root part, and the vertical groove 22-2 is adaptive to the diameter of the wire and limits the left and right movement of the wire in the groove.

Or the orientator is a wave-shaped orientator 23 which is a multi-arc groove surface 23-1 formed by a plurality of concave arcs, and the radius of the arc is not less than the radius of the wire clamp 26 to be detected. The guide device has the advantages that the guide wires are easy to enter the groove, the rope cannot move horizontally after being tensioned, and in a split guide wire scene, the guide device also has the function of simultaneously guiding two lower guide wires into the guide device, so that the relative position relationship between the guide device and the guide wires is stable, and the relative movement perpendicular to the guide direction is basically avoided.

The end effector 14 of the mechanical arm is fixed on the end joint of the mechanical arm 13 by bolts and is matched with the end effector 11-5 of the detector and the end effector 10 of the ray source for use. The radiation source end effector 10 is matched with the mechanical arm end effector 14 for use, and the radiation source 4 is grabbed up (or put down) from the radiation source protective box 5; the detector end effector 11-5 is used in cooperation with the robot arm end effector 14, and is used for grabbing and hooking (or taking down) the detection plate on the detected object by using the two end effectors.

Wherein, the top of the casing of the rope electric elevator 27 is provided with a 3D camera 24 for fully observing the state of the operation scene; the mechanical arm end video camera 15 is a binocular camera, is a special video camera with a three-dimensional function, and is mainly used for observing the working state of the mechanical arm end actuator 14 in a close view, providing real-time three-dimensional data of an operation scene, reconstructing a real-time three-dimensional model after being resolved by a remote operation terminal, providing important basic data for the action of the mechanical arm 13, and monitoring the operation scene in real time.

The casing of the rope elevator 27 and the irradiated surface of the detection plate 11 are provided with black color mark marks 25. The shape is square, and the illuminated surface of the detector panel and the housing of the rope electric elevator 27 are adhered or fixed, and the function is to provide coordinates and directions for the camera and the camera on the end effector 14 of the mechanical arm, the camera uses the marks to calculate the relative position relationship between the end effector 14 of the mechanical arm and the target position by the computer according to a specific algorithm, then the ground control station sends the relative position coordinates and the route of the target position to the mechanical arm 13, and the mechanical arm 13 reaches the designated target position according to a given route to execute the designated operation.

And the wireless router is used for establishing a link between the air (the X-ray detection system and the detector board) and the remote operation terminal and transmitting instructions and data.

The invention uses the X-ray detector as a single component to be hung on the target position of the component to be detected, and the X-ray emitter is also designed as an independent component, and the mechanical arm 13 lifts the ray source 4 to a preset space position (distance and angle) right above the panel (relative to the detection panel 11) relative to the detection panel.

The nondestructive inspection method adopting the unmanned high-altitude X-ray nondestructive inspection system for the power transmission line comprises the following steps:

(1) The rope passes through the wire clamp 1, the rope crosses over the wire 26 to be detected by using an unmanned aerial vehicle or other lifting equipment, a rope buckle is arranged at a proper position at the tail end of the wire clamp, and the rope crossing over the wire to be detected passes through the rope buckle; the rope which does not cross the detection lead is called as an auxiliary rope 3, and the rope which crosses the detection lead is called as a main rope 2;

(2) Pulling the main rope 2 to pull the wire holder on the wire 26 to be detected and clamping one of the wires;

(3) Inserting the main rope 2 through the electric rope lifter 27, tensioning the auxiliary rope 3, starting the electric rope lifter 27, enabling the electric rope lifter 27 to climb upwards along the main rope to be separated from the ground, and clamping the wire by the wire clamp 1 under the action of the gravity of the electric rope lifter at the moment, so as to fix the wire to be detected 26;

(4) Clamping a ray source 4 to the left side wall of a shell of a rope electric elevator 27, and fixing a detector plate 11 on the right side wall of the shell of the rope electric elevator 27 through a detection fixing frame 11-3 and a fixing column 12;

(5) Connecting a remote control terminal, sending an instruction by using the remote control terminal, and monitoring the state of the aerial equipment by using the 3D camera 24;

(6) Starting the rope electric lifter 27 again, and climbing upwards along the main rope 2 by the electric lifter until the director contacts the lead and finally sends a lifting stop instruction by combining with the video information, and stopping the lifting by the lifter; the elevator now hovers the entire apparatus at this location;

(7) The 3D camera 24 sends collected 3D data to the remote control terminal through the wireless controller, the remote control terminal generates a real-time three-dimensional model after calculation, and calculates the relative position coordinates of each part;

(8) The remote control terminal sends a command for grabbing the detection plate 11 to the mechanical arm 13, the mechanical arm 13 reaches a specified coordinate for connection according to the command and the path sent by the remote control terminal, and the detection plate 11 is hung on a specified lead and then the end effector 11-5 of the detector is released to return to an initial position;

(9) The remote control terminal sends an instruction for grabbing the ray source 4 to the mechanical arm 13, the mechanical arm 13 reaches appointed coordinates according to the instruction and the path sent by the remote control terminal to be connected, after connection, the emitting head of the ray source 4 is aligned to the detecting plate 11 to a preset detecting position, X rays are emitted to carry out detecting work, and detecting result data are sent to the ground control station.

(10) After receiving the data, the ground control station sends an instruction to place the radiation source 4 back into the radiation source protection box 5, and the mechanical arm 13 returns to the initial position;

(11) The remote control terminal sends a command for taking down the detection plate 11 to the mechanical arm 13, the mechanical arm 13 reaches a specified coordinate according to the command and the path sent by the remote control terminal to carry out connection, the detection plate 11 is taken down from a lead and then placed at a specified position to be fixed, and then the mechanical arm 13 returns to an initial position;

(12) At this time, the detection process of one detection point is finished, and if a plurality of equipment points are detected, 8-12 steps are repeated;

(13) The remote control terminal sends a descending instruction to the rope electric lifter 27, the rope electric lifter 27 descends to a proper position on the ground, and the detector plate 11 and the ray source 4 are taken down;

(14) The rope electric elevator descends to the ground to take out the main rope 2, the wire holder releases the conducting wire after being not stressed, the auxiliary rope 3 is pulled to pull the rope buckle to the ground, and the wire holder 1 is taken out; and (4) accommodating all detection components and finishing detection work.

Although examples of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these examples without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an unmanned high altitude X ray nondestructive inspection system of transmission line which characterized in that includes:

a rope motor-lifter that is capable of climbing and descending along the static rope;

the battery is used for providing electric energy for the whole set of equipment and is arranged on the rear side wall of the shell of the rope electric elevator through the balance mechanism;

the orientator comprises a connecting rod and an orienting part, the orienting part is used for clamping a wire to be detected and is arranged at the top end of the connecting rod, and the lower end of the connecting rod is fixed on the top wall of the shell of the rope electric elevator;

and the 3D camera is used for acquiring three-dimensional space information around the detected part and the posture and the position of the mechanical arm in real time and is fixed at the top of the rope elevator.

2. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 1, characterized in that: the wire clamping device comprises a left wire clamping support frame, a right wire clamping support frame and a clamping block module used for clamping a wire to be detected, the left wire clamping support frame and the right wire clamping support frame are rotatably connected through a rotating shaft, a reset spring is sleeved outside the rotating shaft, and the through hole penetrates through the left wire clamping support frame and the right wire clamping support frame; the clamping block module is positioned on one downward side of the left wire clamping support frame and the right wire clamping support frame or on two vertically symmetrical sides.

3. The unmanned high altitude X ray nondestructive inspection system of transmission line of claim 1 characterized in that: the clamping mechanism comprises a ray source protection box, two supporting clamps and two elastic positioning clamps, wherein the ray source protection box is fixed on the left side wall of the shell of the rope electric elevator, the supporting clamps are arranged on one side of a ray source radiation groove, and the two elastic positioning clamps are symmetrically arranged on the side walls of the left side and the right side of the ray source protection box; the supporting point of the elastic positioning clip exceeds the radius of the front end cylinder of the ray source.

4. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 3, characterized in that: and the top of the ray source is provided with a ray source hanging rope ring and a ray source end actuator.

5. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 1, characterized in that: the detection plate comprises a detection plate rack, a hook, a detection fixing frame and a detector plate, wherein the hook and the detection fixing frame are respectively arranged on two sides of the detection plate rack; the top of rope electric lift casing be equipped with survey the fixed column that the mount cooperation was used.

6. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 1, characterized in that: the tail end of the mechanical arm is provided with a mechanical arm tail end actuator, and a mechanical arm tail end camera is further arranged at a position close to the tail end of the mechanical arm.

7. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 1, characterized in that: the balance mechanism comprises a screw rod support, a motor, a screw rod and a connecting plate, the screw rod support is fixed on the rear side wall of the shell of the rope electric elevator, an output shaft of the motor is connected with the screw rod, the motor is fixed at one end of the screw rod support, the screw rod is rotatably connected with the other end of the screw rod support, a sliding block is sleeved on the screw rod and fixedly connected with the connecting plate, and the battery is fixed on the connecting plate; the rope electric elevator is provided with an angle sensor.

8. The unmanned high altitude X ray nondestructive inspection system of transmission line of claim 1 characterized in that: the orientation portion is Y type orientation portion, comprises the portion of bringing into and vertical groove that the open angle is greater than 90 degrees, perhaps orientation portion is wave type orientation portion, for the many arcs of surfaces of a groove of constituteing by a plurality of concave arcs of resorption, and the pitch arc radius is not less than the radius of waiting to detect the wire.

9. The unmanned high-altitude X-ray nondestructive inspection system for power transmission lines according to claim 1, characterized in that: black color code marks are arranged on the casing of the rope electric elevator and the irradiated surface of the detector plate.

10. A nondestructive inspection method using the unmanned aerial X-ray nondestructive inspection system for electric transmission lines according to any one of claims 1 to 9, characterized by comprising the steps of:

(3) Inserting the main rope into the rope electric lifter and penetrating the main rope through the rope electric lifter, tensioning the auxiliary rope, starting the rope electric lifter to enable the rope electric lifter to climb upwards along the main rope and fall off the ground, and clamping the wire by the wire clamp under the action of the gravity of the lifter at the moment and fixing the wire on the wire to be detected;

(6) Starting the rope electric elevator again, enabling the electric elevator to climb upwards along the main rope until the orientator contacts a wire to trigger a lifting stopping condition and finally sending a lifting stopping instruction in combination with video information, and stopping the lifting of the elevator; the elevator now hovers the entire apparatus at this location;

(9) The remote control terminal sends a ray source capturing instruction to the mechanical arm, the mechanical arm reaches the appointed coordinate according to the instruction and the path sent by the remote control terminal for connection, after connection, a ray source emitting head is aligned to the detection position, X rays are emitted for nondestructive detection, and data are sent to the ground control station;

(10) After the ground control station receives the data, sending an instruction to put the ray source back into the ray source protection box, and returning the mechanical arm to the initial position;

(12) If a plurality of devices are detected, repeating the steps of 8-12 items;

(14) The elevator descends to the ground to take out the main rope, the wire clamping device releases the conducting wire after being not stressed, the auxiliary rope is pulled to pull the rope buckle to the ground, and the wire clamping device is taken out; and (5) accommodating all detection equipment components, and finishing the detection work.